EP0165911A2 - Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock - Google Patents

Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock Download PDF

Info

Publication number
EP0165911A2
EP0165911A2 EP85830133A EP85830133A EP0165911A2 EP 0165911 A2 EP0165911 A2 EP 0165911A2 EP 85830133 A EP85830133 A EP 85830133A EP 85830133 A EP85830133 A EP 85830133A EP 0165911 A2 EP0165911 A2 EP 0165911A2
Authority
EP
European Patent Office
Prior art keywords
platform
sandblasting
washing
painting
trolley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85830133A
Other languages
English (en)
French (fr)
Other versions
EP0165911B1 (de
EP0165911A3 (en
Inventor
Rosario Scuderi
Piero Lumachi
Enzo Bolcato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vianova SpA
Original Assignee
Vianova SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vianova SpA filed Critical Vianova SpA
Priority to AT85830133T priority Critical patent/ATE59172T1/de
Publication of EP0165911A2 publication Critical patent/EP0165911A2/de
Publication of EP0165911A3 publication Critical patent/EP0165911A3/en
Application granted granted Critical
Publication of EP0165911B1 publication Critical patent/EP0165911B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces

Definitions

  • the present invention relates to a robot platform for washing, sandblasting, and painting in shipbuilding dry dock and related method of actuation.
  • the invention is particularly suitable for use in the washing, sandblasting, and painting of vessels in dry docks.
  • platforms are well known on articulated arm mounted on trolley sliding lengthwise along the sides of the dry dock or shipbuilding dock provided with manual movement control at the platform side and with operators on the platform using known manual equipments, such as washing nozzles, sandblasting nozzles and spray guns.
  • the invention as claimed is intended to provide a remedy to the above-mentioned disadvantages. It solves the problem providing an automatized revolving platform mounted on swinging shortenable and extensible articulated arm further mounted on a trolley structure sliding horizontally along the sides of the shipbuilding dock or dry dock, and in which on said platform at least three operative units for washing, sandblasting and painting are further mounted provided with extracting and recovery means of waste and/or pollutants (sandblasting dusts, painting steam, etc.) and in which at least one painting unit is placed on one longer side of the platform with spraying means movable along same, the whole being controlled by program control unit or robot remote-control either on said trolley structure or in fixed position on said dry or shipbuilding dock.
  • waste and/or pollutants sandblasting dusts, painting steam, etc.
  • said trolley structure is operatively connected to a "tender" trolley suitable for transporting all the equipments and materials necessary to the robots located on the platform.
  • a convenient embodiment of the invention provides essentially a support arm structure supporting said platform, said support arm being connected articulated to a trolley structure consisting of two upper trolleys and one lower trolley.
  • the assembly is suitable for accomplishing the functions corresponding to the various washing, sandblasting, and painting phases as well as for providing, by means of an extracting plant, to the recovery of dusts, the whole being automated.
  • the washing unit is designed to operate in fully automatic way on the vessel broadsides.
  • the use of water at a pressure of about 250 - 300 bars allows to reach about 700 sq m/h productivity.
  • the moto pump unit conveniently sized, is placed at a distance of about 60 m from the nozzles.
  • the supply includes all the equipment such as hoses, nozzles, pipe fittings, etc.
  • the sandblasting unit is conveniently designed to operate in fully automatic way on the vessel broadsides, with a productivity equal to about 70 sq m/h.
  • the sandblasting nozzles are mounted on a special support integral with the revolving platform.
  • the automatic control ensures continuous working system and uniformaty of jets.
  • the support frame of the sandblasting nozzles made of strong rolled steel sections, is constructed in such a way as to be able to tilt the nozzles by simple two fixed position movement of a pneumatic cylinder.
  • the nozzles are Ventury- type nozzles, with tungsten carbide exits.
  • the diameter may vary from 6 to 8 mm and length from 100 to 150 mm.
  • the distance and arrangement of the nozzles from the vessel broadside is constant and convenient.
  • the facilities machines, including sand silos are placed at a distance of about 60 m from the operative head.
  • the plant comprises sand silo, sandblasting machines complete with valves, pipes and pipe fittings, all mechanical equipment and carpentry for support and automatic positioning of the sandblasting unit, movement pneumatic cylinders, fuel mixture feed pipes, flow control valves, etc..
  • a high head dust extracting plant is further provided also placed at a distance of about 60 m and is connected direct to the metal covering case within which the sandblasting head is situated. Constant suction pressure allows removal of dusts produced during working as well as partial recovery of the sand used.
