JPS60123263A - Surface treating device - Google Patents

Abstract

PURPOSE:To make it possible to prevent uneven contact of a surface treating tool, in a polishing method of a ship shell block, etc., by turning, extending and retracting a boom to make the surface treating tool approach the ship shell block, and as well by transmitting variations in hydraulic pressure to a drive shaft. CONSTITUTION:A surface treating tool 49 is abutted against a surface to be treated on a ship shell block, etc., by horizontally and vertically turning, extending and retracting a boom 10, and is pressed againt the surface by an air cylinder 50. Therefore, when an air motor 48 is rotated, the polishing is carried. Further, since a wrist 45 may be suitably moved by means of a horizontal turn drive device 55 and a vertical turn drive device 56, the surface treating tool 49 may be precisely abutted against or made approach the surface. Further, simultaneously, since variations in hydraulic pressure may be transmitted to both drive devices 55, 56 for the wrist 55 by means of a hydralic motor 48, the surface treating tool 49 is subjected to vertical and lateral fine oscillations so that it may be abutted against the surface with its entirety even thorugh it is made, for example, in uneven contact with the surface, thereby uneven treatment may be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a surface treatment apparatus used for rust removal, painting, polishing, etc. of articles.

Conventional example Tachibana Naru and its problems t In other words, when removing rust from a ship's hull block, conventionally, an operator inside a stage of an aerial work vehicle or a cage suspended from a crane uses the abrasive brush. I am working with it. This cleaning method requires excessive effort on the worker, there is also a risk of the worker falling, and the work efficiency is low.

Therefore, it is conceivable to install an electric metal brush on the wrist of the so-called robot device for cleaning.
) (b) i If the gold brush (49) is not in accurate contact with the surface of the hull block (1) as shown, but only unevenly, move the gold brush decoy in the direction of the arrow (G). When the metal brush 4 is moved to the 4th position for cleaning, unevenness in the polishing tends to occur because the polishing surface of the gold brush 4 is small, and the cleaning width (Ll) becomes small. Also, when moving on an arcuate surface along the axis to the side of the arrow 11'' as shown in Fig. 15 (a) (b) l, the gold brush (49) is In other words, the cleaning width (L2) becomes smaller.

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

In order to achieve the object (1) of the invention, the display element processing device of the present invention has two movements from a boom horizontal rotation that horizontally rotates a boom rotation base supported on a fixed base so as to be horizontally rotational. A boom vertical rotation device is provided to vertically rotate a telescopic boom disposed on a boom swivel base, and a boom extension δ drive device is provided to extend and retract the boom, and a boom tip δ drive device is provided to extend and retract the boom. A hydraulic wrist part 71 (a flat rotation movement device is provided for horizontally rotating the bent wrist part), a hydraulic hand lamp part 71 for vertically rotating the wrist part is provided, A surface treatment tool moving device for moving the disposed surface treatment tool is provided, and a surface treatment tool actuating device for operating the surface treatment tool is provided. Hydraulic pressure is applied to the horizontal rotation drive device of the wrist section and the upper and lower rotation drive device of the upper hand section, which are used to reciprocate the pistons on the surface of the cylinder device, which are passed through the horizontal rotation drive device of the wrist section and the vertical rotation drive device of the nail section, respectively. It is equipped with a hydraulic fluctuation transmission device that transmits fluctuations.

