KR100464462B1 - Blasting apparatus using method of vacuum adsorbing - Google Patents

Abstract

The present invention provides a vacuum adsorption blasting apparatus for surface treatment, comprising: a main body portion made of aluminum and having a vertical shape, provided at a lower end of the main body portion, movable along an outer wall surface of the object and independently by a plurality of servomotors. A plurality of driving wheels that can be driven in a vacuum chamber, which is provided adjacent to the driving wheels and is elastically adsorbed on the outer wall surface of the object, one end of which is disposed outside the main body to enable an external abrasive to be supplied and the other end of the plurality of driving wheels A blasting tube disposed between driving wheels to blast a predetermined abrasive to the outer wall surface of the object in the region where the body portion is located, and a vacuum suction tube formed to be exposed to the body portion to suck the body portion to the outer wall surface of the object. It is composed of a vacuum suction on the object to the surface treatment Robots and; An adjusting unit including a joystick for adjusting the robot at a position spaced apart from the robot, and a wireless remote controller having an LCD window for displaying a state adjusted by the joystick; A power source for controlling power and signal of the robot; An abrasive hose connected at both ends to the power source and the robot so as to communicate with the blasting tube to supply the abrasive to the robot; A vision sensor provided in the robot and recognizing a welding line of the object; A vacuum suction hose connected to the robot and a power source to communicate with the robot on the wall of the object and in communication with the vacuum suction tube; A power cable connected between the power source and the robot to transmit an electrical signal for control; Displaying a control signal by the joystick in the LCD window, while tracking the welding line recognized by the vision sensor to the robot to blast the area, and a control unit for controlling the injection amount of the abrasive, the running speed of the robot, etc. It is done.

In this way, the weight of the device is relatively light so that the surface of the hull and the like can be attached and detached so that the surface treatment can be easily performed.

Description

Blasting apparatus using method of vacuum adsorbing}

The present invention relates to a vacuum adsorption blasting apparatus, and more particularly, to a vacuum adsorption blasting apparatus in which the weight of the apparatus is relatively light so that the attachment and detachment of the surface of the hull can be easily performed. will be.

Since the joint part of the hull shell plate does not have a separate protective coating film after welding, it is easily corroded and contaminated. Therefore, in order to prevent contamination by corrosion, this area should be painted. In order to apply the coating, contamination and rust of the welded part should be removed in advance through surface treatment such as grinding or spraying abrasives before painting.

However, since the work on the hull shell is performed at a relatively high position, the work environment is poor and dangerous, which requires work in safety. Therefore, there is a limit to the manual work usually performed. Therefore, conventionally, the surface treatment is performed using a vacuum adsorption blasting apparatus rather than manual labor.

However, the known conventional blasting apparatus has a basic structure of an AC gear motor type in a steel structure, and its weight is relatively heavy. Therefore, in the conventional work in which various hoses and cables are attached to such a device, and the main body is dragged around, the area of the vacuum adsorption portion must be larger than a certain amount in order to attach to the wall (outer plate of the hull) by vacuum force. In addition, the apparatus for generating vacuum must also be huge.

In addition, in the conventional blasting apparatus, two guide rollers are installed on the top of the hull by using a wire rope on two huge Lynchs installed on the ground, and the wire ropes are fastened there, It is designed to work by connecting it to the top of the device.

By the way, in such a conventional blasting apparatus, it is possible to work only within the width range of the two wire rope rollers installed on the upper part of the hull, which is subject to a lot of work area limitations, and the apparatus is heavy, so much time for preparation for work There is a problem that this takes.

In addition, the conventional vacuum adsorption blasting apparatus has a disadvantage that the manual detachment and detachment of the operator is impossible due to the large weight of the robot body of about 200 to 400 [Kg]. In addition, the conventional blasting apparatus is capable of surface treatment of the vertical portion of the outer hull of the hull to some extent, but since the apparatus is large and heavy, there is a drawback that a separate apparatus for attaching and detaching the blasting apparatus is required when performing the surface treatment of the hull bottom portion.

And, because the device is huge, it is impossible to apply the forehead part with high curvature radius, and because the weight is heavy, the fixed part such as welding line in all directions such as vertical, horizontal and oblique line due to deflection in the gravity direction when proceeding in the horizontal direction When blasting, precise position control is impossible and difficult to apply.

