JPS62129170A - Apparatus for automatic inspection-painting of outer surface painting of cylindrical tank - Google Patents

Abstract

PURPOSE:To fully automate the outer surface painting of a tank, by operating working heads mounted respectively through a power supply means while a head block for a roof and a head block for a peripheral wall are scanned by a position control means. CONSTITUTION:The outer surface painting of the roof and peripheral wall of a cylindrical tank is inspected by head blocks scanning the roof and peripheral wall over almost entire regions thereof and the position control means of said blocks, working heads and power supply means, and the position data and inspection data thereof are outputted to CPU60 through an input/output interface 59. CPU60 processes these data on the basis of the predetermined control program stored in a control program memory 61 and stores the operated signal in an operation data memory 62 if necessary and subsequently controls both position control means and power supply means through the input/output interface 59 to allow said means to perform the painting of a necessary repairing place.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic inspection coating device for coating the external surface of a cylindrical tank.

(Prior art) Generally, when storing large amounts of city gas or petroleum,
Large cylindrical tanks are used, but the exterior coating of these cylindrical tanks becomes damaged due to corrosion, peeling, abrasion, etc. during long-term use, so it is necessary to periodically inspect and repair the exterior coating. However, when a new cylindrical tank of this type is installed, it is necessary to paint the outside surface.

Conventionally, damaged areas and the extent of damage to the exterior paint are visually inspected, and repairs are carried out using sandblasting or shot blasting on the areas that require repair using a method that is almost manual, without the use of automated equipment. , painting and coating film thickness inspections, etc.

The roof of the above-mentioned cylindrical tank has a gentle slope, allowing workers to proceed with the work while walking.However, for the outer surface of the cylindrical tank's peripheral wall, it is necessary to erect scaffolding and work on that scaffolding, or work on a gondola-style workbench. Methods such as doing this have been adopted.

As an outer surface workbench device for inspection and painting of the outer surface of the peripheral wall of the above-mentioned cylindrical tank, for example, JP-A-54-97
No. 816 discloses that a movable body extending over the entire height of the peripheral wall of a cylindrical tank is provided, a guide wheel at the upper end of the movable body is transferred along a guide rail at the upper end of the peripheral wall, and an auxiliary roller at the lower end of the movable body is moved along the outer surface of the peripheral wall. It is described that a plurality of workbenches are provided in the middle of the moving body, and work on the outer surface of the surrounding wall is performed on the workbenches while the moving body is moved along the outer surface of the surrounding wall. .

(Problems to be Solved by the Invention) The scaffolding, gondola second workbench, or outside workbench device used for working on the outer surface of the peripheral wall of the cylindrical tank all have a work floor (workbench) for workers to work on. These workbenches cannot eliminate dangerous and inefficient work at high places, and they cannot automate and increase efficiency in inspections, sandblasting, painting, film thickness measurement, etc. It's simply impossible.

The same applies to the work on the outer surface of the roof of the cylindrical tank, and the reality is that no technology has yet been proposed to automate and improve the efficiency of the work on the outer surface of the roof.

(Means for Solving the Problems) The automatic inspection and coating apparatus for coating the external surface of a cylindrical tank according to the present invention positions roof head blocks that mutually scan substantially the entire external surface of the roof of a cylindrical tank using a position control means. The circumferential wall head blocks are configured to be freely controllable and scan substantially the entire outer surface of the circumferential wall of the cylindrical tank, and the position of the head blocks is freely controllable by a position control means. In addition to providing a working head for performing the above-mentioned roofing, a means for supplying power, etc. to these working heads for supplying processing materials, power, etc.
While scanning the cylinder head block along the outer surface of the surrounding wall, the inspection parts of both work heads inspect the tank outer surface coating, record the position data and inspection data, and based on this position data and inspection data. A control means is provided for controlling both position control means and power supply means so as to automatically apply coating etc. to the outer surface of the tank.

(Function) In the automatic inspection and coating apparatus for coating the external surface of a cylindrical tank according to the present invention, the head block for the roof is scanned over substantially the entire area of the roof of the cylindrical tank while the position of the roof head block is controlled by the position control means. The exterior coating of the roof is automatically inspected by the inspection section of the work head of the block, and the position data and inspection data are output to the control means and recorded.

