JPS62132563A - Surface treatment device - Google Patents

Abstract

PURPOSE:To carry out uniform treatment by following up the shape of a surface to be treated by pressing plural pieces of touch rollers of a profiling device to a surface to be treated always under weak pressure and running the same together with a surface treating means in front of the surface treating means. CONSTITUTION:This invention relates to a surface treatment device such as a high-pressure water washing device and blasting device for the outside plates of a hull, in which plural pieces of touch roller air cylinders are attached in a cruciform shape to respective supporting arms 38a, 38b. A pair of said cylinders in the direction perpendicular to the supporting arms 38a, 38b sense the inclination of a surface H to be painted in the vertical direction and a pair of the cylinders parallel with the supporting arms 38a, 38b sense the inclination of the surface H in the lateral direction, respectively. The information on such inclinations is integrated to control the painting means. The distance between both is thus always maintained constant and uniform surface treatment is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is applicable to surface treatment equipment (such as high-pressure water cleaning equipment for hull shells, blasting equipment, painting equipment, etc.) that has excellent followability to the surface to be treated. It is something.

BACKGROUND OF THE INVENTION Conventionally, in order to make a surface treatment device such as a coating device for a ship's outer panel follow the surface to be treated of a ship's hull, a surface treatment tool (1) and a plurality of touch rollers (2) are used as shown in FIG. 10, for example.
is swingably supported by the support arm (5) via the cross pins (3) and (4), and by operating the air cylinder (6), the support arm (5) uses the bottle (7) as a fulcrum. Always press the touch roller (2) against the surface to be treated,
The cross pins (3) and (4) were rotated downward, left and right as appropriate to follow the curved surface of the surface to be treated.

Problems to be Solved by the Invention In the conventional technology as described above, a heavy surface treatment tool (1) and a touch roller (2) are attached to the tip of a support arm (5) via cross pins (3) and (4). ) is attached to make it follow the curved surface of the ship's hull, etc.

The touch roller (2) must be pressed against the ship's hull or the like with considerably high pressure, and when painting a ship's hull, which is usually repeated 2 to 8 times, there is a risk of damaging the first or second coated surface. In addition, if the touch roller (2) is pressed against the hull with strong pressure, the touch roller (2) will secretly monitor the surface to be processed, and the roller (2) will not rotate smoothly, making it difficult to automatically follow the curved surface. On the other hand, if the pressure of the touch roller (2) on the surface to be processed is weakened, the tip of the cross bin (4) will swing downwards due to its own weight, causing the multiple touch rollers to There is a problem in that a part of the surface is not in contact with the surface to be processed, and it is difficult to automatically follow the curved surface.

The present invention aims to provide a surface treatment apparatus that solves the above-mentioned problems in the prior art.

Means for Solving the Problems The surface treatment apparatus of the present invention runs along the surface to be treated.
Vertical elevation, left/right rotation - a surface treatment tool E that can move forward and backward and rotate freely; at least two touch rollers that are always pressed against the surface to be treated with a weak pressure and run together with the surface treatment tool in front of the surface treatment tool; and a sensing device that detects the amount of displacement of each touch roller that displaces in accordance with a change in the shape of the surface to be treated, and a sensing device that detects the amount of displacement of each touch roller that moves in accordance with a change in the shape of the surface to be treated; It is characterized by being equipped with a control device that controls the distance and attitude from the surface.

Function: In the present invention, the plurality of touch rollers of the short device are constantly pressed against the surface to be treated with a weak pressure, travel together with the surface treatment tool in front of the surface treatment tool, and follow the changes in the shape of the surface to be treated. The amount of displacement of each touch roller is sensed, and based on the amount of displacement, one surface treatment tool is raised and lowered, rotated left and right, moved forward and backward, or rotated, so that it always maintains a constant distance and distance from the surface to be treated. I was able to maintain my posture.

Uniform processing can be performed by following the shape of the surface to be processed.

Embodiment An embodiment of the present invention will be described based on the drawings. Figures 1 to 7 show an embodiment of a coating apparatus for hull outer panels. In the painting device of this embodiment, a painting tool σ4 is arranged in the center of a stage provided at the tip of a boom (6) that is attached to a traveling trolley ση running on the rack side of a dock so as to be able to rotate freely in the horizontal direction. Painting work is performed while traveling along the surface to be painted.

The boom 4 can be rotated by operating the hydraulic cylinder 4.

