JPS60123262A - Surface treating device - Google Patents

Abstract

PURPOSE:To make it possible to surely oppose a surface treating tool to a rough surface of a section to be treated, in a ship shell block polishing devide, by turning, extending retracting a boom to opposed the surface treating tool to the surface of the section to be polished, and by making the wrist section of the boom turnable. CONSTITUTION:By turning, extending and retracting a boom 10c, a metal brush 49 is made approach a ship shell block 1, and is rotated by an air motor 48 while being abutted against the block 1 by extending an air cylinder 50. In this case, since the metal brush 49 may be vertically and laterally swung by means of metal brush dupport device 110, and therefore, the metal brush 49 may be abutted against the block 1 even thorugh the latter has a rough surface. Then, the boom 10c is turned to the right under automatic control operation so that the metal brush 49 is pressed, and when a slider 46 is retracted by the reaction force thereof overcoming the pressing force of the cylinder 50, limit switches 52, 53 are turned on to retract the boom. Further, the cylinder 50 allows the slider 46 to advance. With the repetition of the above-mentioned steps the metal brush 49 is pressed against the ship shell block 1 with a suitable force to polish the same.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a surface treatment device used for removing rust, painting, polishing, etc. from articles.

Conventional configuration and its problemsf In other words, when performing M-dropping of hull blocks, conventionally, a worker inside a cage suspended from the stage of an aerial work vehicle or a crane holds the abrasive brush. I'm working on it. This cleaning method requires an excessive amount of effort on each worker, and there is also a risk that the worker may fall, resulting in low work efficiency.

Therefore, it is conceivable to place an electric metal brush on the wrist of the robot device for cleaning, but if the surface to be polished has unevenness, the unevenness 1'? - It is very difficult to move the gold brush to follow.

OBJECTS OF THE INVENTION It is an object of the present invention to provide a surface treatment apparatus that eliminates the above-mentioned conventional drawbacks.

Structure of the Invention In order to achieve the above objects, the surface treatment apparatus of the present invention is provided with a boom horizontal rotation drive device for horizontally rotating a boom rotation base supported by a fixed IC horizontally rotatable; A boom vertical rotation drive device is provided for vertically rotating a telescopic boom, and a boom telescoping drive device is provided for extending and contracting the boom. A wrist section equipped with a drive device that rotates one wrist section up and down.
A surface treatment tool support device that is equipped with a double rotation drive device, is provided with a slider moving device that is movably disposed on the wrist portion of 9, and moves the slider, and supports the surface treatment device on the slider 7, so as to be able to swing vertically and horizontally. established.

A surface treatment tool operating device is provided to operate the surface treatment tool, and a vertical direction detector is provided to detect when the surface treatment tool has moved 10,000 meters downward from the neutral position. A vertical direction control device is provided to appropriately control the wrist portion and fF-swivel drive device (based on a detection signal). 1. A horizontal direction detector that detects horizontal movement of the surface treatment tool from the neutral position to the left or right. and a horizontal direction control device that appropriately controls the wrist horizontal rotation drive device based on the detection signal from the horizontal direction detector.

EMBODIMENTS AND OPERATIONS One embodiment of the present invention will be described below with reference to the drawings. This example shows a grinding device for removing rust from a hull block (11), which is installed in a gauge (4) suspended from a l-rack crane (3). 5) is a fixed stand fixed on the bottom plate of the cage (4).

