JPS6380870A - Tank painting apparatus - Google Patents

Abstract

PURPOSE:To perform the automatic painting of a high place, by a simple apparatus constituted so that a working truck having a manipulator is controlled from the ground through a cable to be moved vertically and horizontally along a painting tank and the painting is conducted while the truck is attracted and fixed. CONSTITUTION:A working truck 8 runs by itself of moves in an up-and-down direction by drawing up a wire rope 5 by a drive apparatus. Further, when a feed truck 3 moves in the circumferential direction of a tank T along an annular guide rail L, the ire rope 5 suspended from the feed truck 3, and working truck 8, a manipulator 7 and a weight 9 move horizontally and the manipulator 7 is moved to an arbitrary position along the vertical wall of the tank T. The working truck 8 is connected to the ground apparatus 13 equipped with a painting tank 11 and hydraulic unit 2 on the ground by a hose and a cable 10 and, in such a state that the truck 8 is fixed by a magnet, the manipulator 7 is moved in XY directions to perform painting.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a device for painting the outer surface of a large tank, and in particular, because there is no need for temporary scaffolding, the device is simple, and automatic operation is possible. The present invention also relates to a tank coating device that does not require dangerous work at high places or unhealthy work using 11fi paint or thinner, and does not stain undried painted areas.

Background of the invention Conventionally, oil tanks, water tanks, LPG tanks.

When painting the interior and exterior surfaces of large tanks, such as LNG tanks (including painting and repainting when newly installed), it is necessary to build scaffolding and paint manually, or to hang gondolas. , people ride on it and do the painting work.

In the above-described method of constructing scaffolding, a large amount of cost is required for temporary construction of the scaffolding, and since the painting is done manually, the work speed is slow and there is a risk of uneven coating.

Furthermore, work at heights is extremely dangerous, and the use of toxic substances such as thinner has the disadvantage of having an adverse effect on the human body.

In the latter gondola method, the painting is still done by hand, so
Not only does it have the drawbacks of slow work speed and uneven coating, but also the danger of working at heights and the adverse effects on the human body due to the harsh environment of thinner and the like.

Furthermore, there is a method in which rails are laid around the tank and a working platform guided by the rails is temporarily installed and painted, but this method increases the size of the equipment and causes problems in terms of cost. Also,
Since it is usually necessary to lay various piping and rails around the tank, there is a problem of interference with the rails.

Furthermore, when painting a tank, it is necessary to take sufficient care to ensure that the wheels of a working machine do not get into the undried part of the tank that has already been painted and contaminate the painted part.

OBJECTS OF THE INVENTION Accordingly, an object of the present invention is to provide a device that can be remotely controlled, does not require manual work at high places or painting work in harsh environments, and does not require temporary scaffolding. To provide a practical tank coating device which is simple and inexpensive, and which does not cause inconveniences such as caterpillars, wheels, etc. stepping on undried coating parts during coating work.

Structure of the Invention In order to achieve the above object, the main means adopted by the present invention is to connect a paint tank, control device, etc. on the ground with a cable, etc., and suspend it from above the tank by a traction means. A dolly, a vertical drive means for moving the work dolly in the vertical direction along the painted surface of the tank, and a horizontal direction for moving the work dolly in the horizontal direction by moving the above-mentioned traction means in the horizontal direction along the painted surface of the tank. a driving means, a transportation means for moving the paint tank, the control device, etc. in the horizontal direction; and a transportation means provided to protrude laterally from the work cart along the painting surface, and for operating a painting gun or the like along the painting surface. This tank coating apparatus is equipped with a manipulator for moving a tool, and suction means for fixing the work cart to a coating surface.

Among the above components, the traction means is, for example, a wire.

It can be constructed from links combining chains, other rondos, levers, etc., and is used to suspend the work cart.

The vertical driving means is one that moves the work cart in the vertical direction by pulling up the above-mentioned traction means, or one in which the work cart itself is moved by running vertically along the painted surface with its own blade. This includes cases, etc.

