WO2010057942A1

WO2010057942A1 - Maintenance device

Info

Publication number: WO2010057942A1
Application number: PCT/EP2009/065444
Authority: WO
Inventors: Hubert Palfinger
Original assignee: Palfinger Systems Gmbh
Priority date: 2008-11-20
Filing date: 2009-11-19
Publication date: 2010-05-27
Also published as: CN102224068B; KR101516689B1; BRPI0920953A2; JP2012509219A; BRPI0920953B1; CN102224068A; PL2370312T3; KR20110096049A; AT11410U1; SG172235A1; JP5556819B2; EP2370312A1; EP2370312B1

Abstract

The invention relates to a maintenance device (100) for large-area steel building surfaces (200), comprising a mobile support system, wherein the support system comprises at least one vertical support (10) on which at least one horizontal support (20) is disposed which can move vertically along the vertical support (10), said horizontal support comprising at least one work cabin (21, 24), and wherein at least two arm systems (22, 25) are provided at the at least one horizontal support (20), wherein a tool holder is disposed on at least one arm system (22, 25).

Description

maintenance device

The invention relates to a maintenance device for large-area steel construction areas with a mobile support system, wherein the support system has at least one vertical support, on which at least one horizontal support vertically movable along the vertical support is arranged with at least one work cabin.

In many fields of technology, it is necessary to examine and process the surface of large-area building surfaces, in particular of steel. For example, the hull of ships must be protected against corrosion at certain intervals. For this purpose, old damaged coatings are removed in special procedures to then provide the cleaned steel surfaces of the hull with a new coat of paint. This process is called "recoating". The manual implementation of this method is very labor-intensive and for the persons involved mostly harmful to health. As these are large areas, expensive and expensive scaffolding structures are necessary to reach any part of the hull.

For example, EP 0 640 440 A1 describes an apparatus for surface treatment of freestanding, essentially vertical walls, in particular of ships. Here, a chassis is provided with two mast elements, on which a cabin is arranged, which is movable relative to the ship's wall. This device is a large, inflexible device, which is in particular unsuitable for processing the bow of a ship's hull.

In US 4,285,469 a device for cleaning vertical surfaces is also disclosed, which has a water jet device for cleaning ship hulls and is fixedly installed on a quay wall. However, such a device is completely unsuitable for mobile use.

In US 3,548,541 a device of the type mentioned is described, which has a vertical support on which a horizontal support is arranged with a work booth. This device generally has only a low flexibility due to the design of the horizontal carrier and, moreover, is only suitable for carrying out a single working step during the "re-coating", namely the carrying out of the sandblasting. It is therefore an object of the invention to eliminate the above-mentioned disadvantages of the prior art and to provide a device of the type mentioned above, which has a particularly high flexibility in their use.

This object is achieved in that at least two arm systems are provided on the at least one horizontal support, wherein a tool holder is arranged on at least one arm system. It is essentially a mobile, tower crane-like carrier system, which is able to perform two different steps on the steel construction area at the same time due to its at least two arm systems. For example, an arm system is equipped with a tool for cleaning the surface by means of a water jet, while the second arm system has a blasting head for sandblasting.

In a preferred embodiment of the invention, at least one of the two arm systems is a five-axis incrementally controlled articulated arm system for receiving automated tools. The five-axis system makes it possible for the automated tool to be introduced in places that are less accessible, while an incremental control, for example, permits automated guidance of the tool over a specific surface area of the steel construction area to be machined.

The automated tools are usually selected from a group comprising jet heads for water or different granules, coating heads and inspection systems. These tools are used in particular in the above-described "recoating" of ship hulls. In a first embodiment of the invention, the two arm systems are independently controllable. Alternatively, it can be provided that the two arm systems can be controlled in dependence on each other. For example, the dependence of the two arm systems on each other is advantageous when the first arm system, e.g. performs a coating of the surface, while the second arm system comprises an inspection system that checks the quality of the paint layer just applied. Independently working arm systems will be used in particular when both arm systems are equipped with the same tool in order to obtain a faster work progress.

In a particularly preferred embodiment of the invention, a first work cabin with a first arm system and at a second end of the at least one horizontal support a second arm system with a second work cabin is provided at a first end of the at least one horizontal support. This embodiment is particularly suitable for the first work cabin, which is preferably arranged directly on the horizontal support, processed via a first arm system, the steel construction area, while the second work cabin via a second arm system can be moved directly to the steel construction area, for example, to allow manual work on this area. The one- or two-man work cabins are usually equipped with all the structures to ensure the disposal of the waste material during stripping, or the sealing of the cabin field to the outside to minimize the environmental impact of released waste material or overspraynebels during recoating. In particular, a suction of the cabin space and the supply of the workplace with fresh air for the workers who perform the final and coating work manually, is provided.

