CN1976755A - Cost effective automated preparation and coating method for large surfaces - Google Patents
Cost effective automated preparation and coating method for large surfaces Download PDFInfo
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- CN1976755A CN1976755A CN 200580007115 CN200580007115A CN1976755A CN 1976755 A CN1976755 A CN 1976755A CN 200580007115 CN200580007115 CN 200580007115 CN 200580007115 A CN200580007115 A CN 200580007115A CN 1976755 A CN1976755 A CN 1976755A
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Abstract
An apparatus and method of preparing and coating a large structure such as a ship's hull while in a dry dock wherein a plurality of spray guns disposed in an array are positioned by a robotic arm in a spaced relationship along the surface to be treated so that their spray patterns overlap. The array of spray guns is traversed downwardly thus painting a strip whereupon the spray guns are secured, move horizontally and then activated to be moved upwardly until another strip adjacent to and overlapping the first strip is painted. Travel of the system along the work surface is accomplished by a reference track, which may be virtual or actual along which an unmanned platform travels. An articulated computer controlled arm is carried by the unmanned platform which in turn carries the assemblage. Other tools may be selectively operatively connected to the arm for cleaning the hull before a coating is applied thereto.
Description
Related application:
Special in according to No. 35, United States code, 119 (e) (1) chapter, the U.S. Provisional Patent Application No.60/540 that submits to United States Patent (USP) trademark office on February 2nd, 2004,623.
Technical field
The present invention relates generally to a kind of device that environmental protection, minimal waste, cost-effective preparation and coating process and utilization are used to prepare, apply the automated system of large surfaces that is easy to.
Background technology
The United States Patent (USP) NO.3 of Hammelmann, 611,849, and at the United States Patent (USP) NO.3 of Van den Broek, 915,092, the large surfaces such as hull is disclosed, it can support and be on the dock.Two patents have been described to carrying out surface preparation to the preparation of hull and the spraying for hull subsequently.Disclose a kind of support with level and vertical support structure in the patent of Hammelmann, it can move along the top vertical surface of dry dock abutment wall.Being positioned at suspension bracket the inside or top surface processing device can be arranged on the dry dock central longitudinal plane at least.This makes this device to handle hull fore and aft.In other words, suspension bracket can move to keel along hull surface from the boat deck on the dry dock.The orientation of device can respond the inclination of the abutment surface that is subject to processing or bending or tilt and crooked both and change automatically.Suspension bracket can support one or more associate members or one or more surface processing device, for example high-pressure water shot is arrived hull surface, to remove existing coating, prepares hull to be applied.Hammelmann has also instructed the device that is intended to carry out for hull sandblast, and purpose is apace the large surfaces with certain profile to be handled relatively.Do not resemble the device of above-mentioned Hammelmann, Van den Broek discloses the supporter of carrying both arms devices, and it is used to support the equipment that is installed on the dry dock vertical side track.This treating apparatus can be sandblast or grit blasting nozzle, rotation cleaning equipment or coating nozzle, and it is arranged to have a little overlapping areas.
To the United States Patent(USP) Nos. 4,285,469 and 4,445 of Hammelmann and Van den Broek, 541 pay close attention to equally.In the Van den Broek patent of back, the technology member of handling hull comprises and being used for respectively along hull horizontal movement and horizontal guide sheave that moves both vertically and vertical guide sheave.If desired, the conversion automatically of the direction of these directive wheels, thus the technology member can level or vertical moving.
The patent of having announced that much sprays relevant for car body as people's such as Takeo U.S. Patent No. 4,721,630, wherein applies robot and is arranged to, and can move on the track of the every side of automobile.Kindred circumstances also is suitable for aircraft, as people's such as Rhinehart U.S. Patent No. 3,460,177 and Berry, people's such as Jr. No.5,248,341.
When the surface that is subject to processing is not sealing,, need to observe the laws and regulations of environment as hull, bulkhead, oil storage tank or the like.People's such as Goldbach U.S. Patent No. 5,398,632 have listed and the relevant issues of obeying environmental requirement, wherein, its working region is covered when being undertaken by applying again, will clear up the needs that working region that sandblast and hull apply again is limited in dry dock and can satisfy at least in part at cleaning sandblast and hull.
The Carderock Division of naval surface combat center (The Naval Surface Warfare Center) has developed the hull automatic spraying system, can be used for naval and commercial dry docks.Please note this piece article: APACTS Represents Apex anEnvironmentally Friendly Painting, page 52 of CURRENTS, the navy ' sEnvironmental Magazine, Winter 2003.Automatically paint application keeps treatment system (APACTS) at " the Automated Paint Applicant of manufacturing with 1999 the 4th interim Robert doctors E.Keay of the quarterly iMAST of Research on Supporting Techniques institute (Institute for Manufacturingand Sustainement Technologies), Containment, and Treament System (APACTS) for Dry Dock Hull CoatingOperations " introduction of part arranged in the literary composition.IMAST has set forth, automatically paint application keeps treatment system (APACTS) just to be born as far back as 1997, concept development wherein movably automanual robot control (but having the real-time operation input) platform, it can apply coating and catch spray in dry dock hull coat operations process.Investigation shows, still do not have patent or commercial sources obtainable movably reach be positioned at the nozzle place cross the spray gathering-device.Captive spray excessively is directed to a suitable physical treatment system, also possible chemical processing system, and it also must be movably in design.The advantage of anticipation is that faster speed that coating is used and better evening ratio can reduce manpower, and improve the degree of observing of the rule that control air and water pollution thing is increased day by day.The against vacuum application system is observed, when the little paint particle with different quality that arrives target, can be caused forming and paint spray when taking out of by skidding air-flow (entrained airflow).According to estimates, 50 microns or most possibly caused spray less than 50 microns paint ion.Recommend a kind of blackwash sprayer (paint spray gun) the same surround of cover on every side that is centered around.Its principle is to utilize the advantage of the natural speed that jet impact produces, and separates with wall with the spray of crossing that will contain wall carbon (wall jet), and it is guided to suction outlet (suction outlet).The applicator utensil of anticipation and capture shroud control concept adopt the executor of two series connection under common supervision control.When large operation device fixedly the time, this mode provides five frees degree.
