KR20090046557A - The painting method of ship's hull outsidearea using transferring vehicle - Google Patents

The painting method of ship's hull outsidearea using transferring vehicle Download PDF

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KR20090046557A
KR20090046557A KR1020070112779A KR20070112779A KR20090046557A KR 20090046557 A KR20090046557 A KR 20090046557A KR 1020070112779 A KR1020070112779 A KR 1020070112779A KR 20070112779 A KR20070112779 A KR 20070112779A KR 20090046557 A KR20090046557 A KR 20090046557A
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coating
painting
truck
autonomous
pattern
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KR1020070112779A
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Korean (ko)
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이동훈
김호경
임래수
김동균
임효관
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에스티엑스조선주식회사
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Publication of KR20090046557A publication Critical patent/KR20090046557A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/14—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials to metal, e.g. car bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D1/00—Processes for applying liquids or other fluent materials
    • B05D1/36—Successively applying liquids or other fluent materials, e.g. without intermediate treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05D7/00—Processes, other than flocking, specially adapted for applying liquids or other fluent materials to particular surfaces or for applying particular liquids or other fluent materials
    • B05D7/50—Multilayers
    • B05D7/56—Three layers or more
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

본 발명은 자율이동대차를 이용한 선체표면의 도장방법에 관한 것으로서, 도장사양에 따른 도료종류 및 현재온도를 입력하는 단계와; 입력된 도료종류 및 현재온도에 따른 신너량을 산출하는 단계와; 산출된 신너량에 대해 희석 고형분 용적비(SVR)를 산출하는 단계와; 도장조건을 입력하는 단계와; 도막두께를 산출하는 단계와; 산출된 도막두께가 규정된 도막두께를 만족하는지를 체크하는 단계와; 도장패턴을 결정하는 단계와; 중첩영역의 비율을 결정하는 단계와; 도장조건에 따라 도장패턴 및 중첩영역을 반영하여 선체표면을 도장하는 단계를 포함하여 이루어짐으로써 균일한 도막두께를 확보하여 최상의 도장품질을 확보할 수 있고, 중첩영역에 따른 도막겹침을 최소화하여 생산성을 향상시킬 수 있는 잇점이 있다. The present invention relates to a method of coating a hull surface using an autonomous moving truck, comprising the steps of: inputting a paint type and a current temperature according to a painting specification; Calculating thinner amount according to the input paint type and current temperature; Calculating a dilute solid volume fraction (SVR) with respect to the calculated thinner amount; Inputting a painting condition; Calculating a film thickness; Checking whether the calculated film thickness satisfies a prescribed film thickness; Determining a painting pattern; Determining a proportion of the overlapped area; It includes the step of painting the surface of the hull reflecting the coating pattern and overlapping area according to the painting conditions to secure the uniform coating thickness to ensure the best coating quality, and to minimize the overlapping of the overlapping areas to improve productivity. There are advantages to improving it.

자율이동대차, 선체, 도장방법 Autonomous moving truck, hull, painting method

Description

자율이동대차를 이용한 선체표면의 도장방법{THE PAINTING METHOD OF SHIP'S HULL OUTSIDEAREA USING TRANSFERRING VEHICLE}Coating method of hull surface using autonomous moving truck {THE PAINTING METHOD OF SHIP'S HULL OUTSIDEAREA USING TRANSFERRING VEHICLE}

본 발명은 자율이동대차를 이용한 선체표면의 도장방법에 관한 것으로서, 특히 균일한 두께의 도막이 형성되도록 하여 최상의 도장품질을 확보하고 또한 도료 사용량을 절감하여 생산성을 향상시킬 수 있는 자율이동대차를 이용한 선체표면의 도장방법에 관한 것이다. The present invention relates to a coating method of the hull surface using an autonomous mobile truck, in particular to ensure that the coating film of a uniform thickness is formed to ensure the best coating quality and also to reduce the amount of paint used to improve the productivity of the hull using a mobile truck It is related with the coating method of a surface.

선체블록의 외판 및 하부의 도장작업은 피도물과의 거리, 스프레이 속도, 노즐의 분사압력 등 작업조건에 따라 상이한 도장두께를 초래한다. 이는 숙련자와 비숙련자의 작업성에 상당한 영향을 미쳐 불균일한 도막품질 및 두께로 인해 도료 사용량을 증가시킬 뿐만 아니라 생산성을 감소시키는 원인이 되고 있다. Painting work on the outer shell and lower part of the hull block results in different coating thicknesses depending on the working conditions such as distance to the workpiece, spray speed, and nozzle spray pressure. This has a significant impact on the workability of skilled and unskilled workers, which causes not only increased paint usage but also reduced productivity due to uneven coating quality and thickness.