The particular flexibility of the maintenance device according to the invention is in particular also achieved by pivoting to one of the horizontal supports at least in sections in the horizontal plane, so that, in particular, the work cabin or the corresponding tools are easier to bring to the ship's hull. Furthermore, the flexibility is also supported by the fact that in particularly preferred embodiments of the invention, the horizontal support and / or the vertical support in its length is telescopically extendable. Thus, the maintenance device can be used for a variety of applications because its dimensions are adaptable accordingly.

Preferably, the carrier system is incrementally programmably movable substantially parallel to the steel construction surface. Here, the tower or the respective arm system is continuously guided along the steel construction area, in particular, a horizontal and vertical meandering movement is performed automatically. In this way, a forward processing surface is generated. In order to ensure a particularly flexible operation of the maintenance device according to the invention, preferably, the carrier system is movable on a rail system. Alternatively it can be provided that the carrier system can be arranged on a motor vehicle. This has the particular advantage that for short-term processing no separate rail system is necessary and the maintenance system by means of motor vehicle, especially trucks can be easily brought to the respective point.

The maintenance system described above is particularly suitable for the machining and / or inspection of ship hulls and / or steel tank outer walls. The invention is explained in more detail below with reference to non-limiting exemplary embodiments with associated figures. Show:

Fig. Ia is a perspective view of a first embodiment of the maintenance device according to the invention;

FIG. 1b shows a detailed view of the maintenance device from FIG. 1a; FIG.

2a shows a first side view of a second embodiment of the maintenance device according to the invention;

FIG. 2b shows a view of the maintenance device from FIG. 2a from above; FIG.

Fig. 2c is a second side view of the maintenance device of Fig. 2a;

3 is a side view of a third embodiment of the maintenance device according to the invention; and

Fig. 4 shows a plurality of maintenance devices according to the invention in use on a ship's hull in a view from above.

In Fig. Ia, a preferred embodiment of the maintenance device 100 according to the invention is shown, wherein on a vertical support 10, which is arranged on a platform 11, a horizontal beam 20 is vertically movable.

The platform 11 is movable along a rail system 30 and has facilities such as power supply 12, water supply 13, compressed air supply 14 and / or material supply 15, for example, for sand and / or paint, via supply lines (not shown) along the vertical support 10 with the horizontal beam 20th keep in touch. Furthermore, beneath the platform 11, a leveling system 16 is provided, with which the platform 11 and consequently the vertical beam 10 can be aligned as required along the steel surface to be machined, while the displacement along the rail system 30 is substantially parallel to that surface allowed.

In the embodiment of the invention shown here, a first work cage 21 is arranged at one end of the horizontal beam 20, which has a first arm system 22, at the end of which is an automated tool 23 for processing the steel surface, for example a sandblasting head. The first arm system 22 is preferably a five-axis incrementally controlled articulated arm system, with the aid of which the tool 23 is brought to the steel surface to be processed and guided along the same, in order to clean it, for example, of paint and paint. At the opposite end a second work cabin 24 is arranged on the horizontal support 20, which is changeable in its position via a second arm system 25. This second work cabin 24 is designed in particular for the manual processing of the surface and, according to FIG. 1 b, has an extendable element 26 with sealing devices, which is guided and pressed against the surface to be machined via pistons 27. As a result, a hermetically sealed working space is created, which is ventilated via a ventilation system 28 and is provided in particular for coating the surface to be treated with paint. As a result of the hermetic closure of the area to be machined, it remains essentially free of dust and dirt, while no undesired paint mist can escape to the outside.

The embodiment of the maintenance device 100 according to the invention shown in FIGS. 1a and 1b also has a counterweight system on the underside of the horizontal carrier 20, the weights 29, 29 'of which are in accordance with the movements of the first work cabin 21 or its arm system 22 and the second Adjust working cab 24 synchronously.

The maintenance device 100 shown here allows a simultaneous processing of the surface, wherein, for example, in a first step, a first worker in the first work booth 21 cleans the surface by means of sandblasting, while a second worker in the second work booth 24 carries out the subsequent coating of the surface.