The horizontal movement means is constituted by a conveyance truck or the like that horizontally moves the traction means made of the wire, chain, etc., and moves along the upper end of the vertical wall of the tank.

Furthermore, the conveying means usually includes wheels and, in some cases, a drive mechanism for freely moving the paint tank control device and the like, which are placed on a single trolley.

Furthermore, the manipulator can be used for painting guns, painting tools, sanders,
By means of a manipulator that freely moves the blasting equipment, paint film thickness measuring device, ITV camera, fiber scope, welding equipment, and other working tools in a three-dimensional direction, including within a plane along the painted surface or in a direction perpendicular to this plane. It is configured.

Furthermore, the above-mentioned adsorption means may be constituted by magnetic means such as an electromagnet or a permanent magnet that adsorbs the work cart etc. to the tank wall surface by magnetic force, but for example, it may also be constituted by means of magnet means such as an electromagnet or a permanent magnet. Also good.

The working trolley suspended by the traction means, such as the working wire of the invention, can be moved along the tank wall by, for example, pulling up the traction means. If the vertical drive means are constituted by actively driven wheels or caterpillars mounted on the workcarriage, the traction means merely suspend the workcarriage.

Further, by moving the traction means in the vertical direction, the work cart pulled by the traction means is moved in the horizontal direction.

The work cart is moved in the horizontal and vertical directions as described above each time the manipulator finishes painting or removing rust in a certain area.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

Here, FIG. 1 is a front view showing the overall configuration including a tank of a tank coating apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view taken along the line A-A in FIG. 1, and FIG. 4 is a sectional view taken along the line B-B in FIG. 3, and FIG. 5 is a sectional view taken along the line C-C in FIG. 3. 6 is a front view showing an example of a conveying means that can be used in the above coating device; FIG. 7 is a sectional view taken in the direction of arrow D in FIG. 2;
8 is a view in the direction of arrow E in FIG. 7, FIG. 9 is a view corresponding to FIG. 7, showing a modification of the vertical drive means, and FIG. The figure is a schematic side view showing a modified example of the work trolley, Figures 12 ta) to fc) are front views of the entire tank showing another suspension method of the work trolley, and Figure 1
FIG. 3 is a front view including the entire tank showing still another suspension method of the work trolley.

The following examples are merely specific examples of the present invention, and are not intended to limit the technical scope of the present invention.

First, a schematic configuration of a tank coating apparatus according to an embodiment of the present invention will be explained using FIGS. 1 and 2.

In the figure, T indicates a tank such as an oil tank, a gas tank, or a water tank, and is shown in a new state, that is, a state in which the floating roof 1 is lowered to the lowest position. The coating apparatus according to this embodiment is for coating the inner and outer surfaces of the vertical wall T1 of the tank T as described above, and the figure shows the state in which the outer surface side is being painted.

A guide rail L is provided at the upper end of the vertical wall T of the tank T.
is provided in an annular shape, and a transport vehicle 3 shown in FIGS. 7 and 8 runs along this guide rail L in the tank circumferential direction.

A manipulator 7 is attached to one end of the wire lobe 5, which is passed between two pulleys 4.4 provided at the upper end of the transport vehicle 3.
A work trolley 8 having a structure is suspended, and a weight 9 that balances the work trolley 8 and the manipulator 7 is suspended from the other end to maintain balance.

Therefore, when the work trolley 8 moves by itself or when the wire 5 is pulled up by the drive device provided on the transport vehicle 3, the work trolley 8 moves vertically, and furthermore, the transport vehicle 3 moves around the circumference of the tank. By moving in the direction,
A wire rope 5 suspended from the transport vehicle 3 and a work vehicle 8 suspended by the wire row 15.
The manipulator 7 and further the weight 9 move in the horizontal direction to move the manipulator 7 to an arbitrary position along the vertical wall T1 of the tank T.

The work cart 8 is connected by a hose or other cable 10 to a ground equipment 13 including a paint tank 11 on the ground and a hydraulic unit 12 which is an example of a control device.

