WO2011138481A1 - Tool and method for the automatic remote application of strips of fibre-reinforced polymer tape, comprising the dispensing of epoxy adhesive - Google Patents
Tool and method for the automatic remote application of strips of fibre-reinforced polymer tape, comprising the dispensing of epoxy adhesive Download PDFInfo
- Publication number
- WO2011138481A1 WO2011138481A1 PCT/ES2011/000145 ES2011000145W WO2011138481A1 WO 2011138481 A1 WO2011138481 A1 WO 2011138481A1 ES 2011000145 W ES2011000145 W ES 2011000145W WO 2011138481 A1 WO2011138481 A1 WO 2011138481A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- dispensing
- roller
- frp
- tape
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 229920006332 epoxy adhesive Polymers 0.000 title claims description 5
- 229920002430 Fibre-reinforced plastic Polymers 0.000 title abstract description 8
- 239000011151 fibre-reinforced plastic Substances 0.000 title abstract description 8
- 238000010276 construction Methods 0.000 claims abstract description 41
- 239000000853 adhesive Substances 0.000 claims abstract description 15
- 230000001070 adhesive effect Effects 0.000 claims abstract description 15
- 229920005989 resin Polymers 0.000 claims description 29
- 239000011347 resin Substances 0.000 claims description 29
- 238000000576 coating method Methods 0.000 claims description 25
- 239000011248 coating agent Substances 0.000 claims description 24
- 238000005520 cutting process Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 13
- 239000003822 epoxy resin Substances 0.000 claims description 11
- 229920000647 polyepoxide Polymers 0.000 claims description 11
- 238000004140 cleaning Methods 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 238000005422 blasting Methods 0.000 claims description 2
- 229920001296 polysiloxane Polymers 0.000 claims description 2
- 230000004913 activation Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 10
- 239000000835 fiber Substances 0.000 description 4
- 239000004593 Epoxy Substances 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000002360 preparation method Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 239000004760 aramid Substances 0.000 description 1
- 229920003235 aromatic polyamide Polymers 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000005470 impregnation Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000003562 lightweight material Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000004584 weight gain Effects 0.000 description 1
- 235000019786 weight gain Nutrition 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
- B29C70/388—Tape placement heads, e.g. component parts, details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H16/00—Unwinding, paying-out webs
- B65H16/02—Supporting web roll
- B65H16/08—Supporting web roll parallel rollers type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/18—Attaching, e.g. pasting, the replacement web to the expiring web
- B65H19/1842—Attaching, e.g. pasting, the replacement web to the expiring web standing splicing, i.e. the expiring web being stationary during splicing contact
- B65H19/1847—Attaching, e.g. pasting, the replacement web to the expiring web standing splicing, i.e. the expiring web being stationary during splicing contact taking place on the replacement roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/20—Cutting-off the expiring web
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/17—Nature of material
- B65H2701/172—Composite material
Definitions
- the invention provides a tool and a method for the automatic application of strips of tape with fiber reinforced polymer, of the type that lack adhesive in the coating of flat surfaces and / or curves of construction elements such as tunnel vaults, arches parabolic, 0 catenaries and other antifunicular characteristic of bridges and many modern constructions.
- the present invention relates to techniques for coating elements in constructions with fiber reinforced polymer.
- plastics5 FRP, Fiber-reinforced polymer
- FRP Fiber-reinforced polymer
- These plastics5 are made of a material composed of a matrix of a polymer reinforced with fibers such as fiberglass, carbon fiber, aramid or similar and allow to protect the surfaces in constructions or elements that make up these constructions.
- the operator spreads epoxy resin on the surface to be treated, helped by a tool such as a brush. Then, the operator supports the bar on this surface and unwind, pressing with the bar itself until the FRP tape is fully adhered, after which it removes the bar, and passes a manual roller, limiting the pressure exerted on the tape to that determined by the surface of the roller and the force of the operator .
- the previous operations slow down the process considerably since several passes are necessary.
- the application procedure using pre-impregnated FRP tape is similarly carried out by an operator.
- disadvantages are that not only the inconvenience arising from the impregnation of said operator by the resin, but that these tapes should be kept in conditions that prevent the setting of the resin, for example by keeping the tapes pre-impregnated at temperatures above those of setting of the resin.
- an option present in the state of the art comprises mounting the tool on a manipulation means that provides the ability to place and move said applicator, such as a robotic arm or the like (eg Kuka robots to place glass on ceilings: C. Han, Design of a Ceiling Glass Installation Robot, http://www.iaarc.org/external/isarc2007- cd / www / PDF / 2.4_5_076.pdf). Therefore, the greater the mass and dimensions of the tool, the greater the efforts and moments the parts of these handling means will have to support.
- a manipulation means that provides the ability to place and move said applicator, such as a robotic arm or the like (eg Kuka robots to place glass on ceilings: C. Han, Design of a Ceiling Glass Installation Robot, http://www.iaarc.org/external/isarc2007- cd / www / PDF / 2.4_5_076.pdf). Therefore, the greater the mass and dimensions of the tool, the greater the efforts and moments the parts of these handling means will
- this tool implies that the arm operator must be supplied with information to the arm based on the parameters such as the distance to the surface and the coating achieved.
- the surface must be devoid of contamination, such as those that use water or sand.
- the cracks and discontinuities on a surface of some construction elements present as a result of the different processes after the setting of concrete, movements of heterogeneous lands and the like, make these surfaces present cracks and discontinuities that reduce the adhesion of the coating elements and especially the FRP strips. Therefore, it is desirable that a surface that reduces and more preferably, is lacking, be provided with these fissures and discontinuities.
- these fissures have thicknesses between 2 and 20 mm, with lengths of up to 1 m, also presenting areas that apparently do not exceed a typical size of up to 10 mm but that hide cavities of much larger size than this. These latter structures are not well treated by those manual applications.
- a problem present in the state of the art is that related to the optimal application of the tape so that the adhesion is optimal is the corrugation of the tape applied on the surface that does not allow a uniform dispensing of the FRP tape, so that the Mechanical properties of the construction element-coating set are optimal.
- the tool must be able to place a strip of FRP tape on a layer of a resin (usually epoxy type) previously deposited in a uniform way without applying on the tape tensions that eventually take off said tape, such as when the speed The displacement of the tool on the surface of the construction element is greater than the speed of dispensing of the belt.
- the operator needs to receive information about both the position of the tool with respect to the surface of the construction element - as the coating has to dispense the tape following the surface of the construction element ( curvature, accidents, etc.) - as an inspection of the state of the same remotely avoiding impacts of the tool against the surface.
- a tool can be connected to a manipulation means such as a robotic arm, made of aluminum, Nylon to minimize the stresses and moments exerted on the manipulation means (e.g. the joints of a robotic arm).
- This tool comprises a structure or frame for the application of this FRP tape.
- storage means such as a FRP tape roller, which supply a tape to a FRP tape dispensing means, such as guide rollers, which in turn comprises a set of cutting elements to provide strips. of FRP tape.
- a driving means preferably comprising a driving roller, mechanically connected by means of transmission to the FRP tape dispensing means as well as a compression means for embedding said tape in an adhesive, so that advantageously the movement provided by the handling means, moving the tool on the surface defining an application direction and a direction of travel, provides power transmitted to a FRP tape dispensing means adjusted so that the FRP tape dispensing speed is substantially similar to that of tool offset
- the tool is preferably inscribed in a parallelepiped with dimensions of a width between 0.15 and 1.5 m, a length of 0.15 m and a height of 0.10 m. These dimensions allow the tool to also have greater maneuverability to allow automatic coating over a wide range of radii of curvature, especially those present in tunnel vaults.
- the tool does not present any autonomous driving means as motors for reduce the weight of it to a minimum.
- the drive means that guides the belt and allows to follow the curvature of the surface of the construction element and take advantage of the load provided by the handling means. For this purpose, it has a traction surface adapted to adhere to the surface of the construction element.
- the tool incorporates means for detachably attaching different traction surfaces to the driving means, so that different types of materials of the surfaces of the construction elements are capable of coating for the same characteristics of the manipulative means.
- the tool uses transmission elements that allow a substantially 1: 1 ratio between the speed of dispensing of the belt and the advance of the tool as a gear set or a belt-pulley assembly, of dimensions adapted to compensate for the relative dimensions of the drive and dispensing rollers.
- a gear set or a belt-pulley assembly of dimensions adapted to compensate for the relative dimensions of the drive and dispensing rollers.
- the cooperation between the handling means, the driving means and the transmission means makes the speed of dispensing of the FRP belt substantially equal to the speed with which the tool travels on the surface to be coated of the construction element, avoiding tensions in the FRP tape and that when dispensing the FRP tape on the surface of the construction element it presents folds and gives rise to corrugations.
- the set of cutting elements of the dispensing means adapted to guide the belt from the storage medium, preferably by means of a set of rollers of the set of cutting or guide elements, which is in contact with the FRP tape and prevents its recoil so that it provides FRP tape after cutting the tape, which allows to provide strips of FRP tape automatically.
- the tool has a compression means that allows the tape to be soaked and soaked with the epoxy resin that has previously spread over the surface.
- it has a compression means that, after dispensing the tape on the surface of the construction element, exerts a pressure, embedding the FRP tape in the adhesive medium, which permeates the fibers of the FRP tape.
- the tool has means adapted to channel a jet of a gas towards the surface, preferably, taking as a reference the direction of travel, oriented towards a region prior to the drive roller, preferably being pressurized air to perform surface cleaning processes of the element construction which simplifies the cleaning system compared to those that, such as sand or hydrodernolition, involve the presence of valves and deposits, causing fewer incidents with passers-by because it avoids the presence of liquids.