Similarly, by scanning the circumferential wall head block over almost the entire circumferential wall of the cylindrical tank while controlling its position using its position control means, the inspection section of the working head of the head block automatically inspects the outer surface coating of the circumferential wall. The position data and inspection data are output to the control means and recorded.

When performing blasting or painting on the parts of the external surface of the cylindrical tank that require repair, the control means controls both the position control means and the power supply means based on the position data and inspection data. Painting etc. will be applied automatically to the

(Effects of the Invention) According to the automatic inspection and coating apparatus for coating the external surface of a cylindrical tank according to the present invention, as described above, the roof stripper and its position control means that scan almost the entire area of the roof of the cylindrical tank are provided. Using the work head and a supply means such as a movable horn, it is possible to inspect the outer surface coating of the roof and obtain its position data and inspection data. The position control means, the work head, and the power supply means can inspect the outer surface coating of the peripheral wall and obtain the position data and inspection data.

Then, by controlling both the position control means and the power supply means based on the position data and inspection data regarding the roof and surrounding wall, the control means automatically repairs the areas that require repair of the outer surface coating of the cylindrical tank. It is possible to apply paint etc.

In this way, we can automate the inspection of the external coating of cylindrical tanks,
The painting etc. can also be automated.

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

The automatic inspection and painting device for the external surface coating of a cylindrical tank according to this embodiment automatically inspects the external surface coating of the cylindrical tank T, automatically sandblasts defective areas of the coating and areas that require repair in the vicinity, and The system automatically applies the coating and visually inspects the film thickness after coating.

The above inspection coating equipment consists of a cylindrical tank T as shown in Fig. 1.
The first carriage 1 is used for inspecting the exterior coating of the roof R of the tank T, and the second carriage 2 is used for inspecting the exterior coating of the peripheral wall W of the cylindrical tank T. attached to a movable beam 3 disposed on the upper surface of R in a radial direction from the center to the outer periphery;
The second carriage 2 is driven in the radial direction along the movable beam 3, and the second carriage 2 is connected to a sales floor device 4 (see FIG. 4) provided at the outer end of the movable beam 3 via a wire 4a. It is suspended and driven in the vertical direction along the peripheral wall W.

A support vehicle 5 is prepared, which is equipped with various equipment for supplying the necessary power, compressed paint, compressed air, sand for blasting, and control cables to the first carriage 1, second carriage 2, and drive devices. It is assumed that this support vehicle 5 moves around the cylindrical tank T in accordance with the movement of the movable beam 3.

Of course, there are many cases where there is not enough space around the cylindrical tank T, and even if there is space, above-ground piping is often installed; Supply sources of power, etc. in place of the support vehicle 5 shall be provided at ~3 locations.

The movable beam 3 has supporting idlers 6 (see FIG. 1) that roll on the upper surface of the roof R at appropriate intervals in the radial direction, and as shown in FIG. It is supported by a ring member 7 at the center of the ring member 7, and is rotatable around a vertical axis along a ring-shaped guide rail 7a provided on the upper surface of the ring member 7.

However, as shown in FIG. 2A, a guide ring 7b having an H-shaped or L-shaped cross section is provided on the outer circumferential side of the manhole cylindrical member 7A in the center of the roof R of the cylindrical tank T, so that the inner end of the movable beam 3 By engaging the idler ring 7c with the guide ring 7b, the inner end portion of the movable beam 3 may be rotatably supported.

Furthermore, as shown in FIG. 4, the outer end of the movable beam 3 extends slightly outside the outer peripheral edge of the roof R, and a pair of running wheels 8 made of rubber rollers are provided below the outer end of the movable beam 3. established,
These running wheels 8, which are rotated synchronously by an electric motor 9, move on an annular track portion on the outer periphery of the roof R without slipping.

However, in addition to the running wheel 8 made of rubber rollers, a metal running wheel may be made to run on the guide rail, or a ring-shaped rack may be attached to the annular track section, and a binion that meshes with this rack may be used. Alternatively, the outer end of the beam 3 may be driven.

