KR20050020335A - The movable type automatic painting system for hull shell which consists of the truss columns - Google Patents

Abstract

PURPOSE: Provided is a movable apparatus with a truss-structure column for automatically painting a ship harpin, which improves painting speed, painting area, and painting quality while materializing the same painting process as a painter does. CONSTITUTION: The movable apparatus for automatically painting a ship harpin consists of: a spray gun, which sucks and sprays paint from a paint tank; many guide rollers, which are placed in the both lateral parts of a reciprocator(20) equipped with a driving units moving the spray gun in x axis, y axis, and z axis; many guide rails(5) connected to the guide rollers of the reciprocator(20), which are constructed to vertically move a reciprocator(20) by a vertically installed truss-type column(4); many wheels(3); a truck(2) having a motor built-in, which is installed in the lower part of a truss-type column(4); a transfer driving part to ascend and descend a reciprocator(20), which is installed in the upper part of a truss-type column(4) and transfers a reciprocator(20) along a guide rail(5).

Description

The movable type automatic painting system for hull shell which consists of the truss columns}

The present invention relates to a mobile hull shell automatic coating device having a truss column, and more particularly, to realize the same painting process as the actual working conditions painted by the actual painter to improve the coating speed, area and quality of the coating film, and work stability. It relates to a ship shell automatic coating device configured to improve.

Conventionally, the painting automation on the outer shell of the ship is the coating method required for the ship except for the standard painting work on small and fragmentary parts, and the optimum coating speed (spraying speed of the spray gun), separation of the object and the spray gun It was difficult to efficiently control the equipment due to various variables such as distance, atomization pressure for each paint, and influence of external wind generated during painting work, and in particular, it was impossible to control overcoat on the overlapped coating site.

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.

FIG. 10 shows a method of painting the outer shell of a ship, which is currently made by workers.As shown in these photographs, large winds are applied when painting the outer shell of large vessels in dry docks for shipbuilding located in the coastal area due to the nature of the shipbuilding industry. It is often blown and cantorever type large trucks are shaken, which makes the work posture unstable, making it difficult to perform uniform painting work. In addition, due to the high-altitude work, there is a high possibility that the safety of the worker is always at risk, and it is difficult to achieve the automation of the process for improving the quality and productivity, and thus, there is a great difficulty in improving the poor outer shell coating work.

The present invention is devised to solve the conventional problems as described above, the object of the ship is configured to improve the coating speed, area and quality of the coating film while implementing the same coating process as the actual working conditions painted by the painter It is to provide an outer plate automatic coating device.

The present invention, which achieves the object as described above and performs the problem for eliminating the conventional defects, is provided with a spray gun for sucking and discharging the coating liquid from the paint tank, while the spray gun is X-axis, Y-axis, Z-axis A plurality of guide rollers are installed on both outer side surfaces of the reciprocator provided with a drive unit for moving in a direction, and a plurality of guide rails coupled with the guide rollers of the reciprocator are mounted by a truss type column mounted vertically. It is configured to guide the vertical movement of the ciprocator, and a plurality of traveling wheels are provided, while a bogie with a motor for driving the traveling wheels is installed at the lower end of the truss column and at the upper end of the truss column. The up / down feed drive unit for raising / lowering the reciprocator is installed and the That is composed of the upper and the downward ever transferred along the guide rail characterized.

In addition, the truss column has four main beams placed in the upper portion of the trolley, and auxiliary beams are installed to be positioned inside the main beams, and guide rails are installed on the auxiliary beams, and the main beams and the auxiliary beams are connected to each other. A plurality of connecting frames are installed at regular intervals with respect to the vertical direction, and the plurality of auxiliary beams on which the guide rails are installed are interconnected by a truss angle of "X" shape.

In addition, the truss column is " And a box-shaped main beam at the top of the trolley as a flat cross-sectional shape, and a guide rail coupled with the guide roller of the reciprocator is provided inside the box-shaped main beam.