The automatic coating of the Carderock Division of naval surface combat center use keep treatment system (APACTS) use erosion-resisting and paint anti-soil is developed and tested in the environmental protection mode.The APACTS system utilizes self-propelled removable base, this bottom support is extended micromanipulator (long reach macro-manipulator) at a distance, and this extends micromanipulator at a distance and also carries quick response narishige, applies spray gun and holding device to handle along hull.Though the APACTS design is the paint for the coating same thickness, it is also unsuccessful in this respect.It applies paint in the rectangular area of design in advance.Based on paint patterns shown in the CURRENTS article, blackwash sprayer is about one meter horizontal strip with zig-zag fashion width and vertical survey vertically mobile or that seemingly cover between one meter to two meters basically by inference, and it can be roughly corresponding to following guard shield or the cover that blackwash sprayer is installed.After horizontal strip spraying, blackwash sprayer integrally moves down, and by again at the zigzagging up and down or the similar movement of opposite horizontal direction, provides contiguous or has been overlapped in more or less that to be next to rectangular another of top firm spraying rectangular.So repeat up to minimum rectangular of spraying, therefore device lateral moves and continues to spray a segment distance forward or backward along hull, then by spraying other zone adjacent that move upward with first spraying area (in the vertical), perhaps device can outwards move a series of horizontal strips of spraying, just as the moving up and down and spray and be parallel to foundation the vertical area of first vertical area of former blackwash sprayer, but this vertical area and first vertical area are isolated in abutting connection with the feasible device that moves up of horizontal strip.Then other vertical area up and down can spray, thereby entire hull finally obtains covering.In a word, photo based on the CURRENTS article, obviously blackwash sprayer is in the cover lower-pilot, in order to zigzagging spraying up and down in abutting connection with last time spraying area above or below a series of horizontal strips in a zone, therefore be bonded together, they can form long vertical area, and then produce a series of such vertical area, when these vertical area in abutting connection with the time, so a series of vertical area can cover the large tracts of land of the hull that needs coating.For fear of facing the zone that appearance is not sprayed between the vertical elongated area that connects, slight overlapping several inches prolongation vertical area is arranged on or plans to be arranged on and prolongs between the vertical area.In the coating process from the side to the side, adopt the feature of paint to make, in order to obtain the same thickness of painting layer, the rectangular overlapping relative little distance of each horizontal strip and adjacent firm spraying.If the initial motion of the blackwash sprayer of APACTS is not inferred according to the CURRENTS article, it can be level from the avris to the avris also in practical operation so.But, in any case applied spraying method can't obtain identical paint thickness among the APACTS on hull surface.Be appreciated that this is because the fund of APACTS had been terminated before more than a year.Therefore, do not consider the accurate motion of blackwash sprayer under the cover, APACTS do not reach the present invention at advantage.
Though later APACTS design object was the paint that applies same thickness in 1997, known to this date, it can't be adopted by any naval project or shipbuilding merchant so far.In the whole development process of APACTS, be provided the naval research department of the naval surface combat center of millions of U.S. dollars, after shipbuilding industry is demonstrated, consider that this design does not obtain benefit in the public or private shipbuilding industry, at the beginning of 2004, stop to continue this design financial support.Problem about its commercial survival ability and deliverability rises thereupon.
When APACTS design functional is subjected to carefully investigating, seen the specific limited in demonstration " optimum " the painting method process.When concern is of the present invention, be equally under relevant situation, the APACTS design is very strict for application and it requires the operator directly to control.System can not carry out other process such as surface preparation, monitoring or diagnostic function.
Indulge the above, be to be appreciated that, really exist under outdoor environment and some indoor environments large-scale basic vertical surface (being positioned at the hull of dry dock specifically, but also can be the fuel oil holding vessel, grain elevators and other large scale structure) needs preparing automatically and apply, do not produce simultaneously refuse and environmental pollution, described automatic preparation and coating are only to need seldom personnel except programming and monitor procedure, are automatic basically.
Summary of the invention
The present invention is a computer-controlled mobile robot system, and it utilizes interchangeable tools and is subjected to the manipulation of complicated interconnection computer program, automatically performs to be used for surface preparation, application, surface measurement and the diagnostic operation that large surfaces is handled.Biao Mian example is a hull like this, but the present invention also is used for the automatic surface preparation of the same a lot of different large surfaces of handling of needs and applies.
