EP2651754B1 - Maintenance device - Google Patents

Maintenance device Download PDF

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Publication number
EP2651754B1
EP2651754B1 EP11804538.4A EP11804538A EP2651754B1 EP 2651754 B1 EP2651754 B1 EP 2651754B1 EP 11804538 A EP11804538 A EP 11804538A EP 2651754 B1 EP2651754 B1 EP 2651754B1
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EP
European Patent Office
Prior art keywords
carrier
maintenance apparatus
tower
arm
support
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EP11804538.4A
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German (de)
French (fr)
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EP2651754A1 (en
Inventor
Hubert Palfinger
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Hubert Palfinger Technologies GmbH
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Palfinger Systems GmbH
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/002—Arrangements for cleaning building facades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • 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
    • 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
    • B63B2059/065—Cleaning devices for hulls mounted on land-borne vehicles, e.g. travelling on the bottom of a dry-dock
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C5/00—Equipment usable both on slipways and in dry docks
    • B63C5/02—Stagings; Scaffolding; Shores or struts
    • B63C2005/025—Stagings, or scaffolding, i.e. constructions providing temporary working platforms on slipways, in building or repair docks, or inside hulls

Definitions

  • the invention relates to an automated maintenance device for large surfaces with a mobile support system, wherein the support system has at least one vertical support tower on which at least two arm systems are arranged, and each arm system via a support unit along the vertical support tower is moved vertically, and their use for the for the processing and / or inspection of ship hulls and / or steel tank outer walls.
  • a device for a surface treatment freestanding, substantially vertical walls, in particular of ships described.
  • a chassis is provided with two mast elements, on which a cabin is arranged, which is movable relative to the ship's wall.
  • This device is a large, inflexible device, which is in particular unsuitable for processing the bow of a ship's hull.
  • the DE 20 2009 002 519 U1 discloses a maintenance device of the type mentioned above, wherein two lifting components are arranged with boom on a tower, but only limited independently movable.
  • the upper lifting member confines the second, below in its upward movement, while the lower lifting member limited the upper lifting member in its upward movement.
  • the at least two support units are arranged on opposite edges and / or sides of the support tower and are independently movable vertically. By this arrangement of the carrier units, they can be moved independently along the entire length of the vertical carrier tower, without influencing each other.
  • each carrier unit has its own dedicated drive and control unit.
  • each arm system is completely independent of the other arm system operable, even if this is not used for maintenance purposes, for example.
  • the drive unit designed as a cable winch system;
  • there may be other drive system such as Aufkletter noticed as in the WO 2010/025977 A1 the applicant are used.
  • At least one tool holder for receiving automated tools is arranged on at least one arm system, wherein preferably the automated tools are selected from a group comprising water jet heads or different granules, coating heads and inspection systems.
  • the support tower is modular composable. This has the advantage that the support tower is compact to the desired Job is transported and can be quickly set up there. Depending on the design and the number of modules, the height of the support tower can reach up to 36 m.
  • the support tower is erected on a base on which supply devices for the arm systems and the tools arranged thereon, in particular for the provision of electrical energy, water and compressed air are arranged.
  • the maintenance of the maintenance system according to the invention is further improved.
  • the support tower at its end facing away from the base at least one support means which stabilizes the support tower in its vertical orientation to the surface to be machined.