  • the dust extracting plant obviously includes also a cyclone separator, filters, and pipe fittings.
  • the painting unit is designed to operate in fully automatic way on the vessel broadsides, with a productivity equal to about 700 sq m/h based on 50 micron thickness. All equipments, except spray guns, are placed at a distance of about 60 m from the revolving platform.
  • the nozzles are mounted on a suitable trolley which moves backwards and forwards and is capable of two-way painting.
  • the automatic control ensures economical spraying system and uniform paint application, thus reducing waste to a minimum.
  • the nozzles, two in number, with relative supports, are placed on a painting trolley suspended from four points by means of ball bushings running on cylindrical hardened and tempered steel rails. The full extent of such rails is covered so as to protect same against paint. Covering is easily removable.
  • the painting trolley is operated by fluid-dynamic motor. All supports for cables and tubes are provided. The distance of the nozzles from the vessel broadside is constant and about 300 mm measured along the paint spray.
  • the movement of the platform supporting arm and relative support trolley structure is integrated by the translation of the trolley carrying the spray guns which is placed on the platform and which will be rotated for this purpose with the respective side against the vessel surface to be painted.
  • Such trolley must have conveniently flexible movements so as to adapt to the various painting requirements.
  • the equipment will be obviously known to those skilled in the art and will work preferably by airless spraying in order to operate with all types of paints available on the market.
  • the plant is operated by high pressure pump and is provided with paint recirculating system, thus obtaining a considerable advantage with respect to everyday cleaning.
  • the equipment comprises a high pressure air-lift pump, compressed air treatment unit, pneumatic hoister, plenum chamber, filters, etc. and is provided with all the necessary pressure gauges, valves, and unions, and the plant will obviously be completed with all pipes and necessary pipe fittings for connecting pump with nozzles, as well as with air-operated agitator, with bladed propellers provided with speed regulator in accordance with well known prior art.
  • Autoshifter motion and operation of washing, sandblasting, and painting plants can be fully automatized. Such automation is ensured by four-axis hardware medium managed by dedicated microcomputer executing and controlling all operations as shown in tables 1 and 2 as set forth below.
  • the hardware medium is suitable for the simultaneous control of four independent movements and management of all the tasks of the separate plants.
  • Hardware is used by suitable software in order to ensure all process of motion, operating and control so as to make the operative machines fully autonomic.
  • Executive software contains special parameters related to the machine and control operating. These data are stored and assisted by battery should a blackout occur. Address information received from the input data selects the axis to be positioned and provides command for motion thereof. Information received from input data provides command for the execution of movements.
  • the trajectory along which the unit moves is controlled by function generators with linear or circular interpolation depending on the selection executed by the preparatory functions. The generators supply simultaneous positioning commands to the axes concerned. Movements are kept under constant control by servomotors for maintaining the actuated positions.
  • the feedback unit indicates the error between the machine position and the controlled position. Any difference between the two values, representing the position error delivers to the servomotor a signal which moves said servomotor so as to correct such position error.
  • the control has on-line self-checking system which clearly indicates errors or malfunction.
  • the platform includes the following devices and elements:
  • the platform is carried out by using strong section bars and plates and is provided with the necessary eyebolts for easy transport by means of crane to the operating site.
  • the invention consist of a support structure for use in a dry dock A, within which a vessel hull S is situated.
  • the structure A internally and sideways externally opposite to the hull S, is provided with two sliding rocking trolley means connected between them B,B' supporting arm C and platform D and tender/go-devil respectively .
  • the support structure A consists of a steel framing which supports the whole machine. On the top thereof the trolley means B,B' hang sliding from guides 1 and on the bottom slide on guides 2.
  • the washing motor pump 4, painting unit 5, sandblasting unit provided with silos 6, sandblasting machines 7, and dust extracting plant 8 are placed on the tender trolley means B'.
  • the rotation unit of the arm C is housed with relative motor and rocking unit of said arm with articulated supports of the hoisting cylinders. All the motion motors, electric and hydraulic systems, and fluid-dynamic power gearcase with the main motor which may be electric/diesel or diesel/electric motor are also housed on said structure.