- the resin dispenser is capable of being actuated to dispense resin, preferably remotely, it is oriented to dispense the epoxy resin in a posterior region the driving roller and prior to the dispensing roller in the direction of travel, thus allowing a dispensing of the epoxy prior to the dispensing of the FRP tape.
- both to automate and to allow control of the tool it advantageously incorporates distance control means to the surface of the construction element with information on both the position of the tool relative to the surface of the construction element.
- sensors such as telematic means for determining the distance to the surface of the tool such as optoelectronic means that allow the inspection of the state of the surface of the construction element remotely.
- a method for remote automatic coating by strip of FRP tapes comprising using the tool described in the first inventive aspect remotely, by means of manipulation, on the surface), curved or flat, of construction elements such as tunnel vaults according to claim 13 comprising a) providing a tool for the application of FRP tape as cited in the first inventive aspect b) moving the tool on the surface of the construction element c) driving the dispensing of resin of the resin dispensing medium d) remotely actuate the cutting means
- the fissures of the surface of the construction element are coated in an earlier stage with an epoxy resin. This makes it possible to improve the adhesion of the FRP tape, and completed in another embodiment variant by cleaning the surface of the construction element by means of cleaning means and particularly by compressed air, which results in a better adhesion of the FRP tape.
- - Figure 4 Schematic perspective view of one of the preferred embodiments of the invention.
- - Figure 5 Schematic view of the transmission system of one of the preferred embodiments of the invention.
- a preferred embodiment of the invention provides a tool (1) for the automatic application of FRP tape (12) and an epoxy adhesive, connectable to a handling means.
- the handling means is a robotic arm (not shown) which can be connected to the invention preferably by means of a flange, providing the area adapted to connect with the connected handling means and its housing flange (19). for removable fixing means and particularly screw, screw / nut.
- the tool is preferably inscribed in a parallelepiped with dimensions preferably of a width between 0.15 and 1.5 m, of a length of
- the elements of the tool (1) are supported on a frame (15), preferably this frame (15).
- this frame (15) has an adapted area connect with the robotic arm and its flange (19 by means of a series of housings of removable fixing means, preferably screws.
- a driving roller (5 ) which protrudes from the frame (15), and provides traction when an arm moves the tool over the surface to be coated (20).
- the drive roller (5) engages at a first end of the frame (15), so which in a variant embodiment is the only means of contact of the tool with the construction surface.
- the drive roller (5) has a diameter of 0.05 m, and more preferably has a width of 0.15 m.
- this drive roller (5) also depends on the adhesion of the material that covers it.
- this roller comprises parts made of deformable materials such as a rubber (Young's Module ⁇ 0.01-0.1 GPa).
- the traction surface i.e. which part of the drive roller (5) in contact with the surface to be coated, is made of materials that allow to increase the adhesion to the chosen surface depending on the surface on which the tool (1) moves, and include rubber finishes , tack or silicone or any medium that suits the required traction. It has been found that the sandpaper provides excellent qualities for this application, as well as those o-rings with finishes such as shot blasting, or the like. More preferably, not only the surface of the drive roller (5) but the drive roller (5) are made of these materials.
- these materials can be fixed to the traction surface of the roller by separable joining means.
- these means use sailboat (R) to attach these coatings detachably to the drive roller (5) allowing faster exchange and replacement.
- the FRP tape strip dispensing means comprises a roller of tape dispensing (3) and a set of cutting elements (6).
- the set of cutting elements in turn comprises a set of guide rollers (6a-6b) or guide rollers to facilitate dispensing of the tape after cutting located next to a cutting element (7).
- the number of rollers in this roller assembly is preferably four guide rollers (6a-6d).
- the cutting element (7) is preferably a blade.
- a drive means allows to act remotely on the cutting element (7).
- this drive means is a set of linear actuators, and more preferably pneumatic mini-cylinders (23).
- the tape strip dispensing means has a support (9) for storing the FRP tape in the tool (1).
- this support is a roll.
- the tape is introduced into the set of cutting elements (6) and from there it goes to the dispensing roller (3).
- the dispensing roller protrudes from the frame (15) in the same direction as the drive roller (5) and is next to the drive roller (5) in the direction of travel.
- Transmission means preferably a belt assembly (1 1a) - pulley (25a, 25b) transmits the movement of the roller of the dispensing roller (3) to the driving roller (5).
- a first pulley (25a) is attached to the drive roller (5) and a second pulley (25b) is attached to the dispensing roller (5).
- the size of the pulleys (25a, b) is adjusted so that it compensates for a difference in the diameter of the rollers (5, 3).
- these transmission means are adapted so that the dispensing speed of FRP belt (12) is substantially equal to the speed of advance of the tool so that the ratio between the radius of the first and second pulley is inverse to the ratio between the drive roller (5) and the radius of the dispensing roller (3).
- the adjustment of the belt tension (11a) is carried out by at least one tensioner (21).
- at least one of the two lower guide rollers (6a, 6b) are in turn connected by means of transmission to the dispensing roller (3).
- a third pulley (25c) and a drive belt (11 b) to the second pulley (25b) of the dispensing roller (3).
- the guide rollers (6a, 6b) next to the cutting element are in contact with the same belt (11a) that goes from the dispensing roller (3) to the drive roller (5).
- the pulley (25c) of these rollers is adapted to compensate for the size of the pulleys (25) so that it compensates for a difference in the diameter of the rollers (6a, 6b, 3).
- the ratio between the diameters of the drive roller (5) and the guide rollers (6a, 6b) is 1: 3 and that of the third pulley (25c) and the second pulley (25b) is 3: 1.
- a second tensioner (14) is used between the dispensing roller (3) and the guide rollers (6a, 6b) to adjust the tension in the belt (1 1 b) and improve power transmission.
- the cutting means (6) of the tool preferably comprise a guillotine-shaped blade (22) in contact with the actuator assembly (23) which allows cutting the strip of FRP tape (12).
- the blade (22) is mounted on a blade holder (24), attached to the actuators (23).
- the set of four rollers and the blade (6) cooperate so that, after the cut made by the blade, tape is still dispensed. It is the driving roller (5) who drives the guide and dispensing rollers (3, 6a, 6b) through the transmission means.
- a roller (2) located next to the dispensing roller (3) in the direction of travel and joined by an elastic means such as a spring (10) that compresses the FRP tape (12) against the surface.
- the tool (1) shows that it comprises an area adapted to removably accommodate a resin dispensing means (8) comprising a resin resin dispensing means (17) as a cartridge.
- a resin intended to fill cracks it can advantageously incorporate a projection (18) that allows the injection of the resin at higher pressure, allowing the cracks and cavities present in the substrate to be filled, obtaining a continuous surface that allows subsequently applying epoxy resin of uniform shape This improves the mechanical properties of the assembly comprising a construction element and the FRP belt (12).
- the resin application nozzle is oriented behind the tractor roller and in a direction towards the surface (20) contrary to the direction of application of the tool.
- the resin is dispensed without affecting the friction of the coating of the tractor roller with the surface (20) and ensures the necessary motor for the application of the FRP belt.
- the resin dispensing means (17) has a resin outlet located between the drive roller (5) and the dispensing roller (3), which allows traction of the drive roller when rolling on the clean surface .
- these resin dispensing means (17) are preferably adapted to dispense epoxy resin using means of injecting a compressed gas (not shown).
- the tool (1) has a projection (13), preferably rectangular, to act as a spatula during pressing the FRP tape (12) collecting the oozing resin, located between the dispensing roller (3) and the presser roller (2).
- the tool (1) comprises telematic means as distance telemetry means.
- the tool (1) comprises an image acquisition means (16), preferably a digital camera, and even more preferably wireless.
- This means of image acquisition is oriented to collect the image in the direction of advance of the tool (1).
- it is located at one end of the frame (15).
- the tool incorporates a support for housing a means for cleaning the surface, located before the drive roller (5) in the direction of travel. It is preferably a compressed air dispensing means, which allows a surface to obtain a clean surface (20) with minimal weight gain.
- the pieces of this structure are made of nylon or aluminum.
- the tool parts (1) are made of a lightweight material such as titanium. These materials allow better manipulation by the robotic arm.
- a method for automatic coating by strip of FRP tapes (12), of the non-impregnated type of adhesive, and an epoxy adhesive on curved or flat surfaces (20) of construction elements such as tunnel vaults that it comprises a) providing a tool (1) according to any of the embodiments, connected to the handling means; b) move the tool (1) on the surface (20) of the construction element c) actuate the resin dispensing of the resin dispensing means (8) d) remotely actuate the cutting means (6 ').
- the fissures of the surface (20) of the construction element are coated in an earlier stage with an epoxy resin. This allows to improve the adhesion of the FRP tape (20).
- the surface (20) of the construction element is cleaned by means of cleaning and particularly by compressed air, which results in a better adhesion of the FRP tape (20).
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- Engineering & Computer Science (AREA)
- Coating Apparatus (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention relates to a tool (1) and a method for the automatic remote application of strips of non-adhesive fibre-reinforced polymer (FRP) tape (12) for the covering of curved or flat surfaces (20) of construction elements, such as tunnel vaults, parabolic arches, catenary arches and other non-funicular arches typical of bridges and many modern constructions. The tool includes a frame having the following elements coupled thereto, namely: a pressure roller (2); a means for dispensing FRP tape via guide rollers (6a, 6b, 6c, 6d); a drive roller (5); and a means for dispensing adhesive so as to coat said tape, such that by moving the tool over the surface, power is generated and transmitted to an FRP-tape-dispensing means, adjusted such that the FRP dispensing speed is substantially similar to the tool (1) movement speed, thus allowing an automatic remote application method.
