KR20170003328A - Wire Type Painting Robot in Double-Hulled Structure - Google Patents

Abstract

The present invention provides a painting robot having a simple structure and easy to control, capable of automatically painting a vertical wall inside a block, and in a longitudinal direction while moving in a double-hull block instead of a painting worker. According to the present invention, the painting robot in a hull block comprises: a plurality of driving parts capable of operating on a wall in the hull block; a ring-type wire connecting between the plurality of driving parts and being rotational; and a painting gun part fixed at one side of the wire and spraying paint, wherein each of the plurality of the driving parts includes a magnetic wheel to operate in a state of providing magnetic force to the wall in the double-hull block. According to the present invention, paint work is uniformly done with high quality compared to a manual scheme in which ununiformity in terms of work quality is unavoidable.

Description

Technical Field [0001] The present invention relates to a double-

The present invention relates to a paint automation apparatus in a ship manufacturing process, and more particularly, to a paint automation apparatus which can conveniently apply a longi in a hull block and inside thereof using an autonomous mobile painting automation apparatus .

To date, automation of welding, machining and logistics has been carried out in many key processes during shipbuilding, and practical application and improvement of work environment has progressed considerably. As a result, the painting industry in the shipbuilding industry is acting as a bottleneck process.

In addition, as IMO (International Maritime Organization) enacted the double hull structure of the tanker for safety and environmental protection, the number of hermetically sealed and narrowed spaces was increased, and the amount of internal painting work for these hermetically closed spaces also increased.

In addition, IMO's PSPC, which was enacted in 2006, requires high-grade pretreatment and coating standards to ensure long life and stability of ships. At the same time, recently, ship owners are demanding a higher level of painting quality for shipbuilders in order to improve the life span of vessels and reduce the maintenance cost. Therefore, it is possible to satisfy the demand trend of high quality painting without reducing the productivity of the shipyard It is in desperate situation to draw the painting construction technique.

On the other hand, in the case of painting operation inside the double hull block, it is surrounded by a structural body such as a partition or a shell plate, and a plurality of longi, stiffener or the like for reinforcing the structural rigidity of the hull A stiffener is installed. The reinforcing material is installed so as to protrude toward the inner surface of the block. As a result, the reinforcing material acts as an obstacle in the painting operation for the inside of the block as described above.

1 is a perspective view showing a structure of a double hull block. Referring to FIG. 1, complex structures such as a lotion 15, which is a multiplicity of reinforcing materials, are protruded in the hull block 10. 2 is a cross-sectional view of a double hull block.

In this way, although the degree of difficulty and required quality for the coating process in the ship manufacturing process are rising together, the automation of the coating process is progressing slowly in the ship manufacturing process to date. In particular, the painting process inside the double hull block is more difficult due to the tightness of the closed space and the difficulty of the work due to the inner workspace. For this reason, the painting process inside the double hull block up to now is mainly carried out by hand work of the painting worker.

3 is a view showing a painting worker performing a painting operation in a double hull block. Referring to FIG. 3, when a conventional paint operator carries out the painting process through manual operation, the quality of the work is uneven due to the nature of the manual work, and the quality of the work may be low according to the skill of the worker.

Also, in the case of manual operation, the operator must move between the hull blocks 10 through the manhole 13 while working in the hull block 10. Such a hull block 10 has a problem that a paint worker is exposed to toxic substances discharged from a painting process for a long time due to a dark and tightly closed space and a narrow working space. In addition, the double hull block painting work by hand has a problem that the worker has a high risk of having a musculoskeletal disease because the shape of the inside longe (15) is complicated and the ceiling work lamp is difficult to work.

As a solution to this problem, an automatic painting robot can be considered. However, due to the characteristics of the hull block 10, which is an object to be painted, a general painting robot has a problem in that it is large in size and heavy in weight when a worker carries it through the manhole 13. In addition, there is a problem that it is not possible to have a special structure capable of coating with uniform quality up to the above-mentioned rung 15.

Korean Patent Registration No. 10-104554 discloses a power transmission system including a main frame, a plurality of upper winches coupled to an upper portion of the main frame, and a plurality of lower winches coupled to a lower portion of the main frame, A locating platform; A plurality of first wires each having one end coupled to the lower side of the structure and the other end connected to the upper winch, the length of which is adjusted; And an autonomous mobile device including an autonomous mobile device including a plurality of second wires, one end of which is coupled to the upper side of the structure, and the other end of which is connected to the lower winch, respectively.

However, the autonomous mobile device according to the present invention has a structure in which a plurality of wires provided in the transverse direction support the vertical load of the moving platform, so that an excessive tension is applied to the plurality of wires. Further, since each end of the plurality of wires needs to be fixed in the hull block, which is an object to be painted, when all the hull blocks move to another hull block after the operation on one hull block is completed, There is a problem that it must be combined.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a paint automation apparatus that can automatically paint a vertical wall and a roof in a block while moving inside a double hull block instead of a paint worker The purpose.

