JP2000202336A - Automatic coating apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently coat the side outer panel of a ship. SOLUTION: A reciprocator 2 long in left and right directions is arranged at the lower position of a coating unit body frame 1 having two left and right upper support legs 1a and two left and right lower support legs 1b and spray nozzles 3 are attached to the reciprocator 2 so as to be movable in left and right directions. Lift guides 5 sucked to a surface 4a to be coated to move are attached to the respective support legs 1a, 1b so as to be able to advance and retreat to constitute a coating unit 6. The coating unit 6 is supported so as to be suspended from a running truck 7 in a liftable manner through a hoist.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic coating apparatus used for efficiently coating a surface to be coated of a vertically oriented steel plate such as a ship side panel.

[0002]

2. Description of the Related Art Conventionally, when a painting operation is performed on a hull-side outer plate of a hull constructed by a dock, a painting having a structure in which a spray nozzle is assembled to a reciprocator (long actuator) as a reciprocating mechanism in the left-right direction is conventionally used. The unit is suspended from an aerial vehicle such as a tow truck via a hoisting device, placed in close proximity to the surface to be coated on the ship side outer panel, and lifted or lowered by the hoisting device, and the left and right strokes of the spray nozzle Movement and ON / OFF of the spray nozzle are performed by automatic control to perform painting in a predetermined area. When painting in the predetermined area is completed, the aerial work vehicle is moved and the painting unit is next painted. It is arranged in the area, and the same procedure is repeated thereafter.

[0003]

However, the length of coating in the left-right direction by the coating unit is determined by the stroke length of the spray nozzle by the reciprocator.
In the case of painting a large area, the aerial work vehicle must be moved every time the painting of a predetermined area is completed. Therefore, a driver of the aerial work vehicle is always required. Also, after moving the aerial work vehicle, the positioning when the coating unit is placed in the next coating area is performed by eye measurement, which not only takes time, but also causes variations in the overlapping allowance of the coating part. It is easy to paint on the surface to be painted that is curved in the vertical direction, and it is possible to paint only when descending. There's a problem.

[0004] Therefore, the present invention makes it possible to easily position the coating unit with respect to the coating area, and to apply the coating unit even if the surface to be coated has a gentle bend. It is an object of the present invention to provide an automatic coating apparatus capable of performing coating both at the time of descent and at the time of descent.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is provided at a lower position of a coating unit body frame in which two upper support legs and two lower support legs are attached to the left and right sides so as to protrude forward. In addition to installing a reciprocator that extends in the left-right direction, a spray nozzle is attached to the reciprocator so that it can reciprocate in the left-right direction, and on the front end of each of the support legs, On the other hand, the coating unit comprises a lifting unit having an electromagnet which is attracted in a non-contact manner and a guide roller which is rolled in contact with the surface to be coated when attracted by the electromagnet, and which is mounted so as to be able to advance and retreat by a cylinder. Is supported by a traveling carriage capable of traveling along the upper edge of the vertically-oriented steel plate so as to be able to ascend and descend via a hoisting device. Running, stop, volume up and down by the hoisting device, a structure in which to perform automatically by the control panel of the operation the operation of the painting unit.

[0006] The traveling carriage suspending the coating unit is engaged with the upper edge of the vertically-oriented steel plate so that the coating unit faces the surface to be coated, and the spray gun is sprayed from one stroke end while spraying the paint. After moving toward the other stroke end, lower the painting unit by the paint spraying width, and while spraying paint again, execute the descending painting mode in which the spray nozzle is moved in the opposite direction, The vehicle is driven to switch to the ascending coating mode, and the descending and ascending coating modes are repeated as necessary. At this time, in the descending coating mode, only the lifting guide on the lower support leg side is brought into contact with the surface of the steel plate, and in the ascending coating mode, only the lifting guide on the upper support leg side is brought into contact with the steel plate surface.

