KR101010857B1 - control method of paint scattering preventing device - Google Patents

Abstract

The present invention relates to a control method of a paint scattering prevention device, the method comprising: moving the shatterproof booth with the bracket into the working distance region of the paint on the surface of the painting object, and the position information of each corner of the fixed frame of the moved shatterproof booth Recognizing; checking whether the position of each corner of the fixed frame is within a reference distance from the surface of the painting object; and if the position of each corner of the fixed frame is within the reference distance, placing a shatterproof booth on the surface of the painting object. Proximity control and the step of performing a painting operation on the painting portion on the surface of the painting object through the proximity-controlled shatterproof booth. Therefore, in the present invention, the gap between the hull and the paint scattering booth is always properly maintained through an algorithm for controlling the paint scattering booth, and the coating process is performed in this state to prevent collision between the hull and the scattering booth. It can improve the paint scattering prevention effect.

Paint, Shatter, Truck, Bracket, PLC, Control, Distance Control

Description

Control method of paint scattering preventing device

The present invention relates to a control method of a paint scattering prevention device, and more particularly, a control that can increase the efficiency of the painting process by effective operation control of the paint scattering prevention device that can collect paint scattered during the painting of the hull shell. It is about a method.

In general, ships have a watertight structure that prevents seawater from being functionally inundated, and the ship must be rigidly structured to have rigidity against various external forces. In addition, it should have anticorrosion or antifouling function to prevent corrosion or contamination by seawater.

For this reason, the hull block is equipped with a number of structural reinforcements such as longi and stiffner, and a functional paint capable of exerting anticorrosive or antifouling performance even in a limited space between the various reinforcement is provided through a painting process. It is painted.

At this time, the coating process in the limited space between the complex structural reinforcement in the hull block as described above is sprayed through a spray gun by adjusting the height of the bracket on which the operator is boarded through a mobile car (dock master) The way to do this is common.

However, some of the paint from the spray gun is attached to the hull shell and the rest is scattered into the air, which causes the worker to damage the health and spread to the surroundings, causing environmental pollution. In particular, when the silicone paint is scattered, it was inconvenient to stick to the hull shell of another ship working in the dock and to remove the part again.

Accordingly, in recent years, the development of paint spreading prevention device is actively in progress, an example of the paint splashing prevention device is applied for a patent under the name of the invention "paint spreading prevention system" as of January 11, 2008 by the applicant of the present invention 10-2008-3341.

The paint spreading prevention system described in Patent Application No. 10-2008-3341 has a bracket 100 mounted on a tip of a vehicle and provided with a work space for an operator, as shown in FIG. 1, and one side of the bracket 100. It is installed in the scattering prevention booth 120 that can collect the paint to be scattered during painting work, the shatterproof booth 120, a part of the rear side and the front side is opened so that the operator can paint work A dust collecting fan 122 installed at both sides of the housing 121 and on both sides and a lower surface of the housing 121 to collect external air and paint, and a front end of each dust collecting fan 122 to collect scattering paint. The front side of the distance adjusting part 130 and the distance adjusting part 130 which are installed at the front end of the filter 124 and the housing 121 and are in close contact with the hull outer plate by distance control to prevent the paint from scattering. It is installed to be inclined toward the outer shell of the ship and It has a configuration including an air nozzle unit 150 for introducing air into the painting work space to prevent the spread of paint.

Here, referring to FIG. 2, the distance adjusting unit 130 may include a servo motor 132 installed at each corner of the housing 121, a ball screw shaft 133 installed at the servo motor 132, and a ball screw. The nut housing 134 linearly moving along the shaft 133 and the corners of the fixed frame 131 and the fixed frame 131 which are installed to be connected to the nut housing 134 and are in close contact with the hull shell plate by distance adjustment. Has a configuration in which the distance sensor 160 that can detect the distance between the hull and the fixed frame 131 is installed.

However, in order to prevent the spreading of the paint in the operation of the paint spreading prevention device as described above, although the distance between the hull and the scattering prevention booth is very important, a painting process is performed depending on the experience or feeling of the operator. There was a problem that the collision problem of the anti-scattering booth can not be avoided and the paint scattering prevention effect could not be enhanced.

Therefore, an object of the present invention is to provide a control method in which the coating process can be performed in a state where an appropriate interval between the hull and the paint scattering prevention booth is always maintained.

In addition, another object of the present invention, by using the position control and distance and the collision detection sensor of the PLC to avoid the collision of the hull and shatterproof booth to protect the equipment and operators.

In order to achieve the above object, the present invention provides a control method of a paint scattering prevention device, the method comprising: moving the shatterproof booth with the bracket into the working distance region of the paint on the surface of the painting object, the fixed frame of the scattering prevention booth Recognizing the position information of each corner, checking whether the position of each corner of the fixed frame is within the reference distance from the surface of the painting object, and if the position of each corner of the fixed frame is within the reference distance, Proximity control to the surface of the painting object, and providing a control method of the paint scattering prevention device comprising the step of performing a painting operation on the painting portion on the surface of the painting object through the proximity-controlled scattering prevention booth.

As described above, according to the control method of the paint scattering prevention device of the present invention, the gap between the hull and the paint splashing prevention booth is always properly maintained through an algorithm for controlling the paint scattering prevention booth, and the coating process is maintained in this gap maintaining state. As a result, collision between the hull and the anti-scattering booth can be avoided and the paint scattering prevention effect can be enhanced.

Hereinafter, the operating principle of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intentions or customs of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification.

3 is a perspective view illustrating a paint scattering prevention apparatus according to an embodiment of the present invention, Figure 4 is a flow chart for explaining the coating process of the paint scattering prevention apparatus according to an embodiment of the present invention, Figure 5 is a present invention An overall coating process flow chart of a paint scattering prevention device according to an embodiment of the present invention, where the same components as the embodiments shown in Figs. 1 to 2 of the prior art will be described with the same reference numerals.

The paint scattering prevention device shown in FIG. 3 includes a bracket 100 on which an operator rides for painting work, a scattering prevention booth 120 installed at one side of the bracket 100, and a painting work prevention, and scattering prevention. Dust control fan 122 and filter 124 is installed in the booth 120, and the distance control to place the anti-scattering booth 120 in close proximity to the painted object, that is, the hull outer plate (not shown) at the front end of the housing 121 It is comprised largely by the unit 130.

Here, not shown, the vehicle is a device for lifting the height of the hull shell plate is required to paint the bracket 100, the worker boarded to move.

In addition, the boom (not shown) that extends and extends is installed in the high-altitude vehicle and the bracket 100 is installed, and the horizontal / vertical selection switch of the high-altitude vehicle can move the paint scattering prevention device horizontally or vertically. .

The shatterproof booth 120 constitutes a semicircular frame-shaped housing 121 having a space provided therein.

The front part of the housing 121 is opened, and the rear part is only opened at the center part so that an operator who rides on the bracket 100 can paint.

In addition, two dust collecting fans 122 and two dust collecting fans 122 are installed on both sides of the housing 121 to collect external air and paint by the operation of the fan.

And the front end of the dust collecting fan 122, the filter 124 is installed so that the collection of paint scattering in the sealed housing 121 can be made immediately.

The filter 124 is detachable and attachable to allow easy replacement.

On the other hand, the distance control unit 130 is installed in the front end of the housing 121 to be in close contact with the hull outer plate by distance control to prevent the spread of paint, the fixed frame 131 of the square at the front end of the housing 121 By this automatic control operation, it moves forward and backward so as to be closely fixed to the curved shape of the hull shell.

The servo motor 132 is installed at each corner of the housing 121, and a ball screw shaft (refer to FIG. 2: 133) that rotates by driving the servo motor 132 is installed, and the ball screw rotates. A nut housing (refer to FIG. 2: 134) which moves linearly along the axis 133 is installed.

And a fixed frame 131 is installed in close contact with the hull shell plate at the front end of each nut housing 134.

The fixing frame 131 is preferably manufactured in a size and shape similar to the opening of the housing 121, and more preferably, a bellows-shaped cover 135 is installed between the fixing frame 131 and the housing 121. do.

In addition, the air nozzle unit 150 is installed to be inclined toward the hull shell plate where the painting work is performed along the edge of the fixed frame 131, and the air curtain is formed by the high pressure compressed air supplied from the air nozzle unit 150. The high pressure compressed air is introduced into the painting work space to prevent the paint from scattering outside.

In addition, the corners 131a, 131b, 131c, and 131d of the fixed frame 131 collide with the hull and the distance sensor 160 capable of detecting the distance between the hull shell plate and the fixed frame 131. Collision detection sensor 162 is installed to detect the distance, the distance detection sensor 160 is an ultrasonic or infrared sensor is used.

Furthermore, the fixed frame 131 moving forward and backward by the precise control through the servo motor 132, the ball screw shaft 133, and the nut housing 134 has a difference in close contact with the curved shape of the hull shell. In order to have a configuration in which the four corners are required to some extent.

Application embodiment according to the control method of the present invention in a paint scattering prevention device having such a structure is made as follows.

Referring to Figure 4, the step 200 of moving the anti-scattering booth with the bracket into the working distance area of the painting on the surface of the painting object, and the step of recognizing the position information of each corner of the fixed frame of the scattering prevention booth (210) and inspecting whether the position of each corner portion of the fixed frame is located within the reference distance range from the surface of the painting object, and if the position of each corner portion of the fixed frame is located within the reference distance range, Proximally adjusting to the surface 230, and performing a painting operation on the paint portion on the surface of the painting object through the proximity-adjusted shatterproof booth (240).

In step 200, the position information of each corner portion 131a, 131b, 131c, and 131d of the fixed frame 131 is an absolute encoder that does not require an origin dog and an origin sensor by using a programmable logic controller (PLC). It is calculated through the (absolute encoder) value.

Then, in step 220 of checking whether it is located within the reference distance range, each of the corners 131a, 131b, 131c, and 131d of the fixed frame 131 is moved from the surface of the painting object by manual operation of a high level. If it is located closer than the range, the anti-scattering booth 120 is reversed by a predetermined distance, and then again to check whether it is located within the reference distance range, on the contrary, the corners of the fixed frame 131 131a (131b) ( When 131c and 131d are located farther than the reference distance range from the surface of the painting object, the anti-scattering booth 120 is advanced by a predetermined distance and then checked to be within the reference distance range again. Therefore, the primary distance between the corners 131a, 131b, 131c, and 131d of the fixed frame 131 and the surface of the painted object is set. In this case, the reference distance range is 100 which can be manually operated through a high order vehicle. ˜300 mm is preferred.

The reverse control of the anti-scattering booth 120 is performed when the corners 131a, 131b, 131c and 131d of the fixed frame 131 are positioned within a distance of 50 to 100 mm from the surface of the painting object. The forward control of the prevention booth 120 is performed when the corners 131a, 131b, 131c, and 131d of the fixed frame 131 are positioned at a distance of 300 to 350 mm from the surface of the painting object. 50 ~ 100mm distance to the backward control of the anti-scattering booth 120 is almost before the collision is required to control the backward, 300 ~ 350mm distance to the forward control of the anti-scattering booth 120 is made using the distance control unit 130 The purpose is to position the distance adjustable range.

In the step 230, the distance between the fixed frame 131 and the surface of the painting object is automatically set to the vertical / horizontal movement control function of the high order vehicle with the distance between the surface of the fixed frame 131 and the painting object being primarily set so that the distance between the fixed frame 131 and the surface of the painting object is 130 ~ 170mm is adjusted to be maintained, and when the distance between the fixed frame 131 and the surface of the painting object is more than 170mm away from the current coordinates of the far corner to recognize the current coordinates and advances to the position by a certain unit length from the current coordinates, It includes real-time repetitive operation, on the contrary, if the distance between the fixed frame 131 and the surface of the painted object is less than 130mm, it recognizes the current coordinates of the closer edges and retracts them from the current coordinates by a certain unit length. This operation is repeated in real time.

In this case, the predetermined unit length is experimental data considering the control performance because the fixed frame 131 and the distance between the surface of the painted object are rapidly moved forward or backward in order to maintain the distance between 130mm and 170mm. By 25-35 mm is preferable.

Further, in performing the painting operation step 240, each corner portion (131a) (131b) (131c) (131d) of the fixed frame 131 is prevented from scattering when entering within the minimum possible distance from the surface of the painting object, that is, within 100mm The collision between the booth 120 and the painted object is warned, and the possibility of collision between the shatterproof booth 120 and the painted object is fixed to the corners 131a, 131b, 131c, and 131d of the fixed frame 131. The collision detection sensor 162 is installed and sensed by the controller (not shown) to determine the possibility of collision.

Referring to Figure 5 and described in more detail the painting process controlled through a control unit not shown, in step 200 of the vehicle and the paint scattering prevention device in the state the operator boarded on the bracket 100 connected to the vehicle When the power is turned on, the bracket 100 and the shatterproof booth 120 are moved to the paint part of the hull by manual operation.

In step 210, the current position of each of the corners 131a, 131b, 131c, and 131d of the fixed frame 131 of the shatterproof booth 120 moved to the paint part of the hull is an absolute encoder using a PLC. To be recognized.

Therefore, when the current position of each of the corners 131a, 131b, 131c, and 131d is recognized, approximately 150 mm from the current position of each of the corners 131a, 131b, 131c, and 131d is determined. 131a, 131b, 131c, and 131d are designated as ready positions and the bracket 100 is moved.

Step 220 is a primary distance setting step, when the corners 131a, 131b, 131c and 131d of the fixed frame 131 are moved closer to the reference distance from the hull when the bracket 100 is moved. After the predetermined distance so that the anti-scattering booth 120 is located within 100 ~ 300mm, it is again checked whether it is located within the reference distance range, on the contrary, each corner portion (131a) (131b) of the fixed frame (131) ( When 131c) and 131d are located farther than the reference distance range from the hull, the anti-scattering booth 120 is advanced by a predetermined distance so as to be within 100 to 300 mm, and then it is checked whether it is within the reference distance range again.

The sensing distance of the distance sensor 160 of the corner parts 131a and 131b and the distance sensor 160 of the corner parts 131c and 131d is within 100 to 300 mm by the movement of the bracket 100 as follows. When the first distance setting adjustment is made through a signal such as a lamp to stop the movement of the bracket (100).

The reason for positioning the distance between the hull prevention booth 120 and the hull within 100 ~ 300mm, is to move to the position within the range that can be adjusted by the distance adjusting unit 130.

Subsequently, step 230 is performed to drive the air nozzle unit 150 and the dust collecting fan 122, and is switched to the automatic mode is automatically maintained by the distance adjusting unit 130.

That is, by adjusting the distance of the distance adjusting unit 130, the distance between the hull and the shatterproof booth 120 is approximately adjusted to be located at a distance of about 130 ~ 170mm, the distance between the fixed frame 131 and the hull paint surface When the distance is 170mm or more, the current position of any one of the corners 131a, 131b, 131c, and 131d is recognized and moved forward to a position which is added by a predetermined unit length of 25 to 35mm from the current coordinates. The operation is repeated within 170mm by real time repetition.

On the contrary, when the distance between the fixed frame 131 and the hull painted surface becomes less than 130 mm, the current coordinates are recognized by recognizing the current coordinates of any one of the corner portions closer to the corner portions 131a, 131b, 131c, and 131d. Back to the position minus a certain unit length of 25 ~ 35mm, and repeat this operation in real time to position within 130 ~ 170mm.

Here, the reason why the distance between the hull and the anti-scattering booth 120 is approximately 130 to 170 mm is adjusted closely, the air nozzle unit 150 when the hull and the anti-scattering booth 120 is too close to 130mm or less. Due to the pressure caused by), the painted part may be damaged. On the contrary, when 170 mm or more, the paint may not be effectively prevented from being scattered from the scattering prevention booth 120.

Therefore, when the secondary distance setting is completed, since the paint is not scattered by the air nozzle unit 150, the spray coating operation is performed according to step 240.

During the painting work, since the anti-scattering booth 120 may collide with the hull due to external factors such as wind, the collision detection sensor 162 installed at each corner portion 131a, 131b, 131c, and 131d. When entering into the fixed frame 131 and the hull within a minimum distance of 100mm near the collision by sending a warning signal to temporarily stop the emergency, and also, if the distance adjustment range through the distance control unit 130 is out of the range that can also send a warning signal The emergency stop will be suspended.