A fixed shaft (6) is erected at the center of the upper surface. (7)
The boss part (7A) at the center of the bottom surface is attached to the fixed shaft (6) with the bearing (8
), (9) a horizontal swivel table fitted externally through the
The main body is welded to the horizontal swivel table (7) and the drive shaft (
9A) 10th clear actuator for horizontal swivel, whose lower end is fitted into the hole of the fixed shaft (6) and locked with a key; OQ is a boom that is telescopically telescopic; One of the two image frames (IIA) CIIB) hanging from both sides of the lower surface of (IOA) (l IA)
is rotatably fitted to the horizontal shaft of one rising portion (7B) of the horizontal swivel table (7) via a bearing. The main body of the control is welded to the other rising part (7C) of the horizontal rotating table (7), and its drive shaft (14A) is attached to the other rotating frame (II).
B) The 20th clear actuator for northward rotation of the boom is fitted into the boss part + IG circle welded to B) and is locked with a key. 00 is the receiving shelf θ whose main body is fixed to the side of the first stage (IOA) of the boom CIQ. A hydraulic morph for boom telescoping is fixed to the force, and a drive sprocket wheel is fixed to the drive shaft thereof. ■The origin is a tco intermediate sprocket wheel that is rotatably arranged on the receiving shelf (17).

(c) (c) The tip of the first stage Cl0A) of the boom scream,
A first stage sprocket wheel rotatably disposed on a base end and a bracket (b) protruding from the base end, (a)
(c) is a second stage sprocket wheel rotatably installed at the base end of the second stage (IOB) of boom 9q, and (c) is a second stage sprocket wheel rotatably installed at the base end of the third stage (IOC) of boom OQ. Sa f
'3rd stage sprocket wheel, G! ＠ is a non-wound chain wound around each sprocket wheel 01~(a), ? ) is a chain tensioning device with a built-in spring that is interposed in the chain (c), and (to) is a connecting fitting fixed to the base end of the third stage (IOC), which is connected to the chain. . 0]) is a collar frame fixed near the base end of the second stage Cl0B), @ is a receiving frame attached to the tip of the lower surface of the first stage (l0A), and a pair of t pieces are arranged on the bottom plate. A guide rod on the lower surface of the second stage (10B) is slidably fitted into the guide frame. So is 2nd stage C
The guide frame F is placed on the bottom plate of l0B), C→ is the 8th
The guide rod 1 (G), which is fixed to the lower surface of the stage (IOC) and slidably fitted into the guide frame, is attached to the third stage (IOC).
Qll 9 (
(4) is a support shaft rotatably supported through a support shaft (4), and (4) is a swivel base under the ball of a thousand feet, in which both end hanging parts (41A) are rotatably fitted onto the support shaft (7) through bearings. In (c), the shaft part (48A) at the center of the lower surface is the central boss part (48A) of the upper swivel base θυ on the wrist part.
1B) A wrist horizontal swivel base that passes through the lζ bearing 04 so that it can rotate horizontally; 4 is a wrist fixed on the swivel base 63; c+@ is fixed on the wrist; The slider 0→ is an air motor disposed on the slider f+t9, which is slidably fitted into the co-guide rail θ.

A gold brush (1 piece) is placed on the drive shaft. (7)
1 is an air cylinder whose main body is connected with a pin between the protrusions on the wrist part (A), and the tip of the piston rod is connected with a slider (1G), and 1fi2 il+31 is an air cylinder arranged at a position opposite to the slider on the wrist part (A). 1. Second limit switch -C1 both limit switches f+B
When K'l are both on, the wrist () is too short, and when both are on, the wrist (-) is too extended. The main body is the wrist horizontal rotation drive device, and the main body is the double rod type first hydraulic cylinder fixed to the side of the 8th stage DoC with a boom, and the near the base end of the 3rd stage (IOC). The proximal end sprocket *Eel Hη disposed in and m
The tip sprocket wheel (F) is keyed to one end of the support shaft (7) marked J, and it is wound around the ITJ subrocket wheel 67) (G), and both ends are connected to both ends of the piston rod of the first hydraulic cylinder. What happened? M)
The first bevel gear (48A) is keyed to the center of the horizontal swivel platform (48A) and meshes with the first bevel gear (48A). The second bevel gear f
It consists of all. The trowel is an upward swing drive device for the wrist, and the main body is the third stage (IOC) of the boom C11.
a double-rod type second hydraulic cylinder fixed to the other side of the third stage (IOC); and a proximal sprocket wheel decoy disposed near the proximal end of the third stage (IOC).