It is another object of the present invention to provide a paint automation apparatus which is small in size and light in weight so that an operator can be carried through a manhole of a double hull block.

It is another object of the present invention to provide a paint automation apparatus having a structure capable of coating vertical wall surfaces and longevity areas inside a double hull block.

In order to achieve the above object, the present invention provides a hull comprising: a plurality of running portions capable of running on a wall surface of the hull block; an annular wire rotatable between the plurality of running portions and fixed to one side of the wire; Wherein the traveling part includes a magnet wheel and travels in a state of providing a magnetic force to a wall surface of the double hull block.

In addition, the painting automation apparatus inside the hull block may include two of the plurality of running sections, and may include one of the annular wires.

The magnet wheel may be an electromagnet.

In addition, each of the plurality of running portions may include two magnet wheels, and each of the magnet wheels may be independently driven so that each of the plurality of running portions may be configured to be able to travel and change directions relatively.

The plurality of running portions may each include a wire winch capable of winding the wire, and the wire winch and the wire may have a gear structure that can be engaged with each other.

Each of the plurality of running portions may include a sprocket capable of winding the wire, and the wire may be composed of a metal chain so that the sprocket and the chain can be engaged with each other.

As described above, according to the present invention, it is possible to perform a uniform and high quality painting operation as compared with a manual work in which a deviation between work quality can not be avoided.

In addition, the quality of the work of the paint worker may be low due to the dark and tight interior space and the narrow work space in the conventional manual work. However, according to the present invention, a high quality painting work can be performed without being affected by the work environment.

Further, according to the present invention, there is an advantage that existing paint workers can be protected from industrial hazards caused by toxic substances or musculoskeletal diseases.

Further, according to the present invention, it is possible to paint the vertical wall surface and the longe portion in the double hull block, and the equipment for this purpose is small, light and simple enough to be carried by the operator and pass through the manhole of the hull block have.

According to the present invention, it is possible to solve the excessive weight problem of the moving part of the painting apparatus using the existing wire, so that it is possible to simplify the control of the moving part and to prevent the excessive tension from being applied to the wire.

Further, according to the present invention, there is an advantage in that it is not necessary to work to couple and release a plurality of wires to the wall surface of the hull block through manual operation for each painting process of each hull block, as compared with the paint device using existing wire.

1 is a perspective view showing a structure of a double hull block.
2 is a cross-sectional view showing a cross-sectional structure of a double hull block.
FIG. 3 is a view showing a painting worker performing a painting process in a double hull block. FIG.
4 is a perspective view showing a configuration of a paint automation apparatus according to an embodiment of the present invention.
5 is a perspective view illustrating a running part of a paint automation apparatus according to an embodiment of the present invention.
FIG. 6 is a perspective view showing that a wire of a paint automation apparatus according to an embodiment of the present invention is wound. FIG.
FIG. 7 is a perspective view illustrating that a gear is formed on a wire winch of a paint automation apparatus according to an embodiment of the present invention.
FIG. 8 is a view showing that the automatic hull block painting apparatus according to the present invention carries on painting work inside the hull block.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings.

4 is a perspective view showing a configuration of a paint automation apparatus according to an embodiment of the present invention. Referring to FIG. 4, a paint automation apparatus according to the present invention includes two running parts 100, a wire 301, and a wire spray 501. The two running parts 100 run one by one on opposite wall surfaces of the hull block and the wire 301 connects the two running parts 100 and the wire 301 is connected to the two The wire spray 501 fixed to one side of the wire 301 repeats winding and unwinding by the driving unit 100. The wire spray 501 reciprocates between the two running parts 100 to spray the paint.

5 is a perspective view showing a running unit 100 of a paint automation apparatus according to an embodiment of the present invention. 5, the traveling unit 100 includes two traveling magnet wheels 101, a traveling frame 103, a traveling motor 105, a wire motor 107, a wire winch 109, (113). The traveling unit 100 can move in a state of being attached to the wall surface of the hull block 10 made of iron due to its magnetic force.

The traveling magnet wheel 101 travels on the wall surface of the hull block 10. The traveling magnet wheel 101 may be formed of an electromagnet, but it may be magnetized so that it can be provided with a magnetic attraction force to the wall surface of the hull block 10, but the present invention is not limited thereto. The traveling magnet wheel 101 has a shape of a circular wheel which can travel. Accordingly, the traveling magnet wheel 101 may be attached to a wall surface of the hull block 10 to travel on the wall surface. One or more traveling magnet wheels 101 may be formed on each of the traveling units 100, and preferably two traveling magnet wheels 101 may be formed on both sides of the traveling unit 100. When two traveling magnet wheels 101 are formed on one traveling part 100, the traveling magnet wheels 101 can be independently rotated. In this case, due to the two independently rotatable magnet wheels 101, the traveling unit 100 can rotate about a line perpendicular to the traveling plane, and can perform linear motion in the forward and backward directions on the traveling plane .