In addition, by providing the traveling carriage with a setting bracket having a claw for engaging the upper edge of the steel plate from above, the traveling vehicle can be stabilized by using the upper edge of the steel plate as a rail. You can run.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 6 show an embodiment of the present invention, in which two left and right upper support legs 1a and lower support legs 1b are projected forward from four corners of a rectangular frame portion 1c. A reciprocator 2 extending in the left-right direction is installed at a lower position of the coating unit main body frame 1, and
A spray nozzle 3 is mounted on the reciprocator 2 so that the spray nozzle 3 can move in the left-right direction, and the support legs 1a, 1
At the front end of b, an elevating guide 5 for adsorbing on the surface 4a to be coated of the ship side outer plate 4 and enabling easy movement in the vertical and horizontal directions can be moved forward and backward so as to be able to approach and separate from the surface 4a to be coated. A coating unit 6 is mounted on the vehicle, and the coating unit 6 can be moved up and down via a chain block 8 as a hoisting device on a traveling cart 7 which can travel along the upper end of the ship side outer plate 4. It is configured to be suspended and supported.

More specifically, the traveling carriage 7 has an upper surface plate 9 arranged horizontally and a front plate 10 provided at a front end of the upper surface plate 9 at a right angle downward. As shown in an enlarged view in FIG. 4, a setting bracket 11 for engaging a tip claw 11 a from above with an upper edge of the ship-side outer plate 4 is attached to the front ends on both ends, and the tip claw is provided. A cam follower 12 for rollingly contacting the inner surface of the upper edge portion of the ship side outer plate 4 at the forefront of 11a.
Is attached.

A drive shaft 14 driven by a motor 13 is disposed in the center of the upper surface plate 9 in the left-right direction in the front-rear direction and is rotatably supported. The shafts 15 are arranged in parallel with the drive shafts 14 so as to be rotatably supported, and at the tip of each driven shaft 15,
A sprocket 17 provided on the drive shaft 14 and a sprocket 1 provided on the driven shaft 15 are provided with running main rollers 16 to be placed on the upper edge of the ship side outer plate 4.
Around the endless chain 19 between the motor 1
The driving force of No. 3 is transmitted from the drive shaft 14 to the main traveling roller 16 via the sprocket 17, the chain 19, the sprocket 18, and the driven shaft 15.

Further, a drive shaft 21 driven by a motor 20 is vertically disposed on a rear portion of the front plate 10 at a central portion in the left-right direction, and is rotatably supported. , The driven shafts 22 are respectively arranged in parallel with the drive shaft 21 to be rotatably supported, and the driven shafts 22 are
In the middle part of the sprocket 2, a traveling auxiliary roller 23 is provided to penetrate the front panel 10 and abut on the outer surface of the boat side outer panel 4, and the sprocket 2 provided on the drive shaft 21 is provided.
4 and a sprocket 25 provided on the driven shaft 22, an endless chain 26 is wound around, and the driving force of the motor 20 travels from the driving shaft 21 via the sprocket 24, the chain 26, the sprocket 25, and the driven shaft 22. Auxiliary roller 2
3 Therefore, the traveling carriage 7 can travel using the upper end edge of the ship side outer plate 4 as a guide rail.

As shown in FIGS. 5 (a), 5 (b) and 5 (c), a rubber tire 27 as a running detection roll is provided at a required position on the front plate 10 in order to detect the running amount of the running carriage 7. Is assembled. The rubber tire 27 is rotatably mounted via a vertical shaft 30 to one end of a support plate 29 which is swingably attached to the back of the front plate 10 by a vertical hinge 28. Spring 3 interposed between the section and the back of front plate 10
When the support plate 29 is oscillatingly biased by the force of 1, the support plate 29 penetrates through the opening 10a of the front plate 10 and is pressed against the outer surface of the ship side outer plate 4, and is connected to one end of the shaft 30. The traveling amount of the traveling vehicle 7 is obtained based on the signal of the encoder 32.

Further, the chain block 8 as the hoisting device is adapted to be able to wind up and down the two right and left chains 33 synchronously by driving a motor 34, and an encoder attached to the drive shaft of the motor 34. Based on the signal of 35, the lifting height of the coating unit 6 as the winding height of the chain 33 is determined.

