JPH034259B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coating apparatus for coating the outer hull of a ship, for example, while in dock.

Conventionally, when painting the surfaces of hulls and other external panels, workers ride on moving scaffolding and use stick-shaped paint guns.In addition, in general painting lines, the paint guns are replaced by endless reciprocators, etc. It is moved back and forth by a reciprocating device. By the way, since the outer surface of a ship's hull covers a wide area, painting by workers is a time-consuming and expensive task.Furthermore, with conventional reciprocating equipment, the reciprocating distance becomes long, the equipment becomes large-scale, and There were problems such as the need for additional construction work for installation. A device that can solve the above problem has already been proposed (Japanese Patent Application No. 180558/1986).
(Refer to Publication No. 81462)). This device is the first
To explain based on the figure and FIG. 2, the vehicle is supported so as to be able to swing in a vertical plane on a traveling trolley (not shown) that can run freely along the side of the culvert, and is swung by a swinging means (for example, an electric motor). A fixed frame 1 that is movable in the vertical direction, a movable frame 2 disposed within the fixed frame 1 so as to be movable in the vertical direction, and a frame 1 that is movable in the vertical direction along the fixed frame 1 and the movable frame 2, respectively. a movable body 4 having a sprocket 3 that engages with both roller chains (not shown) provided along the movable body 4;
a hydraulic motor 6 for vertically moving the above-mentioned movable body 4 via an endlessly connected chain 5;
and a coating tool 8 whose upper and lower ends are connected via a chain 7 in an endless manner so as to wrap around the movable frame 2, and the movable body 4 is moved from the fixed frame by the hydraulic motor 6. 1, the movable frame 2 moves in the same direction and by the same distance l relative to the fixed frame 1, and the painting tool 8 also moves relative to the movable frame 2 by the same distance l. By moving the same distance l in the same direction and finally moving the moving body 4 by a certain distance l in a predetermined direction, the painting tool 8 can be moved in the same direction and three times the distance 3l. It is something. However, according to the above-mentioned device, it is possible to paint over a wide range, but at the upper and lower end positions,
Since the moving speed of the painting tool changes, the disadvantage is that the coating inevitably becomes thicker in that area.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a coating device that can eliminate the above-mentioned drawbacks.

That is, the present invention supports a paint tool holder so as to be movable in the vertical direction on a traveling trolley that can freely travel along the surface to be painted, and also allows the paint tool to swing in a vertical plane on the paint tool holder. A rocking means for swinging the painting tool is provided, and a means for detecting the position of the painting tool is provided, and the position signal and the position setting value are compared and calculated, and the paint spraying signal and the paint spraying signal are detected. The painting apparatus is characterized in that it is provided with means for generating an oscillation signal, and further provided with a control means for controlling the paint spraying tool and the oscillation means based on the paint spraying signal and the oscillation signal. According to this configuration, since the paint spraying operation and the painting tool are swung in a vertical plane at an arbitrary position of the painting tool, for example, the moving speed of the painting tool moving in the vertical direction changes near its upper and lower ends. In this case, if the coating tool itself is swung in the same direction as the moving direction of the coating tool, and the spraying of the paint is stopped before the coating tool stop position, the coating can be applied with a nearly constant thickness even in the area where the coating changes. Therefore, it is effective when automatically painting a wide range of hull outer panels, for example.

An embodiment of the present invention will be described below with reference to FIGS. 3 to 13. In Figure 3, 11 is the culvert side 1
Upper and lower guide rails 13, 1 provided along 2
3', which can freely travel along the entire length of the side of the ship in the dock, and this traveling trolley 11 has a support member 15 that supports the coating device 14 according to the present invention movably in three-dimensional directions. is installed.
That is, the support member 15 includes a rotary table 16 that is rotatably supported on the upper part of the traveling carriage 11 around a vertical axis, and
An arm 18 is supported by the rotary table 16 so as to be swingable in a vertical plane and is also swung by a hydraulic cylinder 17, and an arm 18 is supported by a connecting member 19 at the tip of the arm 18 so as to be swingable in a horizontal plane. The support plate 20 is made up of a support plate 20. In addition, 21,2
1' is an ultrasonic sensor provided at both ends of the support plate 20, and is used to follow the horizontal bending of the hull outer plate.