  • the upper structures relative to the trolley means B and B' are made of steel structural work, mechanically worked. All the vertical stresses of the machine, all the horizontal stresses in traverse direction, and part of the transversal stresses resulting from eccentric loads when the machine is working discharge on said upper structures.
  • Each trolley means is secured to the structure by means of special non-stiff bearing, the function of which is to make the system statically determined.
  • Each trolley means is provided with: horizontal axis wheels, vertical axis wheels 3, an effective antiderailment mechanical lock system for safety purpose, fluid-dynamic operated motor reducers for the sliding of the whole machine.
  • the lower structures of the trolley means B and B' are made of strong steel structural work, mechanically worked. All the horizontal stresses in direction opposite to traverse, and part of the torsional stresses resulting from eccentric loads when the machine is working discharge on said lower structures. Also this portion of trolley means is secured to the structure by means of special non-stiff bearing, the function of which is to make the system statically determined. Said portion of trolley means is provided with vertical axis wheels 3 and another effective mechanical lock system for safety purpose.
  • the swinging arm C is made of a strong steel structural work, mechanically worked. On the top thereof the unit for rotating the work platform D is housed. On the bottom there are: the vertical axis system for rotating said arm, a vertical axis thrust bearing system, the motion motor reducer.
  • the arm is provided with linkage arranged so as to keep the work platform D horizontal, whatever the inclination of the arm. On the top of the arm, steps to reach the platform are placed, protected by a double row of grab rods. At the interior and at the bottom of the arm all the tubes and electric cables necessary to the treatment plants are housed.
  • the work platform D is made of a strong steel structural work. At the bottom thereof the rotation unit and operating motor reducer are housed with all the safety locks. At the sides of the platform, on suitable structures acting also as grab rods there are: the sandblasting nozzles 8, orientable and movable by motor means 9, sand collector 10, trolley 11 supporting spray guns 12 and provided with motion system therefor by fluid-dynamic motor and rack, including limit switches, solenoid valves, sensors, etc.. At the side supporting the sandblasting nozzles 8, the hood is placed for extracting the sandblasting residual dusts 10.
  • washing unit 13 is situated as well, provided with suction sump 14, operating alternately (either one or the other).
  • the respective feeding and positioning sensors 15 are obviously installed, controlling the position of the platform and operative units according to the vessel hull being treated.
  • the washing cycle being completed the machine is positioned for starting the sandblasting phase.
  • the sandblasting head 8 is placed at the same side of the mobile platform where the washing nozzles 13 are mounted.
  • the solenoid valves controlling the inlet of air-grit mixture open and the plant starts the sandblasting operation with all the nozzles working in accordance with the same operating cycle as described far the washing phase.
  • the nozzle holder head is housed within a metal covering case 10; the interior of said case is constantly vacuum in order to avoid outlet of dusts and recover partially the sand used.
  • the sandblasting cycle being completed, the whole mobile platform D rotates by 90° thus presenting the longer side parallel to the vessel broadside.
  • a frame is placed complete with rails on which a trolley 11 runs supporting two spray guns for airless spraying 12.
  • the machine is positioned on an edge of the vessel broadside.
  • the trolley translates, spraying lengthwise the vessel broadside for a portion equal to the working stroke of said trolley (about 3 meters).
  • the coat being completed, the whole machine lowers along the same path for a portion equal to the length sprayed in one coat.
  • the trolley translates, still spraying, in opposite direction.
  • the cycle repeats as far as the end of the vertical path along the vessel broadside; the same cycle is then repeated on a path adjacent the preceding one.
  • Working on rounded portions in longitudinal direction is corrected by rotating the mobile platform controlled by convenient transducers.
  • the sandblasting nozzles are positioned by predetermined inclination upward whenever the lower sensor of the sandblasting head signals that the surface to be painted is too remote from the working distance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Road Repair (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Manipulator (AREA)
EP85830133A 1984-06-22 1985-06-04 Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock Expired - Lifetime EP0165911B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT85830133T ATE59172T1 (de) 1984-06-22 1985-06-04 Verfahren und robotplattform zum waschen, sandstrahlen und streichen in einem schiffsdock.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT83373/84A IT1181188B (it) 1984-06-22 1984-06-22 Piattaforma robotizzata per lavaggio, sabbiatura e pitturazione in bacino di carenaggio e costruzione per natanti
IT8337384 1984-06-22