Description
HERRAMIENTA Y MÉTODO DE APLICACIÓN AUTOMÁTICA REMOTA DE TIRAS DE CINTA CON POLÍMERO REFORZADO CON FIBRAS, CON DISPENSACIÓN DE TOOL AND REMOTE AUTOMATIC APPLICATION METHOD OF TAPE STRIPS WITH POLYMER REINFORCED WITH FIBERS, WITH DISPENSATION OF
ADHESIVO EPÓXICO EPOXIC ADHESIVE
5 Campo técnico de la invención 5 Technical field of the invention
La invención proporciona una herramienta y un método para la aplicación automática de tiras de cinta con polímero reforzado con fibra, del tipo de las que carecen de adhesivo en el recubrimiento de superficies planas y/o curvas de elementos de construcción como bóvedas de túneles, arcos parabólicos,0 catenarios y otros antifuniculares característicos de puentes y gran cantidad de construcciones modernas. The invention provides a tool and a method for the automatic application of strips of tape with fiber reinforced polymer, of the type that lack adhesive in the coating of flat surfaces and / or curves of construction elements such as tunnel vaults, arches parabolic, 0 catenaries and other antifunicular characteristic of bridges and many modern constructions.
Estado de la Técnica State of the Art
La presente invención se refiere a técnicas de para el recubrimiento de elementos en construcciones con polímero reforzado con fibra. Esto plásticos5 (FRP, Fibre-reinforced polymer) están fabricados de un material compuesto de un matriz de un polímero reforzado con fibras como la fibra de vidrio, la fibra de de carbono, aramid o similar y permiten proteger las superficies en construcciones o elementos que componen dichas construcciones. The present invention relates to techniques for coating elements in constructions with fiber reinforced polymer. These plastics5 (FRP, Fiber-reinforced polymer) are made of a material composed of a matrix of a polymer reinforced with fibers such as fiberglass, carbon fiber, aramid or similar and allow to protect the surfaces in constructions or elements that make up these constructions.
En el estado de la técnica son conocidos aplicadores de cinta FRP manuales,0 que implican una inversión de recursos ineficiente, cara y lenta: es decir para aplicar una cinta FRP un operario dispone de ambos trozos de una barra lisa y cilindrica de madera a la que se le ha realizado una sección transversal que atraviesa el eje de rotación. El operario sostiene el fin del rollo, comercial de FRP entre ambos trozos, y la enrolla alrededor de la barra ya completa. Al5 cortar la fibra se utilizan medios de corte como tijeras industriales, lo que eventualmente hace que durante el corte el FRP se degrade, deshilachándose eventualmente. In the state of the art, manual FRP tape applicators are known, or which imply an inefficient, expensive and slow investment of resources: that is, to apply an FRP tape, an operator has both pieces of a smooth, cylindrical wooden bar to the that a cross section has been made that crosses the axis of rotation. The operator holds the end of the roll, commercial of FRP between both pieces, and rolls it around the already complete bar. When cutting the fiber, cutting means are used as industrial scissors, which eventually causes the FRP to degrade, eventually fraying.
El operario esparce resina epóxica en la superficie a tratar ayudado por un útil como una brocha. Después, el operario apoya la barra en esta superficie y
desenrolla, haciendo presión con la propia barra hasta que la cinta FRP quedar totalmente adherida, tras lo cual retira la barra, y pasa un rodillo manual, limitándose la presión ejercida sobre la cinta a la determinada por la superficie del rodillo y la fuerza del operario. Las operaciones anteriores ralentizan considerablemente el proceso puesto que son necesarias varias pasadas. The operator spreads epoxy resin on the surface to be treated, helped by a tool such as a brush. Then, the operator supports the bar on this surface and unwind, pressing with the bar itself until the FRP tape is fully adhered, after which it removes the bar, and passes a manual roller, limiting the pressure exerted on the tape to that determined by the surface of the roller and the force of the operator . The previous operations slow down the process considerably since several passes are necessary.
El procedimiento de aplicación utilizando cinta FRP pre impregnada es llevado a cabo, de forma similar, por un operario. Entre sus desventajas se cuentan que no sólo las molestias derivadas de la impregnación de dicho operario por la resina, sino que estas cintas deben conservarse en condiciones que impidan el fraguado de la resina, por ejemplo manteniendo las cintas preimpregnadas a temperaturas superiores a las de fragüe de la resina. The application procedure using pre-impregnated FRP tape is similarly carried out by an operator. Among its disadvantages are that not only the inconvenience arising from the impregnation of said operator by the resin, but that these tapes should be kept in conditions that prevent the setting of the resin, for example by keeping the tapes pre-impregnated at temperatures above those of setting of the resin.
Existe por tanto una demanda de automatizar la aplicación de cinta FRP minimizando se el desperdicio de material. Cuando se automatiza este proceso una opción presente en el estado de la técnica comprende montar la herramienta sobre un medio de manipulación que proporcione la capacidad de situar y mover dicho aplicador, como un brazo robótico o similar (e.g. robots Kuka para colocar cristal en techos: C. Han, Design of a Ceiling Glass Installation Robot, http://www.iaarc.org/external/isarc2007- cd/www/PDF/2.4_5_076.pdf). Por tanto cuanto mayor masa y dimensiones tenga la herramienta mayores esfuerzos y momentos habrán de soportar las partes de estos medios de manipulación. Además la manipulación de esta herramienta a distancia implica que se han de suministrar al operador del brazo información al brazo en función de los parámetros tales como la distancia a la superficie y el recubrimiento logrado. Para permitir la aplicación de los medios adhesivos la superficie debe de estar desprovista de contaminación, como aquellos que utilizan agua o arena. Además, las fisuras y discontinuidades en una superficie de unos elementos de construcción, presentes como consecuencia de los distintos procesos tras el fraguado de hormigones, movimientos de terrenos heterogéneos y similares, hacen que estas superficies presenten fisuras y discontinuidades que reducen
la adhesión de los elementos de recubrimiento y en especial las tiras de FRP. Por tanto es deseable que se proporcione una superficie que reduzca y más preferiblemente, que carezca, de estas fisuras y discontinuidades. Típicamente estas fisuras tienen espesores entre 2 y 20 mm, con longitudes de hasta 1 m, presentando además zonas que aparentemente no superan un tamaño típico de hasta 10 mm pero que ocultan cavidades de tamaño muy superior a este. Estas últimas estructuras no son bien tratadas por aquellas aplicaciones manuales. There is therefore a demand to automate the application of FRP tape minimizing material waste. When this process is automated, an option present in the state of the art comprises mounting the tool on a manipulation means that provides the ability to place and move said applicator, such as a robotic arm or the like (eg Kuka robots to place glass on ceilings: C. Han, Design of a Ceiling Glass Installation Robot, http://www.iaarc.org/external/isarc2007- cd / www / PDF / 2.4_5_076.pdf). Therefore, the greater the mass and dimensions of the tool, the greater the efforts and moments the parts of these handling means will have to support. Furthermore, the manipulation of this tool at a distance implies that the arm operator must be supplied with information to the arm based on the parameters such as the distance to the surface and the coating achieved. To allow the application of adhesive media, the surface must be devoid of contamination, such as those that use water or sand. In addition, the cracks and discontinuities on a surface of some construction elements, present as a result of the different processes after the setting of concrete, movements of heterogeneous lands and the like, make these surfaces present cracks and discontinuities that reduce the adhesion of the coating elements and especially the FRP strips. Therefore, it is desirable that a surface that reduces and more preferably, is lacking, be provided with these fissures and discontinuities. Typically these fissures have thicknesses between 2 and 20 mm, with lengths of up to 1 m, also presenting areas that apparently do not exceed a typical size of up to 10 mm but that hide cavities of much larger size than this. These latter structures are not well treated by those manual applications.
Es posible minimizar estos problemas recubriendo la superficie, y en especial las fisuras presentes en el elemento de construcción mediante la aplicación de un medio para la preparación como una resina. En la aplicación aquellas cintas FRP que carecen de adhesivo es necesario dispensar dicho adhesivo (generalmente una resina epóxica o "epoxy" conocidos en el estado de la técnica para cada FRP) antes de la dispensación de la cinta. En tanto aumente el intervalo entre la dispensación de la resina epóxica y la cinta FRP se degrada la adherencia química y se aumenta la exposición d la resina a contaminantes. It is possible to minimize these problems by coating the surface, and especially the cracks present in the construction element by applying a means for preparation such as a resin. In the application of those FRP tapes that lack adhesive, it is necessary to dispense said adhesive (generally an epoxy resin or "epoxy" known in the state of the art for each FRP) before dispensing the tape. As the interval between the dispensing of the epoxy resin and the FRP tape increases, chemical adhesion degrades and the resin exposure to contaminants is increased.