The present invention has been made to solve the above problems, the object of the present invention is to reduce the weight of the device relatively light weight to be detachable to the surface of the hull, so that the surface treatment operation can be easily performed vacuum blasting It is to provide a device.

In addition, another object of the present invention is to provide a vacuum adsorption blasting apparatus capable of precise control of blasting in all directions including vertical, horizontal, hull bottom, oblique and curved portions.

In addition, another object of the present invention is to provide a vacuum adsorption blasting apparatus which can perform blasting simply because the robot can be remotely operated, and at the same time, the collection of grit can be performed.

1 is a view schematically showing a state in which a vacuum suction blasting apparatus according to the present invention is applied,

Figure 2 is a partial side cross-sectional view of the vacuum suction blasting apparatus of the present invention.

3 is a plan view of FIG.

4 is a partially enlarged view of FIG. 2;

5 is a control block diagram of a vacuum adsorption blasting apparatus according to the present invention,

Figure 6 is a partial side cross-sectional view showing a vacuum brake portion of the vacuum suction blasting apparatus of the present invention.

※ Explanation of codes for main parts of drawing

10: hull 12: abrasive hose

14: vacuum suction hose 16: power cable

20: power source 25: winch

30: robot 32: main body

34: driving wheel 35: vacuum chamber

36: teflon pad 37: blasting tube

38: vacuum suction tube 40: rotation support

41: blasting motor 42: driving pulley

43: rotating bush 44: driven pulley

45: timing belt 50: auxiliary adsorption unit

60: pressure sensor 62: vision sensor

64: wireless remote control 70: control unit

The present invention for achieving the above object, in the vacuum adsorption blasting apparatus for surface treatment, the body portion made of aluminum and having a longitudinal shape, provided at the lower end of the body portion is movable along the outer wall surface of the object And a plurality of drive wheels independently driven by a plurality of servomotors, a vacuum chamber provided adjacent to the drive wheels and elastically adsorbed on the outer wall surface of the object, one end of which is disposed outside the main body to supply abrasive from the outside. A blasting tube for blasting a predetermined abrasive to an outer wall surface of the object in an area where the main body is located, the other end of which is disposed between the plurality of driving wheels; It consists of a vacuum suction tube for vacuum suction on the surface, vacuum suction on the object Is that the surface treatment of a surface of the robot and; An adjusting unit including a joystick for adjusting the robot at a position spaced apart from the robot, and a wireless remote controller having an LCD window for displaying a state adjusted by the joystick; A power source for controlling power and signal of the robot; An abrasive hose connected at both ends to the power source and the robot so as to communicate with the blasting tube to supply the abrasive to the robot; A vision sensor provided in the robot and recognizing a welding line of the object; A vacuum suction hose connected to the robot and a power source to communicate with the robot on the wall of the object and in communication with the vacuum suction tube; A power cable connected between the power source and the robot to transmit an electrical signal for control; Displaying a control signal by the joystick in the LCD window, while tracking the welding line recognized by the vision sensor to the robot to blast the area, and a control unit for controlling the injection amount of the abrasive, the running speed of the robot, etc. It is achieved by providing a vacuum adsorption blasting apparatus.

The robot is provided with a pressure sensor for controlling the injection amount of the abrasive supplied to the robot.

The robot is provided with a vacuum brake that serves to maintain a constant vacuum pressure during the blasting operation.

The robot includes a main body portion made of aluminum and having a vertical shape; A plurality of driving wheels provided at a lower end of the main body and movable along an outer wall of the hull and independently driven by a plurality of servo motors; A vacuum chamber provided adjacent to the driving wheel and elastically adsorbed to an outer wall surface of the hull; A blasting tube, one end of which is disposed outside the body portion and in communication with the abrasive hose, and the other end of which is disposed between the plurality of driving wheels to blast a predetermined abrasive material to the outer wall surface of the hull in an area where the body portion is located; And a vacuum suction tube exposed from the main body and in communication with the vacuum suction hose to suction the main body to the outer wall of the hull.