The first step of method is the surface measurement data that obtain to limit the target working surface.This can comprise any available technological means and combination thereof, for example but be not limited to, uses the input of Design CAD file, digital picture and laser image.These data are used for existing program, so that the robot control arm of handling operation is programmed.Please refer to United States Patent(USP) Nos. 6,365,221 and 6,562,139, the DATA REASONING acquisition method has wherein partly been described.Being captured in of surface data calculated and the related surperficial material requested quantity of evaluation process and the aspect in cycle also are useful, and then can increase the accuracy of the such project of plan and the minimizing influence to environment.
Industry is automation day by day.For many years, the auto-maker utilizes automatics to apply for car body.Be provided with any robot that has driving arm in the dissimilar spraying equipments by automated programming, think that the car body of different structure applies.Usually these robots are installed in the fixed position, and when assembly line moved car body through paint chamber (paintbooth), the robot follow procedure was carried out its operation.Paint applies in the same manner with repetitive mode, and the material waste in the process reduces to minimum.
The description above the contrast and the instruction of prior art, wherein driving arm is installed on a side of dry dock to finish the work, the present invention includes the removable system of computer control, its edge, for example, the sidepiece of dry dock deck or other any large-scale working surface moves, and attached, automatic, hinged manipulator with and instrument and material concrete application system is provided effectively.Removable system is programmed with along the line and moves, this line can be by global positioning satellite system, laser guide navigation system or the determined dummy line of number sub-video picture systems, or the true line of temporarily or forever locating and fixing on the dry dock deck of hull.By using proper sensors, mobile system need obtain location or guiding data from dummy line or true line, and then by mobile system data is handled, and makes mobile system to move at working surface and with respect to working surface.This can finish by the surface measurement data that cooperate previous acquisition and processing.
After obtaining the surface measurement data, handle and the sequencing of mobile system transfer order, suitable instrument is selected for carrying out next task by system.Carry out the computer processes data received, think that treatment step determines optimum tool path.Driving arm upper end is designed to, and carries the various tool that the mode of utilizing interchangeable wrist connects.Single mobile system can be used to carry out mobile process by the instrument exchange, next step, and perhaps a plurality of mobile systems can independently keep different instruments, and in series carry out the maintenance preparation before the application.
When zone to be applied is suitably assessed, maintain and prepare and recovery, it comprises cleaning and surface preparation device, preferably super-pressure (UHP) water column (water jet) and the vacuum (-tight) housing that is used to reclaim, and the device that is used to filter used water and removal material.
Be included in a plurality of shower nozzles and sensor in the vacuum (-tight) housing structure in this disclosed application, be designed in the concern for the environment problem control and optimize the same application that applies.
Before application, clean and prepare for the target working surface for application usually.This step need be removed oxide, chloride, rust and other pollutant usually and be removed existing coating.Preferred surface preparation tool is in conjunction with the UHP water spray means, and debris collection device, water filtering device is provided and utilizes the EGR of vacuum (-tight) housing, and this is enough to satisfy environmental requirement.The instrument physical connection is to the articulated robot arm end, and when being connected to when being absolutely necessary different power transmission line concerning its operation, plays the effect of manipulation device (effector).Proper sensors is installed on the instrument, comes orientation tool and assists performing a programme to obtain real time data.
By robot program and utilize interchangeable wrist or, can realize physical connection automatically partly by means of the operation of technologically-monitoring system.In case on connecting, if be provided with, required UHP hydraulic grade, vacuum pipeline, filtration and re-circulation line can be connected or be connected by automatics by the technical staff.Utilize the previous surface measurement data that obtain, the system engages working surface is also instructed by computer in a predefined manner, to finish surface preparation procedure.Surface preparation tool is suitably located with respect to working surface in the mode that method therefor needs.Scope vertical and that horizontal movement speed is prepared by the surface determines, when evaluating automatically together by the real-time digital image processing or by personal monitoring's mode or both, these data are necessary.Because thereby each working surface can different propose unique requirement, so system wants and can operate automatically and under manual two patterns.Sometimes, actual service preparation procedure may require technician's intervention, carries out direct operator's control.This is necessary for the regional of special problem being arranged or may being difficult to arrive the section that therefore can't implement for automatics.Prepare relevant necessaries with the surface, kinetic pump and vacuum filter recirculating system or the like can simply place on the working region, are beneficial to service preparation procedure.Replacedly, equipment can be arranged on contacting with mobile system of closing on and on the mobile supply platform that moves.In case stage of surface preparation is finished and through suitably affirmation, application can begin to carry out.In aforesaid mode, the application instrument also physically is connected to robot end and plays the effect of end effector.If necessary, on liquid, air and electric power supply line all suitably are connected.Once more, this can and utilize the automated manner of interchangeable wrist to finish by the robot program, or following essential, can finish by means of the operation of technical staff's monitoring system.Suitable inductor is installed on the coated tool, to obtain real time data, is used for locating and assisting performing a programme, and guarantees homogeny the highest in the application and accuracy.The essential replenishment device relevant with the application program preferably is positioned at the center, is beneficial to the carrying out of surface preparation procedure.Replacedly, replenishment device can be arranged on the mobile supply platform of vicinity that contacts with make-up system and move.Be used for finishing automatic material and be included in the application equipment that is used to apply, so need not to stop coating procedure at the device of supply.In order to finish automatic re-supply, combine suitable measuring and controlling device in the system.
