KR20090111601A - The self-control movable type painting system for longe - Google Patents

The self-control movable type painting system for longe Download PDF

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Publication number
KR20090111601A
KR20090111601A KR1020080037291A KR20080037291A KR20090111601A KR 20090111601 A KR20090111601 A KR 20090111601A KR 1020080037291 A KR1020080037291 A KR 1020080037291A KR 20080037291 A KR20080037291 A KR 20080037291A KR 20090111601 A KR20090111601 A KR 20090111601A
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South Korea
Prior art keywords
painting
hull block
mobile
moving
moving cart
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KR1020080037291A
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Korean (ko)
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KR100964333B1 (en
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이동훈
김은태
김은영
김호경
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에스티엑스조선주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0421—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with rotating spray heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
    • B05B15/68—Arrangements for adjusting the position of spray heads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Spray Control Apparatus (AREA)

Abstract

PURPOSE: A self-control movable type painting system for longi is provided, which can improve productivity and painting quality by automatically painting the longi. CONSTITUTION: A self-control movable type painting system for longi comprises a moving cart(110) which travels the floor side and wall of the hull block; a painting module(120) which is mounted in the moving cart and paints a longi; a sensor system(130) which provides location and angular information of the moving cart; a control box(140) which controls the painting module and controls the moving cart using location and angular information of the moving cart offered from the sensor system.

Description

선체블록 내부 론지용 자율이동 도장장치{THE SELF-CONTROL MOVABLE TYPE PAINTING SYSTEM FOR LONGE}Automated Mobile Coating System for Longines inside Hull Blocks {THE SELF-CONTROL MOVABLE TYPE PAINTING SYSTEM FOR LONGE}

본 발명은 자율이동 도장장치에 관한 것으로서, 특히 선체블록 내부에 설치된 론지를 편리하게 도장할 수 있는 자율이동 도장장치에 관한 것이다. The present invention relates to an autonomous mobile painting device, and more particularly, to an autonomous mobile painting device that can conveniently paint a longage installed inside the hull block.

최근 신규 선박에 대한 이중선체 구조 요구의 법제화 추세에 따라 조선공정에 있어 밀폐 구역이 차지하는 비중은 나날이 증가하고 있는 실정이다. 그런데, 선체밀폐 블록(10)은 도 1에 도시한 바와 같이 선박의 강성을 만족시키기 위해 수많은 부재들로 형성되어 있고, 이로 인하여 선체블록(10)의 내부는 사람이 겨우 들어갈 정도의 밀폐된 공간만이 존재한다. Recently, the proportion of enclosed areas in the shipbuilding process has been increasing day by day due to the legislative demand for double hull structure for new ships. By the way, the hull closed block 10 is formed of a number of members to satisfy the rigidity of the ship, as shown in Figure 1, and because of this, the interior of the hull block 10 is a closed space enough to enter a person Only exists.

따라서, 작업자가 선체블록(10)의 맨홀(11)을 통하여 내부에 들어간 후 내부에 설치된 L형, T형 등의 다수의 론지(12)를 도장할 때, 작업자의 이동이 자유롭지 못하여 생산성이 낮을 뿐만 아니라 허리를 굽혀 전처리, 도장, 후처리 공정 등을 수행함으로써 작업자의 근골격계 장애를 야기하고, 때로는 유해물질에도 노출될 가능성이 있어 작업자의 건강을 해칠 우려가 있었다. Therefore, when the worker enters through the manhole 11 of the hull block 10 and paints a large number of longages 12 such as L-type and T-type installed therein, the worker's movement is not free and productivity is low. In addition, by performing the pretreatment, painting, and post-treatment process by bending the waist, it causes the musculoskeletal disorder of the worker, and sometimes there is a possibility that it may be exposed to harmful substances, which may harm the health of the worker.

또한, 작업자가 일일이 허리를 굽혀 육안검사를 하면서 작업을 수행할 수 없 기 때문에 도막 품질면에서도 양호하지 못하고 도료 용기에서 롤러를 꺼내 작업을 할 때 도료가 흘러내려 재작업해야 하는 문제점도 있었다. In addition, because the worker can not perform the work while visually inspecting the bend one by one, there is also a problem in that the paint quality is not good in terms of the film quality and the paint flows down and rework when the roller is removed from the paint container.