A further variant of the maintenance device 100 according to the invention can be seen in FIGS. 2a to 2c are removed. The embodiment shown here differs from the previous one in particular in that the second work cabin 24 is arranged on a second arm system 25 of the horizontal support 20, which in contrast to the previous embodiment is telescopically extendable. In particular, it can be seen from FIG. 2b that the first arm system 22 of the first work cabin 21 is equipped with, for example, a sandblasting head, wherein the first arm system 22 can be pivoted through an angle α of up to 120 ° so that a wide area of the surface can be processed is without the vertical support 10 has to be moved over its platform 11. At the same time it is provided that the first arm system 22 is also telescopically extendable. The second work cabin 24 is arranged on a telescopic arm 25 which is additionally pivotable over an angle β of up to 45 ° to the surface to be machined.

FIG. 2c shows the use of the maintenance device 100 according to the invention in the processing of a ship's hull 200 space-saving and flexible design, for example, between the ship's hull 200 and a dock wall 300 can be arranged.

The maintenance device 100 shown in FIG. 3 has two work cabins 21, 24 which are each set up for manual processing of the surface. These work cabins 21, 24 are each arranged on telescopic arms 22, 25, wherein each of these arm systems 22, 24 is independent of the other extendable and pivotable.

FIG. 4 shows in a top view the section of a ship's hull 200 which is simultaneously machined by means of five maintenance devices 100 according to the invention. Each of these maintenance devices 100 removes in their area, on the one hand, the color originally on the hull 200 and coated in the next step with new color. Likewise, for example, it may be provided that a cleaning unit for cleaning the ship's surface 200 by means of high-pressure water jet is arranged on the first arm system 22, while in the second work booth 24, the cleaned surface is checked for faulty locations.

It is understood that the invention is not limited to the embodiments described above. In particular, the use of a wide variety of tools can be provided on the arm systems of the first work cabin. It can also be provided that both work cabins have an independent arm system for receiving tools. These tools include all equipment designed for washing or cleaning, working such as roughening and / or coating surfaces, as well as equipment and devices for inspecting surfaces. The present maintenance system is particularly suitable for the automated processing of substantially vertical surfaces, in particular made of steel, for example, only one person is required for monitoring a fully automatic "recoating" process.

Claims

1. Maintenance device (100) for large-area steel construction areas (200) with a mobile support system, wherein the support system has at least one vertical support (10) on which at least one along the vertical support (10) vertically movable horizontal support (20) with at least one work booth (21, 24) is arranged, characterized in that on the at least one horizontal support (20) at least two arm systems (22, 25) are provided, wherein at least one arm system (22, 25) a tool holder is arranged.

2. Maintenance device (100) according to claim 1, characterized in that at least one of the two arm systems (22, 25) is a five-axis incrementally controlled articulated arm system for receiving automated tools (23).

A maintenance apparatus (100) according to claim 1 or 2, characterized in that the automated tools (23) are selected from a group comprising jet heads for water or different granules, coating heads and inspection systems.

4. Maintenance device (100) according to any one of claims 1 to 3, characterized in that the two arm systems (22, 25) are independently controllable.

5. Maintenance device (100) according to any one of claims 1 to 3, characterized in that the two arm systems (22, 25) are controllable in dependence on each other.

6. Maintenance device (100) according to one of claims 1 to 5, characterized in that at a first end of the at least one horizontal support (20) a first work booth (21) with a first arm system (22) and at a second end of the at least one Horizontal support (20) a second arm system (25) with a second work booth (24) is provided.

7. Maintenance device (100) according to claim 6, characterized in that the second work booth (24) via the second arm system (25) directly to the steel construction surface (200) can be moved.

8. Maintenance device (100) according to one of claims 1 to 7, characterized in that the horizontal support (20) is at least partially pivotable in the horizontal plane.

9. Maintenance device (100) according to any one of claims 1 to 8, characterized in that the horizontal support (20) and / or the vertical support (10) is telescopically extendable in its length.

10. Maintenance device (100) according to any one of claims 1 to 9, characterized in that the carrier system is substantially in parallel to the steel construction surface (200) incrementally programmable movable.

11. Maintenance device (100) according to one of claims 1 to 10, characterized in that the carrier system on a rail system (30) is movable.

12. Maintenance device (100) according to one of claims 1 to 10, characterized in that the carrier system can be arranged on a motor vehicle.

13. Use of a maintenance device (100) according to one of claims 1 to 12 for the processing and / or inspection of ship hulls (200) and / or steel tank outer walls.