In the above configuration, when the idler wheel 8 is rotationally driven by the motor 9, the inner end of the movable beam 3 rotates along the guide rail 7a of the ring member 7, and the movable beam 3 rotates along the upper surface of the roof R. It will rotate in the circumferential direction.

Note that the movable beam 3 does not have to have a truss structure of steel pipes as shown in the figure, and may be composed of one or more members with a box-shaped, H-shaped, or ■-shaped cross section, and may also have a diameter of the tank T. The movable beam 3 may be configured to be telescopically adjustable in length in the radial direction of the tank T so as to correspond to the size of the tank T.

The first carriage 1 is attached to the movable beam 3 by the mechanism illustrated in FIG. 3, and is driven in the radial direction along the movable beam 3. Painting unit) IOA is installed.

A pair of upper and lower guide members 11a and llb with an L-shaped cross section are provided on the sides of the movable beam 3 over substantially the entire length of the movable beam 3, and a single rack 12 is provided between the upper and lower guide members 11a and llb. is provided.

A pair of support wheels 1 provided on the back side of the first carriage 1
3 is freely rotatably mounted in the groove of the guide member 11b, and similarly, the upper pair of guide wheels 14a on the back side are engaged with the guide member 11a, and the lower pair of guide wheels 1
4b is engaged with the guide member 11b.

Further, the first carriage 1 is provided with a pinion 15 that meshes with the rack 12 and a motor 16 that drives the pinion 15.

As described above, the first carriage 1 is supported on the side of the movable beam 3 so as to be movable in the radial direction, and is reciprocated along the movable beam 3 via the rack and pinion mechanism by the rotational driving force of the motor 16. ing.

As shown in FIGS. 4 and 5, the second carriage 2, which moves along the outer surface of the peripheral wall W of the cylindrical tank T, is supported by a sales floor device 4 provided at the bottom of the outer end of the movable beam 3, and is supported in the vertical direction. driven to.

The sales floor apparatus 4 suspends the second carriage 2 by a pair of wires 4a fed out in a V-shape from a pair of drums 18 driven by a motor 17.

The second carriage 2 is equipped with a pole-shaped guide ring that moves along the outer surface of the surrounding wall W, an electromagnet that generates an attractive force with the surrounding wall W, and also moves vertically along the outer surface of the surrounding wall W. It is also movable in the circumferential direction.

In the case shown in FIG. 5, an inspection painting unit (IOB) is attached to the second carriage 2.

However, instead of the sales floor device 4, a guide member is provided vertically from the outer end of the movable beam 3 along the peripheral wall W, and the second carriage 2
The second carriage 2 may be supported by a guide member and the second carriage 2 may be driven in the vertical direction via a rack and pinion mechanism like the first carriage 1, or the screw shaft of the guide member and the screw meshing with the screw shaft may be The second carriage 2 may be driven vertically by a nut or the like.

Incidentally, the motor 9 that drives the movable beam 3 in the circumferential direction, the motor 17 of the sales floor apparatus 4, and the motor 16 that drives the first carriage 1 in the radial direction are each equipped with a rotary encoder (hereinafter referred to as a rotary encoder) that detects the rotation angle of the motor. encoders) are provided, and the engine output signal from each encoder is output to the control unit provided in the support vehicle 5.
The motors 9, 16, and 17 are feedback-controlled by an electric servo mechanism of a control unit.

Next, a brief explanation will be given of the inspection coating unit (IOA) detachably attached to the first carriage l in the third drawing.

The above Inspection Painting Unisol l-10A is used for inspecting whether the paint film is damaged (corrosion, peeling, abrasion, etc.), for repairing defective areas, and for measuring the thickness of the paint film after painting. It is structured as follows.

That is, a base frame 19 is fixed to the lower end surface of the first carriage 1 with bolts, and the base frame 19 and the end plate 20 are connected to a four-piece connecting rod 21 and a guide rod 22 that are oriented perpendicularly to the movable beam 3. A head block 24 is attached to the guide rod 21 so as to be slidable in the axial direction but not rotatable, and a binion 26 driven by a motor 25 of the head block 24 meshes with the rack shaft 230 rank. As a result, the head block 24 can be reciprocated by about 1500 +u along the guide rod 22 by the motor 25 via a rack and pinion mechanism.