이에 본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 선체블록 내부를 자유롭게 이동하면서 선체블록 내부에 설치된 론지를 자동으로 도장함으로써 생산성 및 도장 품질을 향상시킬 수 있는 선체블록 내부 론지용 자율이동 도장장치를 제공하는데 그 목적이 있다. Accordingly, the present invention is to solve the above problems, while moving freely inside the hull block while automatically painting the rouge installed inside the hull block autonomous mobile coating device for the hull block inside the hull block to improve productivity and coating quality The purpose is to provide.

상기와 같은 목적을 달성하기 위하여 본 발명에 따른 선체블록 내부에 설치된 론지를 도장하는 자율이동 도장장치는, 선체블록 내부의 바닥면 및 벽면을 주행하는 이동대차와; 상기 이동대차에 탑재되어 론지를 도장하는 도장모듈과; 상기 이동대차의 위치 및 각도정보를 제공하는 센서시스템과; 상기 센서시스템으로부터 제공받은 이동대차의 위치 및 각도정보를 이용하여 설정된 주행조건에 따라 주행할 수 있도록 이동대차를 제어하고, 설정된 도장조건에 따라 도장할 수 있도록 도장모듈을 제어하는 제어박스를 포함하여 이루어진 것을 특징으로 한다. In order to achieve the above object, the autonomous mobile coating device for coating a longage installed in the hull block according to the present invention includes: a moving trolley for driving the bottom and wall surfaces of the hull block; A painting module mounted on the moving trolley to paint a long paper; A sensor system for providing position and angle information of the moving cart; Including a control box for controlling the moving cart to run according to the set driving conditions using the position and angle information of the moving cart provided from the sensor system, and to control the painting module to paint according to the set painting conditions Characterized in that made.

여기에서, 상기 이동대차의 하부에는 바닥면 또는 벽면에 흡착될 수 있는 흡착용 영구자석이 설치되어 있고, 또한 상기 이동대차의 전·후단에는 이동대차가 수직 벽면을 완벽하게 등반할 수 있도록 수직 등반용 영구자석이 설치되어 있는 것이 바람직하다. Here, a permanent magnet for adsorption that is adsorbed on the bottom surface or the wall surface is installed in the lower portion of the mobile truck, and vertical climbing to the front and rear of the mobile truck so that the mobile truck can fully climb the vertical wall surface. It is preferable that a permanent magnet is provided.

또한, 상기 도장모듈은 에어호스에 의해 제공되는 에어압과 솔밸브의 온 또는 오프신호에 따라 도료를 분사하는 도장건을 구비하고 있고, 도장건이 선회축을 중심으로 회전할 수 있도록 구동하는 피칭 모터 및 도장건이 회전축을 중심으로 회전할 수 있도록 구동하는 요잉 모터를 구비하고 있는 것이 바람직하다. In addition, the painting module has a coating gun for spraying the paint in accordance with the air pressure provided by the air hose and the on or off signal of the sole valve, the pitching motor for driving the coating gun to rotate about the pivot axis; It is preferable that the coating gun is provided with a yawing motor which drives so that it may rotate about a rotating shaft.

또한, 상기 센서시스템은 이동대차의 방위각을 검출하는 자이로 센서, 이동대차의 전·후방 구조물을 인식하여 이동대차와 구조물의 거리를 검출하는 전·후 인식센서, 이동대차의 좌·우 구조물을 인식하여 이동대차와 구조물의 거리를 검출하는 좌·우 인식센서를 구비하고 있는 것이 바람직하다. In addition, the sensor system recognizes the gyro sensor for detecting the azimuth angle of the moving cart, the front and rear recognition sensors for detecting the distance between the moving cart and the structure by recognizing the front and rear structures of the moving cart, and the left and right structures of the moving cart. It is preferable that the left and right recognition sensors for detecting the distance between the moving cart and the structure.