종래 선체외판을 도장하는 방법으로서 도 1에 도시한 바와 같이 국내등록특허 제 733163호에 기재된 선체외판 도장 작업방법을 들 수 있다. As a method of coating a conventional hull shell plating, as shown in FIG. 1, the hull shell coating work method described in Korean Patent No. 733163 may be mentioned.

이 방법은 도장로봇(50)을 이용하여 선체 외판 도장을 실시함에 있어서, 압력 방폭구조를 갖는 도장로봇(50)의 스프레이건(51)이 이격센서(52)에 의해 선체외판과 일정거리를 유지한 상태에서 좌측에서 우측으로 스프레이 공정을 수행하게 되 는 모션인 제1공정(60a)과, 상기 도장로봇(50)이 제1공정을 수행하는 동안에 수직 1축으로 구성된 수직리프터(20)가 하강하게 되는 모션인 제2공정(60b)와, 상기 제1공정(60a)의 도장로봇(50) 모션과 제2공정(60b)의 수직리프터(20)가 하강하게 되는 연동패턴 형태의 모션인 제3공정(60c)와, 상기 도장로봇(50)이 수행한 제1공정(60a)의 패턴과 좌,우 방향이 반대되는 방향으로 진행하게 되는 모션인 제4공정(60d)와, 상기 도장로봇(50)이 수행한 제4공정(60d)을 수행하는 동안에 수직 1축으로 구성된 수직리프터(20)가 하강하게 되는 모션인 제5공정(60e)와, 상기 도장로봇(50)의 모션과 수직리프터(20)가 연동패턴 형태의 모션인 제3공정(60c) 수행 후 다시 역방향으로 수행하는 연동패턴 형태의 모션인 제6공정(60f)로 이루어지도록 하되, 도장로봇(50)의 스프레이건(51)이 선체외판의 상부에서 도장로봇(50)의 초기위치를 설정하고 1번째 스프레이 공정을 수행하게 되는 제1패스도장구간(61a)과, 상기 도장로봇(50)의 첫 번째 도장 스프레이 공정과 연속된 2번째 스프레이 공정을 완료하게 되는 제2패스도장구간(61b)과, 상기 스프레이 공정을 선체외판의 상부에서 도장로봇(50)의 1번째 공정후 연속된 5번째 스프레이 공정을 수행하게 되는 제5패스도장구간(61c)과, 상기 스프레이 공정을 선체외판의 상부에서 도장로봇(50)의 1번째 공정후 연속된 6번째 스프레이 공정을 수행하게 되는 제6패스도장구간(61d)과, 상기 스프레이 공정을 선체외판의 상부에서 도장로봇(50)의 1번째 공정후 연속된 7번째 스프레이 공정을 수행하게 되는 제7패스도장구간(61e)과, 상기 스프레이 공정을 선체외판의 상부에서 도장로봇(50)의 1번째 공정후 연속된 8번째 스프레이 공정을 수행하게 되는 제8패스도장구간(61f)으로 세분화된 스프레이 패턴으로 반복 진행되도록 하는 것을 특징으로 한다. In this method, in coating the hull shell using the painting robot 50, the spray gun 51 of the painting robot 50 having a pressure explosion-proof structure is kept at a constant distance from the shell plating by the separation sensor 52. The first step 60a, which is a motion that performs the spraying process from the left to the right in one state, and the vertical lifter 20 configured as one vertical axis descends while the painting robot 50 performs the first step. The second motion 60b, the motion of the coating robot 50 in the first process 60a, and the vertical lifter 20 in the second process 60b, are motions in the form of an interlocking pattern. 3rd step 60c, the 4th step 60d which is a motion which moves to the direction which the pattern of the 1st step 60a which the said painting robot 50 performed, and the left and right directions are reversed, and the said painting robot Motion that the vertical lifter 20 configured as one vertical axis descends while performing the fourth process 60d performed by 50. A sixth step 60e, and a motion of the interlocking pattern type that is performed in the reverse direction again after performing the third step 60c in which the motion of the painting robot 50 and the vertical lifter 20 are the interlocking pattern type motions. The first pass coating section is to be made in the process (60f), the spray gun 51 of the painting robot 50 to set the initial position of the painting robot 50 in the upper part of the hull shell plate and perform the first spray process 61a, a second pass coating section 61b which completes the second spraying process continuous with the first painting spraying process of the painting robot 50, and the spraying process at the upper part of the hull shell plating; The fifth pass coating section 61c which performs the fifth continuous spray process after the first process of 50) and the sixth continuous after the first process of the painting robot 50 at the upper part of the hull shell plate Sixth pass coating section 61d to be sprayed , The seventh pass coating section 61e which performs the seventh spray process after the first process of the painting robot 50 at the upper part of the hull shell plate, and the spray process is applied on the upper part of the hull shell plate. After the first process of the robot 50 is characterized in that it is repeated in the spray pattern divided into the eighth pass coating section (61f) to perform a continuous eighth spray process.

