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In order to improve the hand-based finishing works, a Walt surface finishing robot (FR-1) is developed, enabling us to achieve labor-saving. The system as a whole is a multifunctional robot, composed basically of a carriage with sucker which can move freely on the concretemade wall, and of a diagnosis function of wall conditions, and as option, is provided with cleaning, shot-blasting and painting mechanisms; according to necessity, they are mounted to the cariage to perform a series of finishing works. This report discusses the robotized painting which was conducted in 1988 for repairing the walls of the Nuclear Power Plant. The results of the experiment showed that the robotized painting excellent in safety and its work efficiency is twice as much as that of the hand-based conventional spraying method. The quality obtained is almost equivalent to that of the hand spraying.

Robotized Painting by the Wall Surface-Finish Robot (FR 1)