In addition, the up-and-down drive unit is provided with a drive motor and a reduction gear for the lifting and lowering on the base frame installed on the top of the truss column, the weight balance chain sprocket and the reciprocator chain sprocket is installed on the output side of the reducer. The chain is installed on the weight balance chain sprocket and the reciprocator chain sprocket, while one end of the chain is connected to the reciprocator, and the other end is connected to the weight balance for weight compensation, and the weight balance chain sprocket And a drum brake for controlling rotation of the reciprocator chain sprocket.

Next, the functional characteristics of the reciprocator, the reciprocator is the on / off function of the airless automatic spray gun, the distance detection and control function of the subject, the movement speed of the spray gun during the painting process and the up, down, left 3 axis simultaneous control and spray direction control, width control function, parallel control between spray progression section and hull shell plate, spray gun rotation function for paint overlap coating management It is equipped with various standard coating methods for spraying methods for each type of paint as a basic program for easy operation of automatic equipments, and uniform thickness of finish coating and overlapping coating in each section through speed control during painting work. It's designed to get the same paint quality and productivity By using the automated program, the spray gun feedrate and spray gun movement speed are set by using the automated program and controlled spraying according to the spray method that the painter paints the most in shipbuilding outer shell painting. It is configured to be used by input.

In addition, in order to improve the quality control of coating quality by the reciprocator, standards such as atomization pressure in the spray gun, discharge flow rate, proper nozzle size, and optimum feed rate of the spray gun are measured through experiments according to the viscosity of the paint used. By using this it is set to drive the equipment.

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

1 is a block diagram showing the overall configuration of the hull outer shell automatic coating device according to the present invention, the automatic coating device according to the present invention is a transport carriage (6) provided with guide rollers 28 on both outer sides, The multi-stage telescope lower support 26 installed at the lower end of the transfer carriage 6, the Y-axis drive unit 23 installed on the telescope lower support 26, and the Y-axis drive unit 23 upper part. Rotation unit 24 is installed in the Y-axis drive unit 23 and moved back and forth while rotating by a separate drive motor, and the Z-axis drive unit 21 is installed vertically on the rotary unit 24 and The X-axis driving unit 22 is installed horizontally on the front portion of the Z-axis driving unit 21 and the X-axis driving unit 22 is installed on the front portion of the X-axis driving unit 22. The tilting unit 27 moving to the right and the tilting unit 27 are installed on the tilting unit 27. A spray gun 25 that moves in conjunction with the spraying material stored in the paint container, and controls the X, Y, Z axis drive units 21, 22, 23, the rotating unit 24 and the tilting unit 27 Reciprocator 20 consisting of a control panel 60 is built in the control unit to enable the operation of the equipment operating method manually or automatically; A truss column 4 having a guide rail 5 coupled to a guide roller 28 installed at the conveying carriage 6 of the reciprocator 20 in a vertical direction, and a lower end of the truss column 4. A trolley 2 having a plurality of traveling wheels 3 provided in the bottom portion and having a motor for driving the traveling wheels 3 and a top of the truss column 4 installed therein. It is comprised by the up / down feed drive part 30 which raises and lowers the carriage 6. As shown in FIG.

2 is a block diagram of the recipe of the present invention, the recipe 20 is a paint sprayer 51 to suck the paint from the paint container 50 to transfer to the automatic coating equipment to enable painting ), Paint hose, wander meter 61 and pressure gauge 62 to measure and control the flow rate and discharge pressure of the paint to be painted, airless automatic spray gun 25 to turn paint spraying on and off in a stable atomization state, Y-axis drive unit 23 and rotation unit 24 for maintaining the distance between spray gun 25 and the object by moving displacement measuring sensor that detects movement and automatic position of spray gun 25, for each section The driving units 21, 22, and 27 of the X, Z, and W axes each responsible for the painting work to uniformly obtain the thickness of the coating film in the finish coating and the overlapping coating, and the three-axis driving and simultaneous speed control are possible. Control unit, the spray gun 25 It is configured to input data according to the control program of the device, and the manual angle control device that can control the blindness and speed, and all the painting methods that can be sprayed onto the object by receiving the paint. It is configured to include a control panel 60 that can automatically drive by selecting the equipment operating method.