  • the carrier system can be moved on a rail system.
  • the carrier system can be arranged on a motor vehicle.
  • the maintenance system described above is particularly suitable for the machining and / or inspection of ship hulls and / or steel tank outer walls.
  • the maintenance device 100 has according to the Figs. 1 and 2 a base 110, which is movable in the present embodiment of the invention via a rail system.
  • a support tower 120 is erected, on which two arm systems 130 which can be moved independently of one another are arranged.
  • a support device 140 is provided in the region of its end remote from the base, which during use of the maintenance device 100 supports the support tower 120 against the surface to be processed, in the present example a hull 200, allowed.
  • Inside the carrier tower 120 is also a ladder 121 ( Fig. 4 ), which allows access to the arm systems 130 and / or the support 140 in an emergency.
  • control and supply devices 150 are arranged on the base 110, via which the individual elements of the maintenance device 100, in particular the arm systems 130, are supplied with electrical energy, compressed air, various cleaning and coating media, hydraulics and the like.
  • two cabins 151 are provided for the operation of, in particular, the two arm systems 130 on the base 110, in which the operator independently performs the control and monitoring of the arm systems 130 and the maintenance apparatus 100 overall in an environment protected from the outside.
  • an arm system 130 is shown in detail.
  • the arm system 130 is disposed above a support unit 131 on a side of the support tower 120, with double-sided impellers 132 of the support unit 131 cooperating respectively with an edge 122 of the support tower 120 and driven, for example, via a pulley system to effect vertical movement of the arm system 130 ,
  • planetary gears 123 of the cable system are shown.
  • the carrier unit 131 furthermore has a platform 133 on which a substructure 134 of a telescopic arm 135 rotatably mounted thereon is fixed.
  • a substructure 134 of a telescopic arm 135 rotatably mounted thereon is fixed.
  • other arm systems such as multiple articulated arms or other means for delivering a tool 136 attached to the end of the arm may be attached to the support unit 134.
  • the tool 136 is advantageously fully automatically controlled and serves, for example, the inspection, cleaning or coating of the surface.
  • a collection container 137 is arranged on the carrier unit 134, in which, for example, the removal material resulting from the cleaning of the surface by means of a tool 136 is first separated from liquid components, for example by means of a cyclone, and collected.
  • the two support units 134 are disposed on two opposite sides of the support tower 120, they can be independently moved virtually the entire length of the support tower 120, without interfering with each other in their movement.
  • the surface to be inspected and / or processed, in particular ship hulls 200 can be processed in an efficient manner, in particular at different heights.
  • only one arm system 130 is used come while the second arm system 130 is being serviced in the area of the base 110. This significantly reduces the service life of the maintenance device.
  • the support 140 is the Fig. 4 refer to. It has two independently operable kinkable supports 141 with wheels 142, which support the upper end of the support tower 120 against the hull 200.
  • the second support 141 serves in particular as an alternative possibility if the first support 141 can not be used effectively due to structural conditions (for example, ship hatches, etc.).
  • the distance between the support tower 120 and the ship's hull 200 passing through may vary due to the different curvatures of the ship's hull 200 a change in the bending angle of the two supports 141 is compensated.
  • the wheels 142 allow easy movement of the support tower 120 along the hull 200 without damaging its surface.
  • Another essential advantage of the invention is its small footprint by the combination of a vertical support tower with two independently vertically movable arm systems that can reach any area of the surface to be processed.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Combustion & Propulsion (AREA)
  • Spray Control Apparatus (AREA)
  • Jib Cranes (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Description