Un problema presente en el estado de la técnica es el relacionado con la aplicación óptima de la cinta para que la adhesión sea óptima es la corrugación de la cinta aplicada en la superficie que no permite una dispensación uniforme de la cinta de FRP, para que las propiedades mecánicas del conjunto elemento de construcción-recubrimiento sean óptimas. Para ello la herramienta debe ser capaz de colocar una tira de cinta de FRP sobre una capa de una resina (generalmente tipo epoxy) previamente depositada de una forma uniforme sin aplicar sobre la cinta tensiones que eventualmente despeguen dicha cinta, como por ejemplo cuando la velocidad de desplazamiento de la herramienta sobre la superficie del elemento de construcción es mayor que la velocidad de de dispensación de la cinta. Por otro lado, si la velocidad de desplazamiento de la herramienta sobre la superficie del elemento de construcción es mucho menor que la de dispensación de la cinta se forman pliegues en la cinta, de
forma que el recubrimiento presenta corrugaciones. Estas corrugaciones serán las que se replieguen si la superficie debilitada trata de expandirse. Además, estas corrugaciones contienen regiones (similares a burbujas) de aire que degradan la adhesión a la superficie del elemento de construcción. Si la herramienta no fuera capaz de proporcionar una tira de cinta (cortando dicha cinta) sería necesario cortar la cinta manualmente, lo que ralentiza el procedimiento y disminuye la eficiencia de la aplicación de un recubrimiento. A problem present in the state of the art is that related to the optimal application of the tape so that the adhesion is optimal is the corrugation of the tape applied on the surface that does not allow a uniform dispensing of the FRP tape, so that the Mechanical properties of the construction element-coating set are optimal. For this, the tool must be able to place a strip of FRP tape on a layer of a resin (usually epoxy type) previously deposited in a uniform way without applying on the tape tensions that eventually take off said tape, such as when the speed The displacement of the tool on the surface of the construction element is greater than the speed of dispensing of the belt. On the other hand, if the speed of movement of the tool on the surface of the construction element is much lower than that of the tape dispensing, folds are formed in the belt, of way that the coating has corrugations. These corrugations will be the ones that fold back if the weakened surface tries to expand. In addition, these corrugations contain regions (similar to bubbles) of air that degrade adhesion to the surface of the building element. If the tool were not able to provide a strip of tape (by cutting said tape) it would be necessary to cut the tape manually, which slows down the procedure and decreases the efficiency of applying a coating.
Además, para su uso de forma automatizada y remota se necesita que el operador reciba información tanto de la posición de la herramienta respecto a la superficie del elemento de construcción — pues el recubrimiento ha de dispensar la cinta siguiendo a la superficie del elemento de construcción (curvatura, accidentes, etc.)— como de una inspección del estado de la misma de forma remota evitando impactos de la herramienta contra la superficie. In addition, for use in an automated and remote way, the operator needs to receive information about both the position of the tool with respect to the surface of the construction element - as the coating has to dispense the tape following the surface of the construction element ( curvature, accidents, etc.) - as an inspection of the state of the same remotely avoiding impacts of the tool against the surface.
Por tanto, es necesario proporcionar una herramienta que permita en aplicación de un recubrimiento sobre las superficies de elementos de .construcción con cinta FRP, comprendiendo la dispensación de tiras de cinta de FRP, embebida en una resina epoxídica, que no presente corrugaciones indebidas en el recubrimiento, y sin provocar tensiones que despeguen cinta ya pegada, consiguiendo así una superficie recubierta en dónde se combinan las propiedades de la cinta FRP y de la superficie de la estructura, mejorando así sensiblemente las propiedades mecánicas (e.g. la elasticidad) del recubrimiento de dicha estructura. Therefore, it is necessary to provide a tool that allows the application of a coating on the surfaces of construction elements with FRP tape, comprising the dispensing of strips of FRP tape, embedded in an epoxy resin, which does not present undue corrugations in the coating, and without causing tensions that take off already glued tape, thus achieving a coated surface where the properties of the FRP tape and the surface of the structure are combined, thereby significantly improving the mechanical properties (eg elasticity) of the coating of said structure.
Descripción de la invención Estos y otros problemas son solucionados en la presente invención mediante una herramienta que permite la preparación de la superficie de un elemento de construcción para la dispensación, embebido y corte de una tira de FRP del tipo no pre impregnado de adhesivo, de forma automática y remota según la
reivindicación 1 independiente. Además, un procedimiento según la reivindicación 14 independiente para la aplicación remota y automatizada de cintas de FRP. Otros aspectos de la invención y realizaciones particularmente ventajosas de la misma se encuentran definidos en Tas reivindicaciones dependientes. Description of the invention These and other problems are solved in the present invention by means of a tool that allows the preparation of the surface of a construction element for the dispensing, embedding and cutting of a strip of FRP of the non-pre-impregnated type of adhesive, of automatically and remotely according to independent claim 1. In addition, a method according to independent claim 14 for the remote and automated application of FRP tapes. Other aspects of the invention and particularly advantageous embodiments thereof are defined in the dependent claims.
En un primer aspecto se proporciona una herramienta conectable a un medio de manipulación como un brazo robótico, fabricada de aluminio, Nylon para minimizar los esfuerzos y momentos que se ejercen sobre el medio de manipulación (e.g. las articulaciones de un brazo robótico). Esta herramienta comprende una estructura o bastidor para la aplicación de esta cinta FRP. Entre estos elementos hay medios de almacenamiento, tales como un rodillo de cinta FRP, que suministran una cinta a un medio de dispensación de cinta FRP, tales como unos rodillos de guía, que a su vez comprende un conjunto de elementos de corte para proporcionar tiras de cinta FRP. También comprende un medio motriz, comprendiendo preferentemente un rodillo motriz, conectado mecánicamente mediante un medio de transmisión a al medio de dispensación de cinta FRP así como un medio de compresión para embeber dicha cinta en un adhesivo, de forma que ventajosamente el movimiento proporcionado por el medio de manipulación, desplazando la herramienta sobre la superficie definiendo una dirección de aplicación y un sentido de la marcha, proporciona potencia transmitida a un medio de dispensación de cinta FRP ajustada de forma que la velocidad de dispensación de cinta FRP es sustancialmente similar a la de desplazamiento de la herramienta. In a first aspect, a tool can be connected to a manipulation means such as a robotic arm, made of aluminum, Nylon to minimize the stresses and moments exerted on the manipulation means (e.g. the joints of a robotic arm). This tool comprises a structure or frame for the application of this FRP tape. Among these elements there are storage means, such as a FRP tape roller, which supply a tape to a FRP tape dispensing means, such as guide rollers, which in turn comprises a set of cutting elements to provide strips. of FRP tape. It also comprises a driving means, preferably comprising a driving roller, mechanically connected by means of transmission to the FRP tape dispensing means as well as a compression means for embedding said tape in an adhesive, so that advantageously the movement provided by the handling means, moving the tool on the surface defining an application direction and a direction of travel, provides power transmitted to a FRP tape dispensing means adjusted so that the FRP tape dispensing speed is substantially similar to that of tool offset
La herramienta está inscrita preferentemente en un paralelepípedo con unas dimensiones de una anchura entre 0.15 y 1.5 m, de una longitud de 0.15 m y de un altura de 0.10 m. Estas dimensiones permiten que la herramienta presente además una mayor maniobrabilidad para permitir el recubrimiento automático en un amplio rango de radios de curvatura, especialmente aquellos presentes en bóvedas de túneles. La herramienta no presenta ningún medio motriz autónomo como motores para
reducir el peso de la misma a un mínimo. Al contrario, el medio motriz que guía la cinta y permite seguir la curvatura de la superficie del elemento de construcción y aprovechar la carga proporcionada por el medio de manipulación. Para ello presenta una superficie de tracción adaptada para adherirse a la superficie del elemento de construcción, Dependiendo de la superficie sobre la que se desplaza el medio motriz es posible seleccionar ventajosamente aquellos materiales para fabricar la superficie de tracción buscando una mejora de la adhesión lo que permite obtener mejores resultados en la aplicación de la cinta. Ventajosamente la herramienta incorpora medios para unir de forma desmontable distintas superficies de tracción al medio motriz por lo que para unas mismas características del medio manipulador son susceptibles de recubrimiento distintos tipos de materiales de las superficies de los elementos de construcción. The tool is preferably inscribed in a parallelepiped with dimensions of a width between 0.15 and 1.5 m, a length of 0.15 m and a height of 0.10 m. These dimensions allow the tool to also have greater maneuverability to allow automatic coating over a wide range of radii of curvature, especially those present in tunnel vaults. The tool does not present any autonomous driving means as motors for reduce the weight of it to a minimum. On the contrary, the drive means that guides the belt and allows to follow the curvature of the surface of the construction element and take advantage of the load provided by the handling means. For this purpose, it has a traction surface adapted to adhere to the surface of the construction element. Depending on the surface on which the driving means is moved, it is possible to select advantageously those materials for manufacturing the traction surface looking for an improvement in adhesion which allows to obtain better results in the application of the tape. Advantageously, the tool incorporates means for detachably attaching different traction surfaces to the driving means, so that different types of materials of the surfaces of the construction elements are capable of coating for the same characteristics of the manipulative means.
La herramienta utiliza elementos de transmisión que permiten una relación sustancialmente 1 :1 entre la velocidad de dispensación de la cinta y la de avance de la herramienta como conjunto de engranajes o un conjunto correa- polea, de dimensiones adaptadas para compensar las dimensiones relativas de los rodillos motriz y de dispensación. Preferentemente mediante un juego poleas y engranajes que conectan el rodillo del medio motriz o con el medio de dispensación. Particularmente se encuentra entre rodillo del medio motriz y rodillo del medio de dispensación compensada con una relación 1 :1. The tool uses transmission elements that allow a substantially 1: 1 ratio between the speed of dispensing of the belt and the advance of the tool as a gear set or a belt-pulley assembly, of dimensions adapted to compensate for the relative dimensions of the drive and dispensing rollers. Preferably by means of a set of pulleys and gears that connect the roller of the driving means or with the dispensing means. Particularly it lies between the roller of the driving medium and the roller of the dispensing medium compensated with a 1: 1 ratio.