Next, the coating device 14 according to the present invention will be explained in detail based on FIGS. 4 to 10. Reference numeral 31 indicates a horizontal support shaft 3 at the tips of a pair of left and right supports 33, 33' provided on a pedestal 32 placed on the support plate 20.
4 is a vertically rotating frame body supported so as to be swingable in a vertical plane, and is swung by a hydraulic cylinder 35 attached to supports 33, 33'.
The lower ends of the supports 33, 33' are each supported by the frame 32 via a horizontal shaft 36, and are moved to the forward tilting position (the forward tilting position) by front bolts 37 and rear bolts 38 fixed to the upper ends thereof. It is possible to select either the rear tilting position (indicated by the solid line in FIG. 7) or the backward tilting position (indicated by the imaginary line in FIG. 7). In other words, when setting the forward tilting position, the support body 3
After inserting the front bolts 37 of 3 and 33' into the grooves of the front flange 39 on the upper part of the pedestal 32, it is sufficient to fix them to the front flange 39 with nuts. , 33' backward and insert the rear bolt 38 into the groove of the rear flange 40, then tighten the rear flange 40 with the nut.
It should be fixed to . A movable frame 41 is disposed within the fixed frame 31 so as to be movable in the vertical direction, and is moved via a movable body 42 interposed between the fixed frame 31 and the movable frame 41. That is, the fixed frame 4
1 and the movable frame body 42, engagement rails (for example, roller chains) 43, 44 are provided in the vertical direction, respectively.
At the same time, engagement wheels (for example, sprockets) 45 that engage with both of the engagement rails 43 and 44 are provided at the top and bottom of both sides of the movable body 42, respectively. One end of a first roller chain 46 is connected to the upper end of the moving body 42, and the other end of the first roller chain 46 is connected to the fixed frame 3.
The lower guide sprocket 48 is connected to the lower end of the movable body 42 through upper and lower guide sprockets 47 and 48 attached to the upper and lower ends of the movable body 42, and this lower guide sprocket 48 is connected to a hydraulic motor 49 supported by the fixed frame 31 with a plurality of sprockets. They are interlocked and connected via 50, 51, 52, 53 and chains 54, 55. Reference numeral 56 denotes a paint tool holder (hereinafter simply referred to as a holder) disposed on the front side of the movable frame 41 opposite to the movable body 42, and is provided so as to wrap around the movable frame 41. The moving body 42 via the second roller chain 58
is linked to. Note that 59 and 60 are upper and lower guide sprockets attached to the upper and lower ends of the movable frame 41, and 61 and 61' are guide members of the holder 56 attached to the front surface of the movable frame 41. Therefore, as shown in FIG. 9, when the movable body 42 is moved a certain distance l in a certain direction by the hydraulic motor 49, the movable frame 41 is moved in the same direction and the same distance l relative to the movable body 42. together with the holding body 56
Again, the movable frame body 41 moves in the same manner and the same distance l, and in the end, the holding body 56, that is, the painting tool (described later), moves three times the distance that the movable body 42 moves. . Reference numeral 62 denotes a coating tool (consisting of a plurality of spray guns) supported by the holder 56 so as to be swingable in a vertical plane. That is, the coating tool 62 is attached to a horizontal rotating shaft 64 supported by the holder 52 via a pair of bearings 63, 63', and this horizontal rotating shaft 64 has first and second shafts connected in opposite directions. It is swung in a vertical plane by air cylinders 65 and 66. Note that the piston rod 66a of the second air cylinder 66 is connected to the holder 56, the piston rod 65a of the first air cylinder 65 is connected to the horizontal rotating shaft 64, and when the first air cylinder 65 performs an extension operation, the painting is completed. When the tool 62 swings downward and the second air cylinder 66 contracts, the coating tool 62 swings upward.

