JPS59154176A - Automatic surface treatment of outside plate of ship - Google Patents

Abstract

PURPOSE:To automate the surface treatment of the outside plate of a ship and to improve safety and efficiency by positioning automatically a surface treating device on the prescribed surface of the outside plate to be treated, and treating the surface while maintaining a suitable distance therefrom. CONSTITUTION:The position of the curved outside surface 10 of a ship 9 is detected with position detectors 20, 22 and a surface treating device 1 is automatically positioned on the prescribed surface to be treated with vertical, horizontal and forward-backward moving devices 17, 19, 18 to position a hood part 14 opposite to said surface and the device is moved on the prescribed surface to be treated while a suitable distance is maintained to treat said surface in the surface treatment of said outside plate. The surface treatment of the outside plate is thus automated and the higher treating efficiency and safety of the operation are obtd.

Description

[Detailed description of the invention] The present invention relates to an automatic surface treatment method for ship skins.

In recent years, in order to perform surface treatments such as painting and blasting on the exterior panels of ships, painting equipment such as painting equipment and blasting equipment with a hood covering the surface treatment equipment such as a painting gun are used to prevent paint mist and other materials from entering the exterior. We are taking precautions to prevent it from scattering. but,
Since the outer skin of a ship is curved into a well-known complex curved shape, the above-mentioned surface treatment equipment can be used to automatically treat the surface by remote control.

It was a national crisis to do so, and a worker was required to accompany the surface treatment equipment and operate the equipment one after another, with the hood facing the surface to be treated as appropriate to perform the surface treatment. As a result, it takes time to position the hood, resulting in low work efficiency and high risk of work being performed at high places.
One aspect of the present invention is that it is possible to automatically position a surface treatment device on a predetermined surface to be treated of a ship's outer panel, maintain an appropriate distance, and automatically perform surface treatment. To provide an automatic surface treatment method for a ship's outer plate, which can automate the surface treatment of the plate, improve surface treatment efficiency, and ensure work safety.

Hereinafter, the present invention will be explained based on examples.

The results shown in FIG. 1 and the subsequent drawings were carried out using a surface treatment apparatus which is a coating apparatus according to an embodiment of the present invention. Surface treatment device 1 [, first
As shown in the figure, the arm lifting device 4 of the self-propelled machine 8 disposed on the dock 2, and the arm 6 which can be raised and lowered and rotated by the arm rotation device 5.
It is mounted on a pedestal 8 at the tip which is maintained horizontally by a link member 7, and is movably used to coat the surface 11 of the outer panel 10 of the ship 9 to be treated. The surface treatment device I is shown in Fig. 2 and Fig. 8.
As shown in the figure, a surface treatment device 13, which is a coating gun that is driven reciprocatingly over a predetermined distance by a reciprocator 12 to paint the surface to be treated 11, is covered with a hood 14 having an open front surface. At the same time, this hood portion 15 is pivotally attached to a support member 16. A vertical rotation device 17 such as an electric hydraulic cylinder is disposed on both sides of the hood 14, and a hydraulic cylinder-driven back and forth movement device 18 and a horizontal rotation device position 19 are disposed at the bottom of the support member 16, respectively. The hood portion 15 can be rotated by a predetermined angle in the vertical and horizontal directions, and can be driven by a predetermined angle in the front and rear directions. In addition, each circumferential portion of the hood 14 is provided at a predetermined position relative to the outer panel 10 at the center of each of the lower circumferential portion, the lower circumferential portion, the left local portion, and the right local portion on the outer peripheral portion of the front portion of the hood 14 as shown in the figure. such as a high-frequency detector that detects the position I・′L located at a distance of
Detectors 20, 21, 22, and 23 are installed respectively, and when the surface treatment apparatus 1 mounted on the self-propelled machine 3 automatically approaches the surface 11 to be treated of the curved outer plate 10, It automatically maintains a certain distance so that it can follow you.

These control circuits for automatic approach, automatic tracking, etc. are installed on a control panel 24 mounted on a pedestal 8, and can be remotely and automatically operated from a control panel 25 on the self-propelled aircraft 3 side. The control circuit is formed 17 using a program sequencer 26 as shown in FIG. To control the posture of the hood section 15,
Upper and lower position detectors 20.21, left and right position detectors 22.
23 detects the outer panel 10, it directs the vertical i'j'f transmission device 17 upward so that the side net portion of the hood 14, which is far away from the outer panel 10, approaches the outer panel 10. Or downwardly, the horizontal rotation device 171'19 is commanded and controlled to be driven rightward or leftward, and when the side net part of the hood 14 on the side whose position has been detected is separated by a predetermined distance, the hood part 15 is advanced. Back and forth movement device 18
In principle, three or more position detectors 20.2 are used to move the hood part 15 to the desired surface 11 to be processed.
1, 22, and 23 are used as logic circuits that are detected and faced. In addition, when the surface to be treated 11 is subjected to surface treatment with the surface treatment device 13, the above-mentioned Vertical rotation device 17, horizontal rotation device 1
9. The back and forth moving device 18 is driven and controlled simultaneously, and the hood portion 15 is configured as a logic circuit that always faces the surface to be processed 11 at a constant distance.

In addition, if the upper position detector 20# cannot detect the proper position from the beginning, such as when processing the upper end surface of the ship 9, attitude control is performed by the other eight position detectors 21, 22, and 28. I'm trying to keep going. Further, as shown in FIGS. 1 and 5, position counting dogs 27 are arranged at regular intervals on the traveling part of the self-propelled machine 8, and the traveling position is detected by a traveling position detector 28 such as a limit switch. At the same time, an angle detector (not shown) such as an encoder is appropriately installed in the lifting drive section of the self-propelled A8 to detect the lifting position, and the movement, lifting and lowering of the surface treatment device [1] 1rt can be determined and set appropriately, and a predetermined surface to be processed 11
The surface to be treated 11 can be automatically surface-treated by reciprocating as appropriate. 29 is a holding material for holding the surface treatment device 18 on the reciprocator 12; 30 is a hood 14 in a double cylindrical shape to prevent paint mist from scattering to the outside; air is blown out to form an air seal between the hood 14 and the outer panel 10; 81.32.8B are an air supply port, a mist collector for collecting paint mist, and an intake fan for blowing paint mist, and other accessories are omitted.