Die Erfindung betrifft eine automatisierte Instandhaltungsvorrichtung für großflächige Oberflächen mit einem mobilen Trägersystem, wobei das Trägersystem zumindest einen vertikalen Trägerturm aufweist, an dem zumindest zwei Armsysteme angeordnet sind, und jedes Armsystem über eine Trägereinheit entlang des vertikalen Trägerturms vertikal verfahrbar ist, sowie deren Verwendung für die für die Bearbeitung und/oder Inspektion von Schiffsrümpfen und/oder Stahltankaußenwänden.The invention relates to an automated maintenance device for large surfaces with a mobile support system, wherein the support system has at least one vertical support tower on which at least two arm systems are arranged, and each arm system via a support unit along the vertical support tower is moved vertically, and their use for the for the processing and / or inspection of ship hulls and / or steel tank outer walls.

Es ist in vielen Bereichen der Technik erforderlich, die Oberfläche von großflächigen Bauflächen, insbesondere aus Stahl zu untersuchen sowie zu bearbeiten. Beispielsweise muss der Rumpf von Schiffen in bestimmten Abständen gegen Korrosion geschützt werden. Dazu werden alte schadhafte Anstriche in speziellen Verfahren abgetragen, um danach die gereinigten Stahloberflächen des Schiffsrumpfes mit einem neuen Anstrich versehen zu können. Dieses Verfahren wird als "Recoating" bezeichnet. Die manuelle Durchführung dieses Verfahrens ist sehr arbeitsintensiv und für die beteiligten Personen zumeist gesundheitlich belastend. Da es sich um große Flächen handelt, sind zudem teure und aufwendige Gerüstaufbauten notwendig, um an jede Stelle des Schiffsrumpfes gelangen zu können. Ebenso können Hebebühnen und Krankonstruktionen zum Einsatz kommen, wobei hier jedoch eine höhere Gefährdung des Personals nicht ausgeschlossen werden kann.In many fields of technology, it is necessary to examine and process the surface of large-area building surfaces, in particular of steel. For example, the hull of ships must be protected against corrosion at certain intervals. For this purpose, old damaged coatings are removed in special procedures to then provide the cleaned steel surfaces of the hull with a new coat of paint. This process is called "recoating". The manual implementation of this method is very labor-intensive and for the persons involved mostly harmful to health. As these are large areas, expensive and expensive scaffolding structures are necessary to reach any part of the hull. Likewise, lifts and crane structures can be used, but here a higher risk to personnel can not be excluded.

So ist beispielsweise in der EP 0 640 440 A1 eine Vorrichtung für eine Oberflächenbehandlung freistehender, im wesentlichen senkrechter Wände, insbesondere von Schiffen beschrieben. Hierbei ist ein Fahrgestell mit zwei Mastelementen vorgesehen, an welchem eine Kabine angeordnet ist, die relativ zur Schiffswand bewegbar ist. Bei dieser Vorrichtung handelt es sich um eine große, unflexible Vorrichtung, die insbesondere für die Bearbeitung des Bugs eines Schiffsrumpfs eher ungeeignet ist.For example, in the EP 0 640 440 A1 a device for a surface treatment freestanding, substantially vertical walls, in particular of ships described. Here, a chassis is provided with two mast elements, on which a cabin is arranged, which is movable relative to the ship's wall. This device is a large, inflexible device, which is in particular unsuitable for processing the bow of a ship's hull.

In der US 4,285,469 ist ebenfalls eine Vorrichtung zur Reinigung von senkrechten Oberflächen offenbart, die über eine Wasserstrahleinrichtung zur Reinigung von Schiffsrümpfen verfügt und fix an einer Kaimauer installiert ist. Eine derartige Vorrichtung ist jedoch für den mobilen Einsatz gänzlich ungeeignet.In the US 4,285,469 is also a device for cleaning vertical surfaces disclosed, which has a water jet device for cleaning of ship hulls and is fixed to a quay wall installed. However, such a device is completely unsuitable for mobile use.

In der US 3,548,541 ist eine Vorrichtung der eingangs erwähnte Art beschrieben, die über einen Vertikalträger verfügt, an dem ein Horizontalträger mit einer Arbeitskabine angeordnet ist. Diese Vorrichtung weist im Allgemeinen nur eine geringe Flexibilität aufgrund der Ausführung des Horizontalträgers auf und ist zudem nur für die Durchführung eines einzigen Arbeitsschritts während des "Recoatings", nämlich dem Durchführen des Sandstrahlens, geeignet.In the US 3,548,541 a device of the type mentioned is described, which has a vertical support on which a horizontal support is arranged with a work booth. This device generally has little flexibility due to the design of the horizontal carrier and is also only for the implementation of a single operation during the "re-coating", namely the execution of the sandblasting suitable.

In der WO 2010/057942 A1 der Anmelderin ist ein Instandhaltungssystem beschrieben, die bereits über eine gewisse Flexibilität verfügt. Allerdings sind die Armsysteme an einem Horizontalträger angeordnet, sodass die an dem Armsystemen stets in dem gleichen Höhenabschnitt arbeiten müssen.In the WO 2010/057942 A1 The Applicant describes a maintenance system that already has some flexibility. However, the arm systems are arranged on a horizontal support so that they always have to work on the arm systems in the same height section.