The traveling section frame 103 is formed on the side surface of the traveling magnet 100 to support the center axis of the traveling magnet 101 and the traveling section 100 ), Respectively.

The traveling motor 105 is formed on one side surface of the traveling section frame 103 and provides driving force to the traveling magnet wheel 101 to enable traveling. Preferably, the number of the traveling motors 105 is the same as the number of the traveling magnetic wheels 101 to provide an independent rotational force to each of the traveling magnetic wheels 101, The number of the traveling motors 105 must be equal to the number of the traveling magnetic wheels 101 and the number of the traveling magnetic wheels 101. In this case, It is not necessary to be the same.

The winch motor 107 is formed on another side surface of the driving section frame 103 and serves to transmit a rotational force to the wire winch 109. The winch motor 107 may be omitted. When the winch motor 107 is omitted, it further includes a power transmission device (not shown) and a power interrupter (not shown) so that the winch motor 107 can receive power from the traveling motor 105 have.

The wire winch 109 is formed on a side surface of the driving part frame 103 and receives a rotational force from the winch motor 107 to wind or unwind the wire 301. The wire winch 109 may be made of rubber or synthetic resin so as to increase the frictional force between the wire winch 109 and the wire 301.

The running part spray 113 is formed on one side of the running part frame 103 and injects paint onto the periphery of the running part 100 as the running part 100 moves.

The wire 301 has an elongated closed loop and is synchronized with each wire winch 109 of the two traveling parts 100 adsorbed on two different wall surfaces of the hull block 10, Or released. FIG. 6 is a perspective view showing that a wire of a paint automation apparatus according to an embodiment of the present invention is wound. FIG. Referring to FIG. 6, it can be seen that as the wire winch 109 rotates, the wire 301 engaged therewith is also engaged with the wire winch 109 in the rotating direction.

The wire winch 109 has a wire gear 303 formed on one side of the wire 301 and a winch gear 111 formed around the wire winch 109 in order to increase frictional force with the wire 301 Can have an interlocking structure. FIG. 7 is a perspective view illustrating that a gear is formed on a wire winch of a paint automation apparatus according to an embodiment of the present invention. Referring to FIG. 7, it can be seen that the wire 301 and the wire winch 109 operate with a structure in which they are engaged with each other.

The material of the wire 301 may include synthetic resin, but it may be formed of a material having flexibility and formed into a long loop-shaped closed loop, but is not limited thereto.

According to another embodiment of the present invention, the wire 301 may be replaced by a chain. In this case, the wire winch 109 can also be replaced by a sprocket which can be engaged with the chain.

The wire spray 501 is fixed to one side of the wire 301 and is transported to a place where coating is required by winding and loosening of the wire 301 and spraying paint.

FIG. 8 is a view showing that the automatic hull block painting apparatus according to the present invention carries on painting work inside the hull block. Referring to FIG. 8, the wire spray 501 fixed to the wire 301 is moved by the movement of the wire 301, so that the paint can be sprayed where necessary.

While the foregoing is a description of the preferred embodiments of the invention, the scope of the claims is not limited to the specific embodiments shown and described herein, but is to be accorded the widest scope consistent with the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10 Hull Block
13 Manhole
15 Longji
100 running section
101 Magnetic Wheel
103 Traveling frame
105 Traveling motor
107 Winch Motor
109 Wire Winch
111 winch gear
113 Travel Spray
301 wire
303 wire gear
501 Wire Spray

Claims (6)

As a paint automation device inside a hull block for painting the interior of a double hull block,
A plurality of running portions capable of running on a wall surface inside the hull block;
An annular wire rotatable between the plurality of running parts;
And a painting gun part fixed to one side of the wire and spraying paint. The plurality of traveling parts each include a magnet wheel to travel in a state of providing a magnetic force to a wall surface inside the double hull block, Automated paint automation in block.
The method according to claim 1,
Wherein the plurality of running portions are two, and one of the annular wires is included.
The method according to claim 1,
Wherein the magnet wheel is an electromagnet.
The method according to claim 1,
Wherein each of the plurality of running portions includes two magnet wheels, and each of the magnet wheels is independently driven so that each of the plurality of running portions is capable of running and changing directions relatively.
The method according to claim 1,
Wherein the plurality of running portions each include a wire winch capable of winding the wire, and the wire winch and the wire have a gear structure that can be engaged with each other.
The method according to claim 1,
Wherein the plurality of running portions each include a sprocket capable of winding the wire, the wire being made of a metal chain, and the sprocket and the chain can be engaged with each other, .

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