The coating tool is formed by disposing a spray nozzle Ql19 on a columnar support αη having a rectangular cross section, and reciprocatingly movable along the columnar support αη. That is, the columnar support α
Between the drive wheel αl driven by a drive motor (g) attached to the upper end of the force and the driven wheel (7) attached to the lower end of the columnar support αη, one wheel αl circulates between the prisoners. chain? υ, attach the chain 3I pin 4, and slidably attach the pin station to the guide rods (28a C2ab) arranged in parallel on both sides of the a-shaped support Oη in the longitudinal direction. The drive wheel σ is driven by the drive motor Q1191 as necessary by inserting it into the long hole (A) parallel to the width direction of the columnar support α provided in the support plate (A) of A. By running the chain (goods) and moving the bottle (4) accordingly, the painting tool 11
41 can be moved by any desired position.

Further, the columnar support αη is attached to a saddle (E) provided on the stay sill so as to be movable back and forth, and is mounted on a pin, and is substantially perpendicular to the stage 4, and is attached to the mounting surface of the spray nozzle a0. The tip of the rod of the hydraulic cylinder 4, whose back surface is swingably attached and is attached to the saddle (E), is also attached to the back side of the columnar support αη, and when the hydraulic cylinder 2 is operated, the painting tool α is vertically movable in a predetermined angular range with respect to the stage (to), centering on the pin.

Further, as mentioned above, the saddle (A) for mounting the painting tool A4 and the hydraulic cylinder (to) is provided so that it can move back and forth on the stay sill with respect to the surface to be painted. The distance from the painted surface to the sun can be adjusted freely. That is, a hydraulic cylinder (4) is mounted on the stay shield in the direction of the columnar support αη, and the hydraulic cylinder (
A pinion (7) is rotatably arranged at the tip of the rod of (a), and a rack C81a) is mounted on stage 4 and a rack (81b) is mounted on the saddle (a) facing each other with the pinion (7) in between. , the pinion (7) moves forward and backward while rotating due to the operation of the hydraulic cylinder (4), and the rack (
81a) and C81b) cooperate to move the saddle (to) back and forth over a predetermined distance relative to the surface to be painted. In Fig. 3, (2) is a guide rail attached to the stage side for moving the saddle (to) forward and backward, and the trowel is attached to the saddle (e) side.

It is a roller guided by the guide rail (2).

The entire stage is rotated around a pin (2) that is attached to the boom and supports the stage.
The rotating mechanism (7) provided in 2) rotates the bevel gear (86a)-
(86b) so as to be rotatable.

With the above configuration, the coating tool σ◆ is installed so that it can move up and down, move forward and backward, and rotate left and right with respect to the surface to be painted.
The painting tool σ◆ can be set to any desired position R1 on the surface to be painted.

Next, the columnar support qη in the coating tool α411 is
A support arm (18a) is attached to the brackets (87a) and (87b) attached to the mounting surface of the drive motor (G) at an intermediate portion between the mounting point to the saddle (E) and the drive motor (7) of the spray nozzle uQ.

One end of the support arm (88b) is attached to each side of the columnar support aη so as to be rotatable in the right angle direction, and four touch rollers (89a ), (89b) are air cylinders (40
a) and (40b), and the touch rollers (89a) and (39b) are constantly pressed against the surface to be painted with weak pressure by air cylinders (40a) and (40b) during painting, respectively. It's getting dark. Further, the support arms (88a) and (88b) are respectively provided by hydraulic cylinders (41aJ and (41b)).

If necessary, a touch roller (89a) may be attached to the surface to be coated, like one of the support arms (SSa) shown in FIGS. 2 and 8.
) can be held in contact with the hydraulic cylinder (41b), as is the other support arm (88b).
The touch roller (89b) can be held in a state where it does not come into contact with the surface to be coated by being pulled by the rod of the paint tool α A roller (for example, (89a)) is brought into contact with the surface to be coated, and automatically switched according to a change in the running direction.

Four touch rollers (89a) and (89b) each are disposed at the tips of the support arms (88a) and (88b).
and air cylinders (40a) and (40b), for example (89a) and (40a), as shown in FIGS. 2 and 6.
), the air cylinder (40a) constantly presses the touch roller (+9a) against the surface to be painted with low air pressure. , four proximity switches or limit switches (L, ~L4) are arranged at approximately equal intervals on the mounting plate (6), and the tip of the rod of the air cylinder (40a) (touch roller mounting base) A sensing plate (to) is installed parallel to the air cylinder (40a), and when the touch roller (89a) is displaced following the change in shape of the surface to be coated U, the displacement of the sensing plate due to the displacement is detected. The proximity switch or the limit switch (L, to L4) is arranged to sense the displacement and send a signal to detect the amount of displacement of each touch roller.