Embodiment and Function An embodiment of the present invention will be described below with reference to the drawings. This practical example concerns a cleaning device (2) for cleaning a hull block (1), which is installed in a cage (4) suspended from a truck crane (3). 4fJ is a fixed base fixed on the bottom plate of the cage (4), and a fixed shaft (6) is erected at the center of the lower surface thereof. (1) is a horizontal swivel table in which the boss part (7A) at the center of the lower surface is externally fitted onto the fixed shaft (6) via a bearing (8) so that it can rotate horizontally, and (9) is a horizontal swivel table in which the main body is attached to the horizontal swivel table (7). Welded and driven 1111
The lower end of (9A) is fitted into the hole of fixed l1llllI (6) and is locked with a key. No. 10 for horizontal rotation
- Talyakche, Yu, Oq is a telescopically telescopic boom, and one of the two frames (IIA) (IIB) hanging down from both sides of the bottom of the first stage (10A), one (IIA) is horizontal. It is rotatably fitted to the horizontal shaft (2) of one rising portion (7B) of the swivel base (7) via a bearing u3. The main body of u4 is welded to the other rising part (7C) of the horizontal swivel table (7), and its drive M (14
A) is the boss part OQ welded to the other rotating frame (IIB)
Of9 is the 20th actuator for boom vertical rotation which is fitted in and locked with a key, and Of9 is the 20th actuator for boom extension and contraction whose main body is fixed to the receiving shelf αη fixed to the side of the first stage (10A) of boom 4. 1 hydraulic motor, with a drive sprocket wheel 01 fixed to its drive shaft. H.C.
2υ is the intermediate sprocket wheel rotatably disposed on the support a Q'lJ, @c0124+ +, t boom Q
* (7) 1st stage (IOA) (7) The 1st stage sprocket wheel is protruding from the tip and base ends and is arranged in a freely circuitable manner on the bracket (c). The second stage sprocket wheel rotatably disposed at the base end of the second stage (10B) of the boom QG (
7) The 8th stage sprocket wheel is rotatably arranged at the base end of the 8th stage (IOC), 2) is an endless chain wound around each sprocket wheel M, and 4 is interposed in the chain (C). The chain tensioner has a built-in spring, and the rear is a connecting metal fitting fixed to the base end of the third stage (IOC), which is connected to the chain (IOC). (31) is the second stage (
10B), the stopper frame fixed near the base end, G is @
It is fixed to the bottom end of the first stage (10A) and is a receiving frame,
A pair of guide frames arranged on the bottom plate have a second stage (
10B) is slidably inserted into the guide rod on the lower surface. taa is a guide frame arranged on the bottom plate of the second stage (IDB), and C (support) is a guide fixed to the bottom surface of the third stage (IOC) and slidably fitted into the guide frame 13 [9]. The rod (C) is a bracket (39) protruding from the tip of the 8th stage (IQC), and the support shaft (I) is rotatably supported via a bearing arm with hanging parts (41A) at both ends. The wrist upper swivel base is rotatably fitted to the end of the support shaft via the bearing 4, and the decoy has a lower central detail (43A) attached to the central boss part (41B) of the wrist upper swivel base 0υ. A wrist horizontal swivel base, 551t, through which the shell can be horizontally swiveled, and a hand U part fixed above the swivel base, and Akane are connected to the wrist (
The slider, i4 barrel, which is slidably fitted into the guide rail fixed on the top of the slider, is an air motor fixed on the top of the slider, and the drive shaft is equipped with a gold brush 11.
9) is installed. φO) is an air cylinder whose main body is pin-connected to the protrusion (5υ) on the wrist part oo and whose piston rod tip is pin-connected to the slider body, t5a.
i + i are a pair of limit switches arranged at the slider opposing parts of the wrist part U~, and when both limit switches are on, hand 6 ← a is too knitted, and when both are off indicates that the wrist part is overextended. The opening is a handrail horizontal swinging device, the main body of which is a double rod type first hydraulic cylinder fixed to one side of the third stage (IOC) of the boom, and the base end of the third stage (IOC). The proximal end sprocket wheel extension η disposed nearby, the tip sprocket wheel keyed to one end of the spindle (to), and both sprocket wheels are wound around the first end. A chain connected to both ends of the piston rod of the hydraulic cylinder, a first bevel gear keyed to the center of the support shaft, and a keyed to the shaft (4aA) of the horizontal swivel base of the hand light section. and a first bevel gear 1 (an example of a second bevel gear that meshes with Hζ).

The silk is an upward swing drive device for the wrist, and the main body is the boom α.
0, a double rod type second hydraulic cylinder body fixed to the other side of the eighth stage (IOC), a proximal end sprocket wheel 14) disposed near the proximal end of the third stage (IOC), and the wrist The support frame (which is fixed to one of the hanging parts (41A) of the upper swivel table 11) (the support frame is immediately stopped from expanding with screws, and the support shaft (
The tip sprocket wheel (167) is arranged concentrically with the front end sprocket wheel (167), and the chain has both ends connected to both ends of the piston rod of the second hydraulic cylinder (63). It is composed of a (6
[Co., Ltd.] is a horizontal rotation correction device, which includes a pinion ffO+ fixed to the drive shaft (9A) of the 10th clear actuator (9), and a pinion ffO+ that extends from the main body of the 10th clear actuator (9). rack 4 which is movably arranged on the rack 711 and meshes with the pinion H, and the main body is the rack gl+
It consists of an eighth hydraulic cylinder ff, 1 which is disposed above and whose piston rod is connected to the above-mentioned rack cylinder, and one chamber (78A) of the third hydraulic cylinder (73j).
) and the left rotation chamber (56A) of the first hydraulic cylinder (56) are communicated with each other, and the other chamber (56A) of the eighth hydraulic cylinder (73)
78B) and the first hydraulic cylinder (5(il) right turning chamber (5
6B and 1 are communicated with each other.