La cooperación entre el medio de manipulación, el medio motriz y el medio de transmisión hace que la velocidad de dispensación de la cinta FRP sea sustancialmente igual a la velocidad con la que se desplaza la herramienta sobre la superficie a recubrir del elemento de construcción, evitando tensiones en la cinta FRP y que al dispensar la cinta FRP sobre la superficie del elemento de construcción presente pliegues y de lugar a corrugaciones. Además el conjunto de elementos de corte del medio de dispensación adaptado para guiar la cinta desde el medio de almacenamiento, preferentemente mediante un conjunto de rodillos del conjunto de elementos de corte o de guía, que está en
contacto con la cinta FRP e impide su retroceso por lo que proporciona cinta FRP tras el corte de la cinta, lo que permite proporcionar tiras de cinta FRP de forma automatizada. The cooperation between the handling means, the driving means and the transmission means makes the speed of dispensing of the FRP belt substantially equal to the speed with which the tool travels on the surface to be coated of the construction element, avoiding tensions in the FRP tape and that when dispensing the FRP tape on the surface of the construction element it presents folds and gives rise to corrugations. Furthermore, the set of cutting elements of the dispensing means adapted to guide the belt from the storage medium, preferably by means of a set of rollers of the set of cutting or guide elements, which is in contact with the FRP tape and prevents its recoil so that it provides FRP tape after cutting the tape, which allows to provide strips of FRP tape automatically.
Además, la herramienta presenta un medio de compresión que permite embeber y empapar la cinta con la resina epóxica que previamente se ha extendido sobre la superficie. Para ello cuenta con un medio de compresión que tras la dispensación de la cinta sobre la superficie del elemento de construcción ejerce una presión, embebiendo la cinta FRP en el medio adhesivo, que impregna las fibras de la cinta FRP. La herramienta cuenta con medios adaptados para canalizar un chorro de un gas hacia la superficie, preferentemente, tomando como referencia el sentido de la marcha, orientado hacia una región anterior al rodillo motriz, siendo preferentemente aire a presión para realizar procesos de limpieza superficial del elemento de construcción lo que simplifica el sistema de limpieza frente a aquellos que como los de arena o por hidrodernolición implican la presencia de válvulas y depósitos, causando menos incidentes con los transeúntes debido a que evita la presencia de líquidos. In addition, the tool has a compression means that allows the tape to be soaked and soaked with the epoxy resin that has previously spread over the surface. For this purpose, it has a compression means that, after dispensing the tape on the surface of the construction element, exerts a pressure, embedding the FRP tape in the adhesive medium, which permeates the fibers of the FRP tape. The tool has means adapted to channel a jet of a gas towards the surface, preferably, taking as a reference the direction of travel, oriented towards a region prior to the drive roller, preferably being pressurized air to perform surface cleaning processes of the element construction which simplifies the cleaning system compared to those that, such as sand or hydrodernolition, involve the presence of valves and deposits, causing fewer incidents with passers-by because it avoids the presence of liquids.
También incorpora medios de dispensación de adhesivos y resinas para el recubrimiento de fisuras y discontinuidades en la superficie a recubrir. Para ello hay una zona adaptada para alojar de forma desmontable un dispensador de resina en la herramienta que permite tanto rellenar fisuras, así como proporcionar un adhesivo en el que embeber la tira de cinta FRP. El dispensador de resina es susceptible de ser accionado para dispensar resina, preferentemente de forma remota, se encuentra orientado para dispensar la resina epóxica en una región posterior el rodillo motriz y anterior al rodillo de dispensación en el sentido de la marcha, permitiendo así una dispensación del epoxy anterior a la dispensación de la cinta FRP. It also incorporates means for dispensing adhesives and resins for coating cracks and discontinuities on the surface to be coated. For this there is an area adapted to removably accommodate a resin dispenser in the tool that allows both to fill cracks, as well as to provide an adhesive in which to embed the strip of FRP tape. The resin dispenser is capable of being actuated to dispense resin, preferably remotely, it is oriented to dispense the epoxy resin in a posterior region the driving roller and prior to the dispensing roller in the direction of travel, thus allowing a dispensing of the epoxy prior to the dispensing of the FRP tape.
Además, tanto para automatizar como para permitir un control de la herramienta esta incorpora ventajosamente medios de control de la distancia a
la superficie del elemento de construcción con información tanto de la posición de la herramienta respecto a la superficie del elemento de construcción. In addition, both to automate and to allow control of the tool it advantageously incorporates distance control means to the surface of the construction element with information on both the position of the tool relative to the surface of the construction element.
También incorpora ventajosamente sensores tales como medios telemáticos para determinar la distancia a la superficie de la herramienta tales como medios optoelectrónicos que permiten la inspección del estado de la superficie del elemento de construcción de forma remota. It also advantageously incorporates sensors such as telematic means for determining the distance to the surface of the tool such as optoelectronic means that allow the inspection of the state of the surface of the construction element remotely.
En un segundo aspecto se proporciona un método para el recubrimiento automático remoto mediante tira de cintas de FRP que comprende utilizar la herramienta descrita en el primer aspecto inventivo de forma remota, mediante el medio de manipulación, sobre la superficie), curvas o planas, de elementos de construcción tales como bóvedas de túneles según la reivindicación 13 que comprende a) proporcionar una herramienta para la aplicación de cinta FRP como la citada en el primer aspecto inventivo b) desplazar la herramienta sobre la superficie del elemento de construcción c) accionar la dispensación de resina del medio de dispensación de resina d) accionar de forma remota del medio de corte En una variantes de realización se recubren en una etapa anterior las fisuras de la superficie del elementó de construcción una resina epóxica. Lo que permite mejorar la adhesión de la cinta FRP , y completado en otra variante de realización por la limpieza de la superficie del elemento de construcción mediante los medios de limpieza y particularmente mediante aire comprimido lo que repercuten en una mejor adhesión de la cinta FRP.
Breve Descripción De Las Figuras In a second aspect, a method for remote automatic coating by strip of FRP tapes is provided, comprising using the tool described in the first inventive aspect remotely, by means of manipulation, on the surface), curved or flat, of construction elements such as tunnel vaults according to claim 13 comprising a) providing a tool for the application of FRP tape as cited in the first inventive aspect b) moving the tool on the surface of the construction element c) driving the dispensing of resin of the resin dispensing medium d) remotely actuate the cutting means In an embodiment, the fissures of the surface of the construction element are coated in an earlier stage with an epoxy resin. This makes it possible to improve the adhesion of the FRP tape, and completed in another embodiment variant by cleaning the surface of the construction element by means of cleaning means and particularly by compressed air, which results in a better adhesion of the FRP tape. Brief Description Of The Figures
-Figura 1 : Vista esquemática en planta de una las realización preferida de la invención. -Figure 1: Schematic plan view of one of the preferred embodiments of the invention.
-Figura 2: Vista esquemática en perfil de una las realización preferida de la invención. -Figure 2: Schematic profile view of one of the preferred embodiments of the invention.
-Figura 3: Vista esquemática en despiece de una las realización preferida de la invención. -Figure 3: Exploded schematic view of one of the preferred embodiments of the invention.
-Figura 4: Vista esquemática en perspectiva de una las realización preferida de la invención. -Figura 5: Vista esquemática del sistema de transmisión de una las realización preferida de la invención. -Figure 4: Schematic perspective view of one of the preferred embodiments of the invention. -Figure 5: Schematic view of the transmission system of one of the preferred embodiments of the invention.
Descripción de modos particulares de realización de la invención Description of particular embodiments of the invention
Una realización preferente la invención proporciona una herramienta (1) para la aplicación automática de cinta FRP (12) y un adhesivo epóxico, conectable a un medio de manipulación. En una variante de realización el medio de manipulación es un brazo robótico (no mostrado) que puede ser conectado a la invención preferentemente mediante una brida, dotando a la zona adaptada para conectar con el medio de manipulación conectado y su brida (19) de alojamientos para medios de fijación desmontables y particularmente tornillo, tornillo/tuerca. A preferred embodiment of the invention provides a tool (1) for the automatic application of FRP tape (12) and an epoxy adhesive, connectable to a handling means. In a variant embodiment, the handling means is a robotic arm (not shown) which can be connected to the invention preferably by means of a flange, providing the area adapted to connect with the connected handling means and its housing flange (19). for removable fixing means and particularly screw, screw / nut.
La herramienta está preferentemente inscrita en un paralelepípedo con unas dimensiones preferentemente de una anchura entre 0.15 y 1.5 m, de una longitud de The tool is preferably inscribed in a parallelepiped with dimensions preferably of a width between 0.15 and 1.5 m, of a length of
0.15 m y de un altura de 0.10 m. Los elementos de la herramienta (1) están soportados sobre un bastidor (15), siendo preferentemente este bastidor (15). 0.15 m and a height of 0.10 m. The elements of the tool (1) are supported on a frame (15), preferably this frame (15).
En una variante de realización, este bastidor (15) presenta una zona adaptada
conectar con el brazo robótico y su brida (19 mediante una serie de alojamientos de medios de fijación desmontables, preferentemente tornillos. En la cara opuesta a dicha zona adaptada conectar con el brazo robótico y su brida (19) se sitúa un rodillo motriz (5), que sobresale del bastidor (15), y proporciona la tracción cuando un el brazo desplaza la herramienta sobre la superficie a recubrir (20). El rodillo motriz (5) se engancha en un primer extremo del bastidor (15), de forma que en una variante de realización es el único medio de contacto de la herramienta con la superficie constructivo. In a variant embodiment, this frame (15) has an adapted area connect with the robotic arm and its flange (19 by means of a series of housings of removable fixing means, preferably screws. On the opposite side of said adapted zone connect with the robotic arm and its flange (19) there is a driving roller (5 ), which protrudes from the frame (15), and provides traction when an arm moves the tool over the surface to be coated (20). The drive roller (5) engages at a first end of the frame (15), so which in a variant embodiment is the only means of contact of the tool with the construction surface.