The displacement of the touch roller (89a), that is, the displacement of the sensing plate -2, +1 nil proximity switch or limit switch (L1~
FIG. 6 shows the ON/OFF states of L4). That is, the tip of the sensing plate is connected to the switch (L4) or (L4) and (
If it is between (Ll) or (Ll), it is turned on (L,), indicating that the distance between the painting tool and the surface to be painted is large, and the tip of the sensing plate Sakaki is between (Ll) or between Ll) and (Ll). If there is (
Ll, L4) ON or CLz-Ls, L, a
) indicates that it is in the normal position as ON, and further indicates that the switch (Ll) is in the J: (Ll, Ll.

Ls, La) ON indicates that the distance to the surface to be painted is too small. Based on the amount of displacement of the touch roller mentioned above, control equipment such as a computer or sequencer is
! From i@41, the painting tool α is raised and lowered, moved forward and backward, and rotated left and right to control the distance and posture from the surface to be painted ■. Each of the above touch rollers (89a), (19b),
The air cylinders (40a) and (40b), the sensing device consisting of each switch mounting plate (6), the switches (L, to L4), and the sensing plate (G) are collectively referred to as a fragile device.

In this embodiment, each support arm (88a), (
Each of the support arms (88b) is equipped with four touch rollers and four air cylinders in a cross shape.
The pair (2) and ■ in the vertical direction (vertical direction) to 8a) and (88b) indicate the downward inclination of the surface to be painted, ) 1 pair (
Q.

■ senses the horizontal inclination of the surface to be painted ■,
This information is integrated to control the painting tool.

For example, by sensing the displacement of the touch rollers (2) and (8) in the vertical direction by the switches (L1 to L4),
Perform the control shown in Table 1.

Table 1 The outline is shown in Table 1. One vertical touch roller^.

Control of the coating tool by sensing the switches (L, to L4) in (1) is shown in Table 2 for all combinations of each switch. Similarly, the left and right touch roller (C) (left).

(D) (Right) Sensing of the switches (L1 to L4) (Table 8 shows the control of the painting tools. (The mark Q indicates the ON state of the switch.) Below are some examples in Table 2. explain.

(1) Evil 1: (2) (Upper) switch (Ll) ~ (L4
) is ON, ■ (lower) switches (L, ) to (L4) are O
N, that is, the painting tool is too close to the surface to be painted... A retreat signal is sent to the hydraulic cylinder 4.

(2) Ifa 2: (2) switch (L,) ~ (
L4) is ON, β) switches (L2) to (L4) are O
N (normal position @), that is, (2) is too close to the surface to be painted...Sends an upward signal to the hydraulic cylinder (to).

(3) Black 6: Prisoner switches (L2) to (L4) are ON
(Normal position), (B switches (L2) to (L4) are also O
N (normal position), that is, parallel to the surface to be painted...no signal is output.

(4) & 8: (A) switch (L2) ~ [L
4] is ON (normal position).

The switch (L4) of (2) is ON, that is, (2) is too far away from the surface to be painted...Sends an upward signal to the hydraulic cylinder (G).

(5) & 14: Switch (L4) in (8) is ON
Switches (L2) to (L4) of %■ are ON, that is, the prisoner is too far away from the surface to be painted... A downward signal is output to the hydraulic cylinder head t(6) & 16: (7%) The switch (L4) is ON, and the switch (L4) (■) is ON, that is, the surface to be painted is too far away from the surface number...Sends an advance signal to the hydraulic cylinder head.

−Below Remaining white − Table 2 " ” Also, some examples in Table 8 will be explained.

Switches (L1) to (L4) are ON, that is, the painting tool is too close to the surface to be painted...The hydraulic cylinder @Roseko sends a retreat signal.

(2) Black 2: (Q switches (Ll) to (L4) are ON
, mouth switches (Ll) to (L4) are ON (normal position)
, that is, Q is too close to the surface to be painted...
Sends a left rotation signal during stage to the rotation mechanism (to).

(3) & 6: (Q switch (Lx) ~ (L4)
is ON (normal position λ) switches (Ll) to (L4
) is ON (normal position), that is, parallel to the surface to be painted...no signal is output.

(4) Evil 8: (Q switches (Ll) to (L4) are ON
(Normal position), the switch (L4) is ON, that is, D is too far away from the surface to be painted...Sends a counterclockwise rotation signal to the rotation mechanism (to).

(5) 516: (C) switch (L4) is ON, (I
The switch (L4) of I) is ON, that is, it is too far away from the surface to be painted...The hydraulic cylinder (A) sends an advance signal.