The blasting tube, and the blasting inlet portion exposed to the outside of the main body portion; A blasting outlet disposed between the driving wheels and blasting the abrasive introduced through the blasting inlet to an outer wall of the hull; And a nozzle unit provided between the blasting inlet and the blasting outlet.

It is advantageous to further provide a rotational support for rotatably supporting the blasting outlet with respect to the blasting inlet.

The rotation support portion, the blasting motor; A drive pulley coupled to the motor shaft from the blasting motor; A rotary bush coupled to the outside of the blasting outlet; A driven pulley coupled to the rotating bush; And a timing belt interconnecting the drive and driven pulleys.

The vacuum chamber is advantageously made of a polyurethane material.

Teflon pad is preferably provided at the lower end of the vacuum chamber.

It is more effective to further provide an auxiliary adsorption unit that increases the vacuum adsorption force by the vacuum adsorption tube.

The auxiliary suction unit includes a plate member coupled to the upper portion of the vacuum chamber; A bellows portion having one end coupled to the plate member and disposed along an up and down direction; A shaft shaft standing up on one side of the bellows portion; It further includes a spring member surrounding the outer side of the shaft shaft.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is a view schematically showing a state in which a vacuum suction blasting apparatus according to the present invention is applied. As shown in this figure, the vacuum adsorption blasting apparatus according to the present invention is to perform blasting to improve the adhesion of the coating film and to remove the rust and contaminants on the outer wall surface before painting the outer wall of the large steel structure Used.

In particular, since the joints between the blocks are welded sites, they are not primed to protect the members, and thus stains and rusts are more easily rusted than other sites. Therefore, in such a place, after performing a surface treatment operation using the vacuum adsorption blasting apparatus of this invention, you should perform a painting operation.

As described above, the vacuum adsorption blasting apparatus of the present invention can be applied to any large steel structure, but in this embodiment, a large steel structure called a ship will be described as an example.

As described above, since the robot applied to the conventional vacuum adsorption blasting apparatus has a heavy weight of about 200 to 400 kg, it was impossible for the operator to manually attach or detach the robot to the surface of the hull 10. As a result, in the conventional blasting apparatus, the surface treatment work of the outer wall vertical portion 10a of the hull 10 can be performed to some extent, but when the surface treatment work of the bottom portion 10b of the hull 10 is carried out, the separate blasting apparatus is detached. The device was needed.

In addition, since the robot of the conventional blasting apparatus is heavy and bulky, it is impossible to apply a forehead portion having a relatively high curvature radius, and because the weight is heavy, the robot is vertical and horizontal due to the deflection in the gravity direction when proceeding in the horizontal direction. And surface treatment in all directions such as diagonal lines was almost impossible.

However, the robot 30 of the vacuum suction blasting apparatus of the present invention, as shown in Figure 1, including the vertical portion 10a of the hull 10, the bottom portion 10b, the upper surface portion 10c and the side portion Not only the surface treatment work vertically and horizontally (10d) can be performed, but also the surface treatment work of the curved surface portion 10e connecting the bottom surface portion 10b and the upper surface portion 10c can be easily performed.

As such, when the robot 30 of the blasting apparatus is vacuum-adsorbed to each part of the hull 10 to perform the surface treatment work on each part, the abrasive hose for supplying the abrasive to the robot 30 of the blasting apparatus ( 12) and a vacuum suction hose 14 and other power cable 16 for vacuum suction. Of course, the abrasive hose 12 is connected to a separate abrasive supply unit, the vacuum suction hose 14 should be connected to the vacuum unit, but such a configuration is already equipped bar, in the present invention the power source 20, Power source) will be described.

The abrasive hose 12, the vacuum suction hose 14, the power cable 16, and the like are held by the winch 25 with an allowable length of the appropriate length from the robot 30. Since the winch 25 is roughly adjusted in accordance with the working speed of the robot 30, the working robot 30 can freely move without being affected by various hoses.

Figure 2 is a partial side cross-sectional view of the vacuum suction blasting apparatus of the present invention, Figure 3 is a plan view of Figure 2, Figure 4 is a partial enlarged view of Figure 2, Figure 5 is a control block diagram of a vacuum suction blasting apparatus according to the present invention. 6 is a partial side cross-sectional view showing a vacuum brake part of the vacuum suction blasting apparatus of the present invention.