Die DE 20 2009 002 519 U1 offenbart eine Instandhaltungseinrichtung der eingangs erwähnten Art, wobei an einem Turm zwei Hebebauteile mit Ausleger angeordnet sind, die jedoch nur beschränkt unabhängig voneinander verfahrbar sind. Der obere Hebebauteil beschränkt den zweiten, unterhalb in dessen Bewegung nach oben, während der untere Hebebauteil den oberen Hebebauteil in seiner Bewegung nach oben beschränkt.The DE 20 2009 002 519 U1 discloses a maintenance device of the type mentioned above, wherein two lifting components are arranged with boom on a tower, but only limited independently movable. The upper lifting member confines the second, below in its upward movement, while the lower lifting member limited the upper lifting member in its upward movement.

Es ist daher Aufgabe der Erfindung, die oben genannten Nachteile des Stand der Technik zu beseitigen und eine Vorrichtung der eingangs erwähnten Art zur Verfügung zu stellen, die eine besonders hohe Flexibilität in ihrem Einsatz aufweist.It is therefore an object of the invention to eliminate the above-mentioned disadvantages of the prior art and to provide a device of the type mentioned above, which has a particularly high flexibility in their use.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die zumindest zwei Trägereinheiten an gegenüberliegenden Kanten und/oder Seiten des Trägerturms angeordnet und unabhängig voneinander vertikal verfahrbar sind. Durch diese Anordnung der Trägereinheiten können diese im Wesentlichen entlang der gesamten Länge des vertikalen Trägerturms unabhängig voneinander bewegt werden, ohne einander zu beeinflussen.This object is achieved in that the at least two support units are arranged on opposite edges and / or sides of the support tower and are independently movable vertically. By this arrangement of the carrier units, they can be moved independently along the entire length of the vertical carrier tower, without influencing each other.

Um diese unabhängige vertikale Bewegung der Armsysteme zu verbessern, ist jeder Trägereinheit eine eigenständige Antriebs- und Steuerungseinheit zugeordnet. Somit ist jedes Armsystem gänzlich unabhängig von dem anderen Armsystem betreibbar, auch wenn dieses beispielsweise zu Wartungszwecken nicht im Einsatz ist. Besonders bevorzugt ist hierbei die Antriebseinheit als Seilwindensystem ausgebildet; es können jedoch auch andere Antriebssystem wie beispielsweise Aufklettereinrichtung wie in der WO 2010/025977 A1 der Anmelderin zum Einsatz kommen.To enhance this independent vertical movement of the arm systems, each carrier unit has its own dedicated drive and control unit. Thus, each arm system is completely independent of the other arm system operable, even if this is not used for maintenance purposes, for example. Particularly preferred here is the drive unit designed as a cable winch system; However, there may be other drive system such as Aufklettereinrichtung as in the WO 2010/025977 A1 the applicant are used.

In einer besonders bevorzugten Ausführung der Erfindung ist an zumindest einem Armsystem zumindest eine Wergzeughalterung zur Aufnahme von automatisierten Werkzeugen angeordnet, wobei vorzugsweise die automatisierten Werkzeuge aus einer Gruppe gewählt sind, die Strahlköpfe für Wasser oder unterschiedliche Granulate, Beschichtungsköpfe und Inspektionssysteme umfasst.In a particularly preferred embodiment of the invention at least one tool holder for receiving automated tools is arranged on at least one arm system, wherein preferably the automated tools are selected from a group comprising water jet heads or different granules, coating heads and inspection systems.

In einer weiteren Ausführung der Erfindung ist der Trägerturm modular zusammensetzbar. Dies hat den Vorteil, dass der Trägerturm kompakt an die gewünschte Stelle transportiert wird und dort rasch aufgestellt werden kann. Je nach Ausführung und Anzahl der Module kann die Höhe des Trägerturms bis zu 36 m erreichen.In a further embodiment of the invention, the support tower is modular composable. This has the advantage that the support tower is compact to the desired Job is transported and can be quickly set up there. Depending on the design and the number of modules, the height of the support tower can reach up to 36 m.