In addition, reed switches (Ls) and (Lg) are installed at the front and rear ends of the hydraulic cylinder (G), and an electromagnetic switch (S) is installed at the rear end of the cylinder rod. The reed switches (Ls) and (Ll) sense the displacement of (S), and
If s) is ON and a forward signal is output to hydraulic cylinder 4, or (Ll) is ON and a backward signal is output to hydraulic cylinder (A), operate hydraulic cylinder (A) to rotate boom 4. We will respond accordingly.

A circuit diagram for the above embodiment is shown in FIG.

The above-mentioned embodiments relate to a coating apparatus for hull outer panels, but first, an embodiment (FIGS. 8 and 9) relating to a boat bottom coating apparatus will be described. In this embodiment, the coating device is mounted on a traveling trolley (7).

Paint while moving toward the bow and stern of the ship. In this example, the bottom slope of the ship in the bow and stern directions is small, so it is ignored.
This is intended to cause the inclination of the coating device μ to follow the rise of the floor in the transverse cross section of the ship. In other words, a lifter 0Q is installed on top of the traveling truck, and a mounting plate (+7) that can be tilted left and right is installed on the ground.

Furthermore, a coating tool (c) is placed on top of the coating tool (c), and touch rollers (49a) and (49b) are placed on the left and right in front of the coating tool (c) in the running direction.
) are attached via air cylinders (50a) and (50b), respectively. (on the front lid) is moved up and down from the old part of the hydraulic cylinder, and the mounting plate @η is the hydraulic cylinder! 54 to tilt left and right. Each air cylinder (5
0a).

(50b) is equipped with four proximity or limit switches (L, ~L,) exactly as in the case of Doi Figure 5, and the bottom shape I of each touch roller (49a), (49b) is 'c, the vertical displacement based on this can be sensed, and the distance and attitude of the painting tool (7) from the surface to be painted can be controlled based on the sensed information.

For example, the control shown in Table 4 is performed by sensing the displacement of each touch roller (49a), (49b) by the switches (L1 to L4).

Table 4 Effects of the Invention In the present invention, a small device detects the displacement of the touch roller according to the shape of the surface to be processed.

As a result, the surface treatment tool can be controlled to follow the displacement of the surface to be treated, and the distance between the two can always be kept constant, making it possible to perform uniform surface treatment. Be strong.

Also, with the touch roller, slight pressure is sufficient.

It is extremely easy to follow the surface to be processed, and there is no abnormal movement.
Further, it has a special effect of not damaging the surface to be treated.

[Brief explanation of drawings]

Figures 1 to 7 show one embodiment of the present invention, Figure 1 is an explanatory diagram of the usage state, Figure 2 is a plan view, Figure 8 is a front view, Figure 4 is a side view, and Figure 5 is a sensing device. 6 is an explanatory diagram of the sensing state, FIG. 7 is a circuit configuration diagram, FIGS. 8 and 9 show other embodiments of the present invention, FIG. 8 is a side view, and FIG. FIG. 10 is a plan view showing an example of a conventional device. (6)...Boom, stage, α fathom...painting tool, (g)...hydraulic cylinder, α0...spray nozzle, αη...column support, (to)...・・Saddle, (7
)...Hydraulic cylinder, 4...Hydraulic cylinder, (1)
...Binion, (81a)=(f31b)...
Rack, (goods)...pin, (to)...rotation mechanism, +
88a), (88b)...support arm, (la), (
39b) - Touch roller, (40a), (40b) -
...Air cylinder, (41a), (41b)...Hydraulic cylinder, (B)...Switch mounting plate, ■...Sensing plate, @4...Control device, Cao...Traveling trolley, )・
...Lifter, 0η...Mounting plate, (c)...Painting tool,
(49a), (49b) - touch roller, (50a)
, (50b) - Air cylinder, υ, Information... Hydraulic cylinder. Fig. 1 12... F''-4 13-spoon゛/4-nal l!knee Draw cylinder 9nd Fig. 4 3/J)/shi, -ra 7 Fig. 5 Fig. 2 Section 7 Section 1 Figure 1 ρ diagram procedural amendment (voluntary) February 7, 1985

Claims (1)

[Claims] 1. Travel along the surface to be processed, vertically tilt, horizontally rotate,
A surface treatment tool that can move forward and backward and rotate freely, at least two touch rollers that are constantly pressed against the surface to be treated with a weak pressure and run together with the surface treatment tool in front of the surface treatment tool, and a shape of the surface to be treated. A fragile device consisting of a sensing device that detects the amount of displacement of each touch roller that displaces in accordance with the change,
The surface treatment apparatus further comprises a control device that controls the distance and attitude of the surface treatment tool from the surface to be treated according to the amount of displacement of each of the touch rollers.