WO2013027924A1

WO2013027924A1 - Painting apparatus

Info

Publication number: WO2013027924A1
Application number: PCT/KR2012/004232
Authority: WO
Inventors: 박진형; 김은중; 김성태; 한동기; 백태일
Original assignee: 삼성중공업 주식회사
Priority date: 2011-08-23
Filing date: 2012-05-30
Publication date: 2013-02-28
Also published as: CN103747882B; KR101284858B1; JP2014527465A; KR20130021643A; CN103747882A; JP5675001B2

Abstract

Provided is a painting apparatus. According to one embodiment of the present invention, a painting apparatus comprises: a movable module having a body which includes a first housing on which a driving wheel is provided on the outside thereof, and a driving means for driving the driving wheel provided therein; a painting module including a painting gun which is provided to be moved vertically on the movable module; an air supply unit supplying the air of a first pressure to the painting gun to spray paint by using the painting gun; and a power supply unit supplying electricity to the movable module, wherein an on/off operating means for supplying and blocking high-pressure air supplied to the painting gun is provided inside the first housing, wherein the inside of the first housing is sealed.

Description

Painting device

The present invention relates to a painting apparatus.

In the manufacturing process of the ship, the process of painting the inner surface or the outer surface of the hull block with paint is generally performed by the operator's manual work.

At this time, it is not easy to uniformly apply the coating object having a low height such as the side portion of the longage inside the hull block.

Since the working space such as the inner surface of the hull block is almost sealed, the work of painting the surface to be coated with paint for a long time in the sealed space is a difficult task even for an experienced worker.

In addition, continuous exposure of the operator to the sprayed paint during the painting process can adversely affect the operator's body.

Therefore, in a dangerous and poor environment during the painting work process, it is preferable to use an automated coating device rather than the worker to perform the painting work directly, and accordingly, as shown in Korean Patent Publication No. 10-2009-0111601 Painting apparatuses capable of automatically painting the interior have been developed.

However, since the interior of the hull block, which is a space in which the automated coating device performs the painting work, such as the painting device disclosed in the Korean Patent Laid-Open Publication, is sealed, the interior of the painting work space during the painting work in the sealed space is thus closed. It is necessary to develop a painting device that can prevent the risk of explosion due to the electric field connected to the painting device.

One embodiment of the present invention is to provide a coating device that can reduce the risk of explosion.

One embodiment of the present invention is to provide a coating apparatus capable of coating a coating object having a low height, such as a ronge inside the hull block.

According to an aspect of the present invention, a traveling module having a body including a first housing having a traveling wheel installed outside and a driving means for driving the traveling wheel installed therein; A painting module including a painting gun installed to be movable up and down on the moving module; Including an air supply unit for supplying air of the first pressure to the paint gun and a power supply for supplying electricity to the mobile module to inject paint using the paint gun, supplying and blocking the high pressure air supplied to the paint gun An on-off means for operating is located inside the first housing, wherein the interior of the first housing is sealed.

In this case, the driving unit may further include a sealing unit provided between the rotating shaft of the traveling wheel connected to the driving means and the first housing.

In this case, the sealing unit, the bracket is installed in the first housing and the oil seal coupling hole and the bearing coupling hole side by side; The bearing may be installed in the bearing coupling hole of the bracket and may include a bearing in which the rotating shaft is coupled, and an oil seal coupled to the oil seal coupling hole, wherein the rotating shaft penetrates.

On the other hand, the painting apparatus may further include a power transmission means for connecting the drive shaft of the drive means and the rotating shaft of the travel wheel.

At this time, the power transmission means installed on the drive shaft of the drive means, the first belt connected to the rotary shaft of the front driving wheels located in front when viewed in the travel direction of the painting device; And a second belt connected to the rotating shafts of the rear driving wheels located rearward when viewed in the driving direction of the painting apparatus.

The air supply unit may inject air of a second pressure into the body.

On the other hand, the painting apparatus may further include an electric field board is installed inside the regulator for adjusting the pressure of the air supplied from the air supply.

On the other hand, the regulator may include a first regulator for forming the air of the first pressure supplied to the painting module and a second regulator for forming the air of the second pressure supplied into the body.

In this case, the first pressure may be higher than the second pressure.

On the other hand, the coating device may further include a magnet installed on the bottom of the body.

On the other hand, the first housing is made of a c-shape, the interior of the first housing, the first region in which the rotation axis of the front driving wheels are located; A second region in which the rotation axis of the rear driving wheels is located and arranged in parallel with the first region, and a third region arranged in the traveling direction perpendicular to the first region and the second region parallel to each other and positioned at the side of the body It may include.

At this time, the body may be formed between the paint gun operating unit between the first region and the second region.

At this time, the height of the paint gun operating unit mounting portion may correspond to the height of the bottom surface of the first housing.

On the other hand, the coating gun is provided with a paint spray nozzle for spraying the paint toward the surface to be coated, the paint spray nozzle is arranged so that the paint is sprayed in an inclined direction obliquely upward with respect to the surface to be painted Can be.