As shown in these drawings, the robot 30 of the vacuum adsorption blasting apparatus according to the present invention is provided at the lower end of the main body portion 32 and the main body portion 32 and is movable along the outer wall surface of the hull 10. And a plurality of driving wheels 34 independently driven by a plurality of servomotors (not shown), and a vacuum chamber 35 provided adjacent to the driving wheels 34 and elastically adsorbed to the outer wall surface of the hull 10. And an outer end of the hull 10 in an area where one end is disposed outside the main body 32 and communicates with the abrasive hose 12 and the other end is disposed between the plurality of driving wheels 34 and the main body 32 is located. A blasting tube 37 for blasting a predetermined abrasive to a surface, and a vacuum exposed from the body portion 32 and in communication with the vacuum suction hose 14 to vacuum suck the body portion 32 to the outer wall surface of the hull 10. Adsorption tube 38 is included.

The main body 32 is made of aluminum. Thus, because the device is light, it is very easy for the operator to handle. In this embodiment, the weight of the main body 32 is about 25 Kg, and the vacuum suction force applied to the main body 32 is about 200 Kgf. Accordingly, the four small drive motors for driving the driving wheel 34 can be attracted to and carry the weight of the abrasive hose 12, the vacuum suction hose 14, the power cable 16 and the main body 32 sufficiently. Since the robot 30 is designed to autonomously drive the outer wall of the hull 10 in all directions.

The main body part 32 is the abrasive that is injected at a suitable ratio with the compressed air is sprayed on the outer wall surface of the hull 10 and the surface treatment, the various dust and contaminants generated will not escape the atmosphere and the best It is shaped like a bell to help you.

The central portion of the inner body portion 32 of the drive wheel 34 has a vacuum chamber 35 that blocks the external atmospheric pressure when the vacuum suction, the inside can generate a large suction force by generating a vacuum. At this time, the vacuum chamber 35 should be able to keep the non-uniform wall always in close contact. To this end, the present invention further provides an auxiliary adsorption unit 50 for increasing the vacuum adsorption force.

The auxiliary adsorption unit 50 (see FIG. 4) includes a plate member 51 coupled to the upper portion of the vacuum chamber 35, a bellows portion 52 having one end coupled to the plate member 51 and disposed along the vertical direction. , A shaft shaft 53 standing up on one side of the bellows portion 52, and a spring member 54 surrounding the outside of the shaft shaft 53. The bellows 52 allows the front of the yarn to be evenly adhered evenly and always maintains a constant shape according to the change in the internal pressure even on uneven surfaces changing in three dimensions.

The vacuum chamber 35 is made of a polyurethane material, the lower side of the vacuum chamber 35 is provided with a Teflon pad 36 to increase the vacuum adsorption force. At this time, the appropriate hardness of the vacuum chamber 35 is advantageously made of urethane of about 70 to 75 degrees.

The vacuum suction force of the robot 30 by the vacuum suction tube 38 may generate about 250 Kgf. This force is transmitted to the frictional force of the vacuum chamber 35 made of urethane material. In order to minimize the frictional force at this time, the frictional force is reduced by installing a Teflon pad 36 having a small friction coefficient on the lower surface of the vacuum chamber 35.

In addition, the vacuum chamber 35 and the Teflon pad 36 allow the driving wheel 34 to be easily changed direction with a small force, thereby minimizing the capacity of the servomotor, as well as the uneven hull 10. Even in the outer wall surface of the driving wheel 34 assists to run in close contact. In addition, the vacuum chamber 35 and the Teflon pad 36 have the additional effect of facilitating the position and orientation control of the robot 30.

The shaft shaft 53 is connected to the vacuum chamber 35, and the spring member 54 provided between the shaft shaft 53 and the vacuum chamber 53 is operated to maintain the vacuum pressure. If the vacuum pressure in the main body 32 of the robot 30 is lowered, the vacuum force of the spring member 54 strongly adheres to the outer wall surface of the hull 10, and the internal vacuum pressure is applied to the force of the spring member 54. When it becomes larger than that, the vacuum chamber 35 rises, and the outside air flows into the main body 32, thereby lowering the internal vacuum degree. Then, when the proper pressure again, the spring member 54 is in close contact with the outer wall surface of the hull 10 so that the pressure can always be kept constant.