본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치는 선체블록 내부를 주행하면서 다수의 론지를 자동으로 도장함으로써 생산성 및 도장 품질을 향상시킬 수 있는 잇점이 있다. 또한, 흡착용 영구자석을 구비함으로써 부가적인 장비없이도 벽면에 흡착된 상태로 인접한 론지로 자유롭게 이동할 수 있고, 수직 등반용 영구자석을 구비함으로써 구동바퀴의 바닥에 대한 접지력을 향상시켜 수직 벽면을 완벽하게 등반할 수 있는 잇점이 있다. 또한, 도장건을 구비함으로써 균일하게 도막 처리할 수 있는 잇점이 있다. 또한, 피칭 모터를 구비함으로써 피칭 회전각에 의해 론지 전체 영역을 도장할 수 있고, 요잉 모터를 구비함으로써 요잉 회전각에 의해 론지 끝단의 보류구간도 도장할 수 있는 잇점이 있다. 또한, 자이로 센서를 구비함으로써 이동대차의 정확한 각도를 이용하여 협소공간에서의 이동이 가능하고, 전·후, 좌·우 인식센서를 구비함으로써 론지와의 일정거리를 유지시켜주는 직진성을 보장받을 수 있는 잇점이 있다. The autonomous mobile coating device for long paper inside the hull block according to the present invention has the advantage of improving productivity and coating quality by automatically painting a plurality of long paper while traveling inside the hull block. In addition, by providing permanent magnets for adsorption, it is possible to move freely to adjacent longages while adsorbed on the wall without any additional equipment. The permanent magnet for vertical climbing improves the grip on the bottom of the driving wheel, thereby perfecting vertical walls. There is an advantage to climbing. Moreover, there exists an advantage which can coat-process uniformly by providing a coating gun. In addition, by providing the pitching motor, the whole rosin region can be painted by the pitching rotation angle, and by having the yawing motor, the holding section of the long edge end can be painted by the yawing rotation angle. In addition, the gyro sensor can be used to move in a narrow space by using the exact angle of the moving cart, and the front, rear, and left / right recognition sensors can be used to guarantee the straightness of maintaining a constant distance from the long position. There is an advantage.

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 선체블록 내부 론지용 자율이동 도장장치의 사시도, 도 3은 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치의 측면도, 도 4는 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치의 수직 벽면 등반을 나타내는 상태도, 도 5는 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치를 이용한 개선된 작업영역을 보여주는 도면이다. Figure 2 is a perspective view of the autonomous mobile painting apparatus for the hull block internal longage according to the present invention, Figure 3 is a side view of the autonomous mobile coating apparatus for the hull block internal longage according to the present invention, Figure 4 is for a hull block internal longage according to the present invention State diagram showing the vertical wall climbing of the autonomous mobile painting device, Figure 5 is a view showing an improved working area using the autonomous mobile painting device for the hull block internal longage according to the present invention.

도면에 도시한 바와 같이, 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치(100)는 선체블록 내부를 주행하면서 내부에 설치된 론지를 도장하는 장치로서, 크게 이동대차(110), 도장모듈(120), 센서시스템(130) 및 제어박스(140)로 이루어진다. As shown in the figure, the autonomous mobile painting device 100 for the hull block inside the hull block according to the present invention as a device for painting the rouge installed inside while traveling inside the hull block, largely mobile cart 110, painting module ( 120, the sensor system 130 and the control box 140.