At this time, the painting apparatus further comprises a painting gun operating portion which is installed on the painting gun operating part mounting table to support the painting gun movably, wherein the painting gun operating part, the spray nozzle is up and down with respect to the painting target surface A pivot operating part for operating the paint gun so as to be pivotally rotatable; And one side may support the pivot operating portion to adjust the height of the paint gun and the other side may include a height adjustment unit installed on the paint gun operating unit mounting.

At this time, the height adjustment unit may include a plurality of support bars that can be moved up and down in a pantograph method.

At this time, the pivot operating portion is a moving support coupled to the upper portion of the height adjustment portion; A paint gun support coupled to the paint gun and rotatable with the paint gun; And a driving motor for rotating the paint gun supporter, the paint gun supporter being rotatably supporting the paint gun supporter and having one side coupled to the movable supporter.

At this time, the paint gun support unit, the first bevel gear is installed on the drive shaft of the drive motor; And a second bevel gear connected to the first bevel gear so as to be rotatable about a pivot axis of rotation arranged perpendicular to the axis of rotation of the first bevel gear, wherein one side of the pivot axis of rotation can be coupled with the paint gun support. .

In this case, the paint gun supporter may include a second housing including the driving motor, the first bevel gear, and the first bevel gear, and the inside of the second housing may be sealed.

In this case, the inside of the second housing may be in fluid communication with the first housing and filled with air at a second pressure.

On the other hand, the painting apparatus further comprises a guide portion installed in the body to space the body at a predetermined interval with respect to the coating target surface, the guide portion is coupled to the body one side and the other side extends in the lateral direction of the body Guide arm; And a roller positioned at an end of the guide arm to be in contact with the object to be painted.

On the other hand, the coating device may further include a distance sensor located on the front and rear of the body when viewed in the direction of movement of the body.

On the other hand, the painting apparatus may be provided with an emergency stop switch that can stop the operation of the controller and the drive means installed inside the housing on the outside of the body.

On the other hand, the traveling wheel is formed in a pair of the front both sides and the rear both sides as viewed in the moving direction of the body, the driving is located adjacent to the coating target surface of the traveling wheels formed in pairs in the front and rear both sides The wheel cover may be formed on the upper side of the wheel.

The painting apparatus according to an embodiment of the present invention can prevent the risk of explosion even when painting is performed in a sealed painting work space.

By using the coating device according to an embodiment of the present invention, it is possible to easily paint a coating object having a low height, such as a long paper.

1 is a block diagram of a painting apparatus according to an embodiment of the present invention.

Figure 2 is a perspective view of the moving module of the coating apparatus according to an embodiment of the present invention from one direction.

Figure 3 is a perspective view of the moving module of the coating apparatus according to an embodiment of the present invention viewed from another direction.

Figure 4 is a perspective view of the drive unit of the moving module of the painting apparatus according to an embodiment of the present invention.

5 is a plan view of a driving unit of a moving module of the painting apparatus according to an embodiment of the present invention, and illustrates an internal structure of the driving unit.

6 is a partial perspective view of a sealing part of a driving shaft of a driving unit of a moving module of a painting apparatus according to an embodiment of the present invention.

7 is an exploded perspective view of the sealing part of FIG. 6.

8 is a partial perspective view of a driving unit of a moving module of a painting apparatus according to an embodiment of the present invention.

9 is a configuration diagram of a solenoid installed inside the driving unit of the moving module of the coating apparatus according to an embodiment of the present invention.

10 is a perspective view of the moving module of the coating apparatus according to the embodiment of the present invention as viewed from the side.

11 is a perspective view of a painting gun operating unit of the painting apparatus according to an embodiment of the present invention.

12 is a perspective view of the weaving shaft drive unit of the coating apparatus according to an embodiment of the present invention.

13 is a plan view of the weaving shaft drive unit of the coating apparatus according to an embodiment of the present invention.

14 is a state diagram in which the coating device according to an embodiment of the present invention paints a coating target surface.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like elements throughout the specification.

1 is a block diagram of a painting apparatus 1 according to an embodiment of the present invention.

Referring to FIG. 1, the painting apparatus 1 according to an embodiment of the present invention may include a moving module 10, a painting module 250, an air supply unit 400, and a power supply unit 500.

In the painting apparatus 1 according to an embodiment of the present invention, the painting gun (260 of FIG. 12) of the painting module 250 is mounted on the moving module 10 to paint while the moving module 10 moves. The paint sprayed from the paint spray nozzle (270 of FIG. 12) of the gun 260 is configured to coat the coating target surface.

At this time, in order to inject paint from the paint spray nozzle 270 formed in the paint gun 260 of the paint module 250, high-pressure air is supplied from the air supply unit 400 to the paint gun 260 of the paint module 250. Supplied.

At this time, the air supplied from the air supply unit 400 to the painting gun 260 of the painting module 250 is connected to the inside of the moving module 10 through the second air transfer pipe 420 and then the moving module 10. Is connected to the coating gun 260 of the painting module 250 through the third air transfer pipe (430).

At this time, the first regulator 310 is provided to adjust the air supplied from the air supply unit 400 to the pressure required by the coating gun 260 of the painting module 250.