그런데, 상술한 바와 같은 도장방법의 경우 피도물과의 거리, 스프레이 속도, 노즐의 분사압력, 희석 고형분 용적비(SVR) 등의 도장조건에 따른 도료특성을 정확하게 반영하지 못함으로써 도막두께가 불균일하여 최상의 도장품질을 확보할 수 없었고 정확한 도장작업영역에 대한 도장방법을 제시하지 못하는 문제점이 있었다. However, the coating method described above does not accurately reflect the paint characteristics according to the coating conditions such as distance to the coating material, spray speed, nozzle spray pressure, dilution solids volume ratio (SVR), etc. There was a problem that the quality could not be secured and the coating method for the correct painting work area could not be presented.

이에 본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 피도물과의 거리, 스프레이 속도, 노즐의 분사압력, SVR 등의 도장조건에 따른 도료특성을 정확하게 반영함으로써 균일한 도막두께를 확보하여 최상의 도장품질을 확보할 수 있도록 최적의 도장조건을 제시할 수 있는 자율이동대차를 이용한 선체표면의 도장방법를 제공하는데 그 목적이 있다. Accordingly, the present invention is to solve the above problems, by accurately reflecting the paint characteristics according to the coating conditions, such as the distance to the workpiece, the spray speed, the spray pressure of the nozzle, SVR, etc. to ensure a uniform coating thickness to ensure the best coating quality The purpose of the present invention is to provide a coating method of the hull surface using an autonomous mobile truck that can suggest the optimal coating conditions to secure the.

상기와 같은 목적을 달성하기 위하여 본 발명에 따른 자율이동대차를 이용한 선체표면의 도장방법은 도장사양에 따른 도료종류 및 현재온도를 입력하는 단계와; 입력된 도료종류 및 현재온도에 따른 신너량을 산출하는 단계와; 산출된 신너량에 대해 희석 고형분 용적비(SVR)를 산출하는 단계와; 도장조건을 입력하는 단계와; 도막두께를 산출하는 단계와; 산출된 도막두께가 규정된 도막두께를 만족하는지를 체크하는 단계와; 도장패턴을 결정하는 단계와; 중첩영역의 비율을 결정하는 단계와; 도장조건에 따라 도장패턴 및 중첩영역을 반영하여 선체표면을 도장하는 단계를 포함하여 이루어지는 것을 특징으로 한다. In order to achieve the above object, the coating method of the hull surface using the autonomous moving truck according to the present invention comprises the steps of inputting the paint type and the current temperature according to the coating specifications; Calculating thinner amount according to the input paint type and current temperature; Calculating a dilute solid volume fraction (SVR) with respect to the calculated thinner amount; Inputting a painting condition; Calculating a film thickness; Checking whether the calculated film thickness satisfies a prescribed film thickness; Determining a painting pattern; Determining a proportion of the overlapped area; It characterized in that it comprises the step of painting the hull surface reflecting the coating pattern and the overlapping area according to the coating conditions.

여기에서, 상기 신너량은 도료종류별 온도에 따른 점도의 상관관계를 바탕으로 구해진 온도별 신너, 점도의 상관관계를 통해 산출하는 것이 바람직하고, 상기 희석 고형분 용적비는 도료종류별 고형분 용적비, 주제 및 경화제 부피비의 상관관계를 통해 산출하는 것이 바람직하다. Here, the thinner amount is preferably calculated through the correlation between the thinner and viscosity for each temperature obtained based on the correlation of viscosity according to the temperature of each kind of paint, and the dilution solid volume ratio is the solid content volume ratio of the paint kind, the main volume and the curing agent volume ratio. It is preferable to calculate through correlation.