Hierbei wird vorteilhafterweise der Trägerturm auf einer Basis errichtet, auf der Versorgungseinrichtungen für die Armsysteme sowie den daran angeordneten Werkzeugen, insbesondere zur Bereitstellung von elektrischer Energie, Wasser und Druckluft angeordnet sind. Durch diese zentrale Versorgung wird die Wartung des erfindungsgemäßen Instandhaltungssystems weiter verbessert.Here, advantageously, the support tower is erected on a base on which supply devices for the arm systems and the tools arranged thereon, in particular for the provision of electrical energy, water and compressed air are arranged. By means of this central supply, the maintenance of the maintenance system according to the invention is further improved.

In einer besonders bevorzugten Ausführung der Erfindung weist der Trägerturm an seinem der Basis abgewandten Ende zumindest eine Abstützeinrichtung auf, die den Trägerturm in seiner vertikalen Ausrichtung zu der zu bearbeitenden Oberfläche stabilisiert.In a particularly preferred embodiment of the invention, the support tower at its end facing away from the base at least one support means which stabilizes the support tower in its vertical orientation to the surface to be machined.

Die besondere Flexibilität der Instandhaltungsvorrichtung wird zusätzlich dadurch unterstützt, dass das Trägersystem auf einem Schienensystem verfahrbar ist. Alternativ hierzu ist das Trägersystem auch auf einem Motorfahrzeug anordenbar.The particular flexibility of the maintenance device is additionally supported by the fact that the carrier system can be moved on a rail system. Alternatively, the carrier system can be arranged on a motor vehicle.

Das oben beschriebene Instandhaltungssystem ist insbesondere für die Bearbeitung und/oder Inspektion von Schiffsrümpfen und/oder Stahltankaußenwänden geeignet.The maintenance system described above is particularly suitable for the machining and / or inspection of ship hulls and / or steel tank outer walls.

Im Folgenden wird anhand von nicht-einschränkenden Ausführungsbeispielen mit zugehörigen Figuren die Erfindung näher erläutert. Darin zeigen:

Fig. 1
eine erste Ansicht der erfindungsgemäßen Instandhaltungsvorrichtung;
Fig. 2
eine zweite Ansicht der Instandhaltungsvorrichtung aus Fig. 1;
Fig. 3
eine Detailansicht eines Armsystems der Instandhaltungsvorrichtung aus Fig. 1; und
Fig. 4
eine Detailansicht der Abstützeinrichtung der Instandhaltungsvorrichtung aus Fig. 1.
The invention is explained in more detail below with reference to non-limiting exemplary embodiments with associated figures. Show:
Fig. 1
a first view of the maintenance device according to the invention;
Fig. 2
a second view of the maintenance device Fig. 1 ;
Fig. 3
a detailed view of an arm system of the maintenance device Fig. 1 ; and
Fig. 4
a detailed view of the support device of the maintenance device Fig. 1 ,

Die erfindungsgemäße Instandhaltungsvorrichtung 100 weist gemäß den Figs. 1 und 2 eine Basis 110 auf, die in der vorliegenden Ausführung der Erfindung über ein Schienensystem verfahrbar ist. Auf dieser Basis 110 ist ein Trägerturm 120 errichtet, an dem zwei voneinander unabhängig verfahrbare Armsysteme 130 angeordnet sind. Um den Trägerturm 120 in seiner vertikalen Ausrichtung zusätzlich zu stabilisieren, ist im Bereich seines der Basis abgewandten Ende eine Abstützeinrichtung 140 vorgesehen, die während des Einsatzes der Instandhaltungseinrichtung 100 eine Abstützung des Trägerturms 120 gegen die zu bearbeitende Oberfläche, im vorliegenden Beispiel einen Schiffsrumpf 200, erlaubt. Im Inneren des Trägerturms 120 ist zudem eine Leiter 121 (Fig. 4) angeordnet, die im Notfall einen Zugang zu den Armsystemen 130 und/oder der Abstützeinrichtung 140 erlaubt.The maintenance device 100 according to the invention has according to the Figs. 1 and 2 a base 110, which is movable in the present embodiment of the invention via a rail system. On this base 110, a support tower 120 is erected, on which two arm systems 130 which can be moved independently of one another are arranged. In order to additionally stabilize the support tower 120 in its vertical orientation, a support device 140 is provided in the region of its end remote from the base, which during use of the maintenance device 100 supports the support tower 120 against the surface to be processed, in the present example a hull 200, allowed. Inside the carrier tower 120 is also a ladder 121 ( Fig. 4 ), which allows access to the arm systems 130 and / or the support 140 in an emergency.