The manipulator 7 moves the work tool 14 such as a painting gun in the X direction (horizontal direction) and the Y direction (vertical direction) in FIG.
The work tool 14 is automatically moved in a zigzag motion to perform painting work, rust removal work, etc.

Next, each part of the coating apparatus will be described in detail with reference to the accompanying drawings from FIG. 2 onwards.

First, the structure of the work cart 8 will be explained in detail with reference to FIGS. 3 and 4. As shown in these figures, the work cart 8 has caterpillars 16 on the left and right sides of a hollow frame 15. The hook is rotatably equipped with 4 solid pulleys 17 for passing.The above four pulleys 17 are connected to the upper 21!
It is made up of a pulley 211I on the lower side and a pulley 211I on the lower side, and the lower two pulleys are fixed to a rotatable driven shaft 18 horizontally attached to the frame 15. Further, the two upper bools are each fixed to the ends of two drive shafts 22 and 22 that protrude horizontally from a gear box 21 driven by a reducer 20 connected to a hydraulic motor 19. .

Furthermore, near the four corners of the frame 15, magnets 23, which are an example of attraction means constituted by electromagnets or permanent magnets, are fixed. This magnet 23 is attached to the frame 1
5 to the vertical wall T1 of the tank T, the caterpillar 16 is pressed against the vertical wall T1, and the caterpillar 1
6 and vertical wall T.

The hydraulic motor 19 rotates the caterpillar 16 via the pulley 17, thereby moving the entire work cart 8 in the vertical direction.

In addition, the magnets 23, 23... are caused by the influence of work reaction force by the work tool 14, wind, etc. to cause the work cart 8 to move vertically WT +
It also has the function of preventing it from separating from the body.

However, the magnet 23 does not support the weight of the work cart 8 or the manipulator tough attached thereto, and most of this weight is supported by the wire row 15 whose one end is attached to the upper end of the frame 15.

Next, a description will be given of the manipulator tough provided on the side surface of the work cart 8 so as to protrude laterally from the work cart 8 and the caterpillar 16 along the painted surface.

As shown in FIGS. 3 and 5, the manipulator 7 is housed in a manipulator frame 24 fixed to the side surface of the frame 15 of the work cart 8, and is rotatably supported integrally by the manipulator frame 24. , a ball screw 25 in the X direction whose other end is rotatably supported by the frame 15; a movable table 26 that is screwed into the ball screw 25 and controlled to move in the X direction by the carrying action of the ball screw 25; It is equipped with a Y-direction ball screw 27 rotatably supported by a movable base 26 in a cantilever manner, and a movable base 28 that is screwed onto the ball screw 27 and whose movement in the Y direction is controlled by the carrying action of the ball screw 27. It is configured.

The rotation of the ball screw 25 is controlled by a hydraulic motor 29 with a reduction gear fixed to the frame 15.

Further, the rotation of the ball screw 27 is controlled by a hydraulic motor 30 with a reduction gear that is fixed to the movable table 26 .

31 and 32 are guide shafts that pass through the movable bases 26 and 28 and are centered in the X direction and the Y direction, and prevent the movable bases 26 and 27 from rotating around the ball screws 25 and 27. and 27 to exhibit the feeding function.

The movable table 28 includes an automatic feeding means consisting of a ball screw in the Z direction (perpendicular to the X and Y directions) and a guide shaft (not shown) similar to the ball screw 27 in the Y direction and the guide shaft 32;
Alternatively, a working tool 14 such as a painting gun is provided via a height adjustment mechanism using a manual handle. In the example shown in FIG. 3, a height adjustment mechanism using a manual handle 33 is employed.

In addition, the ball screw 25.27 and the guide shaft 31.32
are bellows 25. ．． 27. .

31,. 32. This prevents paint and dirt from adhering to the sliding parts of the moving platforms 26 and 27.

Further, 34 is a hose for guiding paint to the painting gun when the working tool 14 is a painting gun.

The end of the manipulator frame 24 on the vertical wall T1 side is tightly attached to the vertical wall T to prevent paint sprayed on the vertical wall T, dust after rust removal, etc. from leaking to the outside of the manipulator frame 24. A rubber skirt 35 (FIG. 5) is attached.