Publications (3)

Publication Number Publication Date
EP0165911A2 true EP0165911A2 (de) 1985-12-27
EP0165911A3 EP0165911A3 (en) 1987-09-09
EP0165911B1 EP0165911B1 (de) 1990-12-19

Family

ID=11320927

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85830133A Expired - Lifetime EP0165911B1 (de) 1984-06-22 1985-06-04 Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock

Country Status (5)

Country Link
EP (1) EP0165911B1 (de)
AT (1) ATE59172T1 (de)
DE (1) DE3580941D1 (de)
DK (1) DK569484A (de)
IT (1) IT1181188B (de)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2603219A1 (fr) * 1986-08-30 1988-03-04 Schlick Roto Jet Masch Dispositif a cage de grenaillage mobile, pour nettoyer des surfaces d'objets de grandes dimensions.
FR2612875A1 (fr) * 1987-03-26 1988-09-30 Vanek Michel Procede et dispositif pour nettoyer, lustrer et carener les bateaux, a flot
EP0597643A1 (de) * 1992-11-12 1994-05-18 Mmc Compliance Engineering, Inc. Verfahren und Vorrichtung zur Flächenbehandlung im Freien
WO1994023993A1 (en) * 1993-04-20 1994-10-27 Widenhammar, Rustan Boat hull cleaning apparatus
EP0760336A1 (de) * 1995-07-06 1997-03-05 HEINRICH SCHLICK GmbH Vorrichtung zum Auftragen von Flüssigkeiten auf eine Wandfläche
WO1997048527A1 (en) * 1996-06-21 1997-12-24 Ilias Antonaros Nozzles fitted on bar mechanism for treating steel surfaces
US5720069A (en) * 1993-08-31 1998-02-24 Putzmeister-Werk Maschinenfabrik Gmbh Arrangement for surface treatment, especially the cleaning of the surfaces of large objects
WO1998051452A1 (en) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Enabling process control technology for automated dry media depaint system
EP1103310A1 (de) * 1999-11-23 2001-05-30 Visions East, Inc. Rechnergesteuertes Verfahren und Vorrichtung zum Glätten und Lackieren der Aussenflächen von Schiffen
FR2802127A1 (fr) * 1999-12-09 2001-06-15 Biodecap Ind Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
CN101284264B (zh) * 2007-04-11 2011-06-22 刘雨盈 智能型汽车底盘喷漆装置
ITMO20100263A1 (it) * 2010-09-21 2012-03-22 Vincenzo Rina Apparecchiatura per la verniciatura di scafi di imbarcazioni navali o simili
CN108127571A (zh) * 2018-02-23 2018-06-08 湖南云思智能科技有限公司 一种自动输送式钢板双面液体喷砂机
CN113173229A (zh) * 2021-05-07 2021-07-27 重庆锕维科技有限公司 一种具有收集功能的水下清理机器人
CN113997206A (zh) * 2021-10-11 2022-02-01 中船澄西船舶修造有限公司 一种轮船水雾喷砂装置
CN115195950A (zh) * 2022-07-28 2022-10-18 广东英诺威盛科技有限公司 一种用于海洋平台喷漆的无人船及其控制方法
WO2023115538A1 (zh) * 2021-12-24 2023-06-29 无锡市东舟船舶设备股份有限公司 大型船舶用门板加工用同步除尘设备

