KR101024551B1 - blasting apparatus and control method for controlling nozzle location thereof - Google Patents

Abstract

A blasting apparatus for treating a surface such as a hull is disclosed.

The blasting apparatus according to the present invention includes a main body having an injection space in which an abrasive is injected, a nozzle installed in the main body to perform a weaving operation to inject the abrasive into the injection space, and the nozzle is connected to the nozzle to weaving. driving means for providing a driving force for performing a weaving operation, and a controller for controlling the driving means such that the nozzle is located at the center of a width at which the nozzle performs a weaving operation when the weaving operation of the nozzle is stopped.

Blasting Device, Mobile Robot, Nozzle, Weaving, Stop Position, Control

Description

Blasting apparatus and control method for controlling nozzle location

The present invention relates to a blasting apparatus for treating the surface of the hull, etc. More specifically, the structure is simple, but may have a wide working area, it is possible to control the stop position of the nozzle for spraying the abrasive to prevent the abrasive from scattering. A blasting apparatus that can be.

Since the joint part of the hull shell plate does not have a separate protective coating film or the like 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 paint, contamination and rust of the welded part should be removed beforehand by surface treatment such as grinding or spraying abrasive.

However, such work on the hull shell is difficult and dangerous and requires attention in terms of safety. Therefore, there is a limit to the manual work usually performed. Therefore, the surface treatment work is performed by using a blasting device using an automatic robot instead of a manual operation.

In the blasting apparatus, a nozzle for treating the surface by spraying the abrasive at high speed is important.

The nozzles used in the blasting apparatus generally include a fixed nozzle and a rotary nozzle.

Stationary nozzles have the advantage of being simple in structure and compact in size, but have a disadvantage in that work efficiency is low due to the large working area.

The rotary nozzle has a large working area, but the structure for configuring the rotary nozzle is not only complicated, but it is also difficult to make the inside of the injection space in which the abrasive is sprayed into a complete vacuum state.

In order to solve this problem, a blasting apparatus having a nozzle for performing a weaving operation has appeared.

The blasting apparatus includes an apparatus unit having an abrasive storage tank in which an abrasive is stored, and a mobile robot for removing rust and the like from the surface of the hull by receiving the abrasive from the apparatus and spraying the abrasive on the surface of the hull. Include.

The mobile robot is connected to the apparatus by an abrasive supply hose to receive the abrasive from the apparatus. An injection space in which an abrasive is injected is formed in the mobile robot, and a lower portion of the mobile robot is provided with a close contact portion for closely contacting a lower portion of the mobile robot to an outer wall surface of the hull.

The mobile robot is provided with a nozzle for injecting an abrasive into the injection space while performing a weaving operation.

In the blasting apparatus having a nozzle for performing the weaving operation as described above, when the blasting apparatus is stopped, the compressed air is supplied to the abrasive supply hose until the abrasive in the abrasive supply hose is exhausted.

At this time, the abrasive remaining inside the abrasive supply hose is instantaneously poured out. In particular, when the nozzle provided in the mobile robot is stopped or weaved in the direction toward the close contact portion provided in the lower portion of the mobile robot, the abrasive flows out between the close contact portion and the surface of the hull, causing the abrasive to scatter. do.

The present invention provides a blasting apparatus with a simple structure and a large working area.

The present invention also discloses a blasting apparatus which can prevent the abrasive from scattering when stopping the operation of the blasting apparatus.

The blasting apparatus according to the present invention includes a main body having an injection space in which an abrasive is injected, a nozzle installed in the main body to perform a weaving operation and spraying the abrasive into the injection space, and the nozzle is connected to the nozzle to weaving. driving means for providing a driving force to perform a weaving operation, and a controller for controlling the driving means to stop at the center of the width at which the nozzle performs the weaving operation when the weaving operation of the nozzle is stopped.

In addition, the driving means has a motor, an eccentric shaft which is driven by the motor and is rotated eccentrically, a cam plate, and one side is formed with a guide hole for guiding linear reciprocating motion by inserting the eccentric shaft, And a cam link connected to the nozzle.

In addition, the encoder further comprises an encoder for detecting the rotational speed of the motor to determine that the nozzle is located in the center of the width for performing the weaving operation.

In addition, the sensor further comprises a sensor for detecting the position of the eccentric shaft reciprocating in the guide hole to determine that the nozzle is located in the center of the width for performing the weaving operation.

In addition, the sensor may be installed where the eccentric shaft is located when the nozzle is located at the center of the width for performing the weaving operation.

In addition, in consideration of the distance that the eccentric shaft moves during the time the controller controls the driving means after the sensor detects the eccentric shaft, the sense is located in the center of the width of the nozzle to perform the weaving operation Where the eccentric shaft is located may be installed ahead of the moving distance.

A nozzle position control method of a blasting apparatus according to the present invention comprises a motor, a nozzle for injecting an abrasive, and a cam link for converting a rotational movement of the motor into a weaving movement of the nozzle. Rotating the motor to perform the weaving operation of the nozzle, detecting whether the nozzle is located at the center of the width for performing the weaving operation, and if the nozzle is located at the center of the width for performing the weaving operation, the motor It may include the step of stopping.

In addition, detecting whether the nozzle is located at the center of the width at which the weaving operation is performed may include detecting the rotation speed of the motor.

In addition, detecting whether the nozzle is located at the center of the width for performing the weaving operation may include detecting the position of the nozzle using a sensor installed in the cam link.

According to the blasting apparatus according to the invention it is possible to configure the nozzle through a simple structure can reduce the failure.

In addition, since it has a large work area, it is possible to have a high efficiency in performing the blasting work. In addition, the stop position of the nozzle that is provided in the mobile robot to perform the weaving operation can be controlled to prevent the abrasive from scattering when the operation of the blasting apparatus is stopped.

Hereinafter, a blasting apparatus according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram of a blasting apparatus according to an embodiment of the present invention.

As shown in FIG. 1, a blasting apparatus according to an embodiment of the present invention includes an apparatus part 10 having an abrasive storage tank 11 in which an abrasive is stored, and an abrasive supplied from the apparatus part 10. And a mobile robot 100 for removing rust and the like adhering to the surface 30 of the hull by injecting an abrasive to the surface 30 of the hull.

The apparatus unit 10 includes a compressed air supply unit 12 for supplying compressed air for spraying the abrasive stored in the abrasive storage tank 11 together with the compressed air at a high pressure, and the nozzle 120 of the mobile robot 100. Vacuum pump 13 for sucking various foreign substances such as rust sprayed from the abrasive and the surface 30 of the hull, and a valve 14 for regulating the discharge of the abrasive from the abrasive storage tank 11 It is provided.

In addition, the apparatus unit 10 includes a controller 15 for controlling the operation of the compressed air supply unit 12, the vacuum pump 13, the valve 14, and the mobile robot 100.

The apparatus unit 10 and the mobile robot 100 may include an abrasive supply hose 21 for supplying an abrasive, a vacuum suction hose 22 for vacuum suction of the injected abrasive and various foreign substances, and the mobile robot 100. Is connected to the cable 23 for sending the power and control signals.

The abrasive supply hose 21, the vacuum suction hose 22 and the cable 33 has a sufficient length of 50m or more to move only the mobile robot 100 to work a predetermined radius without moving the device portion 10 It is desirable to have.

The abrasive supplied from the apparatus 10 is sprayed on the surface 30 of the hull to be surface-treated by the mobile robot 100, and the abrasive sprayed on the surface 30 of the hull 30 After dropping the rust attached to the) through the vacuum suction hose 22 is recovered back to the device unit 10.

The mobile robot 100 moves in a vacuum-adsorbed state to the surface 30 of the hull to remove foreign substances such as rust attached to the surface 30 of the hull.

2 is an enlarged perspective view of the mobile robot 100 among the blasting apparatus, and FIG. 3 is a cross-sectional view of the mobile robot 100 shown in FIG. 2.

The mobile robot 100 according to an embodiment of the present invention is provided at the bottom of the main body 110 and the main body 110 and is movable along the surface 30 of the hull and independently driven by a plurality of servomotors. It includes a plurality of driving wheels 111.

An injection space 112 having a vertical shape in the main body 110 to prevent various dusts and contaminants generated after surface treatment by spraying abrasives injected at a proper ratio together with compressed air onto the outer wall surface of the hull. Is formed.

One side of the main body 110 is provided with an abrasive supply pipe 115 connected with the abrasive supply hose 21 and a suction pipe 116 connected with the vacuum suction hose 12, respectively, the abrasive supply pipe 115 and the suction pipe ( 116 is connected to the injection space (112).

When the abrasive is injected into the injection space 112 in the lower portion of the main body 110 in close contact with the outer wall surface of the hull in close contact with the outer wall surface of the hull so that the interior of the injection space (112) ( 117 is formed.

A nozzle 120 is installed in the injection space 112 to extend downward from the abrasive supply pipe 115 to inject the abrasive into the injection space 112 at a high pressure.

At this time, the driving means 130 for providing a driving force to the nozzle 120 for injecting the abrasive of high pressure to perform a weaving operation is provided.

The driving means 130 includes a motor 140, a cam plate 150 that is axially coupled to the motor 140, an eccentric shaft 151 eccentrically installed on one side of the cam plate 150, One side is connected to the eccentric shaft 151 and the other side is connected to the nozzle 120 includes a cam link 160 reciprocating in the vertical direction by the rotational movement of the cam plate 150. The cam link 160 is formed with a guide hole 161 for inserting the eccentric shaft 151 to guide the linear reciprocating motion.

It is preferable to have a reducer 141 which reduces the rotational speed when transmitting power of the motor 140 to the cam plate 150. This is because when the motor 140 rotates, a large force is required to rotate the abrasive supply pipe 115 and the abrasive supply hose 21 connected to the nozzle 120 as well as the nozzle 120.

In addition, the cam link 160 includes a bracket 170 having a shaft 171 so that the nozzle 120 can perform the weaving operation when the cam link 160 reciprocates in the vertical direction.

A cover 180 having a support 181 is coupled to an upper portion of the main body 110 so that the shaft 171 may rotate. And, as shown in Figure 3 may be further included a sealing member 190 coupled to the cover 180 to seal the inside of the main body 110 to be a vacuum. The sealing member 190 is preferably formed of a bellows pipe having a plurality of wrinkles.

Hereinafter, the operation of the mobile robot 100 will be described with reference to FIGS. 2 and 3.

When the motor 140 installed in the mobile robot 100 rotates, the rotation speed is reduced by the reducer 141, but the output force is increased.

Then, the cam plate 150 connected to the front of the reducer 141 is rotated, the eccentric shaft 151 eccentrically installed on the cam plate 150 is rotated. As the eccentric shaft 151 rotates, the cam link 160 connected to the eccentric shaft 151 reciprocates in the vertical direction, and the bracket 170 connected to the cam link 160 is the shaft 171. The weaving operation is performed in a range of a predetermined angle around the.

Accordingly, the nozzle 120 connected to the bracket 170 also performs the weaving operation so that the blasting operation can be performed at a predetermined range of widths.

The procedure for operating the blasting apparatus configured as described above is as follows.

In step 1, the vacuum pump 13 is operated to suck air from the mobile robot 100. In step 2, the compressed air supply unit 12 is operated to inject high-pressure air into the mobile robot 100. The valve 14 is opened to allow the abrasive stored in the abrasive storage tank 11 to be mixed with the high pressure air injected from the compressed air supply 12 to be ejected at a high pressure.

The order of stopping the operation of the blasting apparatus is the reverse order of operation.

The valve 14 is closed in one step so that the abrasive in the abrasive storage tank 11 is not sprayed, and in the second step, the compressed air supply 12 is operated until the abrasive in the abrasive supply hose 21 is exhausted. The high pressure air is injected and the operation of the vacuum pump 13 that sucks air from the mobile robot 100 is stopped in three steps.

However, when the operation of the blasting apparatus is stopped, in particular, when the compressed air supply unit 12 is operated until the abrasive inside the abrasive supply hose 21 is exhausted in step 2, and the high pressure air is injected, the abrasive supply hose ( 21) The remaining abrasive is poured out momentarily. In particular, when the nozzle 120 provided in the mobile robot 100 is stopped in the direction toward the contact portion 117 provided at the lower portion of the mobile robot 100 or when weaving, the contact portion 117 and Abrasive may flow between the surface 30 of the hull.

As such, when the abrasive is leaked to the outside of the injection space 112 formed inside the mobile robot 100, the spilled abrasive must be cleaned, which causes a decrease in the efficiency of the work. Therefore, it is desirable to be able to prevent the outflow of the abrasive when the operation of the mobile robot 100 is stopped.

As such, when the operation of the mobile robot 100 is stopped in order to prevent the abrasive from flowing out, the nozzle 120 is positioned at the center of the width for performing the weaving operation.

When the nozzle 120 stops at the center of the width of the weaving operation, the abrasive sprayed from the nozzle 120 strikes almost perpendicularly to the surface 30 of the hull, which not only reduces the kinetic energy, but also moves it. Since the distance between the robot 100 and the close contact portion 117 closely contacting the surface 30 of the hull prevents the abrasive sprayed from the nozzle 120 from leaking between the close contact portion 117 and the surface 30 of the hull. You can do it.

The controller 15 provided in the apparatus 10 controls the driving means 130 to be located at the center of the width at which the nozzle 120 performs weaving when the movement of the mobile robot 100 is stopped.

The controller 15 may know that the nozzle 120 is positioned at the center of the width at which the nozzle 120 performs the weaving operation by using the encoder 210 that detects the rotation speed of the motor 140. As described above, in order to detect the rotation speed of the motor 140, the motor 140 is preferably a servo motor in which the encoder 210 is mounted.

The encoder 210 may be used to detect the rotational speed of the motor 140 and determine when the nozzle 120 is located at the center of the width of the weaving operation according to the rotational speed of the motor 140.

Accordingly, the controller 15 can control the nozzle 120 to stop at the center of the width at which the weaving operation is performed by controlling the rotation speed of the motor 140 to correspond when the nozzle is located at the center of the width at which the weaving operation is performed. have.

The encoder 210 used to measure the rotation speed of the motor 140 may be classified into two types.

One is an absolute encoder that measures a large absolute value with a sensor that measures the rotation angle of the motor 140, and the other is an incremental encoder that measures a relative value around a specific angle. )to be.

In the present invention, either an absolute encoder or an incremental encoder for detecting the rotation speed of the motor 140 may be used.

However, when using an incremental encoder, it is necessary to reset the encoder value when the nozzle 120 is in the center every time the power is applied to the mobile robot 100. When using an absolute encoder, Whenever the mobile robot 100 is used in exchange for another type of mobile robot, it is necessary to reset the encoder value.

Figure 4 shows another embodiment for detecting where the nozzle is located in the width for performing the weaving operation.

In another embodiment of the present invention, the sensor 220 is installed in the cam link 160 to determine the position of the nozzle 120. The sensor 220 determines the position of the nozzle 120 by determining the position of the eccentric shaft 151 reciprocating in the guide hole 161 of the cam link 160. As the sensor 220, such as a proximity sensor, a photo sensor, a limit switch, and the like may be used.

If the eccentric shaft 151 is located at both ends A and B of the guide hole 161, the nozzle 120 is located at the center of the width at which the weaving operation is performed, and the eccentric shaft 151 is the guide hole 161. Is moved from the left end A to the right end B in the right direction of the width at which the nozzle 120 performs the weaving operation, and the eccentric shaft 151 is located at the right end of the guide hole 161. It is assumed that the movement to the left end A in B) is located in the left direction of the width at which the nozzle 120 performs the weaving operation.

At this time, the sensor 220 is installed on one side (A) of the both ends (A, B) of the guide hole (161) that the eccentric shaft (151) is located at one end (A) of the guide hole (161). After sensing, the controller 15 may stop the operation of the driving means 130 to control the stop position of the nozzle 120.

However, in the method of controlling the stop position of the nozzle 120 as described above, the time Td1 required for the sensor 220 to detect the position of the eccentric shaft 151 and the controller 15 may detect the detection signal from the sensor 220. In response, a temporal error may occur by the sum of the time Td2 for controlling the operation of the driving means 130.

Therefore, when the controller 15 controls the driving means 130 by receiving a signal from the sensor 220 that the eccentric shaft 151 is located at A, the eccentric shaft 151 further moves by the delay time Td1 + Td2. It can be stopped at the C position, the nozzle 120 may not be located in the center of the width for performing the weaving operation.

Therefore, by installing the sensor 220 at the point away from both ends A and B of the guide hole 161, the nozzle 120 can be positioned at the center of the width for performing the weaving operation.

In FIG. 5, the sensor 220 senses the eccentric shaft 151 and the controller 15 moves the sensor 220 to the end of the guide hole 161 in consideration of the delay time Td1 + Td2 for controlling the operation of the driving means. It was installed in the position F out of (A, B). At this time, the time taken for the eccentric shaft 151 to move from the F position to the A position is preferably equal to the above-described delay time Td1 + Td2.

In FIG. 5, the C position is a position facing the F position, the C position is a position corresponding to when the nozzle 120 starts to move away from the center of the width at which the weaving operation is performed, and the F position is the weaving operation of the nozzle 120. Is the position corresponding to when it comes closer to the center of the width.

When the eccentric shaft 151 reciprocates between the A position and the B position in the guide hole 161, the eccentric shaft 151 moves in a state of being in close contact with the guide hole 161. Therefore, the sensor 220 detects the eccentric shaft 151 even when the eccentric shaft 151 moves from the B position to the A position and moves from the A position to the B position.