Incidentally, instead of the rubber skirt 35 as described above, an air tube 351 as shown by the two-dot chain line in FIG. 5 may be used.

Therefore, when the hydraulic motor 29 shown in FIG. 3 is rotated while the work cart 8 is stopped at a certain height of the tank T as shown in FIG. A working tool 24 such as a painting gun attached to this moving table 28 via a ball screw 27 and a moving table 28 moves in the X direction.

Separately from this, when the hydraulic motor 30 is rotated, the moving table 28 and the working tool 14 attached thereto are moved in the Y direction by the carrying action of the ball screw 27.

Therefore, as shown in FIG. 1 with the work cart 8 fixed, the work tool 14 can be sent downward in a zigzag pattern from, for example, the starting point P along the two-dot chain line to the terminal point P2. As a result, an area A surrounded by a width X in the X direction and a width YI in the Y direction.

Painting and rust removal are completed.

Therefore, by sequentially moving the work cart 8 upward or downward by a distance slightly narrower than the width W, the painting, rust removal, etc. work on the vertically long painting area A spanning the entire height of the tank T is completed. .

In addition, by moving the work cart 8 in the X direction by a distance slightly narrower than the distance X1 using the transport cart 3 described later, the painting work, etc. for the painting area of li1 length adjacent to the painting area A is automatically performed. By repeating this process for the first time, the painting work, etc. that covers the entire circumference of the tank T is completed.

In addition, when painting a vertically elongated painting area adjacent to the painting area A, since the painting work is usually performed on the painting area A in an undried state, the caterpillar 16
If the manipulator 7 protrudes to the right of the work cart 8, as shown in FIG. By doing so, it is possible to prevent the caterpillar 16 from stepping on the undried coating area A7.

Next, with reference to FIGS. 7 and 8, the structure of the transport vehicle 3 for moving the work vehicle 8 in the X direction will be described.

As shown in FIGS. 7 and 8, the transport vehicle 3 is mounted within a guide rail L provided at the upper end of the vertical wall T of the tank T, and runs in the circumferential direction of the vertical wall TI. A drive wheel 37 is rotatably attached to the truck body 36 and moves to the bottom of the guide rail L, and guide wheels 38, 38 guide the truck body 36 along the side wall of the guide rail L.
. . . and the pulley 4.4 for winding and guiding the wire row 15 as main components, and the driving wheel 37 is driven by a hydraulic motor 39 with a reduction gear.
Rotationally driven.

The truck body 36 includes an inner truck body 361 having the drive wheels 37, and an inner truck body 16. The outer trolley body 36b is slidable in the horizontal direction relative to the inner trolley main body 36. Since the guide wheel 38 provided on the side of the inner trolley main body 36 is pressed against the inner surface of the inner side wall L1 of the tank T, the guide wheel 18 on the outer trolley main body 36 side is pressed against the inner surface of the outer side wall L2 of the guide rail L.

Therefore, as the hydraulic motor 39 rotates, the driving wheels 37 rotate, and the transport vehicle 3 as a whole travels along the guide rail L in the circumferential direction of the tank T, and the pulley 4
．． 4, a wire rope 5 and a work trolley 8 suspended from the wire rope 5. Weight 9. Move the manipulator 7 in the X direction.

The work cart 8 has a horizontal structure that allows the work cart 8 to move freely in the X direction by lifting the caterpillars 16 from the surface of the vertical wall T when the tank T of the transport cart 3 moves in the circumferential direction. It is desirable to have directional wheels.

In the above embodiment, as shown in FIG. 3, the caterpillar 16 is rotated by the rotation of the hydraulic motor 19 provided on the work trolley 8, and the work trolley 8 is moved in the vertical direction. The hydraulic motor 19 and gear box 21 provided with 20 are omitted, and the drive shaft 22 is attached to the frame 1.
The work cart 8 is rotatably supported by the wire 5, and the work cart 8 itself is not provided with a driving means in the vertical direction, and the transport cart 3 is provided with a take-up reel for pulling the wire 5. It may also be possible to move up and down.

