EP0165911B1 - 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
EP0165911B1
EP0165911B1 EP85830133A EP85830133A EP0165911B1 EP 0165911 B1 EP0165911 B1 EP 0165911B1 EP 85830133 A EP85830133 A EP 85830133A EP 85830133 A EP85830133 A EP 85830133A EP 0165911 B1 EP0165911 B1 EP 0165911B1
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.)
Expired - Lifetime
Application number
EP85830133A
Other languages
English (en)
French (fr)
Other versions
EP0165911A2 (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

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/005Machines 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24CABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00Abrasive blasting machines or devices; Plants
    • B24C3/02Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B24C3/062Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06Cleaning devices for hulls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B05SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05BSPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00Machines 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
    • B05B13/02Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04Means 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
    • B05B13/0431Means 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.
  • Rotor platforms for treating the surface of vessels are well known in the art (see for instance (DE-A-3027677, FR-A-2324490, US-A-- 4445451
  • These known devices further comprise different operative units such asforwashing, sand blasting and painting, but these units are not yet conceived to operate in a single device universally structured for different treatments necessary before painting the respective surface.
  • the invention as claimed is intended to provide a remedy to the above-mentioned disadvantages. It solves the problem providing a robot platform for washing, sandblasting and painting in shipbuilding dry dock, of the type insertable into the side structures provided with guide rails of a shipbuilding dock or dry dock preferably for middle and large size vessels, comprising at least one support translation structure provided with sliding trolley horizontally controlled on said guide rails on the dock sides, said trolley structure supporting a swinging and/or variable in length arm, at the end thereof a platform being mounted articulated so as to stay always oriented in a predetermined direction independently of the movements thereof, said platform comprising:
  • 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 m 2 /h productivity.
  • the motor 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 m 2 /h.
  • the sandblasting nozzles are mounted on a special support integral with the revolving platform.
  • the automatic control ensures continuous working system and uniformity 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 m 2 /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 at 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.
  • Figure 1 is a perspective view of the automatized platform during working on a vessel hull;
  • Figure 2 is a front view (from the dock side) of the trolley associated with the translation truck;
  • Figure 3 is a side view of the arm connected to said trolley structure, showing at the end the relative "platform” swinging in three different positions: upwards (shortened), horizontal, and downwards (partial representation) respectively;
  • Figure 4 is a plan view of the trolley structure with arm and platform and relative tender near the trolley structure;
  • Figure 5 is an enlarged view of the platform mounted on the end of the arm showing the washing nozzles in operative condition;
  • Figure 6 is an enlarged plan view of the end of the arm with relative platform of Figure 5;
  • Figure 7 is a further enlarged side view of the platform showing details regarding sandblasting (in the operative phase at the head to the supporting arm) and painting (inoperative at the side, i.e. frontally in the drawing);
  • Figures 8 and 8/1 show further enlarged details relating to the spray guns and painting trolley;
  • 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 verical 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Road Repair (AREA)
  • Manipulator (AREA)

Claims (5)