또한, 상기 도장조건은 선체표면(피도물)과의 거리, 스프레이 속도, 스프레이팁 사이즈 및 스프레이 토출압력을 포함하는 것이 바람직하고, 상기 도막두께는 산출된 신너량에 대하여 희석 고형분 용적비의 변수를 반영하여 산출하는 것이 바람직하다. In addition, the coating conditions preferably include the distance to the hull surface (painted material), the spray speed, the spray tip size and the spray discharge pressure, the coating film thickness reflects the variable of the solid content volume ratio with respect to the calculated thinner amount It is preferable to calculate.

또한, 상기 도장방법은 수직도장방법 또는 수평도장방법으로 도장하되, 작업공간의 모서리 부분의 경우 자율이동대차가 회전중심점을 기준으로 90도 회전하면서 도장작업을 진행하는 것이 바람직하다. In addition, the coating method is painted in a vertical coating method or a horizontal coating method, it is preferable to proceed with the painting work while the autonomous truck is rotated 90 degrees relative to the center of rotation in the corner portion of the workspace.

또한, 상기 도장패턴은 1회도장패턴, 왕복도장패턴 및 사선도장패턴 중 어느 하나이되, 1회도장패턴은 스프레이건이 자율이동대차의 이동방향(A)과 수직방향으로서 자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(a1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동한 후 자율이동대차의 타측에서 일측으로 이동하면서 피도물을 도장(a2)하는 사이클을 반복하는 패턴이고, 왕복도장패턴은 스프레이건이 자율이동대차의 이동방향(B)과 수직방향으로서 자율이동대차의 양측 방향으로 왕복 이동하면서 피도물을 도장(b1)한 후 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 사이클을 반복하는 패턴이고, 사선도장패턴은 스프레이건이 자율이동대차의 이동방향(C)과 수직방향으로서자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(c1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 동시에 타측에서 일측의 사선방향으로 이동하면서 피도물을 도장(c2)하는 사이클을 반복하는 패턴인 것이 바람직하다. Further, the seal pattern is once painted pattern, reciprocating seal pattern and the diagonal seal which being optionally replaced with one pattern, once coating pattern spray gun as a moving direction (A) perpendicular to the direction of the autonomous mobile truck the other at one side of the autonomous mobile Balance It is a pattern that repeats the cycle of painting the workpiece (a1) while moving to the side, and the autonomous truck moves the work path by the ratio of the overlapping area, and then moves the coating path (a2) while moving from the other side of the autonomous mobile truck to one side. In the painting pattern, the spray gun reciprocates in both directions of the autonomous transport truck in a direction perpendicular to the movement direction (B) of the autonomous transport truck. It is a pattern that repeats the cycle, and the oblique coating pattern is that the spray gun is perpendicular to the movement direction (C) of the autonomous vehicle, and from one side to the other side of the autonomous vehicle. Coating (c1) a pidomul and copper, and preferably in the autonomous mobile balance the pattern while moving at the same time moving the working path as much as the ratio of the overlapping area on the other side in an oblique direction of one side of repeating the cycle of coating (c2) a pidomul.

본 발명에 따른 자율이동대차를 이용한 선체표면의 도장방법은 피도물과의 거리, 스프레이 속도, 노즐의 분사압력, SVR 등의 도장조건에 따른 도료특성을 정확하게 반영함으로써 균일한 도막두께를 확보하여 최상의 도장품질을 확보할 수 있도는 잇점이 있다. 또한 중첩영역에 따른 도막겹침을 최소화하여 도료사용량을 획기적으로 줄임으로써 생산성을 향상시킬 수 있는 잇점이 있다. The coating method of the hull surface using the autonomous moving truck according to the present invention accurately secures the uniform coating thickness by accurately reflecting the coating characteristics according to the coating conditions such as the distance to the workpiece, the spray speed, the spray pressure of the nozzle, SVR, etc. There is an advantage in ensuring quality. In addition, there is an advantage that productivity can be improved by drastically reducing the amount of paint used by minimizing coating overlap due to overlapping areas.

이하, 첨부된 도면을 참조하여 본 발명을 상세히 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in detail the present invention.