After the emergency stop, the bracket 100 is retracted by a certain distance, and the corner portions 131a and 131b are approximately 150 mm from the current position of each of the recognized corner portions 131a, 131b, 131c, and 131d. 131c and 131d are designated as preparation positions and the bracket 100 is moved.

And the movement path of the bracket 100 for painting is movable in the horizontal / vertical direction by the expansion and contraction of the boom in a state in which the distance to the hull rather than the curve is maintained within 300mm.

Therefore, in the present invention, the gap between the hull and the paint shatterproof booth is always properly maintained through an algorithm for controlling the paint shatterproof booth, and the coating process is performed in this state to prevent collision between the hull and the shatterproof booth. It can improve the paint scattering prevention effect.

What has been described above is only one preferred embodiment of the control method of the paint scattering prevention device according to the present invention, the present invention is not limited to the above-described embodiment, as claimed in the following claims Without departing from the gist of the present invention, those skilled in the art to which the present invention pertains to the technical spirit of the present invention to the extent that various modifications can be made.

1 is a perspective view of a paint scattering prevention system according to the prior art,

FIG. 2 is a perspective view illustrating a distance controller in the paint scattering prevention system of FIG. 1;

3 is a perspective view for explaining a paint scattering prevention device according to an embodiment of the present invention,

4 is a flowchart illustrating a coating process of the paint scattering prevention device according to an embodiment of the present invention,

5 is a flowchart of an overall painting process of the paint scattering prevention device according to an embodiment of the present invention.

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

100: bracket 120: shatterproof booth

121: housing 122: dust collecting fan

124: filter 130: distance adjusting unit

131: fixed frame 131a, 131b, 131c, 131d: corner

132: servo motor 133: ball screw shaft

134: nut housing 150: air nozzle unit

160: distance detection sensor 162: collision detection sensor

Claims (9)

In the control method of the paint scattering prevention device, Moving the shatterproof booth with the bracket into the working distance region of the painted part on the surface of the painted object, Calculating position information of each corner of the fixed frame of the scattering prevention booth through an absolute encoder value using a PLC, and recognizing the position information; Inspecting whether the position of each corner of the fixed frame is within a reference distance from the surface of the painting object; Adjusting the scattering booth to be close to the surface of the painting object when the position of each corner of the fixed frame is within the reference distance range; Performing a painting operation on the painting part on the surface of the painting object through the proximity-controlled scattering prevention booth; Control method of the paint scattering prevention device comprising a. delete The method of claim 1, In the step of checking whether it is located within the reference distance range, The control method of the paint scattering prevention device for inspecting whether the corner of each of the fixing frame is out of the reference distance from the surface of the painting object to check whether the scattering booth is forward or backward to be located within the reference distance range. The method according to claim 1 or 3, The reference distance range is 100 to 300mm control method of the paint scattering apparatus. The method of claim 1, In the step of adjusting the shatterproof booth close to the surface of the painting object when the position of each corner of the fixed frame is located within the reference distance range, A control method of the paint scattering prevention device is controlled so that the distance between the fixed frame and the surface of the painted object is maintained at 130 ~ 170mm by switching to the automatic mode of vertical height and horizontal movement control function. The method of claim 5, When the distance between the fixed frame and the surface of the painted object is out of 130 ~ 170mm, by recognizing the current coordinate of the corner of the fixed frame side to advance or reverse the fixed frame at the current coordinates to distance the distance between the painted object surface Control method of paint scattering prevention device to be maintained. The method of claim 1, In performing the painting work, And a control method of the paint scattering prevention device, which warns of a possibility of a collision between the scattering booth and the painted object when the collision position of each corner of the fixed frame is close to the surface of the painted object. The method of claim 7, wherein And a possibility of collision between the scattering prevention booth and the painted object is detected by a collision detection sensor installed at each corner of the fixed frame. The method of claim 1, The painting object, Control method of paint spreading prevention device which is a ship having a linear or nonlinear surface.

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