Therefore, when the boom oQ turns to the left, the binonve. ,
8th hydraulic cylinder through the rack. When the piston rod (3) moves in the direction of arrow (A), the pressure oil in the other chamber (78B) enters the right turning chamber (56B), the wrist part (451 turns to the right, and the boom Oq turns to the right). , the piston rod of the third hydraulic cylinder (c) moves in the direction of the arrow (b), and the pressure oil in one chamber (7 (5) enters the left rotation chamber (56A).
The wrist portion (45) rotates to the left. The main part is a vertical rotation correction device, and is a 20th tag actuator. Fathom drive shaft (14A) fixed pinion + 7Gl,
20th - clear actuator (rack f719 movably disposed on the shelf (7η) extending from the body of 14 and meshing with the pinion 4; the body is disposed on aση and the piston rod is It is composed of fourth and fifth hydraulic cylinders ff9) and 4l) connected to the rack U8, and one chamber (79) of the fourth hydraulic cylinder ff9;
A) and the lower swirling chamber (68B) of the second hydraulic cylinder copper are communicated with each other, and the other chamber (79B) of the fourth hydraulic cylinder (79)
B) and the lower turning chamber (63A) of the second hydraulic cylinder are communicated with each other. Therefore, when the boom (IQ) rotates upward, the piston rod of the rack (7 (C) and pinion (4th hydraulic cylinder ff9 via 7B) moves in the direction of the arrow (c), and the pressure oil in the other chamber (79B) moves downward. Turning room (6aA
)) When the wrist part 01i1 turns downward and the boom 01 turns downward, the piston rod of the fourth hydraulic cylinder C/9) moves in the direction of the arrow), and the pressure oil in one chamber (79A) moves downward. The hand part 4 enters the turning chamber (68B) and turns upward. In addition, due to the structure, when the wrist part (4 ij) turns upward, the hand box horizontal swivel table U4 turns to the left, and when the wrist part (4ij turns T), the wrist horizontal swivel table u4 turns to the right, so the 5th hydraulic One chamber (80A) of the cylinder (80) and the left rotation chamber (5 (4) of the first hydraulic cylinder t5f9 are communicated with each other,
The other chamber (80B) of the fifth hydraulic cylinder communicates with the right rotation chamber (56B) of the first hydraulic cylinder (5).Therefore, when the boom θQ rotates downward, the wrist portion (45) When turning upward, the piston rod of the fifth hydraulic cylinder moves in the direction of the arrow (c), and the other chamber (80B
) enters the right rotation chamber (56B), and the right rotation by this first hydraulic cylinder and the left rotation by the wrist (c) cancel each other out, and the wrist horizontal rotation base 031 rotates from side to side. It doesn't turn either way. Conversely, even when the wrist portion 14 [i) turns downward due to the upward turning of the boom Ql, the wrist portion horizontal swivel base θ] does not turn to the left or right. 1st
In the first factor, ⑼ is a hydraulic pump, ■ is an air pump, Nishino~ (foundation) is the 1st to 5th manual switching valve, (c)) is an automatic switching valve, and the limit switch I 4 is When both are off, the command signal activates the right solenoid...
is actuated and switched to position (1), and the boom QO
is reduced and limit switches I and B are both in, solenoid 6 on the left side of the command signal 1 is
) is actuated and switched to the (lft) position, the boom OO is extended, and the limit switch is held in the (5)) position when it is on and off. Further, the hydraulic circuit of the first manual switching valve @Q is connected to the hydraulic circuit of the first hydraulic motor αQ, as shown by symbols (E) and (G).

The bell is the sixth manual switching valve and is normally held at the (I) position. No. 6 is the sixth hydraulic cylinder, and the compartments (94A) (94F3) partitioned by the piston 0 are the lower rotation chamber (68A) of the second hydraulic cylinder and the other side of the fourth hydraulic cylinder (7!14). The chamber (79B) communicates with the upper swirling chamber (68B) of the second hydraulic cylinder and one chamber (79-) of the fourth hydraulic cylinder 4.611
G+ is the second hydraulic motor, 4 is the crank arm that connects the drive shaft of the second hydraulic motor @ 0 (9) to the outer peripheral part of the disk fixed to the tip of the piston rod, and 4 is the second hydraulic motor.
This is the seventh manual switching valve of the hydraulic motor acupuncture needle. (102) is the seventh hydraulic cylinder, and the compartment (102A) (102f3) partitioned by the piston (108) is the symbol @(
As shown in G), the left turning chamber (56) of the first hydraulic cylinder
A) and the right turning chamber (56B), respectively. (104) is a third hydraulic motor; (105) is a crank arm that connects the driving shaft (106) of the third hydraulic motor (104) to a proper position on the outer circumference of a fixed sales disk (107) and the tip of the piston rod; (108) is the eighth manual switching valve of the third hydraulic motor (104).

