KR20050024661A - Automatic painting system for hull shell which consists of two column of the stacker crane structure - Google Patents

Abstract

PURPOSE: A system for automatically painting a hull shell, having a stacker crane structure which is composed of two columns is provided to implement same painting process, and to improve the painting velocity and the area and painting film quality. CONSTITUTION: The system for automatically painting a hull shell includes: a spray gun, sucking a paint liquid from a paint tank and a spray painting system and discharging it; a reciprocate(5), having a feeding structure body which moving the spray gun in the direction of X-, Y-, and Z-axis; many guide rollers, arranged on the outer face of both sides of the reciprocate(5); a stacker crane device(18), having a guide rail installed vertically so as to connect the latter to the guide rollers; a single frame, arranged on the lower end of the stacker crane device(18) and contacting with a lower rail(3), which is installed on the bottom inside a dock, so as to be fed; and a support frame, arranged on the upper part of the stacker crane device(18).

Description

Automatic painting system for hull shell which consists of two column of the stacker crane structure}

The present invention relates to a hull shell automatic coating system having a stacker crane structure composed of a double column, more specifically, the painting speed, area and quality of the coating film, while implementing the same painting process as the actual working conditions painted by the painter A double stacker equipped with a stacker crane structure composed of a ship shell reciprocator configured to improve stability and a double column for lifting and lowering the device, and a rail device for supporting it and moving to the left and right on the ship shell. The present invention relates to a hull shell automatic coating system having a stacker crane structure composed of columns.

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

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

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

Its purpose is to consist of a reciprocator configured to improve the painting speed, area and coating quality while implementing the same painting process as the actual painter's working conditions, and a double-column column for raising and lowering the device. It is to provide an automatic hull shell coating system having a stacker crane structure and a stacker crane structure having a stacker crane structure having a stacker crane structure and an upper rail and a lower rail so that the reciprocator can move to a work site.

The present invention to achieve the object as described above and to perform the problem for eliminating the conventional drawback is provided with a spray tank for sucking and discharging the coating liquid from the paint tank and spray sprayer, while the X-axis, A plurality of guide rollers are installed on both outer side surfaces of the reciprocator provided with a transfer structure for moving in the Y-axis and Z-axis directions, and the stacker crane device is installed in a vertical direction so that the guide rails are connected to the guide rollers. The single frame installed at the bottom of the stacker crane unit is brought into contact with the lower rail installed at the bottom of the dock, while the support frame installed at the top of the stacker crane unit is brought into contact with the upper rail installed at the wall inside the dock. It is characterized by.

The stacker crane device unit is installed in the vertical direction of the two vertical columns respectively installed on the inner side facing the guide rail to contact the guide rollers installed on the reciprocator, respectively to prevent shaking at the outer bottom of the two vertical columns An auxiliary support is attached to and installed at the lower end of the vertical columns to form a single frame to move along the lower rail, and install a plurality of connecting frames forming a predetermined interval in the horizontal direction of the vertical columns, the vertical column Characterized in that the support frame is installed on the selected one of the plurality of connection frames located on the upper side of the connection frame.

In addition, a plurality of coating equipment and spray guns are installed horizontally or vertically in the reciprocator.

In the functional aspect of the reciprocator, the airless automatic spray gun On / Off function, the distance detection and adjustment function with the subject, the spray gun movement speed control during the painting process and move to the X, Y, Z axis This free-driven 3-axis simultaneous control and spray direction control, width control function, parallel control of the spray progression section and the hull shell plate, spray gun rotation function for paint overlapping film management, etc. Built-in various standard coating methods for the basic program for easy operation of automatic equipment, and it is manufactured to obtain uniform film thickness in finishing painting and overlapping painting for each section through speed control during painting work. To ensure the same paint quality and productivity as when By controlling and spraying the spray gun feedrate and spray gun movement width using the automated program according to the spray method that the painter paints the most on the outer coating of the ship, anyone can quickly enter and use the working conditions during the work. It is configured to be.

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 working conceptual view of the hull shell automatic coating apparatus of the present invention, Figure 2 is a block diagram of the reciprocator of the present invention, Figure 3 is a cross-sectional view of the transport carriage telescope lower support of the reciprocator Figure 4 Figure 2 shows the construction of the stacker crane device, the reciprocator 5 according to the present invention, as shown in Figure 2, the transport carriage 8 is provided with a guide roller 15 on both outer side surfaces, and the transport The multi-stage telescope lower support 29 installed at the lower end of the carriage 8, the Y-axis feed structure 11 installed on the upper portion of the lower support 29, and rotates while moving on the Y-axis feed structure 11 A C-axis rotary drive unit (12) rotated about a Z axis (hereinafter referred to as a C axis) and a Z-axis feed structure 9 installed vertically on the C-axis rotary drive unit 12 so as to be possible; Front part of the Z-axis feed structure (9) An X-axis feed structure (10) installed in a horizontal form on the W-axis tilting unit (14: semi-rotating about the Z-axis), which is installed on the front portion of the X-axis feed structure (10) And a spray gun 13 which interlocks with the W-axis tilting unit 14 and injects the coating liquid introduced from the paint tank 20 and the sprayer 19, and the X-axis, Y-axis, and Z-axis transfer structures ( 10,11,9) / C-axis rotary drive unit 12 / W-axis tilting unit 14, built-in control unit to control the coating method of spraying paint can be selected, manual or automatic operation method selection A reciprocator 5 including an operation panel (not shown) which can be driven is configured.

