SU770923A1 - Apparatus for automatic cleaning and painting ship hull - Google Patents

Description

This invention relates to shipbuilding, in particular, to devices for automatic cleaning and painting of a hull.

A device for automatic cleaning and painting of a ship hull is known, comprising a self-propelled carriage with a telescopic boom mounted on it, equipped with boom tilt and extension servos, the free end of which is connected to the holder of work tools by the servo-mechanism of the boom holder and mounted on the sensor holder of the gap between the working devices and the ship's hull, the outputs of which are electrically connected to the inputs of the summers of servo-mechanisms she boom and swing the holder 1.

The purpose of the invention is to improve the quality and. stabilization of a given processing rate of a ship body.

For this, the device is equipped with sensors for the speed of rising of the boom and the angle of rotation of the holder in the plane of inclination of the boom, the unit for the processing speed of the ship hull

and a multiplier unit, wherein the boom extension speed sensor is mechanically coupled to its retractable part, and the holder angle sensor is installed on the latter axis, the input of the accumulator of the boom extension servo mechanism electrically connected to the outputs of the boom speed extension sensor and the multiplication unit, whose input is connected to the sensor outputs of the angle of rotation of the holder and the setpoint of the processing speed of the ship hull.

FIG. 1 shows schematically the described device; in fig. 2 is a view A of FIG. one; in fig. 3 - diagram of the interaction of sensors with servomechanisms.

The device contains a self-propelled trolley 1 with a telescopic boom 2, equipped with a servo-mechanism 3 and an alternator. To the free end of the boom 2, the holder of 4 working devices is attached sariirno, carrying sensors 5 and 6 of the gap between the hull 7 and the working devices 8. The holder 4 is rotatably fixed on the horizontal axis 9 in the plane of inclination of the boom 2 using

Iichma K) rotation holder. A sensor 12 for extending (folding) the boom is associated with the retractable part 11 of the telescopic boom. With (XYU 9 rotation of the holder 4, the sensor 13 rotates the angle of rotation of the holder in the square (x; the boom tilt bones).

The outputs of the sensors 5 and 6 are connected to the adder 14 of the servo-mechanism 10 of the rotation of the holder, and the adder 15 of the servo-mechanism 3 of the boom tilt. The outputs of the angle sensor .13 of the rotation of the holder and the setting unit 16 of the processing speed are connected to the multiplication unit 17, the output of which is connected to the first input of the adder 18 of the boom extension servo-mechanism 19, the second input of which is connected to the output of the boom speed sensor 12.

A telescopic hydraulic cylinder is used as a servomechanism 19 for extending the boom 2, in which all three sections are simultaneously raised or folded.

The telescopic boom 2 can also be made in the form of folding frames with an electric motor through each other through a system of blocks and cables.

As the sensor 13 of the angle of rotation of the holder can be applied potentiometrically sensor with profiled winding. The boom extend speed sensor 1 can be constructed, for example, based on a digital-to-analog type sensor with a differentiating force: an output tele.

The device works as follows.

The speed and extension of the boom 2 when the working devices move in a vertical plane along a line equal to that of the curved .1 of the outer surface of the hull 7 is determined by the ratio

and ,, WOCOST, (1)

where UQ is the specified processing speed;

7 - the angle between the vectors.

Since the speed of movement of the working devices of the treated surface must remain unchanged, equal to the specified processing speed Uo, the boom elongation rate, as follows from the above ratio, must be varied according to the cosine law. The latter can vary from zero when upright; The scientific research institute of an arrow at a board to 180 ° at a horizontal arrangement of an arrow and work on the bottom of the case. When going through 7 90 °, cos7 changes its sign, which corresponds to a change in the direction of the vector U by 180 °, i.e. the transition from advance to folding, or vice versa.

The boom servo mechanism 19 drives movement, such as folding; Sensor

5 and 6 at the same time, they give a signal to control the servo-mechanism 10 so that with equal gaps X and Xg, respectively, between the intergauge sensors 5, 6 and the housing 7, the error signal at the output of the adder 14 is equal to zero. At the same time, sensors 5 and 6 control the servo-mechanism 3, ensuring that the specified clearance is constant. Thus, when the working devices 8 move, for example, the boom 2 simultaneously folds down, the holder turns and the boom tilts. In addition, the multiplication unit 17 continuously generates a control signal to the input of the adder 18 according to the relation (1), and the servo-mechanism 10 provides the required speed using the sensor 12, which allows stabilizing the processing speed.

After the next wasp is carried out, covering the onboard, zygomatic, and bottom parts of the body, the device is moved to the treatment shaft along the body.

V.

Claims (1)

Invention Formula A device for automatic cleaning and painting of the ship's hull, comprising a self-propelled trolley with a telescopic boom mounted on it, equipped with servo-mechanisms for tilting and raising the boom, the free end of which has an axis; connected to the holder of working devices using a servo-mechanism for turning the holder in the plane of the boom tilt, and mounted on the holder sensors for the gap between the working devices and the ship's hull, the codes of which are electrically connected to the inputs of the adders of the boom-tilt servo-mechanisms and turning the holder increase the quality and stabilization of the desired processing speed of the ship's hull; it is equipped with sensors for the speed of boom extension and holder rotation angle in the plane of inclination of st relays, unit for processing speed of the ship's hull and multiplier, at. In this case, the boom spin-down speed sensor is mechanically connected to its retractable part, and the holder angle sensor is mounted on the latter axis, the adder input of the boom extension servo-mechanism electrically connected to the outputs of the boom extension speed sensor and the multiplication unit, the input of which is and unit control speed of the ship hull. Sources of information taken into account in the examination B Patette of Japan No. 34987, cl. 84 K 52, 1969. %   ; VfV , taot, .