도 2는 본 발명에 따른 자율이동대차를 이용한 선체표면의 도장방법을 설명하기 위한 플로우 차트도, 도 3은 본 발명에 적용되는 수직도장방법을 설명하기 위한 도면, 도 4는 본 발명에 적용되는 수평도장방법을 설명하기 위한 도면, 도 5는 본 발명에 적용되는 작업공간내에서 모서리부분의 도장방법을 설명하기 위한 도면, 도 6은 본 발명에 적용되는 도장패턴을 설명하기 위한 도면이다. Figure 2 is a flow chart for explaining the coating method of the hull surface using the autonomous mobile truck according to the present invention, Figure 3 is a view for explaining a vertical coating method applied to the present invention, Figure 4 is applied to the present invention 5 is a view for explaining a horizontal coating method, Figure 5 is a view for explaining a coating method of the corner portion in the workspace applied to the present invention, Figure 6 is a view for explaining a coating pattern applied to the present invention.

본 발명에 따른 도장장치를 탑재하고 있는 자율이동대차를 이용한 선체표면의 도장방법은 크게 임의의 압력으로 도료의 미립화를 위해 무화조건을 충족시키는 점도를 결정하기 위해 무화조건을 입력하는 과정(S110)과, 작업자의 작업조건에 따른 도장조건을 입력하는 과정(S120)으로 이루어진다. The coating method of the hull surface using the autonomous mobile truck equipped with the coating apparatus according to the present invention is a step of inputting the atomization conditions to determine the viscosity to meet the atomization conditions for atomizing the paint at a large pressure (S110) And, the process consists of inputting the painting conditions according to the working conditions of the worker (S120).

무화조건을 입력하는 과정(S110)은 다음과 같다. The process of inputting the atomization condition (S110) is as follows.

먼저, 도장사양에 따른 도료종류 및 현재온도를 입력하고, 입력된 도료종류 및 현재온도에 따른 신너량을 산출한다(S111),(S112). 상기 신너량은 도료종류별 온도에 따른 점도의 상관관계를 바탕으로 구해진 온도별 신너, 점도의 상관관계를 통해 산출할 수 있다. 즉, 도료종류별 온도에 따른 점도실험을 통해 획득한 데이터를 바탕으로 구해진 온도별 신너, 점도 예측식을 통해 산출할 수 있는 것이다. First, the paint type and the current temperature according to the coating specifications are input, and the amount of thinner according to the input paint type and the current temperature is calculated (S111) and (S112). The thinner amount may be calculated through a correlation between thinner and viscosity for each temperature obtained based on the correlation of viscosity according to temperature for each kind of paint. In other words, it can be calculated through the temperature-specific thinner, viscosity prediction formula obtained based on the data obtained through the viscosity test according to the temperature of each paint type.

계속하여, 산출된 신너량에 대해 희석 고형분 용적비(SVR)를 산출한다(S113). 상기 희석 고형분 용적비는 도료종류별 고형분 용적비, 주제 및 경화제 부피비의 상관관계를 통해 산출할 수 있다. Subsequently, the diluted solid content volume ratio SVR is calculated with respect to the calculated thinner amount (S113). The dilution solids volume ratio can be calculated through the correlation between the solids volume ratio, main material and the curing agent volume ratio for each paint type.

다음에 도장조건을 입력하는 과정(S120)은 다음과 같다. Next, the process of inputting the painting conditions (S120) is as follows.

먼저, 도장조건을 입력한 후 도막두께를 산출한다(S121),(S122). 상기 도장조건은 선체표면(피도물)과의 거리, 스프레이 속도, 스프레이팁 사이즈 및 스프레이 토출압력을 포함할 수 있다. 그리고, 상기 도막두께는 산출된 신너량에 대하여 희석 고형분 용적비의 변수를 반영하여 산출할 수 있다. 즉, 도장종류에 관계없이 동일한 식을 적용하기 위해 산출된 신너량에 대하여 희석 고형분 용적비의 변수가 포함된 도막두께 예측식을 통해 산출하는 것이다. First, after coating conditions are input, the film thickness is calculated (S121) (S122). The coating conditions may include the distance from the hull surface (the workpiece), the spray speed, the spray tip size and the spray discharge pressure. In addition, the coating film thickness may be calculated by reflecting the variable of the dilution solid content volume ratio with respect to the calculated thinner amount. That is, it is calculated through the film thickness prediction formula including the variable of the solid content volume ratio with respect to the thinner amount calculated for applying the same formula irrespective of the coating type.