The equipment that comprises mobile system be not in dry dock or other facility or on permanent installation, enter the working region or remove by crane if necessary but can reduce.
System core requires the integration and the coordination of two main software programs.First programme-control is moved along processed mobile system, for example along fore and aft hull.The main task of second program is to keep tool location with respect to the surface that is applied.Instrument with respect to working surface location and move approaching, leave angle and speed depends on ongoing function and in order to make that operation is carried out and essential data of collecting automatically.The inductor of measuring paint thickness is incorporated in the automatic spray procedure, with the real-time report coating layer thickness, therefore can strengthen the control and the homogeny of application program.Software program can also comprise surface data collection subprogram, maybe can be individual components.All programs are interrelated, therefore have necessary interface each other, so that make desired operation of the present invention be achieved.Need treat manner of execution, the inspection step of process modestly, and avoid mistake.
With reference to accompanying drawing, along with the carrying out of declarative procedure, other purpose, adaptability and function of the present invention will manifest, in the accompanying drawing:
Description of drawings
Fig. 1 is the floor map of spray paint gun array, and this spray paint gun array is used at the bow of accepting coated hull;
Fig. 2 is the floor map of spray paint gun array shown in Figure 1, and it shows spray patterns, this pattern be used for upwards in abutting connection with pattern shown in Figure 1 and to the hull coating up to the further motion that arrives stern;
Fig. 3 is the further schematic diagram of the array of spray gun shown in Fig. 1 and 2, and it shows and is used for the blackwash sprayer that finishing operation uses; And
Fig. 4 is a schematic diagram, and it shows other assembly of the present invention, comprise mobile platform, trailer carrier, automatically the driving arm assembly and be installed in driving arm assembly end hull is cleared up the treatment bench of coating.
The specific embodiment
The present invention will eliminate or be reduced to minimum for the waste material that hull and other large-scale outdoor structure apply, and simultaneously, provide the same thickness in using.Application system of the present invention is full automatic substantially, therefore need not setting operation person on the mobile platform confession energy and that drive voluntarily, be used for when carrying out the coating function, controlling along coated hull or moving of other large scale structure sidepiece for platform.
As shown in the figure, mobile support platform 20 along one foregoing may be that true or virtual line 16 moves.As shown in Figure 1, for the outer surface for hull 21 applies, be provided with assembly unit or spray paint gun array 22.Along this array five blackwash sprayers 10,11,12,13 and 17 are arranged, wherein each can provide adjustable spray fan patterns.In order to use four blackwash sprayers that 45 inches wide spray patterns are provided, each blackwash sprayer will provide 18 inches wide fan pattern like this.This is to finish by the blackwash sprayer 10,11,12 and 13 of lateral alignment.Auxiliary gun 17 provides nine inches wide fan pattern through regulating.Therefore, as shown in Figure 1, from four blackwash sprayers 10,11,12 and 13 and the spray patterns of auxiliary gun 17 ejection, on the stem (stem) 24 of ship, provide 45 inches wide spray patterns that begin from the being seen left side of Fig. 1 with coated housing.Each blackwash sprayer 10,11,12,13 and 17 is vertically set on the working surface.Avoid collision through the blackwash sprayer spray patterns of fully biasing, so pattern can shallow trapezoidal (shallow echelon) or replace.
Suppose that for example, need 0.01 inch same thickness to be coated on the hull 21, initial, robot system left end inductor 14 is positioned hull 21 upper left corners.When the robot utilization be installed on the application system either side position sensor and during in the face of the shipboard portion that will apply, robot positions array 22, and feasible beginning is at the array 22 and the hull 21 parallel and blackwash sprayer sensing hulls 21 of hull 21 top forward edge.Spray paint gun array 22 is supplied paint, thereby when paint was sprayed onto the surface, each spray gun pattern stayed 0.005 inch paint thickness.As shown in Figure 1, the 18 inches wide scallops of each spraying in four blackwash sprayers 10,11,12 and 13, nine inches wide scallops of auxiliary gun 17 sprayings.When applying paint, array 22 moves vertically downward with the identical speed with respect to hull 21, keeps the same distance with ship 21, up to whole rectangular to 45 inches wide of water line 25 sprayings on hull 21.After reaching the vertical stroke end of waterline 25, spray paint gun array 22 is closed (secured), and 36 inches the water lines 25 that move right to hull 21, the paint supply of additional lances 17 is closed, and other blackwash sprayer is opened, by in abutting connection with along hull 21 and with the rectangular overlapping nine inches mode of as shown in Figure 2 the firm spraying vertical mobile spray paint gun array 22 that makes progress, feasible coating restarts, and moves to waterline 25 once more and finishes next rectangular spraying up to array 22.Arrive to the vertical stroke end of waterline 25, spray paint gun array 22 36 inches the water lines that move right once more to hull 21, the paint supply of blackwash sprayer is simultaneously closed, and by in abutting connection with along hull 21 and with the rectangular overlapping nine inches mode of the firm spraying vertical mobile spray paint gun array 22 that makes progress, feasible coating restarts, up to the rectangular arrival water line 25 that sprays in downward mode, so the stern that this process can proceed to the signal indication that utilizes inductor 15 has been arrived.If the stern part is more than water line, each rectangular so downward restriction is consistent with hull 21 longitudinal centre lines so.Last when rectangular in spraying, the blackwash sprayer of array 22 left-hand components cuts out or is adjusted into and is necessary to avoid spray.If desired, the last rectangular spraying of ship 21 right-hand sides can be postponed, for the finishing that allows blackwash sprayer 17 carry out subsequently.