Next, a control mechanism that controls the swinging of the fixed frame 31 and the swinging (oscillation) of the coating tool 62 will be described.

At the upper and lower end positions of the movable frame 41, upper and lower ultrasonic sensors (hereinafter simply referred to as sensors) 67, 67' are attached to detect the distance to the hull outer plate (surface to be painted), and as shown in FIG. As shown in FIG. 2, a rotary shaft 71 is provided on the outer surface of the fixed frame 31 and is connected to a hydraulic motor 49 for vertically moving the movable body 42 through sprockets 68, 69 and a chain 70. In the center, there is a paint tool 6.
The first cam plate 73 activates the first limit switch 72, which detects that the paint tool 62 is located above the center position of its movement range, and detects that the paint tool 62 is located below the center position. A second cam plate 75 that operates the second limit switch 74 and a rotary encoder (hereinafter simply referred to as an encoder) 76 are attached to the end of the rotating shaft 71 to detect the moving position of the paint tool 62. . 77 is each of the above-mentioned sensors 67, 67',
Each limit switch 72, 74 and encoder 7
6, a hydraulic cylinder 35 that swings the fixed frame 31, a travel motor 49 that moves the painting tool 62 up and down via the movable body 42, and a drive motor 49 that swings the painting tool 62 in the vertical direction, that is, a hydraulic cylinder 35 that swings the fixed frame 31. An arithmetic processing unit (hereinafter simply referred to as CPU) outputs control signals to the electromagnetic switching valves 78, 79, 80, 81 that control the first and second air cylinders 65, 66 to be swung, and the paint spraying device 82 that controls paint spraying. Of course, interfaces for each control means are also provided.

Next, when the painting tool 62 moves up and down, the painting tool 62
Control for swinging the movable frame 41 along the hull outer panel in order to maintain a constant distance between the movable frame 41 and the hull outer panel to prevent uneven coating will be described. First of all,
The signals from the second limit suites 72 and 74
The information is input to the CPU 77, where it is determined whether the painting tool 62 is positioned upward or downward. For example, if it is located above, the distance signal from the first sensor 67 and a preset distance setting value are compared, and if it is too far away, the fixed frame 31 is moved away. A signal is output to the electromagnetic switching valve 78 of the hydraulic cylinder 35 in order to move it closer to the hull by the same angle. Of course, if it is too close, a signal is output to move the painting tool 62 away from the hull. Further, when the painting tool 62 is located below, the second sensor 67'
is used to perform the same control as above.

Next, near the upper and lower limits of the painting range, the painting tool 62 swings itself up and down in response to changes in the moving speed of the painting tool 62, thereby eliminating uneven coating that tends to occur near the upper and lower limits of the painting range. We will explain the controls to prevent this. First, the upper and lower painting range (painting width)
As shown in FIG. 11, the ascent stop position, paint spraying upper limit position, head swinging up position, center position, swinging lowering position, paint spraying lower limit position, and lowering stop position are set in order from the top. These encoder values are stored at memory address X ₁ in the CPU 77,
..., let X ₇ remember it. Furthermore, as shown in Fig. 11, paint is blown out within the range of X ₂ to _{X 6} ;
Further, between X ₁ and _{X 3} , the painting tool 62 is in an upward position within a 45° upward range, and between X ₅ and _{X 7} , the painting tool 62 is in a downward position within a 45° downward range. be done. Therefore, between X ₂ and _{X 3} and between X ₅ and _{X 6} , the paint is always sprayed while being oscillated.