That is, the reciprocator 20 has a flat cross-sectional shape of the "c" shape, while the conveying carriage 6 is constituted by the guide roller 28 installed on the outer surface thereof, and the conveying carriage 6 The lower end of the telescope support 26 is installed to have a basic shape, the guide roller 28 of the transport carriage 6 is coupled to the truss column (4).

At this time, the guide roller 28 is installed on both sides of the hydraulic cylinder 29 fixed to the transport carriage 6 to prevent the shaking caused when the transport carriage 6 is stopped.

The telescope lower support 26 is a structure in which the two-stage telescopic structure 42 and the three-stage telescopic structure 43 are sequentially inserted into the first-stage telescopic structure 41 installed in the transport cage as shown in FIG. 3. Each telescopic structure is composed of a structure that is connected by a multi-stage interconnected by the guide way 44, the guide roller 46 and the bearing 45.

In addition, the Y-axis drive unit 23 is installed on the upper portion of the telescope lower support 26, the rotary unit 24 is installed on the upper portion of the Y-axis drive unit 23, the rotary unit 24 The Z-axis driving unit 21 is installed on the upper portion of the X-axis driving unit 22 is installed on the front surface of the Z-axis driving unit 21.

That is, each of the drive units are connected to each other in the form of a right angle on the horizontal and vertical, each drive unit is composed of a servo motor, an LM guide rail and a ball screw are individually driven by a control unit, the X-axis drive A displacement measuring sensor, not shown, is installed at both ends of the unit 22 to detect the gap between the spray gun 25 and the subject to set the parallel state of the subject and the spray gun 25 before painting. The driving unit 23 and the rotating unit 24 are driven, and the collision between the painting head part and the peripheral device is prevented by the proximity safety sensors installed at both ends of the X-axis driving unit 22, and the starting part and the overlapping part of the subsequent painting. It is configured to recognize.

On the other hand, the tilting unit 27 is installed on the front surface of the X-axis drive unit 22, the spray gun 25 connected to the sprayer 51 is installed on the tilting unit 27 to the tilting unit 27 By allowing the spray gun 25 to rotate on the W axis, the boundary of the work section where the paint overlaps during the continuous painting operation is controlled so that the spray gun 25 is rotated according to the standard painting conditions of the input program. Coating control becomes possible.

In addition, the tilting unit 27 and the spray gun 25 may be installed on the X-axis drive unit 22 so that a plurality of them are positioned in parallel in the horizontal or vertical direction to extend the coating area once, and each drive A cover such as bellows is installed around the drive unit to prevent the unit from being exposed to the outside, thereby preventing contamination by paint dust.

A touch screen panel window with a plurality of operation switches is installed on the front of the operation panel 60 to enable such an operation operation. It is installed so that the power can be cut off safely in case of malfunction of the equipment, and a lamp is installed on the operation panel 60 to recognize whether power is supplied, and a power cord for supplying power is installed at the rear of the operation panel. Visual status is recognized and a buzzer is installed to indicate the completion of work, so it is easy to operate the equipment.

In addition, the operation panel 60 is configured to input the feed rate of the spray gun, the area setting to be painted, the overlap ratio, the interruption time of the spray gun, the discharge flow rate, etc. It is the same as FIG.

Figure 4 is a block diagram showing the structure of the truss column and the bogie of the present invention, Figure 5a is a block diagram of the truss column of the present invention, Figure 6 is a block diagram of the upper and high feed drive unit of the present invention The truss type column 4 which guides the raising / lowering of the reciprocator 20 is mounted in the upper part of the trolley | bogie 2 in which the traveling wheel 3 and the motor which drives this traveling wheel 3 are mounted, The upper and the high feed drive unit 3 is provided on the top of the truss column 4 and is configured to freely move the reciprocator 20 in the vertical and horizontal directions.