계속하여, 산출된 도막두께가 도장 SPEC.에서 규정한 도막두께를 만족하는지를 체크하여, 만족할 경우에는 도장패턴을 결정한다(S123),(S124).Subsequently, it is checked whether the calculated coating film thickness satisfies the coating film thickness prescribed by coating SPEC. If it is satisfied, coating patterns are determined (S123) and (S124).

마지막으로, 중첩영역의 비율을 결정한 후, 도장조건에 따라 도장패턴 및 중첩영역을 반영하여 선체표면을 도장한다(S125),(S126). Finally, after determining the proportion of the overlapping area, the hull surface is coated by reflecting the coating pattern and the overlapping area according to the coating conditions (S125) and (S126).

본 발명에 따른 도장방법은 도 3, 4에 도시한 바와 같이 수직도장방법 또는 수평도장방법으로 도장할 수 있는데, 작업공간의 모서리 부분의 경우에는 도 5에 도시한 바와 같이 자율이동대차가 회전중심점을 기준으로 90도 회전하면서 도장작업을 진행하는 것이 바람직하다. The coating method according to the present invention can be painted by a vertical coating method or a horizontal coating method as shown in Figures 3 and 4, in the case of the corner portion of the workspace as shown in Figure 5 the autonomous mobile truck is the center of rotation It is preferable to proceed with painting while rotating 90 degrees relative to.

그리고, 본 발명에 따른 도장방법은 도 6에 도시한 바와 같이 1회도장패턴, 왕복도장패턴 및 사선도장패턴을 이용할 수 있다. 1회도장패턴의 경우는 스프레이건이 자율이동대차의 이동방향(A)과 수직방향으로서 자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(a1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동한 후 자율이동대차의 타측에서 일측으로 이동하면서 피도물을 도장(a2)하는 사이클을 반복하는 패턴이다. In addition, the coating method according to the present invention may use a one-time coating pattern, a reciprocating coating pattern, and an diagonal coating pattern as shown in FIG. 6. In the case of the single coating pattern, the spray gun moves from one side of the autonomous truck to the other in the direction perpendicular to the moving direction (A) of the autonomous truck and paints (a1) the workpiece, and the autonomous truck carries the working path by the ratio of the overlapping area. After moving the pattern from the other side of the autonomous truck to move to one side repeating the cycle of painting the coating (a2).

왕복도장패턴의 경우는 스프레이건이 자율이동대차의 이동방향(B)과 수직방향으로서 자율이동대차의 양측 방향으로 왕복 이동하면서 피도물을 도장(b1)한 후 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 사이클을 반복하는 패턴이다. In the case of the reciprocating painting pattern, the spray gun reciprocates in both directions of the autonomous transport truck in a direction perpendicular to the movement direction (B) of the autonomous transport truck, and paints the coated object (b1), and then the autonomous transport truck moves the working path by the proportion of the overlapping area. The pattern is to repeat the cycle to move.

사선도장패턴의 경우는 스프레이건이 자율이동대차의 이동방향(C)과 수직방향으로서자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(c1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 동시에 타측에서 일측의 사선방향으로 이동하면서 피도물을 도장(c2)하는 사이클을 반복하는 패턴이다. In the case of the diagonal coating pattern, the spray gun moves from one side of the autonomous truck to the other as a direction perpendicular to the movement direction (C) of the autonomous truck, and coats the workpiece (c1), and the autonomous truck moves the working path by the ratio of the overlapping area. It is a pattern which repeats the cycle of coating the to-be-painted object (c2) while moving and moving in the diagonal direction of one side from the other side.

한편, 본 발명에 따른 자율이동대차를 이용한 선체표면의 도장방법을 한정된 실시예에 따라 설명하였지만, 본 발명의 범위는 특정 실시예에 한정되는 것은 아니며, 본 발명과 관련하여 통상의 지식을 가진자에게 자명한 범위내에서 여러 가지의 대안, 수정 및 변경하여 실시할 수 있다. On the other hand, although the coating method of the hull surface using the autonomous mobile truck according to the present invention has been described according to a limited embodiment, the scope of the present invention is not limited to a specific embodiment, those skilled in the art related to the present invention Many alternatives, modifications and variations can be made without departing from the scope of the disclosure.

도 1은 종래 선체외판 도장방법을 설명하기 위한 도면. 1 is a view for explaining a conventional hull shell coating method.

도 2는 본 발명에 따른 자율이동대차를 이용한 선체표면의 도장방법을 설명하기 위한 플로우 차트도.Figure 2 is a flow chart for explaining the coating method of the hull surface using the autonomous mobile truck according to the present invention.

도 3은 본 발명에 적용되는 수직도장방법을 설명하기 위한 도면.3 is a view for explaining a vertical coating method applied to the present invention.

도 4는 본 발명에 적용되는 수평도장방법을 설명하기 위한 도면.4 is a view for explaining a horizontal coating method applied to the present invention.

도 5는 본 발명에 적용되는 작업공간내에서 모서리부분의 도장방법을 설명하기 위한 도면.Figure 5 is a view for explaining the coating method of the corner portion in the workspace to be applied to the present invention.

도 6은 본 발명에 적용되는 도장패턴을 설명하기 위한 도면. 6 is a view for explaining a coating pattern applied to the present invention.

Claims (7)

자율이동대차를 이용한 작업공간내의 선체표면을 도장하는 방법으로서, As a method of painting the hull surface in the working space using the autonomous truck, 도장사양에 따른 도료종류 및 현재온도를 입력하는 단계와; Inputting a paint type and a current temperature according to the painting specification; 입력된 도료종류 및 현재온도에 따른 신너량을 산출하는 단계와; Calculating thinner amount according to the input paint type and current temperature; 산출된 신너량에 대해 희석 고형분 용적비(SVR)를 산출하는 단계와; Calculating a dilute solid volume fraction (SVR) with respect to the calculated thinner amount; 도장조건을 입력하는 단계와; Inputting a painting condition; 도막두께를 산출하는 단계와; Calculating a film thickness; 산출된 도막두께가 규정된 도막두께를 만족하는지를 체크하는 단계와; Checking whether the calculated film thickness satisfies a prescribed film thickness; 도장패턴을 결정하는 단계와; Determining a painting pattern; 중첩영역의 비율을 결정하는 단계와; Determining a proportion of the overlapped area; 도장조건에 따라 도장패턴 및 중첩영역을 반영하여 선체표면을 도장하는 단계를 포함하여 이루어지는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. Coating the hull surface by reflecting the coating pattern and the overlapping area in accordance with the coating conditions. 청구항 1에 있어서, The method according to claim 1, 상기 신너량은 도료종류별 온도에 따른 점도의 상관관계를 바탕으로 구해진 온도별 신너, 점도의 상관관계를 통해 산출하는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. The thinner amount is calculated based on the correlation between the thinner, viscosity for each temperature obtained based on the correlation of the viscosity according to the temperature of the paint type, the coating method of the hull surface using an autonomous moving truck. 청구항 1에 있어서, The method according to claim 1, 상기 희석 고형분 용적비는 도료종류별 고형분 용적비, 주제 및 경화제 부피비의 상관관계를 통해 산출하는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. The dilution solid content volume ratio is calculated by the correlation between the solid content volume ratio, the main material and the curing agent volume ratio for each paint type, the coating method of the hull surface using an autonomous moving truck. 청구항 1에 있어서, The method according to claim 1, 상기 도장조건은 선체표면(피도물)과의 거리, 스프레이 속도, 스프레이팁 사이즈 및 스프레이 토출압력을 포함하는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. The coating condition is a method of painting the surface of the hull using an autonomous mobile truck, characterized in that the distance to the hull surface (painting), spray speed, spray tip size and spray discharge pressure. 청구항 1에 있어서, The method according to claim 1, 상기 도막두께는 산출된 신너량에 대하여 희석 고형분 용적비의 변수를 반영하여 산출하는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. The coating thickness is a coating method of the hull surface using the autonomous mobile truck, characterized in that calculated by reflecting the variable of the dilution solid content volume ratio with respect to the calculated thinner amount. 청구항 1에 있어서 상기 도장방법은, The method according to claim 1, 수직도장방법 또는 수평도장방법으로 도장하되, Paint by the vertical coating method or the horizontal coating method, 작업공간의 모서리 부분의 경우 자율이동대차가 회전중심점을 기준으로 90도 회전하면서 도장작업을 진행하는 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. In the case of the corner portion of the work space, the coating method of the hull surface using the autonomous mobile bogie, characterized in that the autonomous mobile bogie proceeds the painting work while rotating 90 degrees relative to the center of rotation. 청구항 1에 있어서, The method according to claim 1, 상기 도장패턴은 1회도장패턴, 왕복도장패턴 및 사선도장패턴 중 어느 하나이되, The coating pattern may be any one of a one-time coating pattern, a reciprocating coating pattern and an oblique coating pattern, 1회도장패턴은 스프레이건이 자율이동대차의 이동방향(A)과 수직방향으로서 자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(a1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동한 후 자율이동대차의 타측에서 일측으로 이동하면서 피도물을 도장(a2)하는 사이클을 반복하는 패턴이고, In one coating pattern, the spray gun moves the work path by the ratio of the overlapping area while the spray gun moves from one side of the autonomous truck to the other in the direction perpendicular to the moving direction (A) of the autonomous truck. After repeating the cycle of painting the coating (a2) while moving from one side to the other side of the autonomous truck, 왕복도장패턴은 스프레이건이 자율이동대차의 이동방향(B)과 수직방향으로서 자율이동대차의 양측 방향으로 왕복 이동하면서 피도물을 도장(b1)한 후 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 사이클을 반복하는 패턴이고, In the reciprocating coating pattern, the spray gun reciprocates in both directions of the autonomous mobile truck in a direction perpendicular to the moving direction (B) of the autonomous mobile truck, and coats the workpiece (b1), and then the autonomous mobile truck moves the working path by the proportion of the overlapping area. Is a pattern that repeats the cycle 사선도장패턴은 스프레이건이 자율이동대차의 이동방향(C)과 수직방향으로서자율이동대차의 일측에서 타측으로 이동하면서 피도물을 도장(c1)하고 자율이동대차가 중첩영역의 비율만큼 작업경로를 이동하는 동시에 타측에서 일측의 사선방향으로 이동하면서 피도물을 도장(c2)하는 사이클을 반복하는 패턴인 것을 특징으로 하는 자율이동대차를 이용한 선체표면의 도장방법. The diagonal coating pattern is a spray gun moves from one side of the autonomous truck to the other as a direction perpendicular to the movement direction (C) of the autonomous truck, while painting the coating (c1) and the autonomous truck moves the working path by the proportion of the overlapping area. At the same time, the coating method of the hull surface using an autonomous mobile truck, characterized in that the pattern of repeating the cycle (c2) to coat the workpiece while moving in the oblique direction of one side from the other side.
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KR101284866B1 (en) * 2011-03-11 2013-07-09 삼성중공업 주식회사 Coating method of coating apparatus
CN109308370A (en) * 2017-07-27 2019-02-05 都林安川机器人有限公司 Vehicle paintwork robot simulation's method
CN112588474A (en) * 2020-12-04 2021-04-02 恒大新能源汽车投资控股集团有限公司 Spraying method for improving appearance of automobile body paint surface
CN113341064A (en) * 2020-02-17 2021-09-03 华晨宝马汽车有限公司 Quality monitoring method, system, device and medium based on coating thickness value
KR102464844B1 (en) * 2022-06-20 2022-11-09 공주대학교 산학협력단 Method and system for car repair paint using spray characteristic analysis of spray gun

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101284866B1 (en) * 2011-03-11 2013-07-09 삼성중공업 주식회사 Coating method of coating apparatus
CN109308370A (en) * 2017-07-27 2019-02-05 都林安川机器人有限公司 Vehicle paintwork robot simulation's method
KR20190014176A (en) * 2017-07-27 2019-02-12 두림야스카와(주) Method for simulation of vehicle painting robot
CN113341064A (en) * 2020-02-17 2021-09-03 华晨宝马汽车有限公司 Quality monitoring method, system, device and medium based on coating thickness value
CN113341064B (en) * 2020-02-17 2024-01-19 华晨宝马汽车有限公司 Quality monitoring method, system, equipment and medium based on coating thickness value
CN112588474A (en) * 2020-12-04 2021-04-02 恒大新能源汽车投资控股集团有限公司 Spraying method for improving appearance of automobile body paint surface
CN112588474B (en) * 2020-12-04 2022-04-15 恒大新能源汽车投资控股集团有限公司 Spraying method for improving appearance of automobile body paint surface
KR102464844B1 (en) * 2022-06-20 2022-11-09 공주대학교 산학협력단 Method and system for car repair paint using spray characteristic analysis of spray gun

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