상기 이동대차(110)는 선체블록 내부를 주행할 수 있는데, 자력을 발생하여 바닥면 또는 벽면에 흡착될 수 있는 흡착용 영구자석(111)을 구비하고 있다. 따라서, 이동대차(110)는 부가적인 장비없이도 흡착용 영구자석(110)을 이용하여 선체블록의 벽면에 흡착된 상태로 인접한 론지로 자유롭게 이동할 수 있다. 이때, 이동대차(110)의 전·후단에는 이동대차(110)가 수직 벽면을 원활하게 등반할 수 있도록 수직 등반용 영구자석(112)이 설치되어 있을 수 있다. 즉, 이동대차(110)의 전·후단에 수직 등반용 영구자석(112)을 설치함으로써 구동바퀴의 접지력, 마찰력, 추진력에 의한 수직 벽면 등반 효과와 더불어 구동바퀴의 접지력을 향상시켜 도 4에 도시한 바와 같이 수직 벽면을 완벽하게 등반하여 인접한 론지로 이동할 수 있게 되는 것이다. The mobile trolley 110 may travel inside the hull block, and has a permanent magnet 111 for adsorption, which may generate magnetic force and be adsorbed on a floor or a wall. Therefore, the mobile truck 110 can move freely to the adjacent longage in the state of being adsorbed to the wall surface of the hull block using the permanent magnet 110 for adsorption without additional equipment. At this time, the front and rear ends of the mobile cart 110 may be provided with a permanent magnet 112 for vertical climbing so that the mobile cart 110 can smoothly climb the vertical wall surface. That is, by installing the permanent magnet 112 for vertical climbing at the front and rear of the mobile truck 110, the vertical wall surface climbing effect by the grounding force, frictional force, driving force of the driving wheel is improved and the grounding force of the driving wheel is shown in FIG. As you can see, you'll be able to climb the vertical wall perfectly to move to the adjacent lodge.

상기 도장모듈(120)은 이동대차(110)에 탑재되는데 에어호스(미도시)에 의해제공되는 에어압과 솔밸브(미도시)의 온 또는 오프 신호에 따라 도료를 자동으로 분사하는 도장건(121)을 구비하여 론지를 도장한다. 이와 같이, 도장모듈(120)은 자동 도장건(121)을 구비함으로써 론지를 균일하게 도막 처리할 수 있다. The painting module 120 is mounted on the mobile truck 110, the coating gun for automatically spraying paint in accordance with the air pressure provided by the air hose (not shown) and the on or off signal of the sole valve (not shown) ( 121) to coat the long paper. As such, the coating module 120 may be provided with the automatic coating gun 121 to uniformly coat the long film.

그리고, 도장모듈(120)은 도장건(121)이 선회축을 중심으로 회전할 수 있도록 구동하는 피칭 모터(pitching motor:122) 및 도장건(121)이 회전축을 중심으로 회전할 수 있도록 구동하는 요잉 모터(yawing motor:123)를 구비할 수 있다. 따라서, 피칭 모터(122)에 의한 피칭 모션 즉, 피칭 회전각에 의해 론지 전체 영역을 도장할 수 있고, 또한 요잉 모터(123)에 의한 요잉 모션 즉, 요잉 회전각에 의해 론지 끝단의 보류 구간을 도장할 수 있다. In addition, the painting module 120 includes a pitching motor 122 driving the painting gun 121 to rotate about the pivot axis, and a yawing driving the painting gun 121 to rotate about the rotation axis. A yawing motor 123 may be provided. Therefore, the entire rosin region can be painted by the pitching motion by the pitching motor 122, that is, the pitching rotation angle, and the holding section at the end of the long edge by the yawing motion by the yawing motor 123, that is, the yawing rotation angle. You can paint.

이와 같이, 본 발명의 도장장치(100)를 이용하게 되면 도 5에 도시한 바와 같이 론지(12)에 도장처리된 기존의 작업영역(P)과 비교할 때 끝단까지 완벽하게 도장처리된 새로운 작업영역(P)을 확인할 수 있다. Thus, when using the coating device 100 of the present invention as shown in Figure 5 compared to the existing work area (P), which is coated on the long paper 12, a new work area that is completely painted to the end (P) can be confirmed.