The blasting pipe 37 is disposed between the blasting inflow portion 37a exposed to the outside of the main body portion 32 and the driving wheel 34 to receive the abrasive introduced through the blasting inflow portion 37a. And a nozzle portion 37c provided between the blasting inlet portion 37b and the blasting inlet portion 37a and the blasting outlet portion 37b.

The blasting inlet portion 37a has a shape of about “a”, and the blasting outlet portion 37b is bow-shaped so as to be freely rotated due to the rotary support portion 40 to be described later at the end of the blasting inlet portion 37a. It is. By rotating the blasting discharge part 37b as described above, a large area can be surface treated at the same time.

At this time, the blasting outlet 37b is advantageously rotatable with respect to the blasting inlet 37a. Thus, in the present invention, the rotation support part 40 is provided to rotatably support the blasting outlet part 37b with respect to the blasting inlet part 37a.

The vacuum brake 39 is attached to the side of the main body portion 32 of the robot 30 to pass through. The role of the vacuum brake 39 serves to maintain a constant vacuum pressure during the blasting operation. In particular, the grit does not accumulate in the vacuum suction hose 14 to allow continuous operation. For example, when the vacuum pressure increases in the main body 320 of the robot 30, the vacuum brake 39 is operated. When the suction plate 39c equipped with the spring 39a is lowered, the hole 39b is lowered. As the outside air flows in to maintain a constant vacuum pressure, on the contrary, when the vacuum pressure drops, the suction plate 39c rises to reduce the outside air inflow.In the initial blasting operation, the suction plate 39c maintains a constant clearance. The work is carried out while the outside air continues to flow in. In addition, when the initial vacuum pressure is set, it is used by adjusting the fixing nut (39d).

The rotation support portion 40 includes a blasting motor 41, a drive pulley 42 coupled to the motor shaft from the blasting motor 41, and a rotation bush 43 coupled to the outside of the blasting discharge portion 37b. And a driven pulley 44 coupled to the rotary bush 43, and a timing belt 45 interconnecting the drive and driven pulleys 44.

On the other hand, the robot 30 has a vision sensor 62 for recognizing the welding line of the hull 10 and the pressure sensor 60 for adjusting the injection amount of the abrasive by the blasting tube 37 based on the vacuum pressure in the body portion 32. ) Is provided. This robot 30 is operated by a wireless remote control 64 having a joystick 64a and an LCD window 64b displaying a state adjusted by the joystick 64a. The LCD window 64b provided in the wireless remote control 64 can see the state of the surface to be blasted and the surface after the blasting operation so that no separate inspection is necessary.

These pressure sensors 60, the vision sensor 62 and the wireless remote control 64 are controlled by the control part 70 (refer FIG. 5). That is, the controller 70 displays the control signal by the joystick 64a on the LCD window 64b, while tracking the welding line recognized by the vision sensor 62 so that the robot 30 can blast the target area. Then, the injection amount of the abrasive and the running speed of the robot 30 are controlled by the pressure sensor 60.

When the blasting operation is required around the welding line, the vision sensor 62 enables the operation of blasting around the welding surface while automatically recognizing the welding line and tracking it within a predetermined range around the recognized point. Of course, the control signal by the vision sensor 62 is transmitted to the control unit 70 and can be controlled by the control unit 70.

When the blasting work around the welding line is required due to such a vision sensor 62, it also functions to track the welding line and automatically blast only the surrounding area. Can provide the effect.

In addition, in the blasting apparatus of the present invention, the robot 30 is attached to a wall surface and the robot 30 is moved by using the wireless remote control 64 at a long distance, so that the blasting can be easily performed and the collection of grit can be performed at the same time. Has the advantage that

As described above, according to the blasting apparatus of the present invention, the weight of the apparatus is made relatively light, and thus, the surface of the hull 10 can be attached and detached, so that the surface treatment can be easily performed.

In addition, according to the blasting apparatus of the present invention, it is possible to precisely control the blasting in all directions including vertical, horizontal and diagonal lines, and to perform blasting simply because the remote operation of the robot 30 is possible, and at the same time, the grit Grit can be collected.