The truss type column 4 is installed so as to be located inside the main beam 51 and the four main beams 51 placed on the upper portion of the trolley 2 to guide the rise and fall of the reciprocator 20. A guide rail mounting auxiliary beam 52, and the main beam 51 and the auxiliary beam 52 to connect the main beam 51 and the auxiliary beam 52 to prevent buckling of the main beam 51 and the connection provided at regular intervals in the vertical direction In order to maintain parallelism between the frame 53 and the guide rail 5 installed in the auxiliary beam 52, a truss angle 54 having an “X” shape is connected to the auxiliary beam 52 in the longitudinal direction. It is possible to install a rapid safety device in the form of a ratchet gear driven by a spring tension not shown around the guide rail 5.

Meanwhile, the truss column 4 includes four main beams 51, the auxiliary beams 52, the connecting frame 53, and the truss angle 54 placed on the upper portion of the trolley 2 as shown in FIG. 5B. And a box-shaped main beam 51 'having a planar cross-sectional shape, and installed in the vertical direction of the guide rail 5 engaged with the guide roller 28 of the reciprocator 20. .

The up-and-down drive unit 30 includes a base frame 40 installed on the truss column 4, a drive motor 31 for raising and lowering installed on the base frame 40, and the drive motor. A connected reducer 33, a weight balance chain sprocket 34 and a reciprocator chain sprocket 35 which are connected and rotated to an output side of the reducer 33, and the weight balance chain sprocket 34 and a reciprocator chain A bearing housing 38 with a bearing for supporting rotation of the sprocket 35, a fixed block 40a for fixing the bearing housing and the reducer 33, the weight balance chain sprocket 34, The chain 37 is installed on the reciprocator chain sprocket 35 so that one end is connected to the reciprocator 20 and the other side is connected to the weight balance for weight compensation of the reciprocator 20, and the weight balance chain. Sprockets (34) and Lassi And locator chain sprocket drum brake 36 for controlling rotation of the unit 35, consists of a hand rail 39 provided along the peripheral end portion of the base frame 40.

Figure 6 is an exemplary view showing a working state using the automatic vessel shell coating apparatus according to the present invention, Figure 7 is a standard coating method and sequence of the reciprocator of the present invention, Figure 8 is a hull shell automatic coating device according to the present invention Figure 1 shows a block diagram showing the painting process, the hull shell automatic coating device configured as described above operates the cart 2 to move and move to the desired work portion of the hull, drive motor 31 for raising and lowering When operating, the driving force generated in the motor is reduced to a certain reduction ratio 33 through the reducer 33 and then transferred to the weight balance chain sprocket 34 and the reciprocator chain sprocket 35 to rotate the two sprockets. The reciprocator 20 is moved up and down to align with the working position.

After aligning the work start position and parallelism with each drive unit installed in the reciprocator 20, each drive unit operates independently in accordance with the pre-input painting conditions to perform automatic painting work.

As such, when painting is automatically completed by a predetermined unit area by the operation of each driving unit, the transfer carriage 6 automatically descends in the height direction by a predetermined amount, that is, the previously painted area, onto the painted portion that has been advanced. Continue working on unpainted areas automatically.

At this time, the semi-automatic work for the operator to check the step-by-step status of this work can also be performed through the operation panel 60, and when the series of ship height direction coating for a certain section is completed, the reciprocator returns to the reference position. And, the driving is moved by a certain section operator in the length direction of the ship to perform the same painting work as described above.

Reference numeral 32 in the drawings is a chain coupling.

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

The present invention 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 approach the required painting portion of the outer shell of the ship, it is possible to quickly automatic painting work, a person rides on a general high-altitude manual Unlike when painting with a very safe and stable working condition, the same standard coating method can be set in advance so that the device can be operated in order to make the coating quality uniform and to obtain an excellent coating film. Productivity can be improved by performing a painting process. In addition, it is a very useful invention, such that one person can perform the current three-person work method, minimize the risk when working at height.

