KR100604017B1 - Hydraulic lift for painting of vessel - Google Patents

Abstract

The present invention relates to a high-altitude vehicle for painting the ship, and more specifically, to control the boom movement of the high-altitude vehicle when painting the vessel using the high-altitude vehicle, and to install the automatic painting device on the basket skilled workers It relates to a ship painting high-altitude vehicle configured to perform the painting of the vessel precisely without.

An object of the present invention is to accurately maintain the vertical and horizontal movement of the boom so as to carry out the painting work by mounting the painting robot without the skilled painter on board the high-rise vehicle, the swing of the boom and the tilt of the height of the vehicle Compensation according to the provision is to provide a high-altitude vehicle for painting the vessel configured to maintain the level itself.

In order to realize the above object, in the present invention, a basket 53 is installed at the end of the boom 54 so that an operator can carry on work and the boom 54 is installed on the vehicle body 50. Telescopic cylinder and lift cylinder 55 controlled by the control unit in the state is installed so as to adjust the length and angle, and installed on the upper surface of the car body 50 includes a cap 52 is installed cockpit for the driver to board In a high place,

When the main body 50 of the elevated vehicle is positioned at an inclined position, the turntable T installed in the main body 50 is rotated by an angle to maintain the turntable T and the cap 52 horizontally. An angle adjusting means provided between the turntables T, a painting robot R installed on the mounting portion 1 provided at the end of the basket 53 and capable of painting the hull, and the painting robot ( R) is characterized in that it comprises a rotation means provided between the boom 54 and the basket 53 for adjusting the horizontal and vertical position of the basket 53 to maintain an angle parallel to the hull during the painting operation.

Aerial Vehicles, Aerial Vehicles for Ship Coating

Description

Hydraulic Lift for painting of vessel

1 is a front view showing a vehicle for painting the vehicle according to the invention,

2 is a side view of FIG. 1;

3 is a plan view showing the basket in FIG.

4 is a side view of FIG. 3;

FIG. 5 is a partially enlarged view showing a high table turntable installation state in FIG. 1; FIG.

Figure 6 is a schematic diagram showing the hydraulic line of the high-altitude vehicle operating the turntable of the high-altitude vehicle according to Figure 5,

FIG. 7 is a schematic diagram illustrating an installation state of a sensor sensing the same when the boom is operated in FIG. 1;

8 is a perspective view showing a general height difference;

Figure 9 is a schematic diagram showing the installation state of the sensor for sensing the operation of the boom in Figure 8;

<Explanation of symbols for the main parts of the drawings>

1: mounting part 2: vertical hinge

3: hydraulic motor 4: basket frame

5: working cylinder 6: body frame

7: hinge 8: upper frame

9: tilt cylinder 10: tilt sensor

11: valve 12: first sensor

13: second sensor 53: basket

54: Boom 54-2: Vertical Boom

55: lift cylinder R: painting robot

T: Turntable L: Hydraulic Line

V1-V6: Control Valve T: Hydraulic Tank

ST: Steering Cylinder

The present invention relates to a high-altitude vehicle for painting the ship, and more specifically, to control the boom movement of the high-altitude vehicle when painting the vessel using the high-altitude vehicle, and to install the automatic painting device on the basket skilled workers It relates to a ship painting high-altitude vehicle configured to perform the painting of the vessel precisely without.

In general, ships that are built in the dock are assembled, welded, painted, etc. in each dock, so that the dock is provided with a plurality of lift cars (LIFT CAR) for this purpose.

In particular, in order to paint a ship, the paint worker is put on a basket of a high-altitude vehicle to enable work at a high place, and the worker paints while moving the basket in all directions.

In other words, after the worker is placed in the basket installed at the end of the high-altitude vehicle, the worker is placed in the desired position by operating the boom of the high-altitude vehicle, and the skilled painter paints the vessel with the spray gun. .

Here, the boom of the high-altitude vehicle can be moved vertically and horizontally and rotated, so that the basket installed at the end of the boom and the worker occupied there can be moved to the painting position precisely, and the boom is Because of the relatively high shaking conditions at high altitudes, the painter needs skilled workers.

As shown in FIG. 8, the vehicle is mounted on a main body 50, in which a tire (including driving means) T is installed to enable traveling and a turntable (not shown) is installed to enable rotational movement. Cap 52 is rotatable and the cockpit 51 is installed so that the driver can ride, one end is coupled to the cap 52 so as to be rotatable and adjustable in length and basket 53 at the end It consists of the installed boom 54.

That is, the boom 54 is made of a multi-stage and is operated by a telescopic cylinder (not shown) to be adjustable in length and configured to be height adjustable by the lift cylinder (55).

Of course, the boom 54 is operated by a hydraulic control system consisting of a plurality of control valves and PLVC (PROGRAMMABLE LOGICAL VALVE CONTROL) and the like, the operation of the boom 54 is controlled by a sensor system The feedback is further controlled to provide finer control.

As shown in FIG. 9, the first sensor 56 is a wire sensor installed in the inner boom 54-1 moving the least from the boom 54 that is stacked in multiple stages and sensing the length of the boom 54 as shown in FIG. 9. And a second sensor 58 which is a linear encoder installed in the auxiliary cylinder 57 which assists the lift cylinder 55 to sense the angle of the boom 54.

That is, by controlling the length and angle of the boom 54 with the above-mentioned hydraulic control system, the basket 53 on which the operator boards can move vertically / horizontally to the painted surface of the ship, whereby the paint worker of the boom 54 It is to make painting work precisely even in shaking.

However, when attempting to paint a vessel using a high-traffic vehicle as described above, it must be able to move vertically and horizontally to the surface of the ship by precisely controlling the boom of the high-altitude vehicle, but it is difficult to control this, and the end of the boom is relatively Due to a lot of shaking, and because of this, the worker shakes and paints, and even a skilled worker has a problem that painting becomes very difficult and work efficiency is low.

In other words, if the boom of a high-altitude car is lengthened, the basket installed at the end of it will naturally shake with a certain amplitude. It will be degraded.

In addition, the above-mentioned boom is not only shaken, but also due to the inclination of the ground on which the height is located, the height and the height of the boom cannot be maintained vertically and horizontally accurately. Since the error is large and inaccurate, there is a problem that a painting robot requiring precise control cannot be used.

Accordingly, an object of the present invention is to solve the above problems, it is possible to accurately maintain the vertical and horizontal movement of the boom so that the skilled worker in the high-rise vehicle can carry out the painting work by mounting the painting robot without boarding Rather, it is to provide a high-speed vehicle for painting the ship configured to maintain the level of the car itself by compensating according to the shaking of the boom and the position of the car.

In order to realize the above object, the present invention provides a telescopic cylinder and a lift cylinder controlled by a control unit in a state in which a basket is installed at the end of the boom so that an operator can ride and proceed with the operation. In the height of the vehicle including a cap is installed to adjust the length and angle of the furnace, the cap is installed on the upper surface of the body of the car body, the cockpit is installed for the driver to ride,

When the main body of the elevated vehicle is located at an inclined place, the turntable installed on the main body is rotated by an angle and the angle adjusting means is installed between the main body and the turntable so as to maintain the level of the turntable and the cap, and a mounting part installed at the end of the basket. In addition to the painting robot which can be painted on the hull and the painting robot, and the rotation means installed between the boom and the basket for adjusting the horizontal and vertical position of the basket to maintain an angle parallel to the hull during the painting operation of the painting robot It is characterized by.

1 and 2 are a front view and a side view showing the high-altitude vehicle for painting the ship according to the present invention, the turntable T installed on the main body 50 is a certain angle when the main body 50 of the high-rise vehicle is inclined place An angle adjusting means is installed between the main body 50 and the turntable T so as to keep the turntable T and the cap 52 horizontal while rotating, and a basket for the operator to board the end of the boom 54. 53 is provided, and at the end of the basket 53, a mounting part 1 is formed, and a painting robot R for automatically painting the hull is installed. Rotating means is provided between the boom 54 and the basket 53 so that the basket 53 can be rotated so as to maintain an angle parallel to the hull during painting.

That is, when the high level is moved to the dock for painting the hull, after adjusting the angle of the turntable (T) to the horizontal state by first operating the angle adjusting means in the state of stopping the paint color, the boom 54 By moving the basket 53 and the painting robot (R) to the desired position, and by operating the rotating means so that the above-described coating robot (R) and the hull parallel state, the painting robot (R) is painting work accurately It is to be able to proceed.

Of course, the hydraulic device and control unit (consisting of an industrial computer (IPC) and a PLVC (PROGRAMMABLE LOGICAL VALVE CONTROL), etc.) are precisely configured to move vertically and horizontally accurately when the boom 54 is operated.

The rotating means for rotating the basket 53 is fixed to the end of the boom 54 as a vertical hinge (2) as shown in Figures 3 and 4 and the hydraulic motor (3) to be rotated horizontally, The boom 54 is connected to the hydraulic motor 3 as well as the basket frame 4 to which the coating robot mounting portion 1 of the basket 53 is connected and the vertical hinge 2 are operated. It consists of an operating cylinder (5) installed at the end of the bar, by the operating cylinder (5) and the hydraulic motor (3) to adjust the position of the basket 53 and the painting robot (R) in a state parallel to the hull. Will be.

In addition, the angle adjusting means provided in the main body 50 to adjust the turntable T of the high-altitude body in a horizontal state is coupled to the main frame 6 with a hinge 7 as shown in FIG. The upper frame 8 to which the turntable T is mounted, and both ends of the upper frame 8 and both sides of the main frame 6 are connected to each other so that the upper frame 8 is left and right about the hinge 7 during operation. And a tilt sensor 9 (for example, using a laser sensor) provided to measure the inclination of the upper frame (turntable) 8 as described above.

Referring to FIG. 6, the high-pressure hydraulic line as described above is used to rotate the lift cylinder 55, the control valve V1, the telescopic cylinder TC, the control valve V2, and the turntable in the oil tank T. FIG. The boom swing cylinder BS and the control valve V3, the steering cylinder ST and the control valve V4, the basket operation cylinder 5 and the control valve V5 are installed and operated in sequence. The inclined cylinder 9 of the turntable T is connected to the hydraulic line L and the valve 11 branched at ST, and the hydraulic pressure is applied to adjust the posture of the turntable T horizontally by the hydraulic pressure during steering. To be possible.

Of course, the hydraulic pressure in the steering control valve (V4) is to switch the hydraulic pressure from the valve 11 to the steering cylinder (ST) or the inclined cylinder (9).

In addition, a hydraulic motor control valve (V6) is connected to the oil tank (T) to operate the hydraulic motor (3), and for checking the length of the boom 54 for vertical position control of the boom 54 The first sensor 12 and the second sensor 13 for checking the angle are installed.

Here, the control valve (not shown) of the telescopic cylinder for adjusting the length of the boom 54 is configured to enable the control of the micro displacement with a capacity of about 1.5 liters, thereby preventing vibration during operation of the boom 54. When the bar can be minimized, the diameter of the boom 54 can be made larger than before, thereby minimizing the vibration of the boom 54.

The mounting positions of the first and second sensors 12 and 13 are wire sensors and the like connected to the terminal boom 54-2 positioned at the top of the boom 54 in a multi-stacked state as shown in FIG. 7. The first sensor 12 and the second sensor 13, which is a wire sensor installed at a position close to the lift cylinder 55 of the boom 54, the second sensor 13 is To increase the resolution, turn it once and install it with twice the resolution.

Since the first sensor 12 measures the moving distance of the terminal boom 54-2 which is actually the moving distance of the boom 54, a very accurate measurement can be obtained, and the second sensor 13 ) Is wound around the lift cylinder 55 at a position close to the lift cylinder 55 and has a resolution of about twice, thus enabling accurate measurement.

In describing the operation and effect of the present invention as described above, after transporting the vehicle to the dock to paint the vessel, the turntable T of the vehicle is adjusted to maintain a horizontal state.

That is, since the horizontal position of the basket 53 installed at the end of the boom 54 is adjusted based on the turntable T, the turntable T is first adjusted to a horizontal state.

The horizontal adjustment of the turntable T is a hydraulic pressure supplied from the steering control valve V4 by operating the valve 11 while the operator or driver moves the position of the vehicle to the painted position, and then the vehicle is stopped. The inclined cylinder 9 is supplied.

When the hydraulic pressure is controlled to be supplied to the inclined cylinder 9 by the valve 11, the steering wheel (handle) is rotated to the left and right. When the steering wheel is rotated, the inclined cylinders 9 of both sides are rotated. Hydraulic pressure is optionally supplied to the.

For example, when the hydraulic pressure is supplied to the inclined cylinder 9 on the left side, the left side of the turntable T rises. When the left side is low on the ground of the dock where the height difference is placed, the inclined cylinder 9 As a result, the left side of the turntable T is raised to be aligned in a horizontal state.

In this case, when the inclination sensor 10 measures the inclination of the turntable T and transmits the inclination of the turntable T to the controller, the inclination is controlled by IPC and PLVC (not shown), and thus the turntable T is aligned in a horizontal state.

When the turntable T is in a horizontal state, as a result, the height difference is in a horizontal state. In this state, the turntable T is rotated so that the boom 54 is exactly aligned with the painted position, and then the boom ( The telescopic cylinder and the lift cylinder 55 of 54 are operated.