Auf der Basis 110 sind des Weiteren die Steuerungs- und Versorgungseinrichtungen 150 angeordnet, über die die einzelnen Elemente der Instandhaltungsvorrichtung 100, insbesondere die Armsysteme 130 mit elektrischer Energie, Pressluft, unterschiedlichen Reinigungs- und Beschichtungsmedien, Hydraulik und dergleichen versorgt werden. Ebenso sind zwei Kabinen 151 für die Bedienung insbesondere der beiden Armsysteme 130 auf der Basis 110 vorgesehen, in denen das Bedienpersonal unabhängig voneinander in einer von dem Außenbereich geschützten Umgebung die Steuerung und Überwachung der Armsysteme 130 sowie der Instandhaltungsvorrichtung 100 insgesamt durchführt.Furthermore, the control and supply devices 150 are arranged on the base 110, via which the individual elements of the maintenance device 100, in particular the arm systems 130, are supplied with electrical energy, compressed air, various cleaning and coating media, hydraulics and the like. Similarly, two cabins 151 are provided for the operation of, in particular, the two arm systems 130 on the base 110, in which the operator independently performs the control and monitoring of the arm systems 130 and the maintenance apparatus 100 overall in an environment protected from the outside.

In der Fig. 3 ist ein Armsystem 130 im Detail dargestellt. Das Armsystem 130 ist über eine Trägereinheit 131 an einer Seite des Trägerturms 120 angeordnet, wobei beidseitig platzierte Laufräder 132 der Trägereinheit 131 jeweils mit einer Kante 122 des Trägerturms 120 zusammenwirken und beispielsweise über ein Seilzugsystem angetrieben werden, um ein vertikales Verfahren des Armsystems 130 zu bewirken. In der Fig. 4 sind am oberen Ende des Trägerturms 120 Umlaufräder 123 des Seilsystems dargestellt.In the Fig. 3 an arm system 130 is shown in detail. The arm system 130 is disposed above a support unit 131 on a side of the support tower 120, with double-sided impellers 132 of the support unit 131 cooperating respectively with an edge 122 of the support tower 120 and driven, for example, via a pulley system to effect vertical movement of the arm system 130 , In the Fig. 4 At the upper end of the support tower 120 planetary gears 123 of the cable system are shown.

Die Trägereinheit 131 verfügt des weiteren über eine Plattform 133, auf der ein Unterbau 134 eines darauf drehbar abgeordneten Teleskoparms 135 fixiert ist. Anstatt des dargestellten vierfach teleskopierbaren Arms 135 können auch andere Armsysteme wie beispielsweise Mehrfachknickarme oder andere Einrichtungen zur Zuführung eines am Ende des Armes angebrachten Werkzeugs 136 an der Trägereinheit 134 angebracht sein.The carrier unit 131 furthermore has a platform 133 on which a substructure 134 of a telescopic arm 135 rotatably mounted thereon is fixed. Instead of the illustrated quadruple telescoping arm 135, other arm systems such as multiple articulated arms or other means for delivering a tool 136 attached to the end of the arm may be attached to the support unit 134.