Preferentemente el rodillo motriz (5) tiene un diámetro de 0.05 m, y más preferentemente tiene una anchura de 0.15 m. Preferably the drive roller (5) has a diameter of 0.05 m, and more preferably has a width of 0.15 m.
La tracción de este rodillo motriz (5) también depende de la adherencia del material que lo recubre. Preferentemente este rodillo comprende partes fabricadas de materiales deformables como una goma (Módulo de Young ~ 0.01-0.1 GPa). En una realización aún más preferida la superficie de tracción, i.e. la que parte del rodillo motriz (5) en contacto con la superficie a recubrir, está fabricada de materiales que permiten aumentar la adhesión a la superficie escogidos dependiendo de la superficie sobre la que se desplaza la herramienta (1), y comprenden acabados en goma, tachuela o silicona o cualquier medio que se adapte a la tracción requerida. Se ha encontrado que la lija proporciona excelentes cualidades para esta aplicación, así como aquellas juntas tóricas con acabados como granallado, o similar. Más preferentemente no solo la superficie del rodillo motriz (5) sino el rodillo motriz (5) están fabricados de estos materiales. The traction of this drive roller (5) also depends on the adhesion of the material that covers it. Preferably this roller comprises parts made of deformable materials such as a rubber (Young's Module ~ 0.01-0.1 GPa). In an even more preferred embodiment the traction surface, i.e. which part of the drive roller (5) in contact with the surface to be coated, is made of materials that allow to increase the adhesion to the chosen surface depending on the surface on which the tool (1) moves, and include rubber finishes , tack or silicone or any medium that suits the required traction. It has been found that the sandpaper provides excellent qualities for this application, as well as those o-rings with finishes such as shot blasting, or the like. More preferably, not only the surface of the drive roller (5) but the drive roller (5) are made of these materials.
En una realización preferida estos materiales se pueden fijar a la superficie de tracción del rodillo mediante medios de unión separables. En una realización aún más preferida estos medios utilizan velero (R) para unir estos recubrimientos de forma separable al rodillo motriz (5) permitiendo un intercambio y recambio más rápido. In a preferred embodiment these materials can be fixed to the traction surface of the roller by separable joining means. In an even more preferred embodiment these means use sailboat (R) to attach these coatings detachably to the drive roller (5) allowing faster exchange and replacement.
El medio de dispensación de tiras de cinta FRP comprende un rodillo de
dispensación de cinta (3) y un conjunto de elementos de corte (6). El conjunto de elementos de corte a su vez comprende un conjunto de rodillos de guía(6a- 6b) o de guía para facilitar la dispensación de la cinta tras el corte situados junto a un elemento de corte (7). El número de rodillos de este conjunto de rodillos es preferentemente cuatro rodillos de guía(6a-6d). El elemento de corte (7) es preferentemente una cuchilla. Un medio de accionamiento permite actuar de forma remota sobre el elemento de corte (7). Preferentemente este medio de accionamiento es un conjunto de accionadores lineales, y más preferentemente mini-cilindros neumáticos (23). The FRP tape strip dispensing means comprises a roller of tape dispensing (3) and a set of cutting elements (6). The set of cutting elements in turn comprises a set of guide rollers (6a-6b) or guide rollers to facilitate dispensing of the tape after cutting located next to a cutting element (7). The number of rollers in this roller assembly is preferably four guide rollers (6a-6d). The cutting element (7) is preferably a blade. A drive means allows to act remotely on the cutting element (7). Preferably this drive means is a set of linear actuators, and more preferably pneumatic mini-cylinders (23).
Además el medio de dispensación de tiras de cinta cuenta con un soporte (9) para almacenar la cinta de FRP en la herramienta (1). Preferentemente, este soporte es un rollo. La cinta se introduce en el conjunto de elementos de corte (6) y de ahí va al rodillo de dispensación (3). El rodillo de dispensación sobresale del bastidor (15) en el mismo sentido que el rodillo motriz (5) y se encuentra a continuación del rodillo motriz (5) en el sentido de la marcha. Unos medios de transmisión, preferentemente un conjunto correa (1 1a)-polea (25a, 25b) transmite al movimiento del rodillo de del rodillo de dispensación (3) al rodillo motriz (5). En una variante de realización una primera polea (25a) está unida al rodillo motriz (5) y una segunda polea (25b) está unida al rodillo de dispensación (5). In addition, the tape strip dispensing means has a support (9) for storing the FRP tape in the tool (1). Preferably, this support is a roll. The tape is introduced into the set of cutting elements (6) and from there it goes to the dispensing roller (3). The dispensing roller protrudes from the frame (15) in the same direction as the drive roller (5) and is next to the drive roller (5) in the direction of travel. Transmission means, preferably a belt assembly (1 1a) - pulley (25a, 25b) transmits the movement of the roller of the dispensing roller (3) to the driving roller (5). In a variant embodiment, a first pulley (25a) is attached to the drive roller (5) and a second pulley (25b) is attached to the dispensing roller (5).
Para ello se ajustan el tamaño de las poleas (25a, b) de forma que compense una diferencia en el diámetro de los rodillos (5, 3). Particularmente, estos medios de transmisión están adaptados para que la velocidad de dispensación de cinta FRP (12) sea sustancialmente igual a la velocidad de avance de la herramienta de forma que la relación entre el radio de las primera y segunda polea sea inversa a la relación entre el rodillo motriz (5) y el radio del rodillo de dispensación (3). Preferentemente el ajuste de la tensión de la correa (11a) se lleva a cabo por al menos un tensor (21).
Preferentemente al menos uno de los dos rodillos de guíainferiores (6a, 6b) se encuentran conectados a su vez mediante un medio de transmisión al rodillo de dispensación (3). Preferentemente mediante una tercera polea (25c) y una correa de transmisión (11 b) a la segunda polea (25b) del rodillo de dispensación (3). Aún de forma más preferente, los rodillos de guía(6a,6b) junto al elemento de corte están en contacto con la misma correa (11a) que va del rodillo de dispensación (3) al rodillo motriz (5). A su vez la polea (25c) de estos rodillos está adaptada para compensar el tamaño de las poleas (25) de forma que compense una diferencia en el diámetro de los rodillos (6a, 6b, 3). Preferentemente la relación entre los diámetros del rodillo motriz (5) y de los rodillos de guía(6a, 6b) es 1 :3 y el de la tercera polea (25c) y la segunda polea (25b) es 3:1. For this, the size of the pulleys (25a, b) is adjusted so that it compensates for a difference in the diameter of the rollers (5, 3). Particularly, these transmission means are adapted so that the dispensing speed of FRP belt (12) is substantially equal to the speed of advance of the tool so that the ratio between the radius of the first and second pulley is inverse to the ratio between the drive roller (5) and the radius of the dispensing roller (3). Preferably the adjustment of the belt tension (11a) is carried out by at least one tensioner (21). Preferably at least one of the two lower guide rollers (6a, 6b) are in turn connected by means of transmission to the dispensing roller (3). Preferably by a third pulley (25c) and a drive belt (11 b) to the second pulley (25b) of the dispensing roller (3). Even more preferably, the guide rollers (6a, 6b) next to the cutting element are in contact with the same belt (11a) that goes from the dispensing roller (3) to the drive roller (5). In turn, the pulley (25c) of these rollers is adapted to compensate for the size of the pulleys (25) so that it compensates for a difference in the diameter of the rollers (6a, 6b, 3). Preferably the ratio between the diameters of the drive roller (5) and the guide rollers (6a, 6b) is 1: 3 and that of the third pulley (25c) and the second pulley (25b) is 3: 1.
En una realización preferente se utiliza un segundo tensor (14) entre el rodillo de dispensación (3) y los rodillos de guía (6a, 6b) para ajusfar la tensión en la correa (1 1 b) y mejorar la transmisión de potencia. In a preferred embodiment, a second tensioner (14) is used between the dispensing roller (3) and the guide rollers (6a, 6b) to adjust the tension in the belt (1 1 b) and improve power transmission.
En otra variante de realización los medios de corte (6) de la herramienta comprenden preferentemente un cuchilla (22) con forma de guillotina en contacto con el conjunto de accionadores (23) que permiten cortar la tira de cinta FRP (12). Aún más preferentemente, la cuchilla (22) está montada sobre un soporte de cuchilla (24), unido a los accionadores (23). El conjunto de cuatro rodillos y la cuchilla (6) cooperan para que, tras el corte realizado por la cuchilla, se siga dispensando cinta. Es el rodillo motriz (5) quien a través del medio de transmisión acciona (da motricidad) a dichos rodillos de guía y de dispensación (3, 6a, 6b). In another variant embodiment, the cutting means (6) of the tool preferably comprise a guillotine-shaped blade (22) in contact with the actuator assembly (23) which allows cutting the strip of FRP tape (12). Even more preferably, the blade (22) is mounted on a blade holder (24), attached to the actuators (23). The set of four rollers and the blade (6) cooperate so that, after the cut made by the blade, tape is still dispensed. It is the driving roller (5) who drives the guide and dispensing rollers (3, 6a, 6b) through the transmission means.
