KR20140012481A - Paint film forming robot - Google Patents

Abstract

The present invention relates to a robot for forming a film of paint. The robot for forming a film of paint according to an embodiment of the present invention includes: an arm; a driving unit which is connected to one end of the arm and which rotates the arm up and down; and a supporting member which is connected to the other end of the arm and on which a working unit for spraying paint or an abrasive material is installed. The arm includes: a first link having one end connected to the driving unit by a first shaft pin and the other end connected to the supporting member by a third shaft pin; and a second link having one end connected to the driving unit by a second shaft pin and the other end connected to the supporting member by a fourth shaft pin.

Description

Paint film forming robot

The present invention relates to a film forming robot, and more particularly to a film forming robot for forming a coating film on the hull block.

The ship is formed with a coating on its surface for the purpose of preventing corrosion and damage. If the coating thickness on the outer surface of the hull is not uniform, the frictional resistance with water when the ship is operated can be large, and the propulsion efficiency can be lowered. If the coating thickness of the hull is not uniform, peeling of the coating film occurs and the ship is corroded. Therefore, each block constituting the ship should have a uniform film thickness on both the inner and outer surfaces.

A robot is used to make the coating thickness uniform. For example, Republic of Korea Patent Publication No. 10-0495707 discloses a articulated robot for painting.

The robot disclosed in the above publication includes several arms for adjusting the position of the spray gun for spraying paint. The spray gun is rotatably coupled to the second arm.

In order for the thickness of the coating formed on the hull to be uniform, the angle at which the spray gun forms with the surface to be coated must be kept uniform. However, as the arm rotates, the angle that the spray gun makes with the surface to be coated changes. Therefore, the spray gun should be rotated in accordance with the rotation of the arm, so that the angle between the spray gun and the surface to be coated should be controlled.

Patent Document 1: Republic of Korea Patent Registration No. 10-0495707

One embodiment of the present invention is to provide a coating film forming robot to uniformly form the thickness of the coating film.

In addition, an embodiment of the present invention is to provide a coating film forming robot is always the same angle formed between the nozzle member and the surface to be coated.

In addition, an embodiment of the present invention to provide a coating film forming robot having a large moving distance of the nozzle member.

According to one aspect of the invention, cancer; A driving unit connected to one end of the arm to rotate the arm up and down; And a support member connected to the other end of the arm and provided with a work unit for spraying paint or abrasive material, wherein the arm has one end connected to the drive unit by a first shaft pin and the other end by a third shaft pin. A first link connected to the support member; And a second link, one end of which is connected to the drive unit by a second shaft pin and the other end of which is connected to the support member by a fourth shaft pin.

In addition, the second link is provided with the same length as the first link, and positioned below the first link in parallel with the first link, the distance from the first shaft pin to the third shaft pin is It may be provided equal to the distance from the second shaft pin to the fourth shaft pin.

In addition, the first shaft pin and the second shaft pin is protruded to be located outward from the side of the travel unit, the arm can be rotated so that the support member is located below the bottom of the drive unit.

In addition, the second shaft pin is located in front of the first shaft pin, the line which is an imaginary line connecting the first shaft pin and the second shaft pin can be inclined downward forward.

The coating film forming robot may further include a traveling unit, and the driving unit may be rotatably coupled to an upper surface of the traveling unit.

The support member may further include a coupling part connected to the arm by the third shaft pin and the fourth shaft pin; And a supporting part on which the work unit is installed, and the supporting part may be provided in parallel with the ground.

The arm may further include a reinforcing link having one end coupled to the first link by a fifth shaft pin and the other end coupled to the second link by a sixth shaft pin.

According to an embodiment of the present invention, the thickness of the coating film may be uniformly formed on the inner surface and the outer surface of the hull block.

In addition, according to an embodiment of the present invention, the angle formed between the nozzle member and the surface to be coated may be maintained the same.

In addition, according to an embodiment of the present invention, the movement distance of the nozzle member may be largely provided.

1 is a perspective view of a coating film forming robot according to an embodiment of the present invention.
FIG. 2 is a view illustrating a state in which the film forming robot of FIG. 1 is installed. FIG.
3 is a side view of the film forming robot of FIG. 2.
4 is a side view showing a state in which the arm is rotated downward.
5 is a view showing a state of the roller assembly located on the rail.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art. Thus, the shape of the elements in the figures has been exaggerated to emphasize a clearer description.

1 is a perspective view of a coating film forming robot according to an embodiment of the present invention.

Referring to FIG. 1, the film forming robot 10 includes a driving unit 100, a driving unit 200, an arm 300, a support member 400, and a work unit 500.