1. Roboterplattform zum Waschen, Sandstrahlen und Streichen im Trockendock einer Werft, mit seitlich einführbaren Einheiten (1), die mit Leitschienen ausgestattet sind, eines Schiffbau-oder Trockendocks (A), vorzugsweise für mittelgroße und große Schiffe (S), mit mindestens einem stützenden Translationselement (B) mit gleitendem Wagen, der auf den Dockseiten (A) auf besagten Leitschienen (1) horizontal kontrolliert wird. Dieses Element trägt einen schwenkbaren und/oder ausfahrbaren Arm (C), an dessen Ende eine Plattform (D) beweglich montiert ist, so daß sie unabhängig von den Manövern des Arms stets eine gegebene Position beibehält.
Die Plattform (D) umfaßt:
-Wascheinheit mit Waschdüsen (13),
-Sandstrahleinheit mit Sandstrahlpistolen (8), die mit Staubauffangbehälter versehen sind (10), und
-Streicheinheit auf Wagen (11), die sich auf einer Seite der Plattform hin- und herbewegt, mit orthogonal angeordneten Sprühpistolen (12);
-außerdem eine computerisierte Kontroll- und Programmier-Rotorereinheit zum Sondieren der zu behandelnden Oberfläche, mit der der oben beschriebene Apparat entweder ferngesteuert oder von Hand bedient wird, um die Wasch-, Streich- und Sandstrahloperationen am Schiff durchzuführen.
-Die Plattform (D) ist im Grundriß- rechteckig. Die Streicheinheit (11, 12) befindet sich an der Längsseite der Plattfrom (D). An der an die Streicheinheit (11) angrenzenden Seite befindet sich mindestens eine der anderen Einheiten: Wasch-(13) oder Standstrahl- (8).
-Besagte Plattform ist rotierbar und so auf beiden Seiten auf die Schiffsoberfläche ausrichtbar.
2. Eine Plattform wie unter 1., auf der die Elemente zum Lagern und Transport der Behandlungsmaterialien (4, 5, 6, 7) in der Nähe des genannten Wagen-Translationselements (B) postiert sind, und zwar auf einem Tender (B'), der abkoppelbar mit dem Wagenelement (B) verbunden ist.
3. Eine Plattform wie unter 1, und 2., bei der die Bewegungskontrolleinheiten für den ganzen Apparat auf genanntem Wagen-Translatiohselement (B) angebracht sind.
4. Wasch-, Sandstrahl- und Streichanlage für Schiffbau- oder Trockendock (A) für mittelgroße und große Schiffe (S), die mindestens eine Roboterplattformstruktur mit den unter 1, bis 3, genannten Eigenschaften besitzt, weIcheauf 1horizontalen Schienen (1) der Seiten des besagten Docks (A) bewegt werden kann.
5. Methode zum Waschen, Sandstrahlen und Streichen, unter Benutzung mindestens einer Roboterplattform oder Anlage mit den unter 1, bis 4, genannten Eigenschaften, die folgende Phasen ohne Anwesenheit von Arbeitskräften auf der Plattform zur Behandlung der Schiffsoberfläche umfaßt:
Waschphase
Zu Beginn des Arbeitszyklus kann jede Roboterplattform an jedem beliebigen Punkt der Schiffsseite postiert werden. Die korrekte Postierung garantieren passende Spürpunkte, die sich auf der beweglichen Plattform befinden. Auf das Startkommando hin beginnt eine Motorpumpeneinheit zu arbeiten, und die Anlage nimmt das Waschen mit Druckwasser auf, wobei sie sich in Längsrichtung nach vorgegebener Geschwindigkeit bewegt. Sobald diese Längsbewegung die vorgegebene Entfernung erreicht hat, senkt sich die mobile Plattform so weit, daß bei der folgenden Fahrt- in die Gegenrichtung eine nahtlose Abdeckung mit der bereits gewaschenen Fläche gewährleistet wird. Diese Abfolge wiederholt sich bis zur vollständigen Abdeckung der vorgegebenen Länge. Nach Abschluß des ersten Zyklus bringt sich die Maschine in Stellung für den nächsten.
Sandstrahlphase
Nach Abschluß des Waschzyklus wird die Maschine für die Sandstrahlphase in Stellung gebracht. Der Sandstrahlkopf (8) ist auf derselben Seite der Plattform wie die Waschdüsen angebracht. Auf das Startkommando hin öffnen sich die Solenoidventile, die den Austritt des Luft-Strahlsand-Gemischs regeln, und die Anlage beginnt das Sandstrahlen, wobei alle Düsen nach demselben Zyklus arbeiten, der für die Waschphase beschrieben wurde. Der Sandstrahldüsen-Halterkopf ist von einem Metallgehäuse ungeben, in dem ein ständiges Vakuum herrscht.
Streichphase
Nach Abschluß des Sandstrahlzyklus rotiert die gesamte Plattform (D) um 90°, so daß nun ihre Längsseite parallel zur Schiffsseite liegt. Auf diesem Teil der Plattform befindet sich ein Rahmen mit Schienen, auf denen ein Wagen (11) mit zwei Vakuumsprühpistolen (12) entlangläuft.
Die Maschine wird an dem einen Ende der zu behandelnden Oberfläche postiert, indem die Plattform an einen der oberen Ränder der Schiffsseite gebracht wird. Die Sprühpistolen werden in Marsch gesetzt und entlang der zu behandelnden Oberfläche hin- und herbewegt, etwa drei Meter lang, was dem Spielraum des Wagens auf der Plattform entspricht.
Sobald diese Fläche vollständig abgedeckt worden ist, senkt sich die gesamte Plattform auf dem programmierten Weg, für die nächste, gleichlange Fläche. Während dieser Phase sprüht der Wagen hin und her in Gegenrichtung. Der Zyklus wiederholt sich bis zum Ende des vertikalen Wegs die Schiffsseite entlang: dann wird der Zyklus fortgesetzt auf einem Weg, der an den ersten angrenzt. Die Arbeit an runden Partien in Längsrichtung wird korrigiert, indem die Plattform rotiert, kontrolliert von Transducers.
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 EP0165911A2 (de) 1985-12-27
EP0165911A3 EP0165911A3 (en) 1987-09-09
EP0165911B1 true 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 (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018006547A1 (zh) * 2016-07-07 2018-01-11 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