On the other hand, the reciprocator 2 constituting the coating unit 6 has the following configuration. That is,
As shown in FIGS. 6 (a), 6 (b) and 6 (c), the base frame 36 in the shape of a channel material extending in the left-right direction is arranged upward, and at the upper ends of the front and rear flanges of the base frame 36,
A linear guide rail 37 is mounted along the left and right direction, a slide table 38 is assembled between the front and rear guide rails 37, and the spray nozzle 3 is mounted on the slide table 38. The auxiliary table 39 is extended to one side in the direction, the motor 40 is installed downward on the auxiliary table 39, and a rubber belt 42 extending in the left and right direction is stretched in the base frame 36. The driving pulley 43 attached to the shaft 41 of the motor 40 is engaged, and the belt pressing rollers 44 supported on the lower surface side of the auxiliary table 39 are disposed on the left and right sides of the driving pulley 43 to drive the rubber belt 42. The engagement of the pulley 43 is maintained over the entire length of the rubber belt 42, and the drive pulley 43 is driven by the motor 40. By rotating the pulley 43 along the rubber belt 42 by rotating the spray nozzle 43, the spray nozzle 3 can move in the left and right direction integrally with the motor 40 and the slide table 38. The amount of movement of the spray nozzle 3 is determined based on the signal of the encoder 45 installed.

A storage hanger 46 for storing a hose or the like connected to the spray nozzle 3 is disposed on a hanger receiver 47 provided along the rear surface of the base frame 36, and one end of the storage hanger 46 is provided. Is fixed to the rear side of the slide table 38, and the other end is fixed to one end of the hanger receiver 47. When the slide table 38 moves in the horizontal direction along the linear guide rail 37, the hose and the storage hanger 46 are joined together. It is designed to be able to follow and move. Reference numeral 48 denotes a hood for the spray nozzle 3.

Further, the lifting guide 5 is provided on each support leg 1.
a leg base 51 supported on the front end of an air cylinder mounted in the front-rear direction by a support bracket 49 at the front end of each of a and 1b;
2 and a caster 53 as a guide roller attached to a position around the electromagnet 52. When the leg base 51 is advanced by the extension operation of the air cylinder 50, the outer surface of the ship side outer plate 4 The casters 53 are in contact with each other, and the electromagnets 52 are attracted in a non-contact manner.

The traveling drive of the traveling carriage 7, the driving of the reciprocator 2, the spraying and stopping of the paint by the spray nozzle 3, the winding up and down operation of the chain block 8, and the like are performed as follows.
It is performed automatically based on a program set in the control panel 54.

When painting the ship side outer panel 4, FIG.
(A) As shown in an example, the traveling unit 7 is engaged with the outer side of the hull outer plate 4 while the coating unit 6 is wound up, and the spray nozzle 3 by the reciprocator 2 is provided on the control panel 54. Of the coating unit 6 by the chain block 8 based on the stroke S in the left-right direction, the width of spraying the paint from the spray nozzle 3, and the coating unit 6 by the chain block 8 corresponding to the height area of the surface 4a to be coated. Is set, and the traveling amount of the traveling vehicle 7 according to the left-right direction length area of the surface 4a to be painted is set, so that the descending painting mode and the rising painting mode are automatically and repeatedly executed.

More specifically, as shown by the solid line in FIG. 7A, when the coating unit 6 is wound up, it is mounted on the lower support leg 1b side of the coating unit main body frame 1 as shown in FIG. The elevating guide 5 is pushed toward the surface 4a to be coated by the extension operation of the air cylinder 50, so that each caster 53 is brought into contact with the surface to be coated, and the electromagnet 52 is attracted to the surface 4a to be coated in a non-contact state. On the other hand, the lifting guide 5 provided on the upper support leg 1a side is separated from the surface to be coated 4a by the contraction operation of the air cylinder 50. Further, the spray nozzle 3 is positioned at one stroke end (left side in the figure) of the reciprocator 2 which is the start end.
Thus, the positioning of the coating unit 6 with respect to the surface to be coated 4a is performed.

When the start button of the control panel 54 is pressed with this state as the origin, first, the descending coating mode is executed. In this case, while the motor 40 of the reciprocator 2 is driven to move the spray nozzle 3 through the movement of the slide table 38 to the other stroke end (right side in the drawing) as the end point, the paint is applied to the surface to be coated. 4a. At this time, since the stroke movement of the spray nozzle 3 is detected by the encoder 45 of the motor 40, the motor 40 is stopped when the set stroke movement of the spray nozzle 3 is detected by the rotation angle signal of the encoder 45. At the same time, the spraying of the paint is stopped.