The head block 24 is equipped with an infrared sensor 27 for inspecting the presence or absence of coating defects, a spray gun 28 for coating, a film thickness measuring device 29 for measuring the coating film thickness, and a film thickness measuring device 29 for measuring the coating film thickness. An electromagnet 30 (mag chuck) that is brought into close contact with the steel plate surface is provided, and the film thickness measuring device 29 and the electromagnet 30 are brought into close contact with the steel plate surface by means of a solenoid or an air cylinder 31.

The hood 32 is used to cover the moving area of the head block 24 during inspection using the infrared sensor 27 and during painting using the spray gun 28. The hood 32 is guided by the connecting rod 21 and can be changed into an expanded state and a folded state by a mechanism not shown. It is designed to be driven.

In addition to the above, mechanisms for reciprocating the head block 24 along the guide rod 22 include a mechanism driven via a ball screw shaft and a pole screw nut driven by a motor, and an endless mechanism driven by a motor. A reciprocator mechanism using a chain or the like can be applied. Further, the hood 32 is opened and closed by hooking both ends of the hood 32 onto the drum of the motor in the forward and reverse directions via a wire passing through a pulley on the end plate 20 side.

As shown in FIG. 7, the infrared sensor 27 irradiates the painted surface with infrared rays from a predetermined angle, detects the reflected infrared rays, and detects the presence or absence of defects in the paint film and the type of defects based on the magnitude of reflectance. This is what I did.

However, in addition to the infrared sensor 27, it is also possible to detect defects in the coating film using an ultrasonic sensor.

A control cable to the infrared sensor 27, a compressed paint supply hose and a compressed air supply hose to the spray gun 28, a control cable to the film thickness measuring device 29, and an electromagnet 3.
0, a power supply cable to the motor 25 and a control cable to the encoder that detects the rotation angle of this motor 25, and a power supply cable to the motor 16 and the encoder that detects the rotation angle of this motor 16. The control cable and other necessary hoses and cables are assembled into a bundle and connected to the ground support vehicle 5 as a collective cable 33A.
It extends from

After inspecting the exterior coating of the entire surface of the roof R using the infrared sensor 27 of the inspection coating Unisol l-1OA, a blast unit (not shown) is attached to the first carriage 1 and sandblasting is performed on the defective parts of the coating. Ru.

The blast unit has the same structure as the inspection painting unit IOA, and is equipped with a blast nozzle for ejecting sandblast onto the bottom sand blower 24, and a suction shoe for sucking sand and clean powder after the blasting process.
It is also possible to assemble the above-mentioned plasto nozzle and suction shoe to the head block 24 of the inspection painting unit 10A.

A hose for supplying a mixed fluid of compressed air and sand to the above-mentioned plasto nozzle, a hose for sucking dust from the suction shear, and other power supply cables and control cables are incorporated into the above-mentioned collective cable 33A together with inspection and painting cables and hoses. ing.

As shown in FIGS. 1 and 4, the collective cable 33A is extended upward from the support vehicle 5, and is sent to the first carriage l via a cable feeding device 34A provided at the outer end of the movable beam 3. It is extending.

The cable feeding device 34A has a cable assembly 33A sandwiched and inserted between a pair of pulleys 35, and one of the pulleys 35
The collective cable 3 is rotated by the motor 36.
3A is driven in the feeding direction and the winding direction.

The motor 36 is driven substantially in synchronization with the first carriage 1.

Next, the inspection painting unit IOB and the plast unit IOC mounted on the second carriage 2 will be explained with reference to FIGS. 5 and 6.

The inspection painting unit 10B is assembled integrally with the second carriage 2, and, like the inspection painting unit IOA, includes a base frame 37, an end plate 38, four connecting rods 39,
Guide rod 40, rack shaft 41, openable hood 42
, a head block 43, an infrared sensor 44, a spray gun 45, a film thickness measuring device 46, an electromagnet 47, etc. The guide rod 40 extends horizontally in the circumferential direction, and the head block 43 is driven by the driving force of a motor 48. Approximately 15001' along the guide rod 40 by the rank-binion mechanism
l It is designed to be driven back and forth.