The operation of the above configuration will be explained. For example, when scanning the location shown in (e) in FIG. 1, the truck crane (3) is operated appropriately to bring the cage (4) close to the location (e). Next, for example, the first manual switching valve is switched to the (2) position, and the boom OQ is rotated upward by the twentieth clear actuator Q4. Next, switch the second manual switching valve (To) to the (G) position, turn the boom OQ to the left using the 10th Taly actuator (9), switch the 8th manual switching valve to the (2) position, and switch the 8th manual switching valve to the (2) position. 1 Extend the boom (10) using the hydraulic motor (II), and bring the gold brush 4 close to the upper left corner of the (E) location.Next, switch the first manual switching valve η to the θω position, and Turn the wrist part 0 to the right using the first hydraulic cylinder, switch the first manual switching valve ■ to the (G) position, turn the wrist part 145) downward using the second hydraulic cylinder, and turn the front of the gold brush ← 9). parallel to the surface of the hull block (1),
@ Switch the 1st to 5th manual switching valves ~ ■ to the (ω position). Next, operate the air pump ■. This activates the air motor 4 and rotates the metal brush 09), and the air cylinder The piston rod is extended and the gold brush @9) is brought into contact with the upper left corner (e) of the (e) location (solid line in Figure 12 and solid line in Figure 13).

At the same time, the seventh and eighth manual switching valves 0 (1 (10
8) to (I) or (lit), the second and third hydraulic motors (104) are rotated in one direction, both pistons 0υ (108) are reciprocated, and the first and second hydraulic cylinders are rotated. Transmit oil pressure fluctuation to M @31. Next, a changeover switch of a control device (not shown) is switched to switch the first hydraulic motor αQ from manual operation to automatic operation.

Next, switch the first manual switching valve ■ to the (1) position. Then, the boom OQ begins to turn to the right (in the direction of the arrow), and as a result, the gold brush decoy is pressed against the surface of the hull block (2), and the reaction force causes the slider and frame to be affected by the pressing force of the air cylinder. Both limit switches (i21 (531) are turned on, the automatic switching valve (89) is switched to the (1) position by the operation of the right solenoid, and the boom is switched by the 30th clear actuator σ→. is reduced.Next, when this boom θQ becomes g small f, the slider slider 116+ is caused by the air cylinder control 0).]
Both mitt switch locks are turned off, the automatic switching valve is switched to the (end) position by the operation of the left solenoid button, and the boom αQ is extended by the first hydraulic motor θQ. This operation is repeated, and the gold brush (4 carriers) is always pressed against the surface of the hull block (1) with appropriate pressure and moves linearly from left to right, and at the same time, the first
, the second hydraulic cylinder (549 (since oil pressure fluctuations are transmitted to G31, Kinbrush Pass 9 as shown in Figure @16) makes a circular motion with slight vibrations up and down and left and right, (21)
Rust removal is carried out over the width of the area.

During this period, the wrist portion ha is rotated to the left by the operation of the third hydraulic cylinder V3j, so that the front surface of the metal brush 09) is always in full contact with the surface of the hull block (1). Next, when the metal brush (49) passes the position of the shortest distance between the grinding device (2) and the hull block (1) (position G in Figure 18), it will move forward on the slider in reverse. However, since both mitt switches are turned off, the operation opposite to the above is performed, and the boom 00 gradually extends, and the gold brush 09) is always pressed against the surface of the hull block (1) with an appropriate pressure. and rust removal is performed. Next, gold brush lI9+
When it reaches the upper right corner (g) of point (e), switch the first manual switching valve to position (1), lower the boom OO by a predetermined pitch, and then switch the first manual switching valve again! 841 to the (IJ) position, switch the second manual switching valve (to) to the (I) position, turn the boom 00 to the left (in the direction of arrow B) using the 10th tarry actuator (9), and perform the opposite operation to the above. The action removes rust. By repeating the above operations, once the rust has been removed from the (e) location, remove the cage (4).
By moving the block to another position and repeating the same operation again, the surface of the hull block (1) can be completely rust-removed.