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3629623A1 (de) * 1986-08-30 1988-03-03 Schlick Roto Jet Masch Einrichtung zum reinigen von oberflaechen grossflaechiger objekte mit einem bewegbaren strahlkorb
FR2612875A1 (fr) * 1987-03-26 1988-09-30 Vanek Michel Procede et dispositif pour nettoyer, lustrer et carener les bateaux, a flot
US5355823A (en) * 1991-10-24 1994-10-18 Mmc Compliance Engineering, Inc. Apparatus and method for performing external surface work on ships' hulls
AU4273693A (en) * 1993-04-20 1994-11-08 Leo Augustsson Boat hull cleaning apparatus
AU7498394A (en) * 1993-08-31 1995-03-22 Putzmeister-Werk Maschinenfabrik Gmbh Arrangement for surface treatment, especially the cleaning of the surfaces of large objects
DE29510959U1 (de) * 1995-07-06 1995-09-14 Heinrich Schlick GmbH, 48268 Greven Vorrichtung zum Auftragen von Flüssigkeiten auf eine Wandfläche
GR1002685B (el) * 1996-06-21 1997-05-02 Περιστρεφομενοι δισκοι στους μηχανισμους καθαρισμου επαναβαφης μεταλλικων επιφανειων.
WO1998051452A1 (en) * 1997-05-13 1998-11-19 Cae Electronics Ltd. Enabling process control technology for automated dry media depaint system
US6365221B1 (en) * 1999-11-23 2002-04-02 Visions East, Inc. Computer controlled method and apparatus for fairing and painting of marine vessel surfaces
FR2802127B1 (fr) * 1999-12-09 2002-09-06 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
CN108127571B (zh) * 2018-02-23 2023-10-20 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
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
CN113173229B (zh) * 2021-05-07 2022-10-25 浙江启明海洋电力工程有限公司 一种具有收集功能的水下清理机器人
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
CN114450100B (zh) * 2021-12-24 2023-12-05 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

Family Cites Families (6)

* 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
FR1557648A (de) * 1966-07-16 1969-01-13
NL7316929A (nl) * 1973-12-11 1975-06-13 Delnoz Maastrich Maschf Inrichting voor het behandelen van een scheepshuid.
DE2849040C2 (de) * 1978-11-11 1982-06-16 Paul 4740 Oelde Hammelmann Gerät zum Reinigen oder Konservieren von senkrechten oder geneigten Flächen, insbesondere Schiffsbordwänden
DE3027677C2 (de) * 1980-07-22 1983-11-24 Paul 4740 Oelde Hammelmann Gerät zum Warten, Reparieren, Reinigen und/oder Anstreichen von Bordwänden eines Schiffes
NL8004610A (nl) * 1980-08-14 1982-03-16 Stork Serv Bv Dokinrichting.

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018006547A1 (zh) * 2016-07-07 2018-01-11 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
US11964362B2 (en) 2018-01-11 2024-04-23 Anthony Cibilich System for blast-cleaning a barge deck, sides, and fittings

Also Published As

Publication number Publication date
IT1181188B (it) 1987-09-23
DK569484D0 (da) 1984-11-30
ATE59172T1 (de) 1991-01-15
DK569484A (da) 1985-12-23
IT8483373A0 (it) 1984-06-22
DE3580941D1 (de) 1991-01-31
EP0165911A2 (de) 1985-12-27
EP0165911A3 (en) 1987-09-09

Similar Documents

Publication Publication Date Title
EP0165911B1 (de) Verfahren und Robotplattform zum Waschen, Sandstrahlen und Streichen in einem Schiffsdock
CN102189055B (zh) 船体外板自动喷涂作业车
EP0614802B1 (de) Vorrichtung und Verfahren für die Aussenwändenbehandlung von Schiffsrumpfen und Dergleichen
US4163455A (en) Cleaning apparatus for ship holds
CN1032245C (zh) 船壳外表面加工的设备与方法
GB2446739A (en) Remotely operated cleaning device for storage tanks on vessels
WO2000048901A1 (en) Contour-following apparatus for cleaning surfaces
WO1995004203A1 (en) Method for surface treatment, means for carrying out the method and the use thereof
KR100751702B1 (ko) 시저스 타입의 승ㆍ하강 리프트 기능을 가진 이동식 선체외판 자동 도장 시스템
CN201361623Y (zh) 自动清洗设备
EP3643414B1 (de) Hydrostrahlreinigungssystem mit ultrahochdruckwasserstrahl für oberflächen
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
CN113856956A (zh) 大型船舶钢板用龙式表面喷涂机器人系统及喷涂方法
CN109807854B (zh) 船舶修造坞修坞墩位置专用智能机器人
US4380842A (en) Tool support apparatus
EP0968914B1 (de) Gerät und Verfahren zum Bearbeiten von Innenoberflächen eines Schiffsladeraumes
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
EP0948423A1 (de) Auf einem querverbindungsmechanismus befestige düsen zur behandlung von metalloberflächen
US20190210700A1 (en) System for conveying a barge over a levee in a level attitude
CN209774631U (zh) 船舶修造坞修坞墩位置专用智能机器人
JP2638634B2 (ja) 無足場壁面処理方法および装置
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

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