Then, the hoses and cables necessary for this inspection painting unit 1-10B are assembled into a collection cable 33B together with the hoses and cables necessary for the blasting process.
Like the aforementioned collecting cable 33A, this collecting cable 33B extends upward from the support vehicle 5, and extends to the second carriage 2 via the cable feeding device 34B at the outer end of the movable beam 3. This cable feeding device 34B is similar to the one described above, and the motor 49 is driven substantially synchronously with the motor 17 of the sales floor device 4.

The above-mentioned blasting unit IOC is integrally assembled to the second carriage 2 as shown in FIG. A nozzle 51 is provided, and a hopper 52 is provided below the plastic nozzle 51 to receive sand and powder falling from the vicinity of the plastic nozzle 51, and a suction hose 53 is connected to the bottom of the hopper 52.

Furthermore, even during sandblasting, it can be covered with a hood 54 to prevent dust from scattering.

In addition, the above inspection painting unit IOB and plast unit I
Of course, the OC may be integrated as a unit.

The overall configuration and control system of the inspection and coating equipment for coating the external surface of a cylindrical tank in this example will be described below in Figures 8 to 1.
This will be explained with reference to FIG.

The above-mentioned inspection coating apparatus has an apparatus control mechanism composed of various mechanisms and various devices as shown in the overall configuration block diagram of FIG. This is a mechanism that controls the positions of the head blocks 24, 43, and 50 of the plast unit and the plast unit IOC attached to the inspection and painting unit 7) 10A/IOB and the first carriage 1 through the carriage 2 and its drive device.

The defect measurement mechanism is a mechanism that inspects the external coating of the roof R and surrounding wall W using the infrared sensors 27 and 44 of the inspection coating units 10A and IOB attached to the first carriage 1 and the second carriage 2.

The blasting mechanism includes a compressor, a sand supply mechanism, etc. on the side of the support vehicle 5, and is a mechanism that performs sandblasting on repaired parts of the exterior paint with a blasting unit attached to the first carriage 1 or the second carriage 2.

The painting mechanism includes a paint pressure pump, compressor, etc. on the support vehicle 5 side, and the spray guns 28 and 45 of the inspection painting unit 1OA and IOB installed on the first carriage 1 and the second carriage 2 are used to paint repaired areas on the exterior surface. This is a mechanism that applies paint to the surface.

The film thickness measuring device is a mechanism that measures the film thickness of the repaired area using the film thickness measuring devices 29 and 46 of the inspection coating unit IOA and 10B attached to the first carriage 1 and the second carriage 2.

The color plotter 55 (see FIG. 12) plots the defective parts of the external coating detected by the defect measuring mechanism in different colors depending on the type of defect (corrosion, blistering, etc.).

The defect data printed out from the color plotter 55 is visually inspected and corrections are made using a felt tip or the like.

The eye tracer 56 (see FIG. 13) receives the defective data corrected as described above, reads the data, and sends it to the CPU via the input/output interface 59.
60 (central processing unit).

The CPU 60 processes the data output from the A-Tracer 56 according to a predetermined control program stored in the control wholesale program memory 61 to control the position control mechanism, blasting mechanism, coating mechanism, and film thickness measurement mechanism. The input/output interface 59 calculates the signal to be processed, stores the signal in the calculation data memory 62 as necessary, and
The signal is output to the position control mechanism, blasting mechanism, coating mechanism, film thickness measurement mechanism, and magnetic storage device via the .

That is, while reading the data of the repaired area using the eye tracer 56, it is possible to automatically blast, paint, or measure the film thickness of the repaired area on the entire outer surface of the tank T.

The magnetic storage device stores uncorrected data (data output from the color plotter 55) of inspection results by the defect measurement mechanism, corrected data input to the eye tracer 56, etc. on a floppy disk or the like. (It is a thing.