9 and 10 explain such a winding rule 41, in which a mounting base 42 is mounted on the upper part of the trolley body 36□.
As shown in FIG. 10, a hydraulic motor 44 equipped with a take-up reel 41 and a reducer 43 for rotationally driving the take-up reel 41 is attached to the wire rope 5, with a work cart 8 suspended from the lower end thereof. By winding up or unwinding the square on this winding wheel 41, the work cart 8 is moved in the vertical direction. For other structures, please refer to the seventh section above.
It is similar to that shown in FIG.

Next, referring to FIG. 6, the hydraulic motor 1 of the work cart 8 will be explained.
9, 29, 30. 39 Also, if necessary, hydraulic motor 4
Hydraulic unit 12 as an example of a control device for sending pressure oil to 4, and paint tank 11 that stores paint to be sent to a painting gun as an example of the working tool! L, equipped ground equipment i! 13 will be explained in detail.

A hydraulic pump 45 is provided in the hydraulic unit 12, and a paint pump 46 for discharging paint is attached to the paint tank 11. A hose reel 10 attached to the side of the paint tank 11 is connected to the lower end of the cable lO that sends the paint in the paint tank 11 and the pressure oil adjusted by the hydraulic unit 12 to the work cart 8 side. As shown in FIG. 3, the other end is connected to the lower end of the work trolley 10, from which pressure oil and paint are sent to each hydraulic motor and painting gun.

Since the coating apparatus according to this embodiment is configured as described above, the hydraulic motors 19, 29, 30, . 39 and the rotational direction of the hydraulic motor 44 as needed, it is possible to move a work tool such as a painting gun to an arbitrary position along the vertical wall surface T of the tank T. This eliminates the need for heavy labor in a bad atmosphere in the workplace.

In addition to the painting gun, the working tools 14 mentioned above include a brush for painting, a sander for removing rust, a blaster, and a paint film thickness measuring device for measuring the thickness of the painted paint film. It is also possible to employ a sensor, an ITV camera for checking the surface condition of the tank, a fiber scope, and a welding torch as a welding device for partially welding the tank.

Then, by bringing the rubber skirt 35 and the air tube 351 into close contact with the tank wall surface as described above, painting and other HW + binding work parts can be sealed from the outside, but in this case, the manipulator frame 24
By connecting an exhaust duct for dust collection to the exhaust duct and connecting a dust collector as part of the ground equipment to the exhaust duct, it is possible to prevent dust and paint generated within the manipulator frame 24 from leaking outside (removal). Therefore, it is possible to freely use a rotating brush for removing rust, cissotoplast, etc.

Also, instead of the caterpillars 16 of the work trolley 8, there are wheels 17 as shown in FIG. may be brought into direct contact with the tank vertical wall TI. In this case, the wheels 17° may be fitted with rubber tires or the like to form unevenness on the surface as shown in the figure. However, such unevenness may be omitted; It is also possible to form the rubber tire itself with magnets.

The shape and weight of the weight 9, and the pulley 4.4
The mounting position etc. can be selected as appropriate depending on the shape of the tank etc.

For example, FIG. 12 fat shows a case where the roof T2 of the tank T has a conical shape; in this case, the roof T2
A pulley 4□ whose direction is variable is attached to the top of the roof T2, and pulleys 4b, 4b are provided at the ends of the roof T2, respectively. ．． By making Ih able to run in the circumferential direction of the roof T2, the weight 9 of the wire 5 passed over the pulleys 4&, 4@+ 4b is suspended on the opposite side of the tank T. FIG. 12 (bl) shows the case where a pulley 4C is also provided in the middle part because the tank T roof T3 is approximately spherical.

Furthermore, in the examples shown in FIGS. 1 to 11, the weights 9 are hung on the opposite side of the vertical wall TI to the work cart 8, but the 12th [! 1fcl, the work cart 8 and the weight 9 may be hung on the same side of the vertical wall T2.

Alternatively, the pulleys 41 to 4c as described above may not be run on the vertical wall side, but may be provided at the upper end of the crane 47, as shown in FIG. 13, and the work cart 8 may be suspended by the crane 47. In this case, The hydraulic bomb 45 and the paint pump 46 are placed on the truck 48 of this crane 47.

Effects of the Invention As described above, the present invention provides a work cart that is connected to a paint tank on the ground, a control device, etc. by a cable, etc., and is suspended from above the tank by a traction means, and a work cart that is connected to a paint tank on the ground, a control device, etc. by a cable, etc., and is suspended from above the tank by a traction means. A vertical drive means for moving the work cart; a horizontal drive means for moving the work cart in the horizontal direction by moving the traction means horizontally along the painted surface of the tank; and the paint tank, control device, etc. a conveyance means for moving in a horizontal direction; a manipulator that is provided to protrude laterally from the work cart along the painted surface and moves a work tool such as a painting gun along the painted surface; and a manipulator for painting the work cart. Since this tank painting equipment is equipped with suction means for fixing it to a surface, there is no need to install expensive scaffolding, and the operator can stand at a high place without worrying about sprayed paint or thinner. It is safe and sanitary because there is no need to work in a bad environment due to rust removal dust, etc., and since the manipulator is installed so as to protrude laterally from the work trolley, the wheels etc. of the work trolley are not dry. This provides an extremely efficient coating device that eliminates the inconvenience of stepping on the painted part.

[Brief explanation of the drawing]

FIG. 1 is a front view showing the overall configuration including a tank of a tank coating apparatus according to an embodiment of the present invention, FIG. 2 is a sectional view taken along the line A-A in FIG. 1, and FIG. FIG. 2 is a plan view showing the work cart and manipulator of the coating device; FIG. 4 is a sectional view taken along the line B-B in FIG. 3;
The figure is a cross-sectional view taken along arrows C and -C in FIG. 3, FIG. 6 is a front view showing an example of a lifting means that can be used in the above coating device, and FIG. 7 is a sectional view taken along arrow D in FIG. Sectional view, No. 8
The figure is a view in the direction of the E arrow in FIG. 7, FIG. 9 shows a modification of the vertical drive means and corresponds to FIG. 7, FIG. 10 is a view in the direction of the F arrow in FIG. 9, and FIG. A schematic side view showing a modified example of the work trolley, Figures 12 (a+ to (C)) are front views of the entire tank showing another suspension method for the work trolley, and Figure 13 is a still another suspension method for the work trolley. It is a front view including the entire tank showing. (Explanation of symbols) T...tank T1...vertical wall L...guide rail A...painting area,...inner side wall
L2...Outer side wall 3...Transportation truck 4.
... Pulley 5 ... Wire lobe 7 ... Manipulator 8 ... Work cart 9 ... Weight 10 ...
・Cable 11...Paint tank 12...Hydraulic unit 13...Ground equipment 14...Work tool
15... Frame 16... Caterpillar 23.
...Magnet 24...Manipulator frame 25.27...Ball screw 26.28...Moving table 29.30.39,44. ...Hydraulic motor 31.32
...Guide shaft 33...Manual handle 25, . 27. ．． 31. ．． 32@... bellows 35.
...Rubber skirt 35, ...Air tube 36.36. ...Body body 37...Drive wheel 38...Guide shaft 41...
- Winding rule 47... Crane 48... Truck.

Claims (1)

[Claims] (1) A work trolley that is connected to the paint tank, control device, etc. on the ground by a cable, etc. and suspended from above the tank by a traction means, and a vertical drive means that moves the work trolley vertically along the painted surface of the tank. , a horizontal drive means for moving the work cart horizontally by moving the traction means horizontally along the painted surface of the tank; a transport means for moving the paint tank, control device, etc. in the horizontal direction; A manipulator that is provided to protrude laterally from the work trolley along the painted surface and that moves a work tool such as a painting gun along the painted surface; and a suction means for fixing the work trolley to the painted surface. A tank coating device characterized by comprising: