KR100751702B1 - The movable type automatic painting system for hull shell which consists of the self-propelled scissors lift platform - Google Patents

Abstract

The present invention relates to a mobile hull shell automatic coating system having a scissor type lifting and lowering lift function, and an object thereof is a scissor type lifting and lowering structure configured to realize the same painting process as a working condition painted by an actual painter. The present invention provides a structure having a lift function, a painting device that performs automatic painting of a unit area, and a conveying device for quickly transporting to a work site with both.

The present invention for achieving the above object is provided with a paint head and a paint supply device equipped with a plurality of airless automatic spray guns, X, Y, Z-axis feed and C-axis feed of the spray gun, the rotation device of the spray gun, Reciprocator with shaft (X, Y, Z, C) and spray gun rotating device, structure and drive with scissor type lifting and lowering function for moving the automatic coating device to high hull shell part A device including a device, a transfer device for mounting the structure and the drive device and freely moving the painted portion of the ship shell, and an operation panel developed to allow the complex operation of the drive device and the speed and sequence control of each drive device. This invention relates to a mobile hull shell automatic painting system having a scissor type lift and lower lift function composed of a control system and an operation program. And as enemies base.

Automatic coating equipment, outer coating, painting equipment transport trolley, reciprocator, sheer lifting device, automatic painting machine.

Description

The movable type automatic painting system for hull shell which consists of the self-propelled scissors lift platform}             

1 is a conceptual view of the operation of the automatic ship shell coating device of the present invention

Figure 2 is an overall configuration diagram of the outer shell automatic coating device of the present invention

3 is a block diagram of the receiver portion of the present invention

Figure 4 is a configuration diagram of each feed axis of the receiver of the present invention

Figure 5 is a block diagram showing a moving carriage lifting and lowering and road surface moving means of the receiver of the present invention

Figure 6 is a block diagram of the transport trolley of the present invention

7 is a standard coating method and sequence of the reciprocator of the present invention

8 is the overall operational painting operation sequence of the present invention

9 is a conventional ship shell coating work apparatus

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

(1): Ship shell                 

(2): bogie main frame

(3): telescope hydraulic clamp device

(4): driving wheel

(5): guide column structure

(6): connecting bar

(7): safety hand rail

(8): Structure for connecting guide column

(9): carriage base frame

(10): Hydraulic cylinder for carriage raising and lowering drive

(11): driving wheel steering system

(12): link structure

14: hinge

15: long-roll roller

(16): transport cart

(20): automatic coating device

(21): Z axis feed structure

(22): Z axis feed sliding frame

(23): Y axis feed structure

24: C axis rotation drive unit

25: Y axis feed sliding frame                 

26: spray gun

(27): rotary unit for W axis work

(28): X-axis feed structure

(29): X axis feed sliding frame

(30): means for raising and lowering and road movement

31: Z axis feed drive motor

32: guide rail

(50): spray coating machine

(51): paint tank

The present invention relates to a mobile hull shell automatic coating system having a scissor type lifting and lowering lift function. More specifically, the coating speed, area and quality of the coating film are realized while implementing the same coating process as the actual working conditions for the painter. , A scissor type lift with a ship shell automatic coating device configured to improve the work stability, a structure having a scissor type lift and lower lift function for lifting and lowering of this apparatus, and a mobile bogie configured with it mounted thereon The present invention relates to a mobile hull shell automatic painting system with a down lift function.                         

Conventionally, the coating automation for the outer shell of the ship is the most suitable coating speed (gun conveying speed), gun separation distance from the conductor, in the painting technique required for the ship except for the standardized painting work on small and fragmentary parts. It was difficult to efficiently control the equipment due to various variables such as the atomization pressure of each paint and the influence of external wind generated during the painting, and it was impossible to control the overcoat, especially for the overlapped coating. In addition, in the case of automatic coating equipment, it is difficult to automate the actual painting process according to various painting conditions and methods because standardization of painting methods for each coating is not performed. It was difficult to do it.

9 is a view showing a method of painting the outer shell of the ship is currently made by the operator, due to the nature of the shipbuilding industry, when the outer shell of a large ship in the dry dock for ship drying ships located in the coastal area often blows a large wind can It is difficult for uniform painting work due to unstable working posture due to shaking of large aerial vehicles, and it is likely that workers' safety will always be harmed due to high-altitude work, and it is difficult to achieve automation of processes for improving quality and productivity There was a great difficulty in improving the painting work.

The present invention was created to solve the above conventional problems,

The purpose is to raise and lower the ship shell automatic coating device called the reciprocator, which is designed to improve the painting speed, area, and coating quality while implementing the same painting process as the actual painter's working conditions. The present invention provides a movable hull shell automatic coating system having a scissor type lift and lower lift function equipped with a bogie equipped with a scissor type lift and lower lift function.

The present invention provides a paint head and a paint supply device equipped with a plurality of airless automatic spray guns, and the spray gun has a vertical direction (Z axis) and a horizontal direction (X axis) of a ship's outer shell and a distance control (Y axis). 3-axis feeder for transporting, X- and Z-axis feed structures to maintain a constant distance between the spray gun and the ship shell during a single spray injection distance, and Y-axis for parallel alignment of the spray gun with the ship shell And a rotary drive unit for the spray gun for controlling the film thickness of the overlapping portion of the paint.

In addition, while maintaining the atomization conditions under the driving of the rotary drive unit about the three axes (X-axis, Y-axis, Z-axis) and Y-axis, the coating conditions and working sequence required for automatic operation are input to the operation panel for actual painting. An automatic coating device (reciprocator) composed of a program and an operation panel designed to automatically realize the same painting work as the process conditions is integrally formed, and the automatic painting device is a carriage for transporting a platform structure equipped with a long roller. Four guide column structures mounted on the base frame and acting as columns to guide and prevent shaking of the carriage base frame, and to prevent shaking of the guide column structure and the carriage base frame during painting. Hydraulic column clamp device, Scissor type structure and hydraulic chamber for raising and lowering the carriage base frame The object of the present invention can be achieved by providing a transport trolley capable of freely running the floor in the dock by a traveling wheel while all the liners are fixedly mounted.

The present invention for achieving the above object is a Y-axis, Z-axis, X-axis transport structure (23, 21, 28) having a servo motor, LM guide rail and a ball screw as a drive device, and the Y-axis transport structure (23) C-axis rotation drive unit (24: drive unit configured to be rotatable about the Z-axis, connected to the Z-axis and the X-axis transport structure (21, 28) is called C-axis rotation drive unit) And a carriage base frame 9 on which the conveying structures 23, 21, 28 are mounted and provided with a safety hand rail 7, and an X-axis conveying frame which slides on the X-axis conveying structure 28 ( W-axis working rotary unit 27 fixed to 29 to control the rotation function of the spray gun 26 (hereinafter referred to as a rotary unit configured to be rotatable about the Y-axis, referred to as W-axis rotary unit) and the W-axis Soup for spraying paint onto the ship shell 1 on the work rotary unit 27 And the case 26 and, also the automatic coating apparatus 20 includes a coating tank 51 and the spray coating device 50 for supplying the paint to the spray gun 26,

A traveling wheel 4 operated by a traveling motor as a means for raising and lowering and road surface movement of the carriage base frame 9 equipped with the automatic coating device 20, and a telescopic hydraulic clamp device 3; One bogie main frame 2, a carriage lift and lower drive hydraulic cylinder 10 formed on the upper surface of the bogie main frame 2, and a hinge 14 on the bogie main frame 9 are connected to each other. A scissor-type lifting and lowering support 6 and 12 composed of a plurality of connecting bars 6 and a link structure 12 connected to a plurality of hinges 14 having a hydraulic cylinder 10 for carriage raising and lowering driving as an operating device. 14 and four lifting and lowering guide column structures 5 in the form of a circular pipe fixed to the main frame 9 and connected to the guide column connecting structure 8 at an upper end thereof, and the lifting and lowering directions. Carriage base frame guided up and down by guide column structure 5 3 or more long rollers 15 formed in the four holes formed in (9), the coating method for spraying the paint is selected, all the drive devices are controlled, and manual / The present invention relates to a mobile hull shell automatic coating system having a scissor type lift and lower lift function, which is configured to automatically select and operate a driving method.

Hereinafter, the configuration and the operation of the embodiment of the present invention will be described in detail with reference to the accompanying drawings.

3 and 4 is a configuration of the automatic coating device of the present invention, the automatic coating device 20 is a coating device 50 to suck the paint from the paint container 51 to transfer to the automatic coating equipment to enable painting (50). ) And a flow meter and pressure gauge (not shown) for measuring and controlling the flow rate and discharge pressure of the paint to be painted, and the airless automatic spray gun 26 and the spray gun 26 which can turn on / off the paint spray in a stable atomization state. Y-axis feed structure 23 and C-axis rotation drive unit that maintain the distance between spray gun 26 and ship shell 1 using displacement measurement sensors (not shown) that detect the movement and automatic position of (24), the X-axis, Z-axis transfer structures (28, 21) and W-axis rotation unit (27) in charge of the painting work so as to uniformly obtain the coating film thickness in the finish coating and overlapping coating for each section; The three-axis drive and simultaneous speed Consists of a control system (not shown) installed to control, and is supplied with a manual angle adjusting device that can control the spray angle and speed of the spray gun 26 and the paint is sprayed on the vessel shell (1) It is configured to input data according to the control program of the device, and includes an operation panel (not shown) to select and operate the equipment operation method manually and automatically according to the input value. It is configured by.

X, Z, W-axis feed structure (28, 21, 27) of the automatic coating device 20 is installed in a right angle form on the horizontal and vertical to each other, each of the transfer structure (28, 21, 27) The drive mechanism is composed of a servo motor, an LM guide rail and a ball screw, and a lattice-type carriage base frame 9 is configured to move the drive device and the transfer structures 28, 21, and 27 down and down, respectively. In order to prevent the driving device from being exposed to the outside, a cover such as a bellows (not shown) is installed around the transfer structure 28, 21, 27 to prevent contamination by paint dust.

Operation by the standard coating method program according to the movement and rotation of the Y, Z, W axis transfer structure (23, 21, 27) constituting the automatic coating device 20 is the Y, Z, W axis transfer structure (23) , 21, 27 are driven by the control of the individual drive motor, the distance to the ship shell 1 is detected by a displacement measuring sensor (not shown) installed on both ends of the X-axis transport structure 28 and painting work Automatic control is performed by simultaneously driving the C-axis and the Y-axis so as to achieve parallelism between the entire ship shell plate 1 and the spray gun 26. On / Off of the spray gun 26 is made by pneumatic control by supplying air, and both sides of the X, Y-axis transport structure (28, 23) detects the surrounding objects and recognizes the end of movement Proximity safety sensors (not shown) that can be controlled are installed to prevent collision between equipment and members installed on the ship's outer shell (1) and to recognize the starting and overlapping parts of the painting. In addition, the boundary of the work section where the paint overlaps during the continuous painting work is controlled so that the spray gun 26 is automatically rotated by the rotary unit 27 for the W-axis operation in accordance with the standard painting conditions of the input program to It is comprised so that coating film control is possible.

In order to control as described above, the front panel of the operation panel (not shown) is provided with a touch screen panel window provided with a plurality of operation switches to control the manual and automatic job switching of the automatic coating device 20 and emergency stop switch. It is installed so that the power can be cut off safely in case of malfunction of the equipment, and a lamp is installed to recognize whether the power is on, and a power cord for supplying power is installed at the rear of the operation panel to visually recognize the operation and non-operation status. And a buzzer to notify the completion of the work is installed so that the equipment can be easily operated. In addition, a plurality of regulators (not shown) are provided for adjusting the pressure of the air unit and air supplied to the automatic cutting device 20. The basic program of the standard coating method for the operation as described above is shown in FIG. At this time, the equipment data input panel is configured to input the feed rate of the spray gun 26, the area setting to be painted, the ratio of overlap, the spray gun 26 interruption time, the discharge flow rate.

Figure 5 is a block diagram showing the moving carriage lifting and lowering and road surface moving means of the automatic coating device of the present invention, Figure 6 is a block diagram of the transport trolley of the present invention, the carriage base frame for the automatic coating device 20 transfer (9) A transport cart main frame (2) having a traveling wheel (4) and a telescopic hydraulic clamp device (3) operated by a traveling motor by the elevating / lowering and road moving means (30), and the transport A carriage lifting and lowering driving hydraulic cylinder 10 formed on the upper surface of the trolley main frame 2 and an end portion fixed to the carrying main frame 2 and operating the carriage lifting and lowering driving hydraulic cylinder 10 are operated. And a plurality of connecting bars 6 and a link structure 12 are connected by hinges 14 so that the link structure 6 installed at the lower end rotates and rotates around the hinges 14. Connected to the ends of each of the structures 12. A scissor-shaped lifting and lowering support 6, 12, and 14 configured to raise the carriage base frame 9 as a whole by causing the series link structures 6 to perform the same movement, and the transport cart main frame 2. ) Four lifting and lowering guide column structures 5 in the form of circular pipes fixed at the upper end and connected to the guide column connecting structure 8 and the lifting and lowering guide column structures 5. Three or more long rollers 15 formed in four holes formed in the carriage base frame 9 and guide roller structures 15 around the long rollers 15 are provided with a clearance between the multi-stage guide column structures 5 during painting. A plurality of clamping pads (not shown) are provided in a round shape to prevent equipment shaking caused by the device, and the clamping pads are connected by a link structure of a self-aligning function. It is operated by a push cylinder device.