When the edge thereon of ship 21 and when the spraying between water line 25 is finished downwards, be fit to another spraying that water line uses and be the coating of carrying out in mode same as described above between water line and keel, this coating may require the interim chosen keel blocks (keel block) of removing, with the coating of guaranteeing ship 21 downsides is complete, and perhaps program may provide and make the keel part be applied by blackwash sprayer 17 with the state of unitary part.
Some specific region that spray as mentioned above, can keep the finishing blackwash sprayer 17 to as shown in Figure 3.But this must not mean, the finishing zone can not be subjected to automatic spraying as the some of the employed original program of ship.Usually these zones are located on or near the stem and the stern of the ship that will spray, and the around openings such as the condenser coolant outlet of hull 21.Under each situation, with the needed coating layer thickness that uses such as 0.01 inch, unless on the specific region, may specify thicker coating.
It is emphasized that the robot application system along the finishing of hull 21 length strokes, need not on mobile platform 20 personnel to be set.Use the guidance system of ultrasonic wave, infrared ray, laser or other method to be installed on the chassis (chassis) of mobile platform 30, this guidance system can read reference locus (feference track) 16, this reference locus can be to be coated with wiring, laser rays, tape measure (tape line), or may be such as the dummy line of global position measurement system (GPS), LGPS or other method.By this way, the automatic motion of mobile platform 20 any other large scale structure that maybe will apply with respect to hull 21 can automation.When mobile platform 20 when reference line 16 moves, array 22 or be used for cleaning the location of the equipment of hull in order to prepare to apply, data by sensor 14 and 15 are controlled with respect to hull 21, perhaps, any other structure that will apply is by controlling by being operatively connected to the sensor of array 22 or by the miscellaneous equipment of controlling for driving arm 27.
Fig. 4 shows the schematic diagram of combiner of the present invention.An importance of the present invention is, it can provide the automatic processing for large scale structure, for example, and hull outside specifically.Before described structure coating, as mentioned above, need remove existing paint and cleaning body structure surface usually, for coat operations is prepared.Purpose in order to clean different structure and to apply for this structure has many systems.For instance, sand, be full of the gravel of fiber impact media (fiber blasting media), steel sand and other type of aluminium oxide, may be pushed to the surface that will spray, therefore can remove paint, the corrosion thing of existence and stick sea-plant and microorganism.Like this, sand or gravel or other impact media and removed material need to collect and dispose or filter recirculation.For hull, preferably use the super-pressure water column.For efficient system, spraying needs to hide, and the unnecessary water and the paint of removal and corrosive deposit filter together.Can recycle or be disposed through the water that filters.Dispose the material that from water, filters out in a suitable manner, but in some cases, also can be used as fuel or material recovery.
In Fig. 4, for exemplary purpose, can in scope widely, be considered as the array 22 of integral unit (assemblage unit), promptly as the device of removing paint and cleaning for the surface that will spray, in this case, play the material of removal effect, can be water or steel scrap sand,, shift from integral unit shown in Figure 4 22 with removed paint, corrosion thing etc., and can arrive container 35 by means of pipeline 37, carry out in circulation through the water that filters.This can provide pipeline 36 to finish.As previously mentioned, container 35 can be loaded in the transport vehicle (wagon) 31 that is drawn by mobile platform 20.Integral unit 22 must be in conjunction with the cover or other device that are used to collect from the material of being removed by the cleaning surface.Should be appreciated that integral unit 22 can be controlled, moving with the identical mode of discussing for the automatic coating process, except normal cleaning operation water line more than 25 or following all be the same.In coat operations, when understanding widely for the illustration purpose once more, container 35 comprises the paint that is used to apply hull.Normally, this is to finish by the paint tube of 50 entrained five gallon bottles of transport vehicle 31.Yet the container of any suitable type or any container can be used for this purpose.If use a plurality of bucket or other container, container needs the device that paint wherein can be carried in proper order so.For the purpose of cleaning or spraying, transport vehicle 20 is followed line 16 automatically and is moved, and no matter this line is the line of mark or virtual line.For cleaning operation, driving arm 27 is programmed to, and moves on the whole surface from stem post 24 to stern of ship 21 basically.In the spraying operating aspect, removed through pipeline 34 by vacuum source 32 by vacuum such as any paint that may escape from and be attached on the hull 21 of crossing spray, so they can be delivered in the container entrained on the transport vehicle 31 35.In Fig. 4, show keel blocks 40.Usually keel blocks is made of timber, and still, if it is removable and automatic, its dismounting and displacement can be arranged to the some as automatic system of the present invention so.They do not illustrate among Fig. 4 such as the opening that is used for grappling and condenser cooling water, though may appear on the one or both sides of ship.Yet if necessary, automatic cleaning equipment and finishing blackwash sprayer 17 can be such opening, to a certain extent, provide automatic cleaning and automatic coating in these around openings.