In this way, when the spray nozzle 3 reaches the stroke end on the end point side, the coating unit 6 is lowered by the spraying width of the paint by the spray nozzle 3 by the lowering drive of the chain block 8. . Since the lowering amount of the coating unit 6 is detected by the encoder 35 of the motor 34, when the lowering amount of the coating unit 6 is detected by the rotation angle signal of the encoder 35, the driving of the motor 34 is stopped and the lowering is stopped. Let me do.

As described above, when the lowering of the coating unit 6 is stopped, the motor 40 of the reciprocator 2 is driven in the reverse direction, so that the spray nozzle 3 sprays the paint and moves the stroke toward the starting point. Moved towards the end.

Thereafter, by repeating the same steps,
When the coating unit 6 descends to the set position as shown by the two-dot chain line based on the signal of the encoder 35, the descending painting mode is completed, and the traveling carriage 7 travels a predetermined amount. Later, the mode is switched to the ascending painting mode.

The traveling carriage 7 is driven by the rotation of the traveling main roller 16 driven by the motor 13 and the rotation of the traveling auxiliary roller 23 driven by the motor 20.
Since the claw portions 11a of the setting bracket 11 attached to the left and right ends of the upper surface plate 9 are engaged with the upper end edge of the ship side outer plate 4 via the cam followers 12, it can be used for handrails, hoses and the like on the upper deck. Without being disturbed, the upper edge of the ship side outer plate 4 can be stably run as a rail.
Further, at this time, since the rubber tire 27 attached to one end of the support plate 29 is pressed against the outer plate surface of the ship side outer plate 4 by the action of the spring 31 at the front plate 10, the rubber tire 27 is attached to the ship side outer plate 4. , And the rubber tire 27
The traveling amount of the traveling vehicle 7 is detected based on the rolling of the rubber tire 27 by the encoder 32 installed on the shaft 30 of the motor 30. When the traveling amount reaches the set value, the motors 13, 20
Is stopped. Thereby, the coating unit 6
Is moved to a position as shown in FIG.
The lift guide 5 on the upper support leg 1a side of the coating unit main body frame 1 is pressed against the ship side outer plate 4 by the operation of the air cylinder 50, and the lift guide 5 on the lower support leg 1b side that has been brought into contact with the ship side outer plate 4 is moved. Retracted.

Thereafter, the ascending coating mode, which is upside down from the case of the aforementioned descending coating mode, is executed. Thereafter, the falling coating mode and the rising coating mode are similarly repeated a required number of times, so that the coating in the set range is performed.

In the above, only the lifting guide 5 on the lower support leg 1b side of the coating unit body frame 1 is in contact with the ship side outer plate 4 in the descending coating mode, and only the lifting guide 5 on the upper support leg 1a is in the rising coating mode. Because it comes into contact with the ship side outer plate 4, there is no like rubbing the painted surface,
At this time, the electromagnet 52 of the elevating guide 5 pressed against the ship-side outer plate 4 can be maintained in a non-contact and attracted state.
The coating unit 6 can be supported in a stable posture even if the coating surface 4a of the ship side outer plate 4 is slightly bent in the vertical direction. Further, if the distance between the spray nozzle 3 and the surface 4a to be coated is adjusted within an allowable range, it is possible to cope with a left-right bending. That is, the coated surface 4
a has a bend in the left-right direction, the distance between the spray nozzle 3 at the center of the reciprocator 2 and the surface 4a to be coated and the distance between the spray nozzle 3 at the end of the reciprocator 2 and the surface to be coated 4a, the coating film thickness varies when the difference is large. However, the coating film thickness is controlled so that the film thickness variation is within an allowable range (between the spray nozzle 3 and the surface 4a to be coated). If the distance between the spray nozzles 3 is within the allowable range, for example, and the spray nozzle 3 is moved in the left and right strokes only in the longitudinal center region of the reciprocator 2 in accordance with the curvature, the left and right bending Can be painted even if there is. Further, when the spray nozzle 3 reaches the stroke end, the coating unit 6
Since the total amount of elevation is adjusted according to the spray width of the paint, there is no variation in the overlap of the paint.

The hoisting device for suspending the coating unit 6 from the hoisting carriage 7 is not limited to a chain block, but may be a wire drum type. It is needless to say that the present invention is not limited to the ship-side outer panel, and that various changes can be made without departing from the scope of the present invention.