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107584424A (zh) * 2016-07-07 2018-01-16 上海交通大学 用于船体外板的表面除锈系统
US10780550B2 (en) 2018-01-11 2020-09-22 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings
US11027396B2 (en) 2018-01-11 2021-06-08 Anthony Cibilich System for blast-cleaning a barge bottom
CN111617913B (zh) * 2020-06-19 2024-04-16 侯马市风雷管模制造股份有限公司 一种铸铁管离心铸造用全自动喷涂装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1577821A1 (de) * 1964-01-08 1969-09-25 Hans Leistner Vorrichtung zur Durchfuehrung von Oberflaechenbehandlungen an Grossflaechen am Montageort
DE1659653A1 (de) * 1966-07-16 1970-05-14 Cammel Laird Shiprepairers Ltd Einrichtung fuer Spritz-,Bewurf-,Anstrich-,Reinigungs- und aehnliche Zwecke bei Grossbauten,insbesondere ueberhaengenden Schiffswaenden
DE2134281B2 (de) * 1971-07-09 1972-06-29 Hammelmann, Paul, 4740 Oelde Geraet zum reinigen oder konservieren von senkrechten oder geneigten flaechen, insbesondere von bordwaenden
FR2324490A1 (fr) * 1973-12-11 1977-04-15 Delnoz Maastrich Maschf Installation pour le traitement du borde d'un navire
DE2849040A1 (de) * 1978-11-11 1980-05-22 Paul Hammelmann Geraet zum reinigen oder konservieren von senkrechten oder geneigten flaechen, insbesondere schiffsbordwaenden
DE3027677A1 (de) * 1980-07-22 1982-02-11 Paul 4740 Oelde Hammelmann An einer laengswand eines trockendocks selbstfahrendes geraet zum warten, reparieren, reinigen und/oder anstreichen von bordwaenden eines schiffes
US4445451A (en) * 1980-08-14 1984-05-01 Stork Services B.V. Dock device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1577821A1 (de) * 1964-01-08 1969-09-25 Hans Leistner Vorrichtung zur Durchfuehrung von Oberflaechenbehandlungen an Grossflaechen am Montageort
DE1659653A1 (de) * 1966-07-16 1970-05-14 Cammel Laird Shiprepairers Ltd Einrichtung fuer Spritz-,Bewurf-,Anstrich-,Reinigungs- und aehnliche Zwecke bei Grossbauten,insbesondere ueberhaengenden Schiffswaenden
DE2134281B2 (de) * 1971-07-09 1972-06-29 Hammelmann, Paul, 4740 Oelde Geraet zum reinigen oder konservieren von senkrechten oder geneigten flaechen, insbesondere von bordwaenden
FR2324490A1 (fr) * 1973-12-11 1977-04-15 Delnoz Maastrich Maschf Installation pour le traitement du borde d'un navire
DE2849040A1 (de) * 1978-11-11 1980-05-22 Paul Hammelmann Geraet zum reinigen oder konservieren von senkrechten oder geneigten flaechen, insbesondere schiffsbordwaenden
DE3027677A1 (de) * 1980-07-22 1982-02-11 Paul 4740 Oelde Hammelmann An einer laengswand eines trockendocks selbstfahrendes geraet zum warten, reparieren, reinigen und/oder anstreichen von bordwaenden eines schiffes
US4445451A (en) * 1980-08-14 1984-05-01 Stork Services B.V. Dock device