1 is a block diagram showing the overall configuration of the automatic hull shell coating device according to the present invention

2 is a block diagram of the receiver of the present invention

Figure 3 is a cross-sectional view of the lower carriage carriage telescope support of the receiver of the present invention

4 is a configuration diagram showing the structure of the truss column and the bogie of the present invention

5A is a block diagram showing the structure of a truss column of the present invention

Figure 5b is a schematic view showing another structure of the truss column of the present foot

6 is a configuration diagram of the high and high feed drive unit of the present invention

7 is an exemplary view showing a working state using the automatic ship shell automatic coating apparatus according to the present invention

8 is a method and sequence of the standard coating method of the receiver of the present invention

9 is a block diagram showing a painting process using an automatic hull shell coating device according to the present invention

10 is a photograph showing a conventional ship shell coating work state

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

(1): ship shell (2): bogie

(3): traveling wheel (4): truss type column

(5): guide rail (6): feed carriage

(20): Reciprocator (21): Z-axis drive unit

(22): X axis drive unit (23): Y axis drive unit

(24): rotary unit (25): spray gun

(26): telescope lower support (27): tilting unit

(28): guide roller 29: hydraulic cylinder

(30): Up and down drive unit 31: Drive motor for lifting and lowering

(32): chain coupling 33: reducer

(34): Weight Balance Chain Sprocket (35): Reciprocator Chain Sprocket

36: drum brake 37: chain

38: bearing housing 39: hand rail

40: base frame 40a: fixed block

(41): one-stage telescopic structure (42): two-stage telescopic structure

(43): three-stage telescopic structure (44): guide way

45: bearing 46: guide roller

(51): main beam (52): auxiliary beam

53: connecting frame 54: truss angle

(60): operation panel 61: flow meter

(62): pressure gauge

Claims (4)

A spray gun 25 is provided which sucks and discharges the paint liquid from the paint tank, while a reciprocator is provided with driving units 22, 23, 21 for moving the spray gun in the X, Y, and Z directions. A plurality of guide rollers 28 are provided on both outer side surfaces of the truss 20, and a plurality of guide rails 5 coupled to the guide rollers 28 of the reciprocator 20 are vertically trussed. It is configured so that the vertical movement of the reciprocator 20 is guided by the column 4, and a plurality of traveling wheels 3 are provided, while a bogie 2 with a built-in motor for driving the traveling wheels 3 is provided. ) Is installed at the lower end of the truss type column 4, and the upper and lower feed driver 3 for raising and lowering the reciprocator 20 is provided at the upper end of the truss type column 4, The reciprocator 20 is moved up and down along the guide rail 5 by the operation of the song drive unit 3. Removable hull automatic coating apparatus with a column of the truss structure, characterized in that the lock is configured. The method of claim 1, In the truss column 4, four main beams 51 are placed on the upper portion of the trolley 2, and auxiliary beams 52 are respectively provided to be positioned inside the main beams 51, and the auxiliary beams 52 are provided. The guide rail (5) is installed on the other hand, a plurality of connecting frames (53) connecting the main beam (51) and the auxiliary beam (52) are installed at regular intervals in the vertical direction, and the guide rail (5) A movable hull shell automatic coating device having a truss column, characterized in that the plurality of auxiliary beams 52 are installed by interconnecting the "X" shaped truss angle (54). The method of claim 1, The truss column 4 is " And a guide rail coupled to the guide roller 28 of the reciprocator 20 on the inside of the box-shaped main beam 51 ', provided with a box-shaped main beam 51` on the upper side of the trolley | bogie 2 as a flat cross-sectional shape. (5) is a mobile hull shell automatic coating device having a truss column, characterized in that the installation. The method of claim 1, The up-and-down drive unit 30 is provided with a drive motor 31 and a reduction gear 33 for raising and lowering on a base frame 40 installed on the top of the truss column 4, and the reduction gear 33 The weight balance chain sprocket 34 and the reciprocator chain sprocket 35 are installed on the output side of the weight balance chain sprocket 34 and the reciprocator chain sprocket 35, while the chain 37 is installed. One end of the chain 37 is connected to the reciprocator 20, the other end thereof is connected to the weight balance for weight compensation, and the weight balance chain sprocket 34 and the reciprocator chain sprocket 35 A mobile hull shell automatic coating device having a truss column, characterized in that the drum brake 36 for controlling the rotation.