The monitor TV displays the data being detected by the defect measurement mechanism in the same display pattern as the color plotter 55, displays the positions of the first carriage 1 and the second carriage 2, and displays data on defects to be repaired. It is also used to display on the same screen the position of the repair head (plast nozzle, spray gun, film thickness measuring device) during the actual repair (plast treatment, painting, film thickness measurement). It consists of a monitor TV. Note that various data output to the monitor television are recorded by a recording device as necessary.

The operation panel is provided near the control unit of the support vehicle 5, and the portable operation panel is provided near the first carriage 1 and the second carriage 2, respectively.

The input/output interface, CPU, control program memory, calculation data memory, operation panel, etc. are incorporated into the control unit of the support vehicle 5.

Next, a control system for the position control mechanism, defect measurement mechanism, coating mechanism, and film thickness measurement mechanism will be explained.

The above-mentioned position confirmation mechanism is based on the coordinate system shown in FIG.
It is controlled as shown in the block diagram of FIG.

In the coordinate system shown in FIG. 9, the Z-axis is set along the movable beam 3 from the inner end to the outer end, and the motor drives the first carriage 1 in the radial direction along the movable beam 3. 16 is a Z-axis motor.

Further, the C-axis is set in the direction of arrow C (circumferential direction) in which the movable beam 3 moves, and the motor 9 that drives the movable beam 3 in the circumferential direction is the C-axis motor.

Further, a Y-axis is set downward from the outer end of the movable beam 3, and the motor 17 of the sales floor device 4 that drives the second carriage 2 in the vertical direction is a Y-axis motor.

Further, the motor 25 for driving the head block 24 of the inspection painting unit (IOA) attached to the first carriage 1 and the motor corresponding to the above-mentioned motor of the plastic unit (not shown) are the X1-axis motors.

Also, a motor 48 that drives the head block 43 of the inspection painting unit l-10B attached to the second carriage 2
The motor 57 that drives the head block 50 of the plastic unit 10C is an X2-axis motor.

As shown in FIG. 10, each of the above motors 9, 16, 17,
25, 48, and 57 are provided with encoders that detect their respective rotation angles, and detection signals from each encoder are output to the CPU 60 via the input interface 59a, and a predetermined control program is executed based on these detection signals. Using each motor 9, 16, 17, 25 in the CPU 60
- Command signals to the motors 48 and 57 are calculated, and these command signals are sent to each motor 9 and 1 via the output interface 59b.
The signals are output to 6, 17, 25, 48, and 57, and the positions of the infrared sensors 27, 44, the repair head that performs repair processing on the external coating of the roof R, and the repair head that performs repair processing on the external coating of the surrounding wall W are feedback-controlled. Ru.

First, the movable beam 3 is positioned near the walkway structure S extending between the peripheral wall W of the cylindrical tank T and the roof R, and the first carriage 1
Inspection and repair work are started with the movable beam 3 positioned at the inner end side and the second carriage 2 positioned near the upper end of the peripheral wall W.

Then, the infrared sensor 27 of the first carriage 1 scans in the X1 axis direction at a pitch of about 5Q mm about a fan-shaped area of about 1500*n in the circumferential direction on the outer circumferential side, and the infrared sensor 44 of the second carriage 2 It is assumed that scanning is performed in the X2-axis direction at a pitch of approximately 50n in a rectangular area extending approximately 1500 mm in the circumferential direction and extending over the entire length of the peripheral wall W.

When applying the paint, it is the same as above, but the paint width per pass with the spray gun 28/45 is approximately 25 mm.
Since the width is from 0 to 400 dragons, the scanning pinch is about 25
It is set from 0 to 300 dragons.

On the other hand, in the case of blasting, about 50 to 100
It will be a pitch for each dragon.

The monitor TV in FIG. 10 includes, for example, infrared sensors 27, 44 and repair heads 28, 29, 45, 4.
6.51 position coordinates etc. are displayed.

The defect measurement mechanism is controlled by the control system shown in FIG. 11, and the measurement data is printed out in different colors by a color plotter 55 as shown in FIG. Appropriate corrections are made using a felt-tip pen or the like, and the corrections are input to the eye tracer 56 as shown in FIG.