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2603219A1 (fr) * 1986-08-30 1988-03-04 Schlick Roto Jet Masch Dispositif a cage de grenaillage mobile, pour nettoyer des surfaces d'objets de grandes dimensions.
FR2612875A1 (fr) * 1987-03-26 1988-09-30 Vanek Michel Procede et dispositif pour nettoyer, lustrer et carener les bateaux, a flot
EP0597643A1 (de) * 1992-11-12 1994-05-18 Mmc Compliance Engineering, Inc. Verfahren und Vorrichtung zur Flächenbehandlung im Freien
TR28932A (tr) * 1992-11-12 1997-08-04 Mmc Compliance Eng Inc Gemilerin tekneleri üzerinde dis yüzey calismasinin gerceklestirilmesi icin yöntem ve aygit.
WO1994023993A1 (en) * 1993-04-20 1994-10-27 Widenhammar, Rustan Boat hull cleaning apparatus
US5720069A (en) * 1993-08-31 1998-02-24 Putzmeister-Werk Maschinenfabrik Gmbh Arrangement for surface treatment, especially the cleaning of the surfaces of large objects
EP0760336A1 (de) * 1995-07-06 1997-03-05 HEINRICH SCHLICK GmbH Vorrichtung zum Auftragen von Flüssigkeiten auf eine Wandfläche
WO1997048527A1 (en) * 1996-06-21 1997-12-24 Ilias Antonaros Nozzles fitted on bar mechanism for treating steel surfaces
WO1998051452A1 (en) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Enabling process control technology for automated dry media depaint system
CN100457545C (zh) * 1999-11-23 2009-02-04 视觉伊斯特公司 计算机控制的用于船体表面修整和涂漆的方法及装置
EP1103310A1 (de) * 1999-11-23 2001-05-30 Visions East, Inc. Rechnergesteuertes Verfahren und Vorrichtung zum Glätten und Lackieren der Aussenflächen von Schiffen
FR2802127A1 (fr) * 1999-12-09 2001-06-15 Biodecap Ind Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
WO2001041938A3 (fr) * 1999-12-09 2002-04-11 Biodecap Ind S A Nouveau plateau technique pour le decapage et/ou la peinture et les ateliers ainsi realises
CN101284264B (zh) * 2007-04-11 2011-06-22 刘雨盈 智能型汽车底盘喷漆装置
WO2012038806A3 (en) * 2010-09-21 2012-05-18 Vincenzo Rina Apparatus and method for the painting of hulls of boats or the like
WO2012038806A2 (en) * 2010-09-21 2012-03-29 Vincenzo Rina Apparatus and method for the painting of hulls of boats or the like
ITMO20100263A1 (it) * 2010-09-21 2012-03-22 Vincenzo Rina Apparecchiatura per la verniciatura di scafi di imbarcazioni navali o simili
JP2013544689A (ja) * 2010-09-21 2013-12-19 ヴィンセンツォ リナ ボートなどの船体の塗装用装置および方法
US9522412B2 (en) 2010-09-21 2016-12-20 Vincenzo Rina Apparatus for the painting of hulls of boats or the like
CN108127571A (zh) * 2018-02-23 2018-06-08 湖南云思智能科技有限公司 一种自动输送式钢板双面液体喷砂机
CN113173229A (zh) * 2021-05-07 2021-07-27 重庆锕维科技有限公司 一种具有收集功能的水下清理机器人
CN113997206A (zh) * 2021-10-11 2022-02-01 中船澄西船舶修造有限公司 一种轮船水雾喷砂装置
CN113997206B (zh) * 2021-10-11 2023-02-14 中船澄西船舶修造有限公司 一种轮船水雾喷砂装置
WO2023115538A1 (zh) * 2021-12-24 2023-06-29 无锡市东舟船舶设备股份有限公司 大型船舶用门板加工用同步除尘设备
CN115195950A (zh) * 2022-07-28 2022-10-18 广东英诺威盛科技有限公司 一种用于海洋平台喷漆的无人船及其控制方法

