Surface adhering mobile coating apparatus

Abstract

A surface adhering mobile coating apparatus includes a surface adhering and traveling device, a spray nozzle, and a spray nozzle X-axis drive device, and a spray nozzle Y-axis drive device. An operation procedure of the coating includes, regarding the timing at which the spray command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the forward or return direction on the X-axis, the timing is the trigger timing at which the spray nozzle leaves the start point in the forward or return direction on the X-axis, therefore, the timing at which the spray is actually started is slightly delayed from the time when the spray nozzle leaves the start point; regarding the timing at which the spray stop command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the forward or return direction on the X-axis, the timing is the trigger timing at which the spray nozzle reaches the part just before the end point in the forward or return direction on the X-axis, therefore, the timing at which the spray is actually stopped is slightly delayed from the time when the spray nozzle reaches the part just before the end point.

What is claimed is: 
     
         1 . A surface adhering mobile coating apparatus, comprising; a surface adhering and traveling device which adheres to the surface of the structure by the action of negative pressure or by the other actions to adhere to the surface and which travels along the surface, a spray nozzle for spraying the coating material toward the surface of the structure, and a spray nozzle X-axis drive device for reciprocating the spray nozzle on the X-axis orthogonal to the Y-axis which is a main moving axis line of the surface adhering and traveling device; further comprising;
 the spray width of the spray nozzle is wide in the Y-axis direction and the spray width of the spray nozzle is narrow in the X-axis direction;   and an operation procedure of the coating by the surface adhering mobile coating apparatus is configured;   first, the spray nozzle sprays a coating material, and moves from the start point to the end point in the forward direction on the X-axis;   next, the whole of the surface adhering mobile coating apparatus travels on the Y-axis the same distance as the approximate distance of 1/n of the spray width of the spray nozzle;   next, the spray nozzle moves from the start point to the end point in the return direction on the X-axis while spraying of the coating material;
 next, the whole of the surface adhering mobile coating apparatus travels on the Y-axis the same distance as the approximate distance of (n−1)/n of the spray width of the spray nozzle; 
 next, repeating the above-described operation procedure; further comprising; 
   regarding the timing at which the spray command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the forward direction on the X-axis, the timing is the trigger timing at which the spray nozzle leaves the start point in the forward direction on the X-axis, therefore, the timing at which the spray is actually started is slightly delayed from the time when the spray nozzle leaves the start point;
 regarding the timing at which the spray stop command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the forward direction on the X-axis, the timing is the trigger timing at which the spray nozzle reaches the part just before the end point in the forward direction on the X-axis, therefore, the timing at which the spray is actually stopped is slightly delayed from the time when the spray nozzle reaches the part just before the end point; 
 regarding the timing at which the spray command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the return direction on the X-axis, the timing is the trigger timing at which the spray nozzle leaves the start point in the return direction on the X-axis, therefore, the timing at which the spray is actually started is slightly delayed from the time when the spray nozzle leaves the start point; 
 regarding the timing at which the spray stop command of the coating material is triggered to the spray nozzle when the spray nozzle is moved from the start point to the end point in the return direction on the X-axis, the timing is the trigger timing at which the spray nozzle reaches the part just before the end point in the return direction on the X-axis, therefore, the timing at which the spray is actually stopped is slightly delayed from the time when the spray nozzle reaches the part just before the end point.