At the provisional application No.60/540 of this reference, 623 and existing patent publications be hereby expressly incorporated by reference.The design of computer program and driving arm also is very familiar to those skilled in the art.Though the initial step that the UHP water ejector is prepared for sprayed surface is preferred device, other known procedure also can be used, as the abrasive jet cleaning with sand or grit (comprising steel sand).Also can utilize and use the various known method that applies, comprise that no gas (airless) applies, has the no gas (air assisted airless) of gas assistance to apply, have gas coating, rotating disc coating (spining disc), triangle or fan-shaped spray, circle or oval spray pattern to apply and the conic jet pattern applies.Coating may be priming paint, anti-soil, erosion-resisting, powdery, metal, such as being similar to the nickel flame coating that specified being used to of Corps of Engineers applies bridge, polyurethane, polymer, epoxy resin and other coating well known in the prior art also can use.Coating can act on usually the electric charge in 50,000 to 100,000 volt range, so its adhesive force for the ground connection fibre reinforced plastic hull has improved.For the coating that is designed to heat, can adopt the fusing heater of suitable thermal source, for example laser instrument is as the parts of Spray painting tool.Therefore the present invention is not only applicable to conventional washcoat material, and can be applicable to non-traditional materials by non-traditional mode.Can also further understand, though the preferred embodiments of the present invention can have other reorganization and correction within the scope of the appended claims with open.
Claims (64)
1. automatic processing device that is used for the large scale structure surface comprises: unmanned computer control mobile platform is suitable for along moving near the line of described structure; The computer control arm that articulates is installed on described platform, and described arm end ends at toggle mechanism, on it different surface treatments or survey tool can be installed optionally; And sensor, it operationally is connected with each described instrument, thus each described instrument with respect to the relation that is provided with on described surface by computer control.
2. device according to claim 1, wherein, described instrument comprises the application apparatus that is used for applying to described surface coating.
3. device according to claim 2, wherein, described application apparatus comprises the array of a plurality of application rifles.
4. device according to claim 3 is included at least two application rifles in the described array, each described rifle, and in the mode of overlapping pattern, coating will be by the coating of described surface reception.
5. device according to claim 4, wherein, described pattern overlapping to 50%.
6. according to the described device of claim 4, wherein, when when the direction that is parallel to described surface is seen, the spray paint profile that ejects from each described rifle is a triangle.
7. device according to claim 5, wherein, each described profile is fan-shaped.
8. device according to claim 4, wherein, a rifle in the described rifle is independent of other described rifle and is controlled, to carry out grooming function.
9. device according to claim 4, wherein, a rifle in the described rifle is subjected to independently controlling with respect to other described rifle, to carry out miscellaneous function.
10. device according to claim 1, wherein, described line comprises the discernible dummy line from GPS of computer.
11. device according to claim 1, wherein, described line comprises the discernible dummy line from cad file information of computer.
12. device according to claim 1, wherein, described line is the discernible dummy line from digital picture of computer.
13. device according to claim 1, wherein, to be that computer is discernible be positioned at temporary track on the described surface with described line, and described mobile platform moves on described line.
14. device according to claim 1, wherein, to be that computer is discernible be positioned at described lip-deep line to described straight line, and described mobile platform moves on described line.
15. device according to claim 4, wherein, at least one described instrument comprises a plurality of application rifles, and it has spray pattern, described a plurality of application rifle is included on the essentially identical horizontal plane and has skew, and described skew is essential for the collision of avoiding spray paint.
16. device according to claim 3, wherein, at least one in the described rifle is the application rifle, and its place that needs on described surface to apply produces circular.
17. device according to claim 1, wherein, at least one in the described instrument comprises application rifle array, and it produces spray pattern, about 50% of overlapping its width of described spray pattern.
18. device according to claim 1, wherein, in the described instrument at least one comprises application rifle array, described array is subjected to computer control, keep essentially identical distance with essentially identical speed and with described surface and with respect to moving on described surface, thereby the coating that sprays from described rifle array that receives on the described surface has essentially identical thickness.
19. device according to claim 1, wherein, in the described instrument at least one comprises surface cleaning tool, it is removed existing coating, corrosion thing, iron rust and is attached on described lip-deep other material from described surface, described instrument like this comprises cover, avoids attaching to used substance escaping in the described material on described surface and the cleaning process basically and near entering in the air.
20. device according to claim 1, wherein, at least one in the described instrument comprises: a plurality of application rifles, and it sprays coating material to described surface; The cover that is used for described rifle, itself and described surface keep at interval, and stop coating material to escape into the surrounding air from described cover; Device for vacuum generation, it may be operably coupled to described cover, and the coating material that is used for not attaching to described surface is scavenged into the position away from described cover.
21. device according to claim 1, it comprises at least one instrument, and it has the distance sensor that is operably connected on it, is used for measuring in real time when being applied to described surface coating layer thickness; And the coating layer thickness adjusting device, it controls the thickness that is applied to described lip-deep coating material in real time based on the data that receive from described distance sensor.
22. device according to claim 1, wherein, at least one instrument comprises another sensor in the described instrument of described surface-coated coating, the wet edge of the coating that formerly applies that its identification is applied by described instrument also provides data for the computer of controlling described device, thereby motion by the such instrument of computer control, utilize further applying and the equitant coating of coating formerly of such instrument, so that for the uniformity maximization of the application on described surface, and then an overlapping lap between applying coating and the described coating that applies subsequently by described instrument formerly, described lap makes the uniformity maximization of the thickness that is coated to described lip-deep described coating.