Also Published As

Publication number Publication date
ATE59172T1 (de) 1991-01-15
DE3580941D1 (de) 1991-01-31
EP0165911B1 (de) 1990-12-19
IT1181188B (it) 1987-09-23
EP0165911A3 (en) 1987-09-09
IT8483373A0 (it) 1984-06-22
DK569484D0 (da) 1984-11-30
DK569484A (da) 1985-12-23

Similar Documents

Publication Publication Date Title
EP0165911B1 (de) Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock
EP0614802B1 (de) Vorrichtung und Verfahren für die Aussenwändenbehandlung von Schiffsrumpfen und Dergleichen
CN102189055B (zh) 船体外板自动喷涂作业车
US4163455A (en) Cleaning apparatus for ship holds
US7261109B2 (en) Remotely operated cleaning device, especially suitable for storage tanks on vessels
CN1032245C (zh) 船壳外表面加工的设备与方法
KR20010075116A (ko) 벌크 화물 화물창의 세척 및 도색용 자체 수용된 스테이징시스템
WO2000048901A1 (en) Contour-following apparatus for cleaning surfaces
WO1995004203A1 (en) Method for surface treatment, means for carrying out the method and the use thereof
EP3643414B1 (de) Hydrostrahlreinigungssystem mit ultrahochdruckwasserstrahl für oberflächen
CN107263118A (zh) 一种用于管道的一体化加工设备
CN201361623Y (zh) 自动清洗设备
CN104588250B (zh) 一种消失模铸造自动淋涂系统
US5807168A (en) Self-contained device for cleaning and coating hold surfaces in a bulk carrier
CN109807854B (zh) 船舶修造坞修坞墩位置专用智能机器人
EP0968914B1 (de) Gerät und Verfahren zum Bearbeiten von Innenoberflächen eines Schiffsladeraumes
US4380842A (en) Tool support apparatus
US20190210700A1 (en) System for conveying a barge over a levee in a level attitude
EP0948423A1 (de) Auf einem querverbindungsmechanismus befestige düsen zur behandlung von metalloberflächen
WO2020144609A1 (en) The device for abrasive blast treatment of dimensional surfaces of workpieces and the method for treatment of dimensional surfaces of workpieces using this device
CN115445836B (zh) 大口径钢管智能激光除锈自动喷涂工作站及其使用方法
CN209870667U (zh) 船舶修造坞修坞墩位置专用机器人
CN215547898U (zh) 一种大型不锈钢容器表面喷砂设备以及自动喷砂生产线
CN209408183U (zh) 客车轴箱自动化检修线
JPS58174085A (ja) ドツク内作業装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): AT BE CH DE FR GB LI LU NL SE

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH DE FR GB LI LU NL SE

17P Request for examination filed

Effective date: 19880509

17Q First examination report despatched

Effective date: 19890717

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: VIANOVA S.P.A.

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE FR GB LI LU NL SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: THE PATENT HAS BEEN ANNULLED BY A DECISION OF A NATIONAL AUTHORITY

Effective date: 19901219

Ref country code: LI

Effective date: 19901219

Ref country code: CH

Effective date: 19901219

Ref country code: BE

Effective date: 19901219

Ref country code: AT

Effective date: 19901219

REF Corresponds to:

Ref document number: 59172

Country of ref document: AT

Date of ref document: 19910115

Kind code of ref document: T

REF Corresponds to:

Ref document number: 3580941

Country of ref document: DE

Date of ref document: 19910131

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

ET Fr: translation filed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19910630

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19930525

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 19930630

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19930810

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19930823

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19940604

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Effective date: 19950101

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19940604

NLV4 Nl: lapsed or anulled due to non-payment of the annual fee
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Effective date: 19950228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Effective date: 19950301

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST