KR101577645B1 - Automatic painting equipment for ship's hull outside area and automatic painting method for ship's hull outside area - Google Patents

Abstract

The present invention relates to an automatic painting apparatus (100) for a hull plating, comprising: a bogie (110) for moving along a hull (A); A rail 120 installed on the bogie 110; A driving unit 130 mounted on the rail 120 to adjust the position of the spray unit 140 so as to travel along the rail 120; A spray unit 140 installed on the driving unit 130 to spray paint on the outer panel of the hull A; And a controller for controlling the driving unit 130 to control the driving unit 130 to run along the rail and to maintain the spacing distance between the spray unit 140 and the hull A, . According to the present invention, it is possible to carry out proper coating quality construction while traveling in the longitudinal direction and vertical / horizontal direction of the ship using the hull leading information, thereby ensuring stable painting quality by automation of painting and improving the efficiency and productivity of painting on the outside of the hull And can also reduce equipment operation cost, safety of workers, and prevent musculoskeletal diseases.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic painting equipment for a ship hull plate and an automatic painting method for a ship hull plate,

More particularly, the present invention relates to an automatic paint system for a hull outer plate which can travel in a longitudinal direction and a vertical / horizontal direction of a ship by utilizing hull line information, And a method for automatically coating the outside plate.

The hull shell has a three-dimensional shape such as FWD, mid-ship, and stern. A gondola or a high-grade car is used for the ship side and a bottom is used for the painting. Is mainly dependent on manual spray. As a result, the following problems occur. First, there is a problem of complaints on the painting of the side panels of the outer shell of the hull, and there is a problem of quality of painting and safety of operators in the narrow space working on the side and bottom. In addition, there is a problem of productivity deterioration due to the painting work of the dependency method, and safety and cost problems arise due to the operation of equipment such as high-altitude cargo and gondola.

In order to solve these problems, various automation techniques related to coating work for the outer shell of the hull have been proposed and attempted. However, even if it is a conceptual content that is difficult to apply in the field, or due to problems such as installation, operation, Most of the cases can not be extended.

The horizontal moving module 20, the coating module 30, the control box 40, and the control box 40 are mounted on the outer shell of the hull, And a sensor system 50. The moving truck 10 generates a magnetic force to travel along a path set in a state of being adsorbed on the surface of the ship with an adsorption member (not shown) The guide rail 20 is installed on the upper part of the moving carriage 10 and is installed in a guide 21 and a guide 21 having a predetermined length for horizontally transporting the painting module 30, A horizontal motor and a speed reducer 22. The painting module 30 is horizontally transportable on the horizontal transfer module 20. The paint module 30 is automatically sprayed by the air pressure of the air tank, (Not shown) And a tilting motor 32 capable of tilting so as to suppress the transitional film in the overlapping region in the acceleration / deceleration section of the coating module 30 by the horizontal transfer module 20, The vibration due to the shock when the painting module 30 is reciprocated after the operation of the manual adjusting lever 33 and the manual adjusting lever 33 which can manually adjust the thickness of the coating film according to the kind of paint and the distance to the outside sheathing The control box 40 corrects an error generated by comparing the current position of the moving bogie 10 with the set reference trajectory so that the moving bogie 10 is moved to a predetermined path And controls so that the horizontal conveying module 20 and the painting module 30 can accurately paint the outer shell of the ship according to the set painting conditions and the sensor system 50 controls the moving carriage 10 RTI ID = 0.0 > A wire sensor 52 fixedly installed to provide a reference point to the wire fixing portion 51 and a wire sensor 52 connected to the wire fixing portion 51 by a wire to detect the distance between the wire fixing portion 51 and the wire fixing portion 51, And a gyro sensor 53 for detecting the azimuth angle of the hull of the ship.

Korean Patent No. 10-0897004

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method and a system for improving the productivity of a coating process and safety of a coating operator, And an object of the present invention is to provide an automatic painting apparatus for a hull external plate capable of quality construction and an automatic painting method for a hull external plate.

According to an aspect of the present invention, there is provided an automatic painting apparatus for a hull enclosure comprising: a bogie for moving along a hull; A rail installed on the truck; A driving unit installed on the rail for controlling the position of the spray unit so as to travel along the rail; A spray unit installed on the driving unit to spray paint on the outer plate of the hull; And a controller for controlling the driving unit to run along the rails and to control the driving unit using the ship frontal information so that the spray unit maintains a constant distance from the hull.

Here, the rails may be provided in a "C" shape so that the drive unit can travel in the horizontal direction and the vertical direction of the hull.

The driving unit may be installed on the rail in a gear structure.

The driving unit may include a magnet to prevent the driving unit from dropping due to a magnetic force between the driving unit and the rail.

In addition, the spray unit is installed in the driving unit by the arm, and the position of the spray unit can be adjusted by adjusting the length of the arm in the driving unit.

The control unit may calculate the outer shell coordinate information of the hull using the hull leading information, calculate the separation distance between the outer shell of the hull and the spray unit based on the outer shell coordinate information of the hull, The sprayer can be controlled so that the paint can be sprayed simultaneously with the control box.

In addition, a vision sensor may be further provided to confirm the distance between the hull and the spray unit.

According to another aspect of the present invention, there is provided a method for automatically painting a hull sheathing board, comprising the steps of: calculating a hull sheathing coordinate information by using a hull form information when painting is performed along a hull sheathing plate; The coating material is applied to the outer skin of the hull in a state in which the spray portion of the coating apparatus is maintained at a certain distance from the outer skin plate on the basis of the coating surface coordinate information and the separation distance, So that the outer shell of the hull can be painted.

According to the present invention, it is possible to carry out proper coating quality construction while traveling in the longitudinal direction and vertical / horizontal direction of the ship using the hull leading information, thereby ensuring stable painting quality by automation of painting and improving the efficiency and productivity of painting on the outside of the hull And can also reduce equipment operation cost, safety of workers, and prevent musculoskeletal diseases.

1 is a conceptual view of a shipboard autonomous moving painting apparatus.
2 shows an example of a hull diagram.
3 is a conceptual view of an automatic painting apparatus for a hull plating according to the present invention.
FIG. 4 is a flowchart for explaining the hull guidance information according to the present invention; FIG.
5 is a first use state view of an automatic painting apparatus for a hull plating according to the present invention.
6 is a second use state diagram of an automatic painting apparatus for a hull plating according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

3 is a conceptual view of an automatic painting apparatus for a hull plating according to the present invention, Fig. 4 is a flowchart for explaining hull leading information according to the present invention, Fig. 5 is a view Fig. 6 is a second use state view of the automatic painting apparatus for a hull plating according to the present invention. Fig.

The automatic paint system for a hull outer plate and the automatic painting method for a hull outer plate according to the present invention are designed to improve the productivity of the painting process and to ensure the safety of the painting worker by using the hull leading information, And it is possible to construct the proper coating quality.

As shown in the drawing, an automatic painting apparatus 100 for a hull external plate according to the present invention includes a main body 110, a rail 120, a driving unit 130, a spray unit 140, a control unit (not shown) And an arm 150.

The bogie 110 is installed on the outer bottom of the hull A and may be provided with a predetermined wheel so that it can travel in the longitudinal direction of the hull A.

The rail 120 is installed in a state of being safely supported on the bogie 110. At this time, the rail 120 is installed to be bent in a "B" shape so that the driving unit 130 can travel in the horizontal direction and the vertical direction of the hull A.

The driving unit 130 is installed on the rail 120 so as to travel along the rail 120 and can adjust the position of the spray unit 140. At this time, the driving unit 130 may be installed in the gear 120 in the rail 120 so that the driving unit 130 can be easily driven in the vertical direction, that is, in the up / down direction. In addition, the driving unit 130 may include a magnet for preventing dropping.

The spray unit 140 is installed in the driving unit 130 so as to spray paints on the outer plate of the hull A.

The control unit controls the driving unit 130 to run along the rail. In particular, the control unit controls the spray unit 140 so that the spray unit 140 can maintain a constant distance from the hull A at regular intervals, ) Information to control the driving unit 130 appropriately.

For reference, the ship's linear shape can be expressed in cross-sectional shape at a position equally divided in the longitudinal direction of the ship, which is referred to as the hull line.