Das Werkzeug 136 ist vorteilhafterweise vollautomatisch gesteuert und dient beispielsweise der Inspektion, Reinigung oder Beschichtung der Oberfläche. An der Trägereinheit 134 ist zusätzlich ein Sammelbehälter 137 angeordnet, in dem beispielsweise das bei der Reinigung der Oberfläche mittels Werkzeug 136 entstehende Abraummaterial zunächst beispielsweise mittels Zyklon von flüssigen Bestandteilen abgetrennt und gesammelt wird.The tool 136 is advantageously fully automatically controlled and serves, for example, the inspection, cleaning or coating of the surface. In addition, a collection container 137 is arranged on the carrier unit 134, in which, for example, the removal material resulting from the cleaning of the surface by means of a tool 136 is first separated from liquid components, for example by means of a cyclone, and collected.

Da - wie in den Figs. 1 und 2 ersichtlich - die beiden Trägereinheiten 134 an zwei einander gegenüberliegenden Seiten des Trägerturms 120 angeordnet sind, können sie unabhängig voneinander praktisch über die gesamte Länge des Trägersturms 120 bewegt werden, ohne sich gegenseitig in ihrer Bewegung zu beeinträchtigen. Damit kann die zu inspizierende und/oder bearbeitende Oberfläche, insbesondere Schiffsrümpfe 200 auf effiziente Weise, insbesondere in unterschiedlichen Höhen bearbeitet werden. Ebenso kann beispielsweise nur ein Armsystem 130 zum Einsatz kommen, während das zweite Armsystem 130 im Bereich der Basis 110 gewartet wird. Damit werden die Standzeiten der Instandhaltungsvorrichtung signifikant reduziert.There - as in the Figs. 1 and 2 As can be seen, the two support units 134 are disposed on two opposite sides of the support tower 120, they can be independently moved virtually the entire length of the support tower 120, without interfering with each other in their movement. Thus, the surface to be inspected and / or processed, in particular ship hulls 200, can be processed in an efficient manner, in particular at different heights. Likewise, for example, only one arm system 130 is used come while the second arm system 130 is being serviced in the area of the base 110. This significantly reduces the service life of the maintenance device.

Die Abstützeinrichtung 140 ist der Fig. 4 zu entnehmen. Sie weist zwei voneinander unabhängig agierende knickbare Stützen 141 mit Laufrädern 142 auf, die das obere Ende des Trägerturms 120 gegen den Schiffsrumpf 200 abstützen. Für eine funktionierende Abstützung der Instandhaltungsvorrichtung 100 ist ledig eine Stütze 141 notwendig, die zweite Stütze 141 dient insbesondere als Ausweichmöglichkeit, wenn die erste Stütze 141 aufgrund von baulichen Gegebenheiten (beispielsweise Schiffsluken etc.) nicht wirksam eingesetzt werden kann.The support 140 is the Fig. 4 refer to. It has two independently operable kinkable supports 141 with wheels 142, which support the upper end of the support tower 120 against the hull 200. For a functioning support of the maintenance device 100, only one support 141 is necessary, the second support 141 serves in particular as an alternative possibility if the first support 141 can not be used effectively due to structural conditions (for example, ship hatches, etc.).

Wird die erfindungsgemäße Instandhaltungsvorrichtung 110 entlang des Schienensystems weiterbewegt, um einen anderen Bereich des Schiffsrumpfes 200 mit den Armsystemen zu erreichen und in der Folge zu bearbeiten, ändert sich gegebenenfalls aufgrund der unterschiedlichen Krümmungen des Schiffsrumpfes 200 der Abstand zwischen Trägerturm 120 und Schiffsrumpf 200, der durch eine Änderung des Knickwinkels der beiden Stützen 141 ausgeglichen wird. Gleichzeitig erlauben die Laufräder 142 ein einfaches Verfahren des Trägerturms 120 entlang des Schiffsrumpfes 200, ohne dessen Oberfläche zu beschädigen.If the maintenance device 110 according to the invention is moved further along the rail system in order to reach and subsequently process another area of the ship's hull 200 with the arm systems, the distance between the support tower 120 and the ship's hull 200 passing through may vary due to the different curvatures of the ship's hull 200 a change in the bending angle of the two supports 141 is compensated. At the same time, the wheels 142 allow easy movement of the support tower 120 along the hull 200 without damaging its surface.