상기 센서시스템(130)은 이동대차(110)의 위치 및 각도정보를 제공하는데, 이동대차(110)의 방위각을 검출하는 자이로 센서(131), 이동대차(110)의 전·후방 구조물을 인식하여 이동대차(110)와 구조물의 거리를 검출하는 전·후 인식센서(132) 및 이동대차(110)의 좌·우 구조물을 인식하여 이동대차(110)와 구조물의 거리를 검출하는 좌·우 인식센서(133)를 구비할 수 있다. 이와 같이, 센서시스템(130)은 자이로 센서(131)를 구비함으로써 이동대차(110)의 정확한 각도를 검출 할 수 있어 협소공간에서의 이동을 가능하게 하고, 전·후, 좌·우 인식센서(132),(133)를 구비함으로써 론지와의 거리를 검출할 수 있어 이동대차(110)와 론지 사이의 거리를 일정하게 유지시켜주는 직진성을 보장받을 수 있다. The sensor system 130 provides position and angle information of the moving cart 110. The sensor system 130 recognizes the front and rear structures of the gyro sensor 131 and the moving cart 110 to detect the azimuth of the moving cart 110. Recognition of the left and right structures of the front and rear recognition sensor 132 for detecting the distance between the moving trolley 110 and the structure and the left and right structures for detecting the distance between the moving trolley 110 and the structure The sensor 133 may be provided. As described above, the sensor system 130 includes the gyro sensor 131 to detect an accurate angle of the moving cart 110, thereby enabling movement in a narrow space, and enabling front, rear, and left and right recognition sensors ( 132) and 133 can detect the distance to the long land, so that the straightness that maintains the distance between the mobile truck 110 and the long land can be guaranteed.

상기 제어박스(140)는 이동대차(110), 도장모듈(120) 및 센서시스템(130)과 케이블로 연결된 컨트롤러로서 외부에서 작업자가 조작할 수 있도록 터치패드, 제어기, 엠프, 파워 서플라이 등을 구비하는데 상기 센서시스템(130)으로부터 제공받은 이동대차(110)의 위치 및 각도정보를 이용하여 작업자에 의해 설정된 주행조건에 따라 주행할 수 있도록 이동대차(110)를 제어하고, 작업자에 의해 설정된 도장조건에 따라 도장할 수 있도록 도장모듈(120)을 제어한다. 즉, 이동대차(110)가 구조물과 부딪히지 않고 주행하면서 설정된 도막두께, 도장건(121)과 론지의 거리, 도장건(121)의 도료 분사 속도 등의 도장조건에 따라 론지를 도장할 수 있도록 한다. The control box 140 is a controller connected to the moving cart 110, the painting module 120, and the sensor system 130 by a cable and is provided with a touch pad, a controller, an amplifier, a power supply and the like so that an operator can operate from the outside. By using the position and angle information of the mobile trolley 110 provided from the sensor system 130 to control the mobile trolley 110 to run in accordance with the driving conditions set by the operator, the painting conditions set by the operator It controls the painting module 120 to be coated according to. That is, it is possible to paint the long ground according to the coating conditions such as the coating film thickness, the distance between the paint gun 121 and the long paper, and the paint spraying speed of the paint gun 121 while the mobile truck 110 travels without hitting the structure. .

한편, 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치를 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. 예컨대, 론지 크기 및 론지 간 간격 등에 따른 다양한 모션을 설정토록 하여 도장작업을 수행할 수 있다. On the other hand, although the self-moving coating device for a hull block internal longage 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, to those skilled in the art related to the present invention Various alternatives, modifications, and changes can be made within the scope of the obvious. For example, painting can be performed by setting various motions according to the size of the long paper and the space between the long paper.

도 1은 선박의 강성을 만족시키기 위해 다수의 부재들로 보강된 선체블록 내부를 나타내는 도면. 1 shows the hull block interior reinforced with multiple members to satisfy the rigidity of the ship;

도 2는 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치의 사시도. Figure 2 is a perspective view of the autonomous mobile painting device for the hull block internal longage according to the present invention.

도 3은 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치의 측면도. Figure 3 is a side view of the autonomous mobile painting device for the hull block internal longage according to the present invention.

도 4는 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치의 수직 벽면 등반을 나타내는 상태도. Figure 4 is a state diagram showing the vertical wall climbing of the autonomous mobile painting device for the hull block internal longage according to the present invention.

도 5는 본 발명에 따른 선체블록 내부 론지용 자율이동 도장장치를 이용한 개선된 작업영역을 보여주는 도면. 5 is a view showing an improved working area using the autonomous mobile painting device for the hull block internal longage according to the present invention.