Hereinafter, the longitudinal direction of the traveling unit 100 is viewed in the first direction 1, and the direction perpendicular to the first direction 1 when viewed from the top is the second direction 2, the first direction 1, and the second direction ( The direction perpendicular to 2) is called the third direction 3. The direction in which the arm 300 and the receiving member 400 are positioned in the first direction 1 will be referred to as a forward direction and the opposite side thereof will be referred to as a rearward direction.

The traveling unit 100 moves the driving unit 200 and the arm 300 in the first direction 1. In this embodiment, the driving unit 100 is described as being provided in a hexahedral shape, but the present invention is not limited thereto. The lower surface of the traveling unit 100 is provided with a plurality of roller assemblies 110 on both sides. The plurality of roller assemblies 110 are located side by side along the first direction 1. The roller assembly 110 guides the movement of the traveling unit 100. One side of the traveling unit 100 is provided with a fixing member 120. The fixing member 120 fixes the tube used in each process of forming the coating film. The fixing member 120 is fixed to the lower surface of the travel unit 120, the end of which is exposed to the rear of the travel unit 120. In another embodiment, one end of the fixing member 120 may be provided on the side of the driving unit 100.

The driving unit 200 is installed on the upper surface of the traveling unit 100. The drive unit 200 is provided to be rotatable about an axis parallel to the third direction 3 with respect to the travel unit 100. The first coupling member 210 and the second coupling member (220 of FIG. 3) are provided in front of the driving unit 200. The first coupling member 210 and the second coupling member 220 are provided to be located outside the side of the travel unit 100. The second engaging member 220 is positioned below the first engaging member 210. The end of the second engagement member 220 is positioned forward of the end of the first engagement member 210. [

One end of the arm 300 is rotatably coupled to the drive unit 200 based on an axis parallel to the second direction 2. The arm (300) includes a first link (310) and a second link (320). The first link 310 and the second link 320 are provided with the same length. The first link 310 and the second link 320 are rotatably coupled to the drive unit 200. One end of the first link 310 is coupled to the first coupling member 210 by a first shaft pin (A1 in FIG. 3). The second link 320 is positioned below the first link 310 in parallel with the first link 310. One end of the second link 320 is coupled to the second coupling member 220 by a second shaft pin (A2 in FIG. 3). The first line L1 of FIG. 3, which is an imaginary line connecting the first shaft pin A1 and the second shaft pin A2, is formed to be inclined downward. A reinforcing link 330 is provided at the center of the first link 310 and at the center of the second link 320. The reinforcing link 330 improves the strength of the arm 300. [ The reinforcing link 330 is engaged with the first link 310 by the fifth axis pin A5 and is engaged with the second link 320 by the sixth axis pin A6. The distance from the first axis pin A1 to the fifth axis pin A5 is provided equal to the distance from the second axis pin A2 to the sixth axis pin A6. Thus, the third link 330 is parallel to the first line L1. The first engaging member 210 or the second engaging member 220 may be provided with a motor (not shown) that provides power to move the arm 300 up and down.

The support member 400 is coupled to the other end of the arm 300. The receiving member 400 includes a coupling portion 410 and a receiving portion 420. [ The other ends of the first link 310 and the second link 320 are hinged to the coupling portion 410 by a third shaft pin (A3 in FIG. 3) and a fourth shaft pin (A4 in FIG. 3), respectively. The second line L2 of FIG. 3, which is an imaginary line connecting the third shaft pin A3 and the fourth shaft pin A4, has the same length as the first line L1. The first link 310 and the second link 320 are provided in parallel with the same length so that the second line L2 is parallel to the first line L1. The receiving portion 420 is provided at an angle with the engaging portion 410. The working unit 500 is located in the receiving portion 420. The operation unit 500 includes a support member 510 and a nozzle member 520. [ Work unit 500 is provided detachably to the support 420. The nozzle member 520 may be provided with a blasting gun for spraying a paint gun or an abrasive material spraying paint. The paint gun and the blast gun are provided interchangeably in the support member (510).

FIG. 2 is a view illustrating a state in which the film forming robot of FIG. 1 is installed. FIG.

Referring to Figure 2, the film forming robot 10 is located on the work board (R) is installed rail (R). The work board 620 is provided to be movable up and down, front and rear or left and right. As an example, the work board 620 may be installed on the arm 610 of the crane 600. The rail R is provided on an upper surface of the work board 620. The coating film forming robot 10 is movable along the rail R in the 1st direction 1. Pipe (P) for supplying paint or abrasive is connected to the nozzle member (520). One point of the pipe P is fixed to the fixing member 120. The pipe P is positioned adjacent to the film forming robot 10 even when the arm 300 or the driving unit 200 moves. Thus, the pipe P is prevented from contacting the hull block surface during operation.

