Spraying apparatus

A spraying apparatus, comprising:

• a carriage supported for movement in a first direction;
• a platform supported on said carriage for movement relative thereto in a second direction approximately perpendicular to said first direction;
• a spraying nozzle member;
• manipulator means having a first end supported on said platform and having said nozzle member supported at a second end thereof;
• said manipulator means including a plurality of manipulator elements and including a plurality of articulation joints which each movably couple a respective adjacent pair of said manipulator elements, one of said articulation joints including a first piping member and supporting one of said manipulation elements for pivotal movement about said first piping member relative to another thereof;
• means for supplying a material to be sprayed to said nozzle member, including an opening through said first piping member and including a second piping member having therethrough an opening which is in communication with said opening through said first piping member;
• sensor means supported on one of said nozzle member and said manipulator means for detecting a distance between said nozzle member and a surface to be sprayed;
• and control means responsive to said sensor means during a spraying operation for controlling movement of said platform relative to said carriage and movement of said manipulator means so as to maintain said nozzle member at a substantially constant distance from the surface to be sprayed.