The operation will be described below along the flowcharts shown in FIGS. 11 and 12. When the start button is pressed, the encoder value E of the position of the painting tool 62 at that time is input and compared with _X4 . If the encoder value E is larger than _X4 , that is, if it is located downward, a descending mode D command is set in the register R of the CPU 77, and as the painting tool 62 starts to descend, its position, that is, the encoder value E is changed.
If it is between _X2 and _X6 , a signal is sent to the paint spraying device 82 to start spraying the paint. and,
When the paint tool 62 descends and the encoder value E reaches _X5 , the first signal to swing the paint tool 62 downward
The air is sent to the air cylinder 65 and the coating tool 62 is swung downward, and then when the encoder value E reaches _X6 , a paint spraying stop signal is issued and painting is stopped. Further, when the painting tool 62 reaches the lowering stop position and the encoder value E becomes _X7 , a lowering stop signal is issued, the lowering and downward swinging of the painting tool 62 is stopped, and the mode is switched to the rising mode U. . When the mode is switched to the ascending mode, the coating tool 62 begins to ascend and is swung upward by the first air cylinder 65, and when the encoder value E reaches _X6 , the coating starts to be sprayed. When the coating tool 62 further rises and the encoder value E reaches _X5 , the coating tool 62 is returned to the horizontal position and the swinging of the coating tool 62 is stopped. In this state, the coating tool 62 rises while painting to the _X3 position, and at the _X3 position, a signal is issued to operate the second air cylinder 66, and the coating tool 62 begins to swing upward. Then, the spraying of the paint is stopped at the position _X2 , and the lifting of the coating tool 62 is stopped at the position _X1 , and the upward swinging is also stopped. Then, the coating tool 62 begins to descend again in the same manner as above, and coating is performed. In addition, the painting is done in the 13th
This is carried out in the order shown in the figure (showing the case of four spray guns), and the movement in the horizontal direction is controlled by the traveling carriage 11. In this way, when painting while moving the painting tool 62 up and down, even if the moving speed of the painting tool 62 itself becomes slow near its upper and lower stop positions, the painting tool 62 can be swung in the moving direction a little before it stops. Since the speed is slowed down, the coating speed is increased, and the spraying of paint is stopped in the area immediately before the stop, so that the area can be coated neatly without causing uneven coating.

In the above embodiment, the hydraulic cylinder 35 is used as the swinging means for swinging the fixed frame 31.
However, as shown in FIG. 14, a hydraulic or electric stepping motor 83 may also be used.

[Brief explanation of drawings]

Figures 1 and 2 show conventional examples.
Figure 2 is a side view, Figure 2 is a front view, Figures 3 to 13 show an embodiment of the present invention, Figure 3 is a perspective view of the traveling truck, and Figure 4 is a side view of the coating device. , 5th
The figure is a front view, FIG. 6 is a plan view, FIG. 7 is an enlarged cross-sectional view of main parts, FIG. 8 is a view taken from the - arrow in FIG. 4, and FIG. 9 explains the state of vertical movement of the painting tool. Figure 10 is a control circuit diagram, Figure 11 is a diagram showing the operating position of the painting tool, Figure 12 is a flowchart during painting, Figure 18 is a diagram showing the painting order, Figure 14 is a diagram showing other It is a side view of an Example. 11... Traveling trolley, 14... Painting device, 31...
...Fixed frame body, 34...Horizontal support shaft, 35...Hydraulic cylinder, 41...Movable frame body, 42...Movable body, 43, 44...Engagement rail, 49...Hydraulic motor, 56...Painting Tool holder, 62...Painting tool, 6
4...Horizontal rotation axis, 65...First air cylinder, 66...Second air cylinder, 67, 67'
... Ultrasonic sensor, 72 ... First limit switch, 73 ... First cam plate, 74 ... Second limit switch, 75 ... Second cam plate, 76 ... Rotary encoder, 77 ... Arithmetic processing unit, 78 ~
81... Solenoid switching valve, 82... Paint spraying device, 8
3...Stepping motor.

Claims (1)

[Claims] 1. A paint tool holder is supported movably in the vertical direction on a traveling trolley that can freely travel along the surface to be painted, and a paint tool is supported on the paint tool holder so as to be swingable in a vertical plane, A rocking means for rocking the painting tool is provided, a means for detecting the position of the painting tool is provided, and the position signal and the position setting value are compared and calculated to generate a paint spraying signal and a rocking signal for the painting tool. 1. A coating apparatus comprising: a control means for controlling a paint spraying tool and a swinging means based on the paint spraying signal and swinging signal.