FIG. 3 is a side view of the coating film forming robot of FIG. 2, and FIG. 4 is a view illustrating a state in which the arm is rotated downward.

Referring to Figures 3 and 4, the rotation of the arm 300 will be described. The first line L1, the first link 310, the second line L2, and the second link 320 form a parallelogram. Even when the arm 300 is rotated, the inclination of the second line L2 is always the same as the inclination of the first line L1. Therefore, the angle formed by the support 420 and the ground does not change with the rotation of the arm 300. The coating film forming robot 10 according to an embodiment of the present invention is always the same angle of the support 420 or the working unit 500 with the ground without additional control. Therefore, the control of the coating film forming robot 10 becomes simple.

The first coupling member 210 and the second coupling member 220 are provided to protrude from the side surface of the traveling unit 100, and the driving unit (below) of the first coupling shaft (A1) and the second coupling shaft (A2) 100) is not located. Therefore, the arm 300 is rotated so that the support member 400 descends to the lower side than the bottom of the drive unit 200. The coating film forming robot 10 according to an embodiment of the present invention is formed with a wide working range of the work unit 500.

5 is a view showing a state of the roller assembly located on the rail.

Referring to FIG. 5, the roller assembly 110 includes a first roller 111, a second roller 112, and a third roller 113. The roller assembly 110 is located in the first rail portion R1 of the rail R. The first rail portion R1 is provided in a substantially '-' shape. The 1st roller 111 and the 2nd roller 112 are provided in contact with the upper surface C1 and the lower surface C2 of the 1st rail part R1, respectively. The third roller 113 is in contact with the inner end portion C3 of the first rail portion R1. The roller assembly 110 prevents the traveling unit 100 from being separated from the rail R.

The traveling unit 100 includes a pinion 130 positioned above the roller assembly 110. The pinion 130 meshes with the second rail portion R2 of the rail R. As shown in FIG. The second rail portion R2 is provided as a rack. When the pinion 130 is engaged with the second rail portion R2 and rotates, the traveling unit 100 moves along the rail R.

The foregoing detailed description is illustrative of the present invention. In addition, the foregoing is intended to illustrate and explain the preferred embodiments of the present invention, and the present invention may be used in various other combinations, modifications, and environments. That is, it is possible to make changes or modifications within the scope of the concept of the invention disclosed in this specification, within the scope of the disclosure, and / or within the skill and knowledge of the art. The embodiments described herein are intended to illustrate the best mode for implementing the technical idea of the present invention and various modifications required for specific applications and uses of the present invention are also possible. Accordingly, the detailed description of the invention is not intended to limit the invention to the disclosed embodiments. It is also to be understood that the appended claims are intended to cover such other embodiments.

100: drive unit 200: drive unit
210: first coupling member 220: second coupling member
300: arm 310: first link
320: second link 400: support member

Claims (7)

cancer;
A driving unit connected to one end of the arm to rotate the arm up and down;
It is connected to the other end of the arm, and includes a support member for installing a work unit for spraying paint or abrasive,
The arm
A first link having one end connected to the drive unit by a first shaft pin and the other end connected to the support member by a third shaft pin; And
And a second link having one end connected to the drive unit by a second shaft pin and the other end connected to the support member by a fourth shaft pin. The method of claim 1,
The second link is provided with the same length as the first link, and is located below the first link in parallel with the first link,
And a distance from the first shaft pin to the third shaft pin is equal to a distance from the second shaft pin to the fourth shaft pin. 3. The method of claim 2,
The first shaft pin and the second shaft pin,
And the arm is rotated so that the support member is positioned below the bottom of the driving unit so as to protrude outward from the side of the traveling unit. The method according to any one of claims 1 to 3,
The second shaft pin is positioned in front of the first shaft pin, the line forming a virtual line connecting the first shaft pin and the second shaft pin is inclined forward downward. The method according to any one of claims 1 to 3,
The coating film forming robot,
Further includes a traveling unit,
And the driving unit is rotatably coupled to an upper surface of the traveling unit. The method according to any one of claims 1 to 3,
The support member,
A coupling part connected to the arm by the third shaft pin and the fourth shaft pin; And
It includes a supporting unit is installed the work unit,
[0030]
A film forming robot provided in parallel with the ground. The method according to any one of claims 1 to 3,
The arm
And a reinforcing link having one end coupled to the first link by a fifth shaft pin and the other end coupled to the second link by a sixth shaft pin.

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