Therefore, when the sensor 220 detects the eccentric shaft 151, the eccentric shaft 151 is in the F position during the process of moving from the B position to the A position, or the C position during the process of moving from the A position to the B position. It is necessary to determine if it is.

To this end, the time for the eccentric shaft 151 to move to the F position from the C position to the F position is referred to as T1, and the time to move the C position from the F position to the C position is referred to as T2.

At this time, since the T1 is longer than the time T2, the sensor 220 detecting the eccentric shaft 151 generates the signal shown in FIG.

In FIG. 6, on is a signal generated when the eccentric shaft 151 contacts the sensor 220, and off is a signal generated when the eccentric shaft 151 does not contact the sensor 220. to be.

As described above, the time T1 when the eccentric shaft 151 moves from the C position to the F position through the B position is compared to the time time T2 when the eccentric shaft 151 moves from the F position to the C position through the A position. Since it is long, it can be determined that the eccentric shaft 151 is in the F position when the on signal occurs after a long off in the sensor 220.

Therefore, the controller 15 stops the operation of the driving means 130 when an on signal occurs after the long off of the sensor 220 so that the nozzle 120 stops at the center of the width at which the nozzle 120 performs the weaving operation. Can be controlled.

Although the blasting apparatus according to the embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention are configured within the scope of the same idea. Other embodiments may be easily proposed by adding, changing, deleting or adding elements, but this will also fall within the spirit of the present invention.

1 is a conceptual diagram of a blasting apparatus according to an embodiment of the present invention.

Figure 2 is a perspective view of a mobile robot provided in the blasting apparatus shown in FIG.

3 is an operation diagram showing the operation of the nozzle provided in the mobile robot shown in FIG.

Figure 4 is a view showing the position of the sensor installed in the guide hole according to an embodiment of the present invention.

5 is a view showing the position of the sensor installed in the guide hole according to another embodiment of the present invention.

6 is a view showing a signal generated by the sensor shown in FIG.

** Description of symbols for the main parts of the drawing **

10: device unit 15: controller

100: mobile robot 110: main body

130: drive means 140: motor

150: cam plate 151: eccentric shaft

160: cam link 161: guide hole

210: encoder 220: sensor

Claims (9)

A main body having an injection space in which an abrasive is injected, A nozzle which is installed in the main body to perform a weaving operation and injects abrasive into the injection space; Drive means connected to the nozzle to provide a driving force for the nozzle to perform a weaving operation; And a controller for controlling the driving means such that the nozzle is positioned at the center of the width at which the nozzle performs the weaving operation when the weaving operation of the nozzle is stopped. The method of claim 1, The driving means and the motor; A cam plate having an eccentric shaft which is driven by the motor and is rotated eccentrically, The blasting apparatus is formed on one side is a guide hole for guiding the linear reciprocating motion is inserted into the eccentric shaft, the other side comprises a cam link connected to the nozzle. 3. The method of claim 2, And an encoder for detecting the rotational speed of the motor to determine that the nozzle is located at the center of the width for performing the weaving operation. 3. The method of claim 2, And a sensor for detecting a position of an eccentric shaft reciprocating in the guide hole to determine that the nozzle is located at the center of the width for performing the weaving operation. The method of claim 4, wherein And the sensor is installed at the position where the eccentric shaft is located when the nozzle is located at the center of the width for performing the weaving operation. The method of claim 4, wherein After the sensor detects the eccentric shaft, the sensor is located at the center of the width at which the nozzle performs the weaving operation, in consideration of the distance that the eccentric shaft moves during the controller controlling the driving means. The blasting apparatus which is installed ahead of the moving distance in this position. In the method for controlling the nozzle position of the blasting apparatus having a motor, a nozzle for spraying the abrasive, and a cam link for converting the rotational motion of the motor into the weaving motion of the nozzle, Rotating the motor to perform the weaving operation of the nozzle; Detecting whether the nozzle is located at the center of a width at which the weaving operation is performed; And stopping the motor when the nozzle is located at the center of the width at which the weaving operation is performed. The method of claim 7, wherein And detecting whether the nozzle is located at the center of a width at which the weaving operation is performed, and detecting the rotation speed of the motor. The method of claim 7, wherein And detecting whether the nozzle is located at the center of a width at which the weaving operation is performed, and detecting the position of the nozzle using a sensor installed at the cam link.

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