Referring to FIG. 4, a method of using the hull guidance information will be described in detail. First, the hull outer shell coordinate information is calculated using the hull leading information (S110, S120).

Then, based on the outer plate coordinate information of the hull (A), a distance between the outer shell of the hull (A) and the spray unit 140 is calculated (S130, S140).

Finally, the sprayer 140 is appropriately controlled so as to spray the paint on the basis of the coating surface coordinate information and the spacing distance (S150).

The arm 150 can be used to install the spray unit 140 in the driving unit 130 and the position of the spray unit 140 can be adjusted by appropriately adjusting the length of the arm 150 in the driving unit 130 .

The automatic paint system 100 for a hull outer plate according to the present invention may further include a predetermined vision sensor (not shown) so that the separation distance between the hull A and the spray unit 140 can be checked.

Now, the operation of the automatic painting apparatus 100 for a hull plating according to the present invention will be described with reference to FIGS.

For reference, FIG. 5 is a conceptual drawing of a mid-ship, and FIG. 6 is a conceptual drawing of a hull curved portion (FWD / AFT).

The driving unit 130 travels along the rail 120 in the horizontal direction and the vertical direction of the hull A so that the spray unit 140 always contacts the hull A by using the hull leading information, The paint is sprayed on the hull A from the spray part 140 while maintaining the gap.

That is, the controller 130 appropriately adjusts the length of the arm 150 by the driving unit 130, thereby spraying the paint while keeping the spray unit 140 constantly spaced apart from the hull A.

As described above, according to the present invention, proper painting quality construction is possible while traveling in the longitudinal direction and the vertical / horizontal direction of the ship by utilizing the ship frontal information. Accordingly, stable painting quality can be ensured by automation of painting, and efficiency and productivity of the outer shell painting work can be improved. In addition, it can reduce the equipment operation cost, and also can prevent the safety of workers and musculoskeletal diseases.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, And various alternatives, modifications, and changes may be made within the scope of the present invention to those skilled in the art.

Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Coating device 110:
120: rail 130:
140: spray part 150: arm

Claims (8)

An apparatus (100) for painting the outside sheathing of a ship (A)
A bogie portion 110 for moving along the hull A;
A rail 120 installed on the bogie 110;
A driving unit 130 mounted on the rail 120 to adjust the position of the spray unit 140 so as to travel along the rail 120;
A spray unit 140 installed on the driving unit 130 to spray paint on the outer panel of the hull A;
A controller 130 for controlling the driving unit 130 to control the driving unit 130 to travel along the rail 120 and to use the ship front line information so that the spray unit 140 maintains a constant distance from the ship A, And an automatic paint system for the outer shell of the hull. The method according to claim 1,
Wherein the rail (120) is installed in an " C "shape so that the driving unit (130) can travel in a horizontal direction and a vertical direction of the ship (A). The method according to claim 1,
Wherein the drive unit (130) is installed on the rail (120) in a gear structure. The method according to claim 1,
Wherein the driving unit (130) is provided with a magnet for preventing falling of a driving part by magnetic force with the rail (120). The method according to claim 1,
The spray unit 140 is installed on the driving unit 130 by the arm 150 so that the position of the spray unit 140 is adjusted by adjusting the length of the arm 150 in the driving unit 130 Automatic painting system for shell plating. The method according to claim 1,
The control unit calculates the outer plate coordinate information of the hull A using the hull leading information and calculates the separation distance between the outer plate of the hull A and the spray unit 140 based on the outer plate coordinate information of the hull A, Wherein the control unit controls the spray unit (140) so as to control the driving unit (130) based on the surface coordinate information and the spacing distance, and to spray the paint. The method according to claim 1,
Further comprising a vision sensor for checking a distance between the hull (A) and the spray unit (140). As a method for painting the outer shell of a hull,
The paint apparatus travels along the outer shell of the hull, calculates the hull outer shell coordinate information by using the hull diagram information at the time of painting, calculates the space between the outer shell of the hull and the spray unit distance of the painting apparatus based on the calculated hull outer shell coordinate information,
Wherein the paint on the outer shell of the hull is sprayed onto the outer shell of the hull in a state in which the spraying portion of the coating apparatus maintains a certain distance from the shell plating on the basis of the coating surface coordinate information and the separation distance, .

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