In the above embodiment, the case where rust is removed from the flat surface of the hull block (1) has been explained, but as shown in FIG. Since the gold brush←9) is moved in a circular motion, it is possible to remove rust over a relatively wide width (j?2)i. It is also possible to remove rust from parts other than the hull block (1). Also, if a polishing tool is attached in place of the gold brush trout 9), it can be polished. Also gold brush t49)
Attach a coating device instead of the air motor decoy, and attach casters to the wrist (tilt), and place the casters in contact with the surface of the hull block (1) to create a space between the coating device and the surface of the hull block (1). If an appropriate interval is left between the two, the surface of the hull block (1) can be painted.

Effects of the Invention As described above, according to the present invention, the boom can be rotated horizontally and vertically, and expanded and contracted appropriately to bring the treatment table 1j into contact with any desired position on the surface to be treated. By horizontally rotating and vertically rotating the boom and moving it appropriately, the surface treatment tool can always be brought into accurate contact with or close to the surface to be treated, no matter what state the boom is in. be. At the same time, the hydraulic pressure fluctuations are transmitted to the wrist horizontal rotation drive device and the transmission device for vertical rotation of the wrist section, so the surface treatment tool is caused to vibrate vertically and horizontally. Even if the surface treatment tool hits the surface to be treated unevenly, as soon as the treatment operation starts, the surface treatment tool comes to come in full contact with the surface to be treated, and uneven treatment will not occur. Furthermore, it is possible to similarly process an arc-shaped surface to be processed over a relatively wide width.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is an overall explanatory view, Fig. 2 is a perspective view of the cage and the cleaning device, Fig. 3 is a side view, Fig. 4 is a plan view, and Fig. 5 is a plan view. 6 is a partially cutaway side view of the vicinity of the fixing base, Figure 6 is a partially cutaway rear view, Figure 7 is a view in the direction of arrows VI-■ in Figure 8, and Figure 8 is a view in the direction of arrow H in Figure 3. , Fig. 9 is a view taken from the lX-ff arrow in Fig. 3, Fig. 10 is a side view of the vicinity of the wrist, Fig. 11 is a hydraulic and air circuit diagram, and Figs. 12 and 18 show the rust removal procedure. A schematic side view and a schematic plan view shown in FIG. 14 (a>(b) and FIG. 15(a) (b)
16 and 17 are front views of the main parts showing the rust removed state in the embodiment of the present invention. (1)...hull block, (2)...grinding device, (
5)...Fixed base, (7)...Horizontal rotating base, (9)-
...10th-tari actuator (boom horizontal rotation drive device), θ0...boom, tS...20th-clear actuator (boom vertical rotation drive device), 0Q...1st
Hydraulic motor (boom telescopic drive device), θ...Wrist upper swivel, decoy...wrist horizontal swivel, ←0...wrist, decoy...air motor (surface treatment tool operating device) hmm,
09)... Gold brush (surface treatment tool), stem o)... Air cylinder (surface treatment moving device IT), 151-...
Wrist horizontal rotation drive device, ---first hydraulic cylinder,
Bag: Wrist upward rotation drive device, glance: 2nd hydraulic cylinder, (2): 3rd hydraulic cylinder, enclosure: 4th
Hydraulic cylinder, I0)...Fifth hydraulic cylinder, IQ・
2nd hydraulic motor (hydraulic variable transmission device), 07th... crank arm, (104)... 8th hydraulic motor (hydraulic variable transmission device), (1,05)... crank arm agent Morimoto Yoshihiro Figure 1 Figure 2 Figure 14 (a) (G) Figure 1b ■--←-----Masashi Figure 75 Figure 17)

Claims (1)

[Claims] 1. Providing a boom horizontal rotation drive device for horizontally rotating a boom swivel table supported by a fixed bacterium so as to be horizontally rotatable, and providing a boom vertical rotation drive device for vertically rotating a telescopic boom disposed on the boom swivel table; A boom extension and retraction drive device is provided to extend and retract the boom, and a hydraulic hand drive device is provided to horizontally rotate the wrist supported at the tip of the boom, and a hydraulic wrist is provided to horizontally rotate the wrist. A rotating drive device for the wrist is provided, a surface treatment tool moving device is provided for moving the surface treatment movably disposed on the wrist, a surface treatment tool actuating device is provided for operating the surface treatment, and the wrist By reciprocating the pistons of cylinder devices connected to the wrist horizontal rotation drive device and the wrist vertical rotation drive device, the hydraulic pressure is transmitted to the wrist horizontal rotation drive device and the wrist vertical rotation drive device. A surface treatment device characterized by being provided with a fluctuation transmission device.