Además, un rodillo (2), situado a continuación del rodillo de dispensación (3) en el sentido de la marcha y unido por un medio elástico como un resorte (10) que comprime la cinta FRP (12) contra la superficie. Preferentemente la herramienta (1) presenta que comprende una zona
adaptada para alojar de forma desmontable un medio dispensador de resina (8) que comprende un medio de dispensación de resina de resina (17) como un cartucho. Cuando se carga una resina destinada a rellenar fisuras puede incorporar ventajosamente un saliente (18) que permite la inyección de la resina a mayor presión, permitiendo rellenar las fisuras y cavidades presentes en el substrato, obteniendo una superficie continua que permite aplicar posteriormente resina epóxicas de forma uniforme. Esto mejora las propiedades mecánicas del conjunto que comprende un elemento constructivo y la cinta FRP (12). En otra variante de realización la boquilla de aplicación de la resina está orientada tras el rodillo tractor y en una dirección hacia la superficie (20) contraria al sentido de aplicación de marcha de la herramienta. Así, la resina se dispensa sin afectar al rozamiento del recubrimiento del rodillo tractor con la superficie (20) y asegura la motricidad necesaria para la aplicación de la cinta FRP. En una variante de realización los medios de dispensación de resina (17) tienen una salida de resina ubicada entre el rodillo motriz (5) y el rodillo de dispensación (3), lo que permite la tracción del rodillo motriz al rodar sobre la superficie limpia. Preferentemente estos medios de dispensación de resina (17) están preferentemente adaptados para dispensar resina epóxica utilizando medios de inyección de un gas comprimido (no mostrados). In addition, a roller (2), located next to the dispensing roller (3) in the direction of travel and joined by an elastic means such as a spring (10) that compresses the FRP tape (12) against the surface. Preferably the tool (1) shows that it comprises an area adapted to removably accommodate a resin dispensing means (8) comprising a resin resin dispensing means (17) as a cartridge. When a resin intended to fill cracks is loaded, it can advantageously incorporate a projection (18) that allows the injection of the resin at higher pressure, allowing the cracks and cavities present in the substrate to be filled, obtaining a continuous surface that allows subsequently applying epoxy resin of uniform shape This improves the mechanical properties of the assembly comprising a construction element and the FRP belt (12). In another variant embodiment, the resin application nozzle is oriented behind the tractor roller and in a direction towards the surface (20) contrary to the direction of application of the tool. Thus, the resin is dispensed without affecting the friction of the coating of the tractor roller with the surface (20) and ensures the necessary motor for the application of the FRP belt. In a variant embodiment, the resin dispensing means (17) has a resin outlet located between the drive roller (5) and the dispensing roller (3), which allows traction of the drive roller when rolling on the clean surface . Preferably these resin dispensing means (17) are preferably adapted to dispense epoxy resin using means of injecting a compressed gas (not shown).
En otra variante de realización la herramienta (1) presenta un saliente (13), preferentemente rectangular, para actuar como espátula durante el prensando la cinta FRP (12) recogiendo la resina que rezuma, situado entre el rodillo de dispensación (3) y el rodillo prensor (2). In another variant embodiment, the tool (1) has a projection (13), preferably rectangular, to act as a spatula during pressing the FRP tape (12) collecting the oozing resin, located between the dispensing roller (3) and the presser roller (2).
En una realización la herramienta (1) comprende medios telemáticos como medios de telemetría de distancias. Particularmente, la herramienta (1) comprende un medio de adquisición de imágenes (16), preferentemente una
cámara digital, y aún más preferentemente inalámbrica. Este medio de adquisición de imágenes se encuentra orientado para recoger la imagen en el sentido de avance de la herramienta (1). En una realización preferida se sitúa en un extremo del bastidor (15). Estos medios permiten inspeccionar y dirigir los trabajos de preparación y dispensación de forma remota lo que permite una inspección de las distintas etapas del recubrimiento. In one embodiment the tool (1) comprises telematic means as distance telemetry means. Particularly, the tool (1) comprises an image acquisition means (16), preferably a digital camera, and even more preferably wireless. This means of image acquisition is oriented to collect the image in the direction of advance of the tool (1). In a preferred embodiment it is located at one end of the frame (15). These means allow to inspect and direct the preparation and dispensing work remotely, which allows an inspection of the different stages of the coating.
En otra variante de realización la herramienta incorpora un soporte para alojar tin medio para limpiar la superficie, situado antes del rodillo motriz (5) en el sentido de la marcha. Preferentemente es un medio dispensador de aire comprimido, lo que permite una superficie obtener una superficie (20) limpia con un mínimo aumento de peso In another variant embodiment, the tool incorporates a support for housing a means for cleaning the surface, located before the drive roller (5) in the direction of travel. It is preferably a compressed air dispensing means, which allows a surface to obtain a clean surface (20) with minimal weight gain.
Preferentemente las piezas de esta estructura están fabricadas en nylon o en aluminio. En una variante de realización las piezas de la herramienta (1) son de un material ligero como titanio. Estos materiales permiten una mejor manipulación por parte del brazo robótico. Preferably the pieces of this structure are made of nylon or aluminum. In a variant embodiment, the tool parts (1) are made of a lightweight material such as titanium. These materials allow better manipulation by the robotic arm.
Se proporciona además un método para el recubrimiento automático mediante tira de cintas de FRP (12), del tipo no impregnado de adhesivo, y un adhesivo epóxico sobre superficies (20), curvas o planas, de elementos de construcción tales como bóvedas de túneles que comprende a) proporcionar una herramienta (1) según cualquiera de las variantes de realización, conectada al medio de manipulación; b) desplazar la herramienta (1) sobre la superficie (20) del elemento de construcción c) accionar la dispensación de resina del medio de dispensación de resina (8) d) accionar de forma remota del medio de corte (6').
En una variante de realización se recubren en una etapa anterior las fisuras de la 5 superficie (20) del elemento de construcción una resina epóxica. Lo que permite mejorar la adhesión de la cinta FRP (20). En una variante de realización se limpia la superficie (20) del elemento de construcción mediante los medios de limpieza y particularmente mediante aire comprimido lo que repercuten en una mejor adhesión de la cinta FRP (20).
A method is also provided for automatic coating by strip of FRP tapes (12), of the non-impregnated type of adhesive, and an epoxy adhesive on curved or flat surfaces (20) of construction elements such as tunnel vaults that it comprises a) providing a tool (1) according to any of the embodiments, connected to the handling means; b) move the tool (1) on the surface (20) of the construction element c) actuate the resin dispensing of the resin dispensing means (8) d) remotely actuate the cutting means (6 '). In a variant embodiment, the fissures of the surface (20) of the construction element are coated in an earlier stage with an epoxy resin. This allows to improve the adhesion of the FRP tape (20). In a variant embodiment, the surface (20) of the construction element is cleaned by means of cleaning and particularly by compressed air, which results in a better adhesion of the FRP tape (20).
Claims
1. Herramienta (1) conectable a un medio de manipulación para la aplicación automática remota de cinta FRP (12), del tipo no impregnado de adhesivo, y un adhesivo epóxico sobre superficies (20), curvas o planas, de elementos de construcción tales como bóvedas de túneles caracterizado porque comprende1. Tool (1) connectable to a means of manipulation for the automatic remote application of FRP tape (12), of the type not impregnated with adhesive, and an epoxy adhesive on surfaces (20), curved or flat, of construction elements such as tunnel vaults characterized by comprising
- un rodillo prensor (2) ; - a pressing roller (2);
- un medio motriz que comprende un rodillo motriz (5); - a driving means comprising a driving roller (5);
- un medio de transmisión de potencia; - a power transmission medium;
- un medio dispensador de resina (8); - a resin dispensing means (8);
- un medio de dispensación de tiras de FRP que a su vez comprende - a means of dispensing FRP strips which in turn comprises
o un rodillo de dispensación (3) ; or a dispensing roller (3);
o un medio de corte (6') ; or a cutting means (6 ');
o al menos dos rodillos de guía (6a, 6b) ; y or at least two guide rollers (6a, 6b); Y
- un medio de almacenamiento de cinta de FRP (9); - a FRP tape storage medium (9);
en donde el rodillo de dispensación (3) y el rodillo motriz (5) están conectados mediante el medio de transmisión de potencia con dimensiones adaptadas para proporcionar una relación de transmisión tal que la velocidad de dispensación de cinta FRP (12) sustancialmente similar a la velocidad de avance al desplazar la herramienta (1) sobre la superficies (20). wherein the dispensing roller (3) and the driving roller (5) are connected by means of the power transmission means with dimensions adapted to provide a transmission ratio such that the dispensing speed of FRP tape (12) substantially similar to the forward speed when moving the tool (1) on the surfaces (20).
2. Herramienta (1) según la reivindicación 1 en el que el medio de transmisión de potencia comprende al menos un primera polea (25a), una segunda polea (25b) y una correa ( 1a), en donde 2. Tool (1) according to claim 1 wherein the power transmission means comprises at least a first pulley (25a), a second pulley (25b) and a belt (1a), wherein
la primera polea (25 a) está unida al rodillo motriz (5) y la segunda polea (25b) está unida al rodillo de dispensación (3), guardando los diámetros de la primera y segunda polea (25a, 25b) una relación inversa a la relación de diámetros entre el rodillo motriz (5) y el rodillo de dispensación (3), the first pulley (25 a) is attached to the drive roller (5) and the second pulley (25b) is attached to the dispensing roller (3), keeping the diameters of the first and second pulley (25a, 25b) an inverse relationship to the relationship of diameters between the drive roller (5) and the dispensing roller (3),
y particularmente una relación 1 :1. and particularly a 1: 1 ratio.