The operation of the hydraulic cylinder 10 controls the height of the carriage base frame 9 by the flow control valve, and at the same time the homing and lowering supports 6, 12, 14 of the scissor type at the same time as the home position return of the hydraulic cylinder 10. It automatically returns to the bottom.

Further, as shown in FIG. 6, the heavy-duty conveying bogie 16 moving in the longitudinal direction of the ship with the automatic coating device 20 and the scissor-shaped lifting and lowering supports 6, 12 and 14 fixed at all times. Is a driving wheel (4) consisting of a bogie main frame (2) for supporting the entire weight and a heavy tire and a driving device connected to the bogie main frame (2), and a wheel consisting of a rotary bearing and a ring gear for driving functions during driving. Consists of a rotary machine (not shown) and a hydraulic telescope clamp device (3) used for general high-rise cars for fixing the transport trolley (16) on the ground to form stable working conditions during lifting and lowering and painting work do.

8 shows an example of a painting apparatus operating sequence that can be automatically applied variously using the present invention, the transport trolley 16 of the automatic ship shell automatic coating device 20 is a driving motor and a driving wheel 4 The steering device adjusts the direction and travels to a desired work area. The telescopic hydraulic clamp device 3 fixes the transport trolley 16 to the carriage lifting and lowering hydraulic cylinder 10. Lift and move the carriage base frame 9 to the desired height by aligning it with the working position, and aligning the work start position and parallelism with each driving device attached to the automatic painting device 20 and then automatically Carry out painting work.                     

After the automatic painting of the predetermined unit area covered by the automatic coating device 20 is automatically completed according to the above automatic program, the carriage base frame 9 on which the automatic painting device 20 is mounted is a predetermined amount, that is, previously It automatically descends in the height direction as much as the painted area and continues to work on unpainted areas automatically, and also enables semi-automatic work to check the status of the work. When a series of ship height direction painting is completed, the carriage base frame 9 equipped with the lifting / lowering device and the automatic painting device 20 is returned to the initial position, and is moved and operated by a certain section operator in the ship length direction. Perform the same painting work.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. Of course, such changes will fall within the scope of the claims.

The present invention by the configuration and action as described above can perform a continuous and stable automatic painting work when painting the outer shell of the ship, it is possible to freely access the required painting portion of the outer shell of the vessel, it is possible to quickly automatic painting work, conventional high Unlike when a person paints on board and paints manually, safe and stable working conditions are provided so that the device can operate by setting the same standard coating method in advance, so that the coating quality can be uniform and excellent coating can be obtained. It is possible to improve productivity by improving the overall coating process. In addition, it is a very useful invention, such that one person can perform the current working method of a set of three people, and can solve the risk when working at height.

Claims (3)

A C-axis rotation drive unit 24 mounted on the carriage base frame 9 to form a Y-axis feed structure 23 having a sliding frame and rotating on the Y-axis feed structure 23, wherein the C Z-axis and X-axis feed structures (21, 28) are formed on the axis rotation drive unit (24) and have a horizontal and vertical right angle form, and are installed on the X-axis feed structure (28) and paint tank (51). And a spray gun 26, which receives paint from the spray coating machine 50, with an automatic coating device 20 composed of a rotating unit 27 for W-axis operation to enable rotation and speed adjustment, To configure the lifting and lowering and road surface movement means 30 of the automatic coating device 20, to select a coating method for spraying paint, and to control the drive and speed, and to input values from the respective measuring devices. The automatic hull shell auto painting system having a scissor type lift and lower lift function, comprising an operation panel for selecting and operating the equipment operation method manually and automatically. The method of claim 1, The lifting / lowering and road surface moving means 30 of the automatic coating device 20 includes a transport wheel main frame 2 having a traveling wheel 4 operated by a traveling motor and a telescopic hydraulic clamp device 3. And a plurality of connecting bars 6 and a link structure 12 for driving the carriage up / down driving hydraulic cylinder 10 configured on the upper surface of the trolley main frame 2 as an operating device. And a scissor-shaped lifting and lowering support 6, 12 and 14, and fixed to the bogie main frame 2 to prevent shaking of the lifting and lowering support 6, 12 and 14. It is installed through the carriage base frame (9) and constitutes four guide column structure (5) in the form of a circular pipe, the upper end of which is fixed to the structure for connecting the guide column (8), by the guide column structure (5) The carriage base frame 9 to be guided up or down A movable hull shell automatic coating system having a scissor type lift and lower lift function, comprising four holes formed in the hole and three or more long rollers 15 provided in the hole. delete

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