23. device according to claim 1, wherein, being used in the described instrument cleans described surface and for accepting at least one instrument that coating material is prepared, is provided with vacuum (-tight) housing, its stop cleaning material and be cleaned material escape near in the air.
24. device according to claim 23, wherein, described cleaning material comprises and is ejected into described lip-deep super-pressure current.
25. device according to claim 23, wherein, described cleaning material comprises the combination of water and abrasive material.
26. device according to claim 23, wherein, described cleaning material comprises and is ejected into described lip-deep abrasive material.
27. device according to claim 23, wherein, described cleaning material comprises sponge injection grit blast.
28. device according to claim 23, wherein, described cleaning applies to ablate by laser and finishes.
29. device according to claim 1, wherein, at least one in the described instrument is surface cleaning tool, and described surface preparation tool operationally is connected with another sensor that is used for measuring described surface profile and cleannes.
30. device according to claim 1, comprise the surface measurement device, its device by being made up of the measurement of audio frequency table or digital camera or laser mapping device or ultrasonic wave coating thickness measurement device or any combination in them is measured the integrality on described surface.
31. device according to claim 1, it comprises the surface measurement device, and it measures the integrality on described surface.
32. one kind is used for the device that large-scale outdoor structural outer is handled automatically, comprises: unmanned mobile platform is suitable for moving along the line that is provided with in abutting connection with described structure; The computer control arm that articulates is installed on described platform; By the cover assembly unit of described arm carrying, described unit operationally is connected with sensor, and described sensor is controlled the distance and bearing on described unit and described surface by controlling described driving arm; And the surface treatment part in described unit, being used for cleaning or applying described surface, described unit is subjected to computer control to carry out moving automatically, thus described driving arm remains described surface treatment part parallel with described surface and with described spaced.
33. device according to claim 32, wherein, described assembly unit comprises the array of a plurality of blackwash sprayers.
34. device according to claim 33, wherein, at least two blackwash sprayers send fan-shaped coating injection in described array, and at least one in the described rifle carried out grooming function.
35. device according to claim 1, wherein, described line is the discernible dummy line from GPS of computer.
36. device according to claim 32, wherein, described array comprises a plurality of blackwash sprayers, and wherein their spray pattern is arranged on the same horizontal plane basically.
37. device according to claim 32, wherein, the described spray pattern of the adjacent blackwash sprayer in described array is fan-shaped, and overlapping its width about 50%.
38. according to the described device of claim 37, wherein, the described array of blackwash sprayer moves with respect to described surface with essentially identical speed, therefore the described coating that is received on the described surface has essentially identical thickness.
39. coating automatic coating method that is used for large-scale outdoor structural outer, be used for for the overlapping coating of basic belt on the described structural outer surface, described method comprises step: with the described spaced surface same distance mobile spray paint gun array in ground and to the fan-shaped application pattern of described jet surface, thereby adjacent described pattern overlaps each other about 50%, therefore, on whole described lip-deep described being with, has essentially identical coating layer thickness, when using said method, keep described array fully with described spaced, and move described array with respect to described surface with essentially identical speed, described array operationally is connected with the sensor of distance on described surface under it with the described array of induction, when using said method, support described array by driving arm, remain described distance basic identical, described driving arm is installed on the pilotless mobile platform, described driving arm closes on described structure as required and moves, be used for adjacent described band application being added coating by described array, and with the overlapping identical distance of the adjacent patterns of adjacent blackwash sprayer.
40. according to the described method of claim 39, wherein, by some biasing a little of the adjacent described adjacent patterns that corresponding blackwash sprayer sprayed, with the sprayed on material of avoiding described corresponding blackwash sprayer to be sprayed a large amount of collisions takes place.
41. according to the described method of claim 40, wherein, described pattern offsets with respect to each with shallow trapezoidal arrangement.
42. according to the described method of claim 39, wherein, described structure is the ship on dry dock, wherein, has mobile platform, described mobile platform guides its motion by the line of the longitudinal axis that is basically parallel to described ship, described mobile platform carries and is articulated with computer-controlled arm, described array is supported on the end of described arm, described arm with the motion basic controlling of described array between keel and upper deck edge, described mobile platform moves along described line, applies adjacent described band so that described array is located.
43. according to the described method of claim 39, wherein, the coating of the described ship hull that is undertaken by the blackwash sprayer that is installed in the described array is to finish corresponding to the lock out operation of part more than the water line of described hull and the part below the described hull water line.
44. according to the described method of claim 39, wherein, cover is set above described spray paint gun array, when using said method, described cover is connected to vacuum plant, and removes all other coating that does not attach to described structure of crossing spray and spraying from described blackwash sprayer basically by described vacuum plant.
45. an automatic selection treating apparatus that is used for the large scale structure surface comprises: computer control system; Unmanned computer control mobile platform, its line that is suitable for being provided with along contiguous described structure moves; The computer control arm that articulates is installed on the described platform, the terminal termination toggle mechanism that described arm is farther, and chosen surface treatment and survey tool are suitable for being installed on the described toggle mechanism; A plurality of sensors, operationally be connected with described computer control system, thereby described sensor is collected the data that described surface treatment and survey tool need utilize, make described computer control system replace and operate described instrument, to carry out the described automatic processing function associated with large scale structure, comprise after finishing for the cleaning of described structure and cleaning coating for described structure.
46. according to the described device of claim 45, wherein, described surface treating implement comprises the coating application apparatus, it comprises the array of a plurality of application of paints rifles.
47. according to the described device of claim 46, wherein, in the described application of paints rifle in the described array at least two produce the circular pattern that applies on the surface of described structure.
48. according to the described device of claim 46, wherein, in the formed described application of paints at least two provide fan-shaped spray.
49. according to the described device of claim 46, wherein, at least one in the described rifle plays auxiliary or grooming function.
50. according to the described device of claim 45, wherein, described line is the discernible dummy line from GPS of computer.
51. according to the described device of claim 45, wherein, described line is the discernible dummy line from cad file information of computer.
52. according to the described device of claim 45, wherein, described line is the discernible dummy line from digital picture of computer.
53. according to the described device of claim 45, wherein, to be that computer is discernible be attached to described lip-deep impermanent line with described line, described mobile platform moves on described line.
54. according to the described device of claim 45, wherein, to be that computer is discernible be attached to described lip-deep permanent line with described line, described mobile platform moves on described line.
55. according to the described device of claim 45, wherein, described line is the discernible line of computer, comprise dummy line from GPS, or from the dummy line of cad file information, or from the discernible dummy line of the computer of digital picture, or the described lip-deep temporary track that moves thereon of described mobile platform, or the mobile thereon described lip-deep permanent line of described mobile platform, or their any combination.
56. according to the described device of claim 45, wherein, described array comprises a plurality of application rifles, wherein their spray pattern connects together and is in substantially on the same horizontal plane, and does not have the collision by the sprayed on material that described rifle sprayed basically.
57. according to the described device of claim 56, wherein, about 50% of overlapping its width of spray pattern of described application of paints rifle.
58. according to the described device of claim 46, wherein, the described array of described application of paints rifle is with essentially identical speed, move with respect to described surface at a distance of certain distance ground with the described surface of coated described structure, so the coating that described surface received has essentially identical thickness.
59. according to the described device of claim 45, wherein, in the described instrument one utilizes the super-pressure water column to spray and the instrument that cleans described body structure surface.
60. according to the described device of claim 57, wherein, described super-pressure water column spraycan comprises cover, is used to stop near the atmosphere material contamination of being removed from described surface by described instrument, and described material filters from described water and through biological oxidation.
61. according to the described device of claim 58, wherein, through described water further use in being circulated in described super-pressure purging system of described filtration.
62. according to the described device of claim 45, comprise the cover that is connected to vacuum system, be used for substantially preventing spraying and escape near atmosphere.
63. according to the described device of claim 45, wherein, described structure is a ship.
64. according to the described device of claim 45, wherein, described instrument comprises: the solid injection applicator assembly; The no gas applicator assembly that has gas to assist; The gas applicator assembly is arranged; Dried particulate applies ejection assemblies, and it comprises the device that heats in position and melt coating; Metal flame ejection assemblies; The electrostatic coating assembly; Or the instrument of comprehensive above-mentioned instrumental function, and described instrument also comprises the injection of super-pressure water column, abrasive jet instrument, is full of the fiber jet medium instrument of aluminium oxide or with the comprehensive instrument in an instrument of above-mentioned cleaning function.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US54062304P | 2004-02-02 | 2004-02-02 | |
| US60/540,623 | 2004-02-02 | ||
| US11/046,865 | 2005-02-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1976755A true CN1976755A (en) | 2007-06-06 |
Family
ID=38126287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580007115 Pending CN1976755A (en) | 2004-02-02 | 2005-02-02 | Cost effective automated preparation and coating method for large surfaces |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1976755A (en) |
| ZA (1) | ZA200606906B (en) |
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| CN102821877A (en) * | 2009-12-17 | 2012-12-12 | 杰克逊Msc有限责任公司 | Warewashing system arm |
| CN104624429A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Spraying robot for surface of ship body |
| CN105772295A (en) * | 2016-05-24 | 2016-07-20 | 李富平 | Automobile spraying equipment capable of inducing spraying distance |
| CN105880064A (en) * | 2016-06-17 | 2016-08-24 | 佛山市联智新创科技有限公司 | Spraying equipment for colored paint |
| CN106079898A (en) * | 2016-07-18 | 2016-11-09 | 张海军 | A kind of novel intelligent spray drawing machine for furniture |
| CN106256446A (en) * | 2015-09-24 | 2016-12-28 | 耘创九州智能装备有限公司 | flexible character intelligent selection system |
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| CN107442340A (en) * | 2017-07-25 | 2017-12-08 | 广东加德伟自动化有限公司 | A kind of unmanned body section Painting Shop system of intelligent robot |
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2005
- 2005-02-02 CN CN 200580007115 patent/CN1976755A/en active Pending
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| CN104624429A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Spraying robot for surface of ship body |
| CN106362913A (en) * | 2015-07-21 | 2017-02-01 | 丰田自动车株式会社 | Electrostatic painting method |
| CN106256446B (en) * | 2015-09-24 | 2019-08-30 | 耘创九州智能装备有限公司 | Flexible character intelligent selection system |
| CN106256446A (en) * | 2015-09-24 | 2016-12-28 | 耘创九州智能装备有限公司 | flexible character intelligent selection system |
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