One hanging part (41A) of the wrist upper swivel base 4)
When the screw is pulled out from the support frame fixed to the
It consists of a cylinder (110), which is wound around both sprocket wheel phases (6), and a cylinder (110) whose both ends are connected to both ends of the piston rod of a second hydraulic cylinder (110). ) is a gold brush support device installed at the location facing the slider, and a piece (
111) and its axis (α)
The basic bearing (1
12), a base shaft (113) fixed at the center is rotatably supported by the base bearing (112), and 2) both ends fζ of the arc plate (114) are fixed. At the same time, a pair of rotational shafts/sections (115) whose axis φ is set to be perpendicular to the axis (α) and the outer peripheral surface of the main body of the air motor 6 barrels are spaced at a distance of 1800 mm from each other. A pair of air motor support shafts (11) are fixed and rotatably supported by the respective rotation bearings (115).
6). Therefore, the air motor (
9) and the gold brush (to) can freely swing vertically and horizontally around the image axis (α) and (b). (117) is the air motor ω
Attach the rear end of the barrel to the hand plate, (11g) (11g)
9) is the frame body (120) extended from the slider)
A third bolt for detecting vertical swing is fixed on the horizontal part of the L-shaped plate (117). 4th limit switch, (121) (122) is the frame (120)
Fifth and sixth limit switches are fixed to the L-shaped plate (117) and placed on both sides of the vertical part of the L-shaped plate (117) for detecting left and right swing.

(128) is an air motor support frame which is fixed on the slider flI and whose central through hole (124) loosely fits into the air motor fee. Figure 13 - C, IF
a is a hydraulic pump, (g) is an air pump, tai~(
g) are first to third manual switching valves; and one is a first automatic switching valve.

When both of the limit switches are off.

From the command signal f, the right solenoid is activated for 1 hour and switched to the (1) position, and the boom a+i bs
A;::'+small.

When both limit switches L521531 are on, the command signal causes the left solenoid σ to operate mJ and switch to the (Ill) position, the boom OQ is extended, and the limit switch '=5Z 1531 is turned on and off. The hydraulic circuit of the valve □□□ is held at the position (It) (＼l). It is connected to the hydraulic circuit. (126) is a second automatic switching valve, and when the third limit switch (118) is on, the solenoid (127) is operated and switched to the 1] position, and the third limit switch (118) is turned on. When the 4th limit switch (119) is on, the solenoid (128) is operated and switched to the (1) position, and both the 3rd and 4th limit switches (11
8) When both (119) are off, the position (1) is held at 1pe. (130) is a third automatic switching valve, and when the fifth limit switch (121) is on, the solenoid (181) is operated to the (lit, ) position.
When the switch is switched to τ1 and the sixth limit switch (122) is on, the solenoid (182) is activated (
1) Switched to Intel, 5th. When the sixth limit switches (121) and (122) are both off, the position (I) is held at 1.

The operation of the above configuration will be explained. For example, when cleaning the location shown in (e) in Figure 1, the truck crane (3) is operated appropriately and the cage (4) (i' (e) is approached to the location. Next, for example, the first manual Switching valve (goods) 01l
) position, and the 20th tandem actuator α411'
Turn the boom oCJ upward from C. Next, switch the second manual switching valve (to) to (II) lit +R, and
Rotate the boom to the left using the tag actuator (9),
The first manual switching valve @8 is switched to the (1) position lΔ゛t, the boom 00 is extended by the hydraulic motor 00, and the gold brush 01
(E) approach the upper left corner (E) of the location. Next, the air pump 83) is activated. As a result, the CT-ear motor is activated, the gold brush 11 is rotated, and the piston rod of the air cylinder is extended.
The gold brush (1!) is brought into contact with the (f) part (first
(solid line in Figure 4 and solid line in Figure 15).