*도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

100 : 도장장치 110 : 이동대차100: coating device 110: mobile truck

111 : 흡착용 영구자석 112 : 수직 등반용 영구자석111: permanent magnet for adsorption 112: permanent magnet for vertical climbing

120 : 도장모듈 121 : 도장건120: coating module 121: coating gun

122 : 피칭 모터 123 : 요잉 모터122: pitching motor 123: yawing motor

130 : 센서시스템 131 : 자이로 센서130: sensor system 131: gyro sensor

132 : 전·후 인식센서 133 : 좌·우 인식센서132: Front and rear recognition sensor 133: Left and right recognition sensor

140 : 제어박스 140: control box

Claims (7)

선체블록 내부에 설치된 론지를 도장하는 장치로서, Apparatus for painting the longage installed inside the hull block, 선체블록 내부의 바닥면 및 벽면을 주행하는 이동대차와; A mobile trolley for driving the bottom and wall surfaces of the hull block; 상기 이동대차에 탑재되어 론지를 도장하는 도장모듈과; A painting module mounted on the moving trolley to paint a long paper; 상기 이동대차의 위치 및 각도정보를 제공하는 센서시스템과; A sensor system for providing position and angle information of the moving cart; 상기 센서시스템으로부터 제공받은 이동대차의 위치 및 각도정보를 이용하여 설정된 주행조건에 따라 주행할 수 있도록 이동대차를 제어하고, 설정된 도장조건에 따라 도장할 수 있도록 도장모듈을 제어하는 제어박스를 포함하여 이루어진 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. Including a control box for controlling the moving cart to run according to the set driving conditions using the position and angle information of the moving cart provided from the sensor system, and to control the painting module to paint according to the set painting conditions Autonomous mobile painting device for the long hull block, characterized in that made. 청구항 1에 있어서, The method according to claim 1, 상기 이동대차의 하부에는 바닥면 또는 벽면에 흡착될 수 있는 흡착용 영구자석이 설치되어 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The lower portion of the moving trolley is a self-moving coating device for a long block inside the hull block, characterized in that the permanent magnet is installed that can be adsorbed on the bottom or wall surface. 청구항 2에 있어서, The method according to claim 2, 상기 이동대차의 전·후단에는 이동대차가 수직 벽면을 등반할 수 있도록 수직 등반용 영구자석이 설치되어 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The front and rear ends of the moving truck autonomous mobile painting device for the long haul inside the hull block, characterized in that the permanent magnet for vertical climbing is installed so that the moving cart can climb the vertical wall surface. 청구항 1에 있어서, The method according to claim 1, 상기 도장모듈은 에어호스에 의해 제공되는 에어압과 솔밸브의 온 또는 오프신호에 따라 도료를 분사하는 도장건을 구비하고 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The painting module is an autonomous mobile painting device for a hull block internal longage, characterized in that the coating gun for spraying the paint in accordance with the air pressure provided by the air hose and the on or off signal of the sole valve. 청구항 4에 있어서, The method according to claim 4, 상기 도장모듈은 도장건이 선회축을 중심으로 회전할 수 있도록 구동하는 피칭 모터를 구비하고 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The painting module has a pitching motor for driving the paint gun to rotate about the pivot axis, characterized in that the autonomous mobile painting device for the hull block inside. 청구항 4에 있어서, The method according to claim 4, 상기 도장모듈은 도장건이 회전축을 중심으로 회전할 수 있도록 구동하는 요잉 모터를 구비하고 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The painting module is an autonomous mobile painting device for the long haul inside the hull block, characterized in that it comprises a yawing motor for driving the coating gun to rotate about the rotation axis. 청구항 1에 있어서, The method according to claim 1, 상기 센서시스템은 이동대차의 방위각을 검출하는 자이로 센서, 이동대차의 전·후방 구조물을 인식하여 이동대차와 구조물의 거리를 검출하는 전·후 인식센서, 이동대차의 좌·우 구조물을 인식하여 이동대차와 구조물의 거리를 검출하는 좌·우 인식센서를 구비하고 있는 것을 특징으로 하는 선체블록 내부 론지용 자율이동 도장장치. The sensor system is a gyro sensor for detecting the azimuth angle of the mobile bogie, the front and rear recognition sensors for detecting the distance between the mobile bogie and the structure by recognizing the front and rear structures of the mobile bogie, the movement of the left and right structures of the mobile bogie An autonomous mobile painting device for a long position inside a hull block, comprising: a left and right recognition sensor for detecting a distance between a bogie and a structure.
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