By operating the telescopic cylinder so that the boom 54 is at a high position and the lift cylinder 55 is operated so that the boom 54 is at a predetermined angle, a basket installed at the end of the boom 54 in the painted position (painting) Robot) 53 is positioned.

At this time, since the control valve for controlling the telescopic cylinder has a capacity of approximately 1.5 liters, it is operated slowly compared to the general car boom 54, and because the diameter of the boom is larger than that of the general car, the boom shakes. Significantly reduced.

Here, the first and second sensors 12 and 13 measure the position of the boom 54 when the boom 54 is raised upward, the first sensor 12 is the uppermost of the boom 54 The position of the terminal boom 54-2 is measured, and the second sensor 13 measures the wire sensor in the vicinity of the lift cylinder 55, so that a very accurate movement value can be measured. By transmitting the movement value to the control unit, the control unit can calculate the exact position of the boom 54.

When the boom 54 is shaken relatively small when it is moved upward by the telescopic cylinder and the lift cylinder 55, the control unit can more accurately match the position of the painting robot R installed in the basket 53.

When the painting robot R is moved to the painting position by the boom 54, the basket 53 must be adjusted to be parallel to the hull. The horizontal position of the basket 53 with the operating cylinder 5 is described. And adjust the hydraulic motor (3) to align the basket (painting robot) 53 and the hull to suit the painting.

As described above, when the painting robot R moves to the initial painting position, the painting work is started. The boom 54 is moved by the telescopic cylinder and the lift cylinder 55 while minimizing the shaking of the boom 54. Therefore, the painting work of the painting robot R can be made very precisely.

In addition, since the height is maintained in a horizontal state, when the vertical and horizontal movement of the painting robot (R) does not cause an error in the movement position in the control unit, precise movement control is possible.

When the vertical and horizontal movements of the painting robot R do not shake and are precisely controlled, it is possible to easily carry out the painting work of the hull only with the painting robot R without requiring a skilled painter as in the related art.

As described above, the present invention is to increase the diameter of the boom of the high-altitude vehicle while also making the movement of the boom more precise, preventing the boom from shaking, and controlling the high-altitude car and the basket to maintain the horizontal state on the ground while the boom is vertical, By making it possible to move horizontally and accurately, the painting robot is mounted on a high-altitude vehicle, so that the painting work of the ship can be precisely performed.

Claims (5)

A basket is installed at the end of the boom so that the operator can carry on work, and the length and angle of the telescopic cylinder and the lift cylinder controlled by the control unit are installed so that the height and angle can be adjusted. In the high-rise vehicle comprising a cap installed on the upper surface of the vehicle body, the cockpit is installed for the driver to ride, When the main body of the elevated vehicle is located at an inclined place, the turntable installed on the main body is rotated by an angle and the angle adjusting means is installed between the main body and the turntable so as to maintain the level of the turntable and the cap, and a mounting part installed at the end of the basket. In addition to the painting robot which can be painted on the hull and the painting robot, and the rotation means installed between the boom and the basket for adjusting the horizontal and vertical position of the basket to maintain an angle parallel to the hull during the painting operation of the painting robot High-speed vehicle for painting the ship, characterized in that. The method of claim 1, The rotating means for rotating the basket is fixed to the end of the boom with a vertical hinge, and the hydraulic motor that the other end is connected to the basket frame connected to the basket coating robot mounting portion to rotate horizontally, the vertical hinge A high vane for ship coating, characterized in that consisting of a working cylinder installed at the end of the boom. The method according to claim 1 or 2, The angle adjusting means is hinged to the main body frame, and is connected to the upper frame and the turntable is mounted, the upper frame is installed so that the upper frame rotates around the hinge during operation by connecting both ends of the upper frame and the main frame Characterized in that the inclination cylinder for rotating the upper frame is installed so that the hydraulic pressure is applied through a valve for selectively switching the hydraulic pressure applied to the steering cylinder of the high vehicle, and the inclination sensor installed to measure the inclination of the upper frame Aerial vehicle for ship painting. The method of claim 1, In order to measure the movement distance of the boom includes a first sensor which is a wire sensor connected to the terminal boom with the largest moving distance and measuring it, and a second sensor which is a wire sensor installed at a position close to the lift cylinder of the boom. A high vane for ship painting, characterized in that. The method of claim 4, wherein Said second sensor is installed in the ship painting high-rise vehicle, characterized in that to turn once in the boom position to increase the resolution.

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