At the time of C, the two-motor 0 frame and the metal brush 0 can be freely swung vertically and horizontally by the metal brush support device (ilO), so no matter how uneven the surface is [fIi], The brush Iie can be brought into precise contact with the point Cζ.Next, the changeover switch of the control device (not shown) is switched to switch the hydraulic motor αQ from manual to automatic operation.Next Then, switch the second manual selector valve (to) to position (1).Then the boom 2 will turn clockwise (10,000 times in the direction of the arrow) and tighten, thereby pressing the metal brush against the surface of the hull flock (υ). Due to the reaction force, the slider (No. 4) retreats against the pressing force of the air cylinder (A), turning on both mitt switch valves and activating the right solenoid 190), which causes the automatic switching valve ( , @ is switched to (1) position iit, and the boom a* is contracted by the 30th clear actuator head.Next, when this boom head is contracted, the slider head is advanced by the air cylinder and the mitt switch is pressed. yjno1531
is turned off, the left solenoid 8111 is operated to switch to the automatic switching valve (chest 1) position, and the boom αQ is extended by the hydraulic motor a0.

By repeating this operation, the gold brush OI is always pressed against the surface of the boat block (1) with an appropriate pressure and moves linearly from left to right. The next fζ gold brush 6ψ is the polishing device (2
) and the hull block (1) (the position of the shortest distance)
When passing the position (g) in Figure 4, the slider 0 is reversed.
0 moves forward, #'tII limit switch angle -
Since it is turned off, the operation opposite to the above is performed.

The boom QO is gradually extended and the gold brush @ scratch is always pressed against the surface of the hull block (1) with proper pressure. At the same time as this operation, when the gold brush block turns to the right due to the irregularities on the surface of the hull block (1), the sixth limit switch (122) is turned on by the 5L-shaped plate (117).

Activate the solenoid (182) to close the third automatic switching valve (1).
80) to the (1) position, and the wrist portion (c) is rotated to the right by operating the first hydraulic cylinder in one direction υj.

The gold brush (6) is accurately opposed to the irregularities on the surface of the hull block (1). Mako upside down hull block (
1) If the gold brush head is turned to the left due to the unevenness of the surface.

The fifth limit switch (121) is turned on, actuating the solenoid (181) and switching the third automatic switching valve (180)
is switched to the (Ill) position, and the wrist portion ◇υ is rotated to the left by operating the first hydraulic cylinder hammer) in the other direction. Also, due to the unevenness of the surface of the hull block (1), the gold brush 0
When the position is upward, the fourth limit switch C119) is turned on, actuating the solenoid (128) and switching the -C second automatic switching valve (126) to position B (position 13), which moves the second hydraulic cylinder in one direction. The wrist part is rotated upward by the operation of .Furthermore, when the gold brush θ is turned downward due to the irregularities on the surface of the hull block (1), the third limit switch (
118) is turned on, actuating the solenoid (127) and switching the second automatic switching valve (126) to the (III) position, causing the second hydraulic cylinder to move in the other direction. It can be rotated. No matter what shape of unevenness there is on the surface of the cut hull flock (υ), the gold brush 0I can always be accurately opposed to the unevenness.

Next, if the gold brush (11 is placed in the upper right corner of the (E) location), the first manual switching valve ff141 will be removed.
After lowering the boom OQ by a predetermined pitch, set the first manual switching valve (2) to the (1) position again, switch the second manual switching valve (1) to the (I) position, and lower the 10th clear actuator ( 9) Turn the boom head to the left (in the direction of arrow B) and remove the rust by performing the opposite operation to the above. By repeating the above operations, once you have completed removing the rust from the (e) location, move the cage (4) to another position and repeat the same operation to remove the rust from the surface of the hull block (1). Rust can be completely removed.

In the above embodiment, rust removal from the hull block (1) has been explained as an example, but rust removal from other parts than the hull block (1) can also be performed. Also, if a polishing tool is attached in place of the gold brush 119, polishing can be performed. Mako gold brush (1
At the same time, install a coating device in place of the air motor and the air motor, and attach casters to the air motor, and place the casters in contact with the surface of the hull block (1) to move If you leave an appropriate distance between the two, you can paint the surface of the hull block.

