EP2651754B1 - Dispositif d'entretien - Google Patents

Dispositif d'entretien 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
Authority
EP
European Patent Office
Prior art keywords
carrier
maintenance apparatus
tower
arm
support
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.)
Active
Application number
EP11804538.4A
Other languages
German (de)
English (en)
Other versions
EP2651754A1 (fr
Inventor
Hubert Palfinger
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.)
Hubert Palfinger Technologies GmbH
Original Assignee
Palfinger Systems GmbH
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 Palfinger Systems GmbH filed Critical Palfinger Systems GmbH
Publication of EP2651754A1 publication Critical patent/EP2651754A1/fr
Application granted granted Critical
Publication of EP2651754B1 publication Critical patent/EP2651754B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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.

Landscapes

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

Claims (11)

  1. Dispositif de maintenance automatisé (100) de grandes surfaces comprenant un système support mobile, ce système support comprenant au moins une tour support verticale (120) sur laquelle sont montés au moins deux systèmes de bras (130) et chaque système de bras (130) peut être déplacé verticalement le long de la tour support verticale (120) par l'intermédiaire d'une unité support (131),
    caractérisé en ce que
    les unités support (131) qui sont au moins au nombre de deux sont montées sur des arêtes (122) et/ou faces opposées de la tour support (120) et peuvent être déplacées verticalement indépendamment l'une de l'autre.
  2. Dispositif de maintenance (100) conforme à la revendication 1,
    caractérisé en ce qu'
    à chaque unité support (131) est associée une unité d'entrainement et de commande qui lui est propre.
  3. Dispositif de maintenance (100) conforme à la revendication 1 ou 2,
    caractérisé en ce que
    l'unité d'entrainement est réalisée sous la forme d'un système de treuil à câble.
  4. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 3,
    caractérisé en ce que
    sur au moins un système de bras (130) est monté au moins un porte-outil pour permettre la réception d'outils automatisés (136).
  5. Dispositif de maintenance (100) conforme à la revendication 4,
    caractérisé en ce que
    les outils automatisés (136) sont choisis dans un groupe d'outils comprenant des têtes de pulvérisation d'eau ou de différents granulats, des têtes de revêtement et des systèmes d'inspection.
  6. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 5,
    caractérisé en ce que
    la tour-support (120) peut être assemblée de manière modulaire.
  7. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 6,
    caractérisé en ce que
    la tour-support (120) est dressée sur une base (110) sur laquelle sont montés des dispositifs d'alimentation (150) du système de bras (130) et des outils montés sur celui-ci (136), en particulier pour fournir de l'énergie électrique de l'eau et l'air comprimé.
  8. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 7,
    caractérisé en ce que
    la tour support (120) comprend à son extrémité située à l'opposé de la base (110) au moins un dispositif d'appui (140) qui stabilise la tour support (120) dans son orientation verticale par rapport à la surface à traiter.
  9. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 8,
    caractérisé en ce que
    le système support peut être déplacé sur un système de rail.
  10. Dispositif de maintenance (100) conforme à l'une des revendications 1 à 8,
    caractérisé en ce que
    le système support peut être monté sur un véhicule à moteur.
  11. Utilisation d'un dispositif de maintenance (100) conforme à l'une des revendications 1 à 10, pour le traitement et/ou l'inspection de coques de navire (200) et/ou de parois externes de réservoirs en acier.
EP11804538.4A 2010-12-16 2011-12-16 Dispositif d'entretien Active EP2651754B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA2081/2010A AT510919A1 (de) 2010-12-16 2010-12-16 Instandhaltungsvorrichtung
PCT/EP2011/073012 WO2012080448A1 (fr) 2010-12-16 2011-12-16 Dispositif d'entretien

Publications (2)

Publication Number Publication Date
EP2651754A1 EP2651754A1 (fr) 2013-10-23
EP2651754B1 true EP2651754B1 (fr) 2016-03-02

Family

ID=45401060

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11804538.4A Active EP2651754B1 (fr) 2010-12-16 2011-12-16 Dispositif d'entretien

Country Status (8)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230220943A1 (en) * 2022-01-10 2023-07-13 General Electric Company Systems and methods for maintaining structures

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101707403B1 (ko) * 2014-12-24 2017-02-15 대우조선해양 주식회사 화물창 점검용 갠트리 타워 크레인
AT518744B1 (de) * 2016-05-17 2018-07-15 Hubert Palfinger Tech Gmbh Schienengebundene Antriebsvorrichtung
CN105858554A (zh) * 2016-06-03 2016-08-17 江苏科技大学 一种用于风电塔筒外壁维护的自升降平台
EP3624955B8 (fr) * 2017-05-16 2023-09-06 ABC IP Holding GmbH Système monorail
AT521566B1 (de) 2018-09-06 2020-07-15 Hubert Palfinger Tech Gmbh Transporteinrichtung zum Bewegen von Schwerlasten
FR3101803B1 (fr) 2019-10-15 2021-10-08 Ambpr Robot pour la rénovation par décapage et/ou revêtement de peinture, et/ou l’inspection d’une paroi de grande surface et/ou de hauteur élevée, Procédé de fonctionnement associé et application au décapage et à la peinture de coques de navire.
CN111188043B (zh) * 2020-02-28 2020-11-20 温州市陆日智能科技有限公司 一种船舶用化学除锈设备
CN113602442B (zh) * 2021-08-05 2022-06-14 南通大学技术转移中心有限公司 一种基于高压水射流且行走方便的船舶除锈机器人

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Publication number Priority date Publication date Assignee Title
US20230220943A1 (en) * 2022-01-10 2023-07-13 General Electric Company Systems and methods for maintaining structures

Also Published As

Publication number Publication date
PL2651754T3 (pl) 2016-10-31
CN103328320A (zh) 2013-09-25
AT510919A1 (de) 2012-07-15
BR112013014104A2 (pt) 2016-09-20
WO2012080448A1 (fr) 2012-06-21
EP2651754A1 (fr) 2013-10-23
JP2014505616A (ja) 2014-03-06
KR20140006819A (ko) 2014-01-16
CN103328320B (zh) 2016-10-12

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