The surface treatment of a predetermined range of the surface to be treated 11 of the outer panel 10 of the ship 9 as shown in FIG. 1 will now be described.

First, based on the arrangement of the ship 9 and the processing range of the surface to be processed 11 of the outer panel 10, the running range and lifting range of the self-propelled machine 8 are set as appropriate using a setting device such as a digital switch on the operation panel 25 (Fig. (not shown) and commands the start of processing fU. Then, the self-propelled machine 8 travels to a predetermined position and drives the arm lifting device 4 to raise the surface treatment device 1 mounted on the pedestal 8 to the height of a predetermined surface 1 to be treated of the outer panel 10. . Next, the arm rotation device 5 of the self-propelled machine 3 is driven to rotate the arm 6 to bring the surface treatment device 1 close to the outer plate 10 as shown in FIG.

Any of the position detectors 20, 21, 22, 28 is located on the outer plate 1.
When 0 is detected, the arm rotation device 5 is stopped and attitude control is started. For example, when the position detector 23 detects the position of the cloth part as shown in FIG. When it becomes a little far from IO and the position cannot be detected, the hood part 15 is moved forward so that the position can be detected by the back and forth moving device 18. In this way, either the upper or lower position detectors 20.21 will also detect the position of the outer plate 10, so the vertical rotation device 1lf17 will be operated in the same way as above,
Activate the forward/backward moving device M1B and move 8 or more position detectors 20
．． 21, 22, 28 are detected, the automatic approach attitude control is completed, and the hood part 15 is placed at a predetermined gap on the surface 11 of the outer panel 10 to be treated by any of the position detectors 20, 21.
Even if 22.28 stops working, the surface can be treated without causing any erroneous operation. In this way, the skin l
The surface to be treated 11 in a predetermined range of O is automatically surface-treated, and when the set running position of the end is detected by the running position detector 28, the arm lifting/lowering [ 4 is activated and the surface treatment device ``1'' is almost turned into surface treatment device 1.
Move by the processing range of 3, and move the self and short roots 3 in the opposite direction to the above.
The surface is treated in the same way as above.

In this way, the self-propelled machine 3 moves up and down as appropriate to automatically process a predetermined range of the surface to be processed 11.

Therefore, the surface treatment equipment can be automatically and appropriately positioned on the surface to be treated within a predetermined range of the curved outer panel, allowing surface treatment to be carried out efficiently and safely even when working at heights. It is something that

Furthermore, since the devices can be operated automatically, one worker can operate multiple devices.

In the above embodiment, the surface to be treated is treated over a wide range of the outer skin of the ship, but it is also possible to automatically position localized parts one after another and perform surface treatment on the surface to be treated one after another. It is also possible to automatically position the processing range after the starting position of the surface to be processed and perform surface treatment.

In addition, as means for automatically positioning the desired range of the outer panel, in addition to arranging a positioning detector etc. on the running section of the dock where the self-propelled machine runs or on the self-propelled machine, a timer device can be used to adjust the moving distance as desired. It is possible to control the relative position of the self-propelled aircraft in terms of time, etc., as appropriate.

Further, in the above embodiment, a program sequencer is used as a control means to facilitate addition and change of control targets, but the use of the program sequencer is not limited to the following.1. In addition, the position detector can be added to the four on the top, bottom, left and right for control. It is also possible to control the hood part so that the

Further, in the above embodiment, a surface treatment device for a paint barrel is described in which the hood part and the surface to be treated m1 of the outer panel are treated with a certain gap provided, but the hood part and the surface to be treated of the outer panel are closely connected. It can also be overused in blasting equipment that handles the process.

In addition, in the above actual case, it is explained that the surface to be treated of the hull of the ship is treated with white eyes 1:<n'r, but manual control (1#i) It is also applicable to the use of '4' T which can also be used.

As described above, in the present invention, the surface treatment device can be automatically positioned on the surface to be treated mj of the curved outer panel of a ship, and the surface treatment can be performed automatically while maintaining an appropriate distance.
How to treat the surface of li's outer panel! This will improve the surface treatment efficiency and ensure the safety of thatch cultivation.

4 Figure 1 is a partially omitted schematic side view of one example of the present invention, and Figures 21 and 3 are part of the improved surface treatment device section. FIG. 4 is a suppressing circuit diagram of the main control section of the same as above, and FIG. 5 is a partially omitted schematic plan view for explaining the operation of the same as above.

DESCRIPTION OF SYMBOLS 1...Surface treatment equipment, shi''...Ship, 1o...Outer panel, 11...Surface to be treated, 13...Surface treatment 1 place immediate equipment, 1
4. Food, 15... Food section.

Daiujin Zofuji Kuniaki Morimoto Figure 1

Claims (1)

[Claims] (1) In surface treatment of a ship's outer plate, a hood with an open front covers the periphery of a surface treatment device such as a painting gun to treat the surface of the ship's outer plate. Automatically positions the surface treatment equipment to
The system detects the proximity position between the hood and the outer panel, automatically brings the hood to face the curved outer panel at an appropriate distance, and moves the surface treatment device along the outer panel to apply the predetermined surface to be treated. An automatic surface treatment method for a ship's outer panel, characterized in that the surface is automatically treated using a surface treatment device.