Es versteht sich, dass die vorliegende Erfindung nicht auf das oben beschriebene Ausführungsbeispiel beschränkt ist. Ein weiterer wesentlicher Vorteil der Erfindung ist deren geringer Platzbedarf durch die Kombination eines vertikalen Trägerturms mit zwei voneinander unabhängig vertikal verfahrbaren Armsystemen, die jeden Bereich der zu bearbeitenden Oberfläche erreichen können.It is understood that the present invention is not limited to the embodiment described above. Another essential advantage of the invention is its small footprint by the combination of a vertical support tower with two independently vertically movable arm systems that can reach any area of the surface to be processed.

Claims (11)

  1. An automated maintenance apparatus (100) for large-area surfaces, comprising a mobile carrier system, wherein the carrier system comprises at least one vertical carrier tower (120), on which at least two arm systems (130) are arranged, and each arm system (130) can be moved vertically along the vertical carrier tower (120) via a carrier unit (131), characterised in that the at least two carrier units (131) are arranged on opposite edges (122) and/or sides of the carrier tower (120) and are vertically movable independently from one another.
  2. A maintenance apparatus (100) according to claim 1, characterised in that each carrier unit (131) is assigned a separate drive and control unit.
  3. A maintenance apparatus (100) according to claim 1 or 2, characterised in that the drive unit is arranged as a cable winch system.
  4. A maintenance apparatus (100) according to one of the claims 1 to 3, characterised in that at least one tool holder is arranged on at least one arm system (130) for accommodating automated tools (136).
  5. A maintenance apparatus (100) according to claim 4, characterised in that the automated tools (136) are chosen from a group which comprises the jet heads for water or different granulates, coating heads and inspection systems.
  6. A maintenance apparatus (100) according to one of the claims 1 to 5, characterised in that the carrier tower (120) can be assembled in a modular way.
  7. A maintenance apparatus (100) according to one of the claims 1 to 6, characterised in that the carrier tower (120) is erected on a base (110) on which supply devices (150) for the arm systems (130) and the tools (136) that are disposed thereon are arranged, especially for providing electric power, water and compressed air.
  8. A maintenance apparatus (100) according to one of the claims 1 to 7, characterised in that the carrier tower (120) comprises at least one support device (140) at its end facing away from the base (110), which support device stabilises the carrier tower (120) in its vertical alignment to the surface to be processed.
  9. A maintenance apparatus (100) according to one of the claims 1 to 8, characterised in that the carrier system is displaceable on a rail system.
  10. A maintenance apparatus (100) according to one of the claims 1 to 8, characterised in that the carrier system can be arranged on a motor vehicle.
  11. The use of a maintenance apparatus (100) according to one of the claims 1 to 10 for processing and/or inspecting ship's hulls (200) and/or outside walls of steel tanks.
EP11804538.4A 2010-12-16 2011-12-16 Maintenance device Active EP2651754B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA2081/2010A AT510919A1 (en) 2010-12-16 2010-12-16 MAINTENANCE DEVICE
PCT/EP2011/073012 WO2012080448A1 (en) 2010-12-16 2011-12-16 Maintenance device

Publications (2)

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EP2651754A1 EP2651754A1 (en) 2013-10-23
EP2651754B1 true EP2651754B1 (en) 2016-03-02

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EP11804538.4A Active EP2651754B1 (en) 2010-12-16 2011-12-16 Maintenance device

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EP (1) EP2651754B1 (en)
JP (1) JP2014505616A (en)
KR (1) KR20140006819A (en)
CN (1) CN103328320B (en)
AT (1) AT510919A1 (en)
BR (1) BR112013014104A2 (en)
PL (1) PL2651754T3 (en)
WO (1) WO2012080448A1 (en)

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EP2651754A1 (en) 2013-10-23
JP2014505616A (en) 2014-03-06
KR20140006819A (en) 2014-01-16
WO2012080448A1 (en) 2012-06-21
PL2651754T3 (en) 2016-10-31
BR112013014104A2 (en) 2016-09-20
CN103328320B (en) 2016-10-12
CN103328320A (en) 2013-09-25
AT510919A1 (en) 2012-07-15

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