Effects of the Invention As described above, 1) According to the present invention, the boom can be rotated horizontally and vertically, and expanded and contracted according to the turbidity, so that the surface treatment tool can be opposed to an arbitrary position 1 of the surface to be treated. You can also move the surface treatment tool up and down and left and right! 1τ11, and the wrist part can be rotated freely by detecting the swinging state of the surface treatment tool, so even if there are irregularities on the surface to be treated, the surface treatment can always be performed on the surface. The ingredients are correct 1;j [
It is possible to face the

[Brief explanation of drawings]

The figures show one embodiment of the present invention, with FIG. 1 being an overall explanatory view and FIG. 2 being a perspective view of a cage and a row of cleaning devices. Figure 3 is a front view of the stool, Figure 4 is a plan view, Figure 5 is a partially cutaway side ffi view near the fixing base, Figure 6 is a partially cutaway back view, and Figure 7 is the third view. )'11-■ arrow view, Figure 8 is the 3rd
■u-v111 arrow view in the figure, Figure 9 is IX- in Figure 3
■ View from the arrow 1 Figure 10 is a side view of the vicinity of the wrist, Figure 11 is a view from the XI-XI arrow of Figure 10, and Figure 12 is a side view of the vicinity of the wrist.
DXll - plate arrow view, Figure 18 is a hydraulic and air circuit diagram, Figures 14 and 15 are a schematic side view and a schematic plan view showing the rust removal procedure.〇(1) Hull block, ( 2)=”Grinding device, (9)・
No. 10 - Taly actuator (boom horizontal rotation drive device)
a◆・20th-clear actuator (boom vertical rotation drive device 1 head・hydraulic motor [boom telescopic drive device), i
n])...Wrist upper swivel base, (G)...Wrist horizontal swivel base, ni)...Wrist, (G)--Slider, I
G. Air motor (surface treatment tool operating device), (A).
・Gold brush (surface treatment tool) 1 ・Wrist horizontal rotation drive device. (Rotation)...Wrist portion upward rotation drive device, (110)-
...Gold brush support device g, (118)--Third limit switch (upper direction detector), (119)...4th limit switch (vertical direction detector), (12)
1)...5th limit switch (horizontal direction detector)
, C122)...6th ') E'7 t switch (horizontal direction detector), (126)...2nd self-claw switching valve (J: downward amount control device),,, (180)... Third
11 Switching valve (horizontal direction control device) Agent Yoshihiro Morimoto/Ci Figure 2 Figure 5 Figure 6 Figure 7 Z Figure 8 Figure 2 Figure 74

Claims (1)

[Claims] 1. Boom swing 8 supported on a fixed base so that it can rotate horizontally
1e A boom horizontal rotation drive device for horizontal rotation is provided, a boom vertical rotation drive device is provided for vertically rotating a telescopic boom disposed on a boom rotation base, a boom telescoping drive device is provided for extending and contracting the boom, and a boom extension drive device for extending and contracting the boom is provided. A wrist horizontal rotation drive device is provided for horizontally rotating the supported wrist portion, and a wrist upward rotation drive device is provided for vertically rotating one wrist portion. A slider movably disposed on one wrist portion is provided. A slider moving device is provided to move the surface treatment tool, and a surface treatment tool support device is provided on the slider to support the surface treatment tool so as to be able to swing vertically and horizontally, and a surface treatment tool operating device is provided to operate the surface treatment tool. 2:x-1
- A vertical direction detector is provided to detect movement upward or downward from the vertical position, and a vertical direction detector is provided to appropriately control the single wrist rotation drive device based on the detection signal from the vertical direction detector. A horizontal direction detector is provided to detect horizontal movement of the surface treatment tool from the neutral position to the left or right, and the wrist horizontal rotation drive device is operated as appropriate based on the detection signal from the horizontal direction detector. A surface treatment apparatus characterized in that it is provided with a horizontal direction detector M for controlling the surface.