When infrared rays are projected toward the outer surface of the tank by the infrared sensors 27 and 44, the absorption rate of the infrared rays differs depending on the properties of the outer surface of the tank. Since the intensity of reflected infrared rays differs depending on whether the film is missing or the steel plate surface is rusted, it is now possible to detect this reflected infrared rays with infrared sensors 27 and 44 and inspect the properties of the tank outer surface. ing.

Then, a color plotter 55 plots the data in different colors depending on the properties of the outer surface of the tank.

The blast mechanism is controlled by a control system shown in FIG.

That is, the CPU 60, the input interface 59a, the output interface 59b and the control program memory 61.
, a calculation data memory 62, etc., the compressor, blast air solenoid valve, sand supply solenoid valve, dust collection fan motor, hood opening/closing motor, etc. are automatically controlled.

In this way, a mixed fluid of sand and blast air is automatically supplied to each blast nozzle 51 of the blast unit attached to the first carriage 1 and the blast unit IOC attached to the second carriage 2, and the fluid mixture of sand and blast air is automatically supplied to the areas requiring repair. Sandblasting is performed automatically.

The coating mechanism is controlled by a control system shown in FIG.

That is, the control unit controls the compressor,
An air nozzle solenoid valve that supplies or stops pressurized air to the spray guns 28 and 45, a paint injection solenoid valve, a paint pressure pump, a hood opening/closing motor, etc. are automatically controlled.

In this way, pressurized paint and pressurized air are mixed automatically for each spray gun 28, 45 of the inspection equipment unit 1OA attached to the first carriage 1 and the inspection coating unit 1-10B attached to the second carriage 2. Fluid is supplied and spray painting is automatically performed on areas that need repair.

The film thickness measuring mechanism is controlled by the control system shown in FIG.

That is, the control unit controls the film thickness measuring device 2.
Air cylinder 3 for attaching 9.46 to the outer surface of the tank
The cylinder-operated solenoid valve that operates the pressurized air to 1, the mag chucks 30 and 47 that suction the film thickness measuring devices 29 and 46 to the outer surface of the tank, and the hood opening/closing motor are self-controlled while measuring the film thickness. The coating film thickness is measured using instruments 29 and 46.

In this way, it is possible to automatically measure the film thickness at necessary locations using the film thickness measuring devices 29 and 46 of the inspection coating unit IOA attached to the first carriage 1 and the inspection coating unit IOB attached to the second carriage 2. I can do it.

In addition, when performing painting on the external surface of the cylindrical tank T using the inspection and painting apparatus according to the above embodiment, repair processing such as defect measurement blasting may be performed on the entire area of the external surface. It may be performed for each partial area.

In the above embodiment, a case was explained in which the external coating of an existing cylindrical tank T was repaired, but this inspection coating equipment can perform blasting, painting, film thickness measurement, etc. on a newly installed tank T in the same way. Needless to say, it is.

Note that shot blasting may be performed instead of sandblasting in the above embodiments.

Next, the above embodiment may be partially modified as shown in the overall block diagram of FIG. 17.

Instead of inspecting paint film defects using the infrared sensor, this inspection coating device scans the exterior coating of the tank T with a television camera, and temporarily records the image and position signal on a recording device via a monitor television. Then, while displaying the recorded data on a CRT two-person power device, a human judge determines whether or not repairs are necessary, uses a light pen to indicate the areas to be repaired, stores the data in a magnetic storage device, and uses the recording device to record the data. In addition to recording the data, the CPU 60 uses a control program to create control data for controlling the position control mechanism based on the above data, and stores this data in the magnetic storage device.In actual repair, the control data is read out from the magnetic storage device and repaired. The head is used for repairs.

As mentioned above, in order to scan the external coating of the tank T with a television camera, television cameras are attached to the head blocks 24 and 43 of the inspection painting units IOA and IOB, which are attached to the first and second carriages 1 and 2, respectively. be done. Note that the television camera drive mechanism in the figure is a mechanism for zooming up the television camera.

As mentioned above, when scanning the exterior painting with a TV camera, the TV camera is approximately 1r+? This method is much more efficient than scanning with an infrared sensor, and since defects in the paint are determined by humans, errors in detecting defects can be prevented.