The multi-stage telescope lower support 29 installed at the bottom of the receiver 5 is configured to be inserted into the one-stage telescopic structure 31 fixed to the transport carriage 8, as shown in FIG. The two-stage telescopic structure 32 and the three-stage telescopic structure 33 are installed to sequentially insert and protrude by the guide way 34 and the guide roller 36 connecting the respective telescopic structures. Configure this to be possible.

Each conveyance structure and drive unit constituting the reciprocator 5 is composed of a servo motor, an LM guide rail, and a ball screw to perform individual driving by control, and on both sides of the X-axis conveyance structure 10. The displacement measurement sensor is installed to detect the distance between the subject and the spray gun 13 to control the driving of the Y-axis feed structure 11 and the C-axis rotary drive unit 12, and the X-axis feed structure 10 Proximity safety sensor is installed on the sliding frame provided in the) to prevent the collision between the head of the coating device and the subject, and to be able to recognize the starting part and the overlapping part in the future.

In addition, the boundary of the work section where the paint overlaps during the continuous painting work is controlled so that the spray gun 13 is automatically rotated by the W-axis tilting unit 14 according to the standard painting conditions of the inputted program so that the coating film of the overlapping coating site Configure to allow control.

For the above control, a touch screen panel window with a plurality of operation switches is installed on the front of the operation panel (not shown) to control the manual and automatic job switching of the reciprocator 5 and the emergency stop switch. It is installed so that the power can be cut off safely in case of malfunction of the equipment, and a lamp is installed to recognize whether the power is on, and a power cord for supplying power is installed at the rear of the operation panel to visually recognize the operation and non-operation status. And a buzzer to notify the completion of the work is installed so that the equipment can be easily operated. In addition, a plurality of regulators (not shown) for adjusting the pressure of the air unit and the air supplied to the receiver 5 are provided. The basic program of the standard coating method for the operation as described above is shown in FIG. At this time, the equipment data input panel is configured to input the transfer speed of the spray gun 13, the area setting to be painted, the ratio of overlap, the interruption time of the spray gun 13, the discharge flow rate.

As shown in FIG. 4, the stacker crane device 18 for moving the reciprocator 5 up and down is fixed to two vertical frames 16 fixed to a single frame 16 moving on the lower rail 3 installed on the work floor. The column (2) is provided with an auxiliary support (6) fixed to the side, and each of the guide rails (27) installed on the inside facing the contact coupling with the guide roller (15) installed in the reciprocator (5) In order to prevent buckling of the two vertical columns 2, the anti-buckling connecting frames 7 and 7a are installed at regular intervals in a horizontal direction so as to connect and fix the vertical columns 2. A support frame 17 fixed to one connecting frame 7a positioned on the upper part of the vertical column 2 among the 7,7a is installed, and the upper end of the vertical column 2 is fixed by the column connecting structure 7b. And the circumference of the guide rail 27 of the vertical column 2 Raechaet tension ring gear drive in the form of rapid safety protection by is configured to include a device (not described drawings).

The upper rail 4 fixed to the dock wall surface, the upper rail 4 and the lower rail 3 fixed to the working floor are simultaneously controlled so that the vertical columns 2 distort themselves when the reciprocator 5 is raised and lowered. The phenomenon is prevented, and the upper rail (4) can be prevented due to the shake of the upper coating equipment can be maintained in parallel.

The drive unit is installed in the upper part of the stacker crane device 18, the driving part for raising and lowering the transfer of the reciprocator 5 is installed on the upper surface of the plate provided with a safety rail along the outside of the end as shown in FIG. The drive motor 21, the reducer 24, and two drive sprockets 25 are provided in order on the output side thereof, and the driving force generated by the drive motor 21 is decelerated at a constant reduction ratio via the reducer 24. After it is delivered to the two driving sprockets 25 and by the rotation of the drive sprocket 25 to allow the reciprocator (5) to move up and down to the desired working position to be aligned.