The first regulator 310 is located inside or outside the battlefield 300 to adjust the pressure of the air supplied from the air supply unit 400 through the first air transfer pipe 410, the pressure-controlled air Is supplied to the painting gun 260 of the painting module 250. At this time, the air supplied to the coating gun 260 of the painting module 250 may be high pressure air of about 0.5MPa. Hereinafter, the pressure is controlled by the first regulator 310 to describe the pressure of the air supplied to the painting gun 260 of the painting module 250 as the first pressure.

On the other hand, according to one embodiment of the present invention, the air of the first pressure from the first regulator 310 of the electric field board 300 is not directly connected to the coating gun 260 of the painting module 250, Figure 1 As shown in FIG. 2, the coating gun of the painting module 250 is connected to the inside of the moving module 10 through the second air transfer pipe 420 and then through the third air transfer pipe 430 from the moving module 10. (260 in Fig. 12).

At this time, the solenoid valve 70 is installed inside the moving module 10 as a means for turning on and off the supply of air supplied to the painting gun 260. The solenoid valve 70 is connected to the controller 92 inside the moving module 10 to control the supply of air to the paint gun 260.

Meanwhile, according to one embodiment of the present invention, the second regulator 320 is connected to the fourth air transfer pipe 440 branched from the second air transfer pipe 420 formed downstream of the first regulator 310. The high pressure air whose air pressure is controlled by the first regulator 310 has a lower pressure. In this case, the second regulator 320 may be installed inside or outside the electric field board 300 similarly to the first regulator 310. As such, the lower pressure air whose pressure is adjusted by the second regulator 320 may be approximately 0.2 MPa. Hereinafter, the pressure of the air whose pressure is adjusted by the second regulator will be described as the second pressure.

The air of the second pressure passing through the second regulator 320 is supplied to the inside of the moving module 10 through the fifth air conveying pipe 450, so that the inside of the moving module 10 is higher than atmospheric pressure. It is formed to have pressure.

As such, the inside of the moving module 10 is formed to have a second pressure higher than atmospheric pressure, so that the moving module 10 may explode in an enclosed space such as inside the hull block while the painting apparatus 1 performs painting. Will be reduced.

On the other hand, according to an embodiment of the present invention, a power supply unit 500 is provided to supply power to the moving module 10 of the painting device (1). The power supply line 510 of the power supply unit 500 is connected to the mobile module 10 through the interior of the electric field board 300.

At this time, according to an embodiment of the present invention, the power supply line for supplying power from the power supply unit 500 to the mobile module 10 and the air transfer pipe for supplying high pressure air into the mobile module has one explosion-proof performance Installed inside the cable having a can be connected into the mobile module.

Hereinafter, different configurations of the coating device 1 according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a perspective view of the moving module of the coating apparatus according to an embodiment of the present invention from one direction. Figure 3 is a perspective view of the moving module of the coating apparatus according to an embodiment of the present invention viewed from another direction. Figure 4 is a perspective view of the drive unit of the moving module of the painting apparatus according to an embodiment of the present invention. 5 is a plan view of a driving unit of a moving module of the painting apparatus according to an embodiment of the present invention, and illustrates an internal structure of the driving unit.

2 to 5, the moving module 10 of the painting apparatus 1 according to an embodiment of the present invention includes a driving unit 20, a painting gun operating unit 100, and a guide unit 130. .

The driving unit 20 includes a body 30 having a driving means therein for moving the moving module 10 of the painting apparatus 1 and a traveling wheel 40 that is rotated by the driving means.

At this time, the body 30 includes a first housing 50 and the paint gun operating part mounting table 52.

At this time, the drive means for driving the traveling wheel 40 is provided in the inside of the 1st housing. In this case, the driving means may include a driving motor (80 of FIG. 5) and power transmission means for transmitting the power of the driving motor to the travel wheel 40.

In one embodiment of the present invention, the power transmission means is a pulley (82, 84, 44) and the pulley (82, 84, 44) installed on the drive shaft 81 of the drive motor 80 and the travel shaft 42 of the travel wheel 40 ( And a belt 45 installed on the 82, 84 and 44.

Accordingly, the first housing 50 of the moving module 10 according to an embodiment of the present invention is the driving motor 80 and the driving motor 80 for driving the driving wheel 40 of the moving module 10. The

pulleys

82, 84, 44 and the belt 45 for transmitting the driving force to the traveling wheel 40 are formed of a closed rigid member located therein.

In more detail, referring to FIG. 5, the first housing 50 may be formed in a 'c' shape as a whole as shown in FIG. 5.

In the present embodiment, the interior of the first housing 50 having a 'c' shape is located at the front side of the first housing 50 when the driving direction of the moving module 10 is upward in FIG. 5. A first region 50a formed in a direction perpendicular to the travel direction, a second region 50b formed in a direction perpendicular to the travel direction on the rear side of the first housing 50 in the travel direction of the moving module 10, and The first region 50a and the second region 50b may be connected to each other, and may be formed of a third region 50c formed at one side of the body to be parallel to the driving direction.

At this time, the first region 50a, the second region 50b, and the third region