In the above embodiment, the case where the inspection and repair of the external surface painting of the cylindrical tank was almost completely automated by computer control was explained. However, regarding the circumferential movement of the movable beam, etc.
It may be controlled by push buttons from the operation panel, or
A defect measuring unit, a blasting unit, and a painting unit may be installed in parallel in the first and second carriages, respectively, and a series of these operations may be performed in parallel, or defects may be measured by human visual judgment. It can also be configured to output position information of the defective part to the control unit.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an overall perspective view of a cylindrical tank and an inspection coating device for painting the outside surface of the cylindrical tank; FIG. 2 is a perspective view showing the top of the cylindrical tank and a part of the movable beam; Fig. 2A is a longitudinal sectional view of the inner end support structure of the movable beam in a modified example, Fig. 3 is a perspective view of a part of the movable beam, the first gear carriage, and the inspection painting unit, and Fig. 4 is the outer end of the movable beam. Fig. 5 is a perspective view of the hose feeding device, sales floor device, second carriage, and inspection painting unit, and Fig. 6 is a perspective view of the second carriage and plast unit. , Figure 7 is a diagram showing the state in which the external coating is being inspected with an infrared sensor, Figure 8 is a block diagram of the overall configuration of the inspection and repair equipment, Figure 9 is an explanatory diagram of the coordinate system in the inspection and painting equipment, and Figure 10 is the position. FIG. 11 is a block diagram of the overall configuration of the control mechanism, FIG. 11 is a block diagram of the overall configuration of the defect measurement mechanism, FIG. 12 is an explanatory diagram of output data from the color plotter, and FIG. 13 is an explanatory diagram of input data to the eye tracer. FIG. 14 is a block diagram showing the configuration of the main parts of the blasting mechanism, FIG. 15 is a block diagram showing the structure of the main parts of the coating mechanism, and FIG. 16 is a block diagram of the overall structure of the film thickness measurement mechanism.
FIG. 17 is a diagram corresponding to FIG. 8 of a modification of the inspection coating apparatus. T...Cylindrical tank, R...Roof, W...Peripheral wall, ■...
・First carriage, 2...Second carriage, 3...
Movable beam, 4... Sales floor equipment, 4a... Wire, 8
・・Running wheel, 9・・E-ta, IOA・IOB・・
Inspection painting unit, 10C...plast unit,
lla・llb...Guide member, 12...Rack,
13...Support wheel, 14a, 14b...Guide wheel,
15...Pinion, 16...Motor, 17.
・Motor, 18..Drum, 22.40..Guide Rond, 23.41..・Rack shaft, 24
・43・50・・Hetflock, 25・48・5
7...Motor, 26...Binion, 27・44
・・Infrared sensor, 28・45・・Spray gun,
29・46・Film thickness measuring device, 30・47・Electromagnet, 31・Air cylinder, 51・Blast nozzle,
55... Color profiler, 56... Eye tracer, 59... Input/output interface, 59a
...59 input interface, 59b...59
output interface, 60...CPU (central processing unit), 61...control program memory, 62...
Calculation data memory. Patent applicant: Kawasaki Heavy Industries, Ltd. Figure 9, 2F, 17=22, Figure 12, L-----M----1-- ---J Figure 14 Figure 15 Figure 16

Claims (1)

[Claims] (1) A roof head block that scans substantially the entire outer surface of the roof of the cylindrical tank is configured such that its position can be freely controlled by a position control means, and a peripheral wall that scans substantially the entire outer surface of the peripheral wall of the cylindrical tank. The head blocks for use in the tank are constructed such that their positions can be freely controlled by a position control means, and work heads for applying inspection paint, etc. to the tank exterior surface are provided on both head blocks, respectively, and power supplies, etc., for supplying processing materials, power, etc. to these work heads are provided. A supply means is provided, and while scanning the roof head block along the outer surface of the roof and the peripheral wall head block along the outer surface of the peripheral wall, the inspection parts of both work heads inspect the tank outer surface coating, and check the position data and the inspection. A cylindrical tank characterized by being provided with a control means for controlling both position control means and power supply means so as to record data and automatically apply coating etc. to the outer surface of the tank based on the position data and inspection data. Automatic inspection painting equipment for exterior painting.