3. Herramienta (1) según la reivindicación 2 que comprende una tercera polea (25c) y una segunda correa (11b) unida al menos a un rodillo de guía(6a), 3. Tool (1) according to claim 2 comprising a third pulley (25c) and a second belt (11b) attached to at least one guide roller (6a),
guardando una relación entre los diámetros de dicha tercera polea (25c) y la segunda polea (25b) una relación inversa a la relación de diámetros entre el rodillo de dispensación (3) y el al menos un rodillo de guía(6a), y particularmente una relación entre los diámetros de dicha tercera polea (25c) y la segunda polea (25b) de 3:1. keeping a relationship between the diameters of said third pulley (25c) and the second pulley (25b) an inverse relationship to the relationship of diameters between the dispensing roller (3) and the at least one guide roller (6a), and particularly a ratio between the diameters of said third pulley (25c) and the second pulley (25b) of 3: 1.
4. Herramienta (1) según cualquiera de las reivindicaciones 1 a 3 en donde el rodillo motriz (5) está fabricado o recubierto de goma, tachuela o silicona, lija, particularmente de juntas tóricas con acabados en granallado. 4. Tool (1) according to any one of claims 1 to 3 wherein the drive roller (5) is made of or coated with rubber, tack or silicone, sandpaper, particularly o-rings with shot blasting finishes.
5. Herramienta (1) según la reivindicación 4 en donde el recubrimiento de la superficie del rodillo motriz (5) se une de forma desmontable al cilindro motriz (5), y más particularmente mediante velero (R). 5. Tool (1) according to claim 4 wherein the surface coating of the drive roller (5) is detachably attached to the drive cylinder (5), and more particularly by sailboat (R).
6. Herramienta (1) según cualquiera de las reivindicaciones 1 a 5 que comprende un soporte cuchilla (24) y un conjunto de aeccionadores (23), particularmente microactuadores neumáticos. 6. Tool (1) according to any one of claims 1 to 5 comprising a blade holder (24) and a set of actuators (23), particularly pneumatic micro-actuators.
7. Herramienta (1) según cualquiera de las reivindicaciones 1 a 6 que comprende un saliente (13) entre el rodillo de dispensación (18) situado entre el rodillo de dispensación (3) y el rodillo prensor (2). 7. Tool (1) according to any of claims 1 to 6 comprising a projection (13) between the dispensing roller (18) located between the dispensing roller (3) and the pressing roller (2).
8. Herramienta (1) según cualquiera de las reivindicaciones 1 a 7 que comprende una zona adaptada para recibir medios de limpieza de la superficie (20), en particular para alojar un medio dispensador de aire comprimido. 8. Tool (1) according to any one of claims 1 to 7 comprising an area adapted to receive surface cleaning means (20), in particular for housing a compressed air dispensing means.
9. Herramienta (1) según cualquiera de las reivindicaciones 1 a 8 que comprende una zona adaptada para conectar con el medio de manipulación conectado y su brida (19) alojando medios de fijación desmontables, y particularmente tornillo, tornillo/tuerca. 9. Tool (1) according to any of claims 1 to 8 comprising an area adapted to connect with the connected handling means and its flange (19) housing removable fixing means, and particularly screw, screw / nut.
10. Herramienta (1) según cualquiera de las reivindicaciones 1 a 9 que está inscrita en un paralelepípedo de dimensiones; anchura de 0.15 a 1.5 m; altura de 0.10 m; longitud de 0.15 m, y en particular de anchura 0.15 m. 10. Tool (1) according to any one of claims 1 to 9 which is inscribed in a parallelepiped of dimensions; width from 0.15 to 1.5 m; height of 0.10 m; length of 0.15 m, and in particular of width 0.15 m.
11. Herramienta (1) según cualquiera de las reivindicaciones 1 a 10 que comprende un medio telemático para determinar la distancia a la superficie (20) de la herramienta (1) , particularmente un medio de adquisición de imágenes inalámbrico. 11. Tool (1) according to any of claims 1 to 10 comprising a telematic means for determining the distance to the surface (20) of the tool (1), particularly a wireless image acquisition means.
12. Herramienta (1) según cualquiera de las reivindicaciones 1 a 10 en donde las piezas de la herramientas son de aluminio y/o nylon. 12. Tool (1) according to any of claims 1 to 10 wherein the parts of the tools are made of aluminum and / or nylon.
13. Herramienta (1) según cualquiera de las reivindicaciones 1 a 10 en donde la boquilla de aplicación de la resina está orientada tras el rodillo tractor y en una dirección hacia la superficie (20) contraria al sentido de aplicación de marcha de la herramienta. 13. Tool (1) according to any of claims 1 to 10 wherein the resin application nozzle is oriented behind the tractor roller and in a direction towards the surface (20) contrary to the direction of application of the tool.
14. Método para el recubrimiento automático y remoto mediante tira de cintas de FRP (12), del tipo no impregnado de adhesivo, y un adhesivo epóxico sobre superficies (20), curvas o planas, de elementos de construcción tales como bóvedas de túneles caracterizado porque comprende 14. Method for automatic and remote coating by strip of FRP tapes (12), of the type not impregnated with adhesive, and an epoxy adhesive on surfaces (20), curved or flat, of construction elements such as tunnel vaults characterized because he understands
a) proporcionar una herramienta (1) según una cualquiera de las reivindicaciones 1 a 12 en conexión con un medio de manipulación; a) providing a tool (1) according to any one of claims 1 to 12 in connection with a handling means;
b) desplazar la herramienta (1) sobre la superficie (20) del elemento de construcción; b) move the tool (1) on the surface (20) of the construction element;
c) accionar la dispensación de resina del medio de dispensación de resina (8) c) actuate the resin dispensing of the resin dispensing medium (8)
d) accionamiento remoto del medio de corte (6') de la herramienta. d) remote activation of the cutting means (6 ') of the tool.
15. Método para el recubrimiento automático mediante tira de cintas de FRP (12), según la reivindicación 13 que comprende además 15. Method for automatic coating by strip of FRP tapes (12), according to claim 13 further comprising
aplicar en una etapa anterior un recubrimiento de la superficie (20) del elementos de construcción mediante una resina epóxica. apply at a previous stage a coating of the surface (20) of the construction elements by means of an epoxy resin.
16". Método para el recubrimiento automático mediante tira de cintas de FRP (12), según la reivindicación 13 que comprende además 16 ". Method for automatic coating by strip of FRP tapes (12), according to claim 13 further comprising
en una etapa anterior limpiar de la superficie (20) del elemento de construcción mediante el medio dispensador de aire comprimido. in a previous stage, clean the surface (20) of the construction element by means of the compressed air dispensing means.
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ESP201030654 | 2010-05-03 | ||
ES201030654A ES2370666B1 (en) | 2010-05-03 | 2010-05-03 | Tool and method of automatic remote application of strips of tape with fiber reinforced polymer (FRP) with epoxy adhesive. |
Publications (1)
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WO2011138481A1 true WO2011138481A1 (en) | 2011-11-10 |
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PCT/ES2011/000145 WO2011138481A1 (en) | 2010-05-03 | 2011-04-28 | Tool and method for the automatic remote application of strips of fibre-reinforced polymer tape, comprising the dispensing of epoxy adhesive |
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ES (1) | ES2370666B1 (en) |
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FI127347B (en) * | 2016-04-07 | 2018-04-13 | Aalto Korkeakoulusaeaetioe | Arrangements for stretching and cutting a band in the manufacture of fiber-reinforced plastics |
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GB704327A (en) * | 1952-04-16 | 1954-02-17 | William Wright Crandall Junior | Improvements in or relating to method and apparatus for producing composite flooring |
US3577297A (en) * | 1969-01-27 | 1971-05-04 | Rohr Corp | Taping apparatus and method |
WO1997015442A1 (en) * | 1995-10-23 | 1997-05-01 | Clopay Plastic Products Company, Inc. | Product, apparatus and process for strip lamination of a polymer film and nonwoven or woven webs |
WO2000063099A1 (en) * | 1999-04-16 | 2000-10-26 | Fabio Perini S.P.A. | Device for gluing rolls of web material and associated method |
WO2006004222A1 (en) * | 2004-07-06 | 2006-01-12 | Fujifilm Corporation | Apparatus for and method of manufacturing photosensitive laminated body |
-
2010
- 2010-05-03 ES ES201030654A patent/ES2370666B1/en active Active
-
2011
- 2011-04-28 WO PCT/ES2011/000145 patent/WO2011138481A1/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB704327A (en) * | 1952-04-16 | 1954-02-17 | William Wright Crandall Junior | Improvements in or relating to method and apparatus for producing composite flooring |
US3577297A (en) * | 1969-01-27 | 1971-05-04 | Rohr Corp | Taping apparatus and method |
WO1997015442A1 (en) * | 1995-10-23 | 1997-05-01 | Clopay Plastic Products Company, Inc. | Product, apparatus and process for strip lamination of a polymer film and nonwoven or woven webs |
WO2000063099A1 (en) * | 1999-04-16 | 2000-10-26 | Fabio Perini S.P.A. | Device for gluing rolls of web material and associated method |
WO2006004222A1 (en) * | 2004-07-06 | 2006-01-12 | Fujifilm Corporation | Apparatus for and method of manufacturing photosensitive laminated body |
Also Published As
Publication number | Publication date |
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ES2370666B1 (en) | 2012-10-18 |
ES2370666A1 (en) | 2011-12-21 |
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