At one end of the chain 23 which transmits the driving force for raising and lowering, a conveying carriage 8 equipped with a reciprocator 5 is connected, and on the other side of the conveying carriage 8 for stable raising and lowering movement. The weight balance for lifting weight compensation is connected. In addition, the guide carriage 15 traveling along the guide rail 27 of the vertical column 2 is provided on the side of the transport carriage 8 for stable guide of lifting and lowering, and the guide rail of the vertical column 2 is provided. It consists of a rapid safety prevention device (not shown) of the type of the ratchet gear drive by the spring tension installed in the vicinity of the 27.

Figure 7 shows an example of the painting device operating sequence that can be applied automatically using the apparatus of the present invention, after the completion of painting the predetermined unit area automatically covered by the reciprocator 5 according to the automatic program reciprocator The transport carriage 8 equipped with (5) is automatically lowered in the height direction by a predetermined amount, that is, the previously painted area, to automatically work the unpainted site continuously on the prepainted site. The semi-automatic work to check the status of the work can be performed by the operator, and when a series of ship height coatings for a certain section are completed, the transport carriage 8 equipped with the reciprocator 5 returns to the initial position. It is operated by a certain section operator in the length direction of the ship and moved along the upper rail and the lower rail (4, 3) to repeat the same painting work as above. Performed.

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 by the configuration and action as described above can perform a continuous and stable automatic painting work when painting the outer shell of the ship, it is possible to freely access the required painting portion of the outer shell of the vessel, it is possible to quickly automatic painting work, conventional high Unlike when a person paints on board and paints manually, a stable working condition is provided so that the device can operate by setting the same standard coating method in advance, so that the coating quality can be uniform and a good coating can be obtained. In addition, the productivity can be improved by performing a rapid painting process as a whole, so that one person can perform the current three-person work method, and can solve the risk during the operation of the height. In addition, the invention can be used for non-painting and blasting work, and is a very useful invention in terms of easy transportation using a crane when drawing in and out into a ship dock.

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

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

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

4 is a block diagram of a stacker crane unit of the present invention

5 is a configuration diagram of the lift and lower feed drive unit of the present invention;

6 is a standard painting method and sequence of the present invention.

7 is the overall operational painting work sequence of the present invention

8 is a conventional ship shell coating work device

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

(1): hull shell plate (2): vertical column

(3): lower rail (4): upper rail

(5): Reciprocator (6): Auxiliary support

(7,7a): connection frame (7b): column connection structure

(8): conveying carriage (9): Z-axis feed structure

(10): X-axis feed structure (11): Y-axis feed structure

(12): C-axis rotation drive unit (13): spray gun

14: W-axis tilting unit 15: guide roller

16: single frame 17: support frame

(18): stacker crane unit 19: sprayer

20: paint tank 21: drive motor

(22): coupling coupling (23): chain

24: reducer 25: drive sprocket

(26): sprocket bearing unit (27): guide rail

(28): Up / down transfer drive unit 29: Lower support

(30): base structure (31): one-stage telescopic structure

(32): two-stage telescopic structure (33): three-stage telescopic structure

34: guideway 35: bearing

36: guide roller

Claims (3)

A spray gun 13 for sucking and discharging the paint liquid from the paint tank 20 and the spray painter 19, and moving the spray gun 13 in the X-axis, Y-axis, and Z-axis directions. A plurality of guide rollers 15 are provided on both outer side surfaces of the reciprocator 5 on which the structures 10, 11, and 9 are installed, and the guide rails 27 are vertically connected so as to be connected to the guide rollers 15. The stacker crane device 18 is installed, and the single frame 16 installed at the lower end of the stacker crane device 18 is brought into contact with the lower rail 3 installed on the bottom surface of the dock, and the stacker is transported. The hull shell coating system having a stacker crane structure composed of a double column, characterized in that the support frame 17 installed on the upper portion of the crane device 18 is in contact with the upper rail 4 installed on the wall in the dock to be simultaneously transported. . The method of claim 1, The stacker crane device 18 has two vertical columns 2 installed in the vertical direction, each of which is installed inside the guide rail 27 facing each other so as to contact the guide roller 15 installed in the receiver 5. Auxiliary support 6 is attached to each of the two vertical columns 2 to prevent shaking, and a single frame moves along the lower rail 3 at the lower ends of the vertical columns 2. And a plurality of connection frames 7 and 7a which form a constant distance from each other in the horizontal direction of the vertical columns 2, and a plurality of connections located on the upper side of the vertical columns 2. A hull shell coating system having a stacker crane structure composed of double columns, characterized in that the support frame (17) is installed on one of the selected frames (7, 7a) of the connecting frame (7a). The method of claim 1, The coating system of the hull shell plate having a stacker crane structure consisting of a double column, characterized in that parallel installation in a horizontal or vertical parallel to the plurality of coating equipment and the spray gun (13) on the reciprocator (5).