[0029]

As described above, according to the automatic coating apparatus of the present invention, the left and right upper support legs and the lower support legs are respectively provided at the lower positions of the coating unit main body frame, which are mounted so as to project forward. A reciprocator that extends in the left-right direction is installed, and a spray nozzle is attached to the reciprocator so as to be able to reciprocate in the left-right direction. A coating unit comprising a lifting and lowering guide provided with an electromagnet to be attracted in a non-contact manner and a guide roller which is rolled in contact with a surface to be coated when attracted by the electromagnet is configured to be movable forward and backward by a cylinder, and the coating unit is formed. , A traveling trolley that can run along the upper edge of the vertical steel plate,
Suspended and liftable via a hoisting device, and further,
The running, stopping, hoisting up and down by the hoisting device, and the operation of the coating unit are performed by the operation of the control panel. , Based on the setting program, it is possible to easily and efficiently paint a large area without the need for humans or aerial work vehicles. By bringing only the lifting guide on the leg side into contact with the surface of the steel plate, and in the ascending coating mode, contacting only the lifting guide on the upper support leg side with the steel plate surface,
The coating unit can be accurately positioned with respect to the surface to be coated, and the coating unit can be held in a stable position without rubbing the coating surface during coating. Can be applied without any trouble even if there is a loose bend, and by selecting the stroke area of the spray nozzle, painting can be performed even if there is a bend in the left and right direction. With the configuration in which the set bracket having the claw portion for engaging the upper end edge of the steel plate from above is provided, the traveling vehicle can be stably run using the upper end edge of the steel plate as a rail, Demonstrate excellent effects such as.

[Brief description of the drawings]

FIG. 1 is a partially cut-away side view showing an embodiment of an automatic coating apparatus according to the present invention.

FIG. 2 is a view in the direction of arrows AA in FIG. 1;

FIG. 3 is a view taken in the direction of arrows BB in FIG. 2;

4 is an enlarged view in the direction of arrows CC in FIG. 3;

5 is an enlarged view of a portion D in FIG. 2, wherein FIG. 5A is a rear view, FIG. 5B is a view taken in the direction of the arrow E-E in FIG. 5A, and FIG. It is an arrow F view.

6A and 6B show details of the reciprocator, wherein FIG. 6A is a rear view, FIG. 6B is a plan view, and FIG. 6C is a view taken in the direction of arrows GG in FIG.

FIGS. 7A and 7B show an example of a painting operation process, in which FIG. 7A is a schematic diagram showing a descending painting mode, and FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 coating unit body frame 1a upper support leg 1b lower support leg 2 reciprocator 3 spray nozzle 4 ship side outer plate (vertical steel plate) 4a surface to be coated 5 lifting guide 6 coating unit 7 traveling trolley 8 chain block (hoisting device) 11 Set bracket 11a Claw 50 Air cylinder (cylinder) 52 Electromagnet 53 Caster (guide roller)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takeshi Imada 2-1 Showa-cho, Kure-shi, Hiroshima Ishikawajima-Harima Heavy Industries Co., Ltd. Kure Daiichi Plant (72) Inventor Yoshinobu Oka 3-1-1 Toyosu, Koto-ku, Tokyo No.15 Ishikawajima Harima Heavy Industries, Ltd. Toji Technical Center F-term (reference) 4F035 AA03 BC02 CD02 CD03

Claims (2)

[Claims] A reciprocator extending in the left-right direction is installed at a lower position of a coating unit body frame to which two left and right upper support legs and lower support legs are extended forward, respectively. A spray nozzle is attached to the caterer so that it can reciprocate in the left and right direction, and an electromagnet is attached to the front end of each of the support legs in a non-contact manner with respect to the surface to be coated with the vertically-oriented steel plate, and the surface to be coated when attracted by the electromagnet. A lift unit having a guide roller that is rolled in contact with a lifter guide is configured to be able to move forward and backward by a cylinder, so that the paint unit can travel along an upper edge of a vertically oriented steel plate. The traveling carriage is suspended and supported via a hoist so as to be able to move up and down. An automatic coating apparatus characterized in that the movement is performed by operating a control panel. 2. The automatic coating apparatus according to claim 1, wherein the traveling carriage is provided with a setting bracket having a claw for engaging the upper edge of the steel plate from above.