In addition to the above-described embodiment, there is a risk that the robot 30 falls during various blasting operations such as power failure and natural disaster, and thus, the blasting apparatus of the present invention needs to have a safety ring. Such a safety ring may support the robot 30 even in a dangerous situation while moving together in conjunction with the robot 30.

As described above, according to the present invention, there is provided a vacuum adsorption blasting apparatus in which the weight of the device can be relatively lightened so that detachment and the like of the hull surface can be easily performed.

In addition, according to the blasting apparatus of the present invention, it is possible to precisely control the blasting in all directions including vertical, horizontal and diagonal lines. In addition, the robot can be operated from a long distance, and the LCD window shows the detailed working surface and the working status can be easily blasted, and the collection of grit can be performed automatically. So environmentally friendly work is possible.

Claims (12)

In the vacuum adsorption blasting apparatus for surface treatment, A main body part made of aluminum and having a vertical shape, provided at a lower end of the main body part, a plurality of driving wheels movable along an outer wall surface of the object and independently driven by a plurality of servomotors, provided adjacent to the driving wheels A vacuum chamber elastically adsorbed on the outer wall surface of the object, one end of which is disposed outside the main body to enable the supply of abrasives from the outside and the other end is disposed between the plurality of driving wheels of the object in the area where the main body is located It consists of a blasting tube for blasting a predetermined abrasive to the outer wall surface, a vacuum suction tube formed to be exposed to the main body portion to suck the main body portion to the outer wall surface of the object, the surface is treated by vacuum suction on the object A robot; An adjusting unit including a joystick for adjusting the robot at a position spaced apart from the robot, and a wireless remote controller having an LCD window for displaying a state adjusted by the joystick; A power source for controlling power and signal of the robot; An abrasive hose connected at both ends to the power source and the robot so as to communicate with the blasting tube to supply the abrasive to the robot; A vision sensor provided in the robot and recognizing a welding line of the object; A vacuum suction hose connected to the robot and a power source to communicate with the robot on the wall of the object and in communication with the vacuum suction tube; A power cable connected between the power source and the robot to transmit an electrical signal for control; Displaying a control signal by the joystick in the LCD window, while tracking the welding line recognized by the vision sensor to the robot to blast the area, and a control unit for controlling the injection amount of the abrasive, the running speed of the robot, etc. Vacuum adsorption blasting apparatus. The method of claim 1, The robot is provided with a pressure sensor for controlling the injection amount of the abrasive supplied to the robot vacuum suction type blasting apparatus. The method of claim 1, The robot is provided with a vacuum brake that serves to maintain a constant vacuum pressure during the blasting operation vacuum suction type blasting apparatus. delete The method of claim 1, The blasting tube is A blasting inflow portion exposed to the outside of the main body portion; A blasting outlet portion disposed between the driving wheels and blasting the abrasive introduced through the blasting inlet portion to an outer wall surface of the object; And a nozzle unit disposed between the blasting inlet and the blasting outlet. The method of claim 5, And a rotatable support for rotating the blasting outlet relative to the blasting inlet. The method according to claim 5 or 6, The nozzle unit is vacuum suction blasting apparatus, characterized in that curved outward while going to the lower end to draw a circle when rotating. The method of claim 6, The rotation support portion Blasting motor; A drive pulley coupled to the motor shaft from the blasting motor; A rotary bush coupled to the outside of the blasting outlet; A driven pulley coupled to the rotating bush; And a timing belt for interconnecting the driving and driven pulleys. The method of claim 1, The vacuum chamber is a vacuum adsorption blasting apparatus, characterized in that made of polyurethane material. The method of claim 1, Teflon pad is provided on the lower end of the vacuum chamber vacuum suction type blasting apparatus. The method of claim 1, Vacuum adsorption blasting apparatus characterized in that it further comprises an auxiliary adsorption unit for weighting the vacuum adsorption force by the vacuum adsorption tube. The method of claim 11, The auxiliary adsorption unit, A plate member coupled to the upper portion of the vacuum chamber; A bellows portion having one end coupled to the plate member and disposed along the vertical direction; A shaft shaft standing up on one side of the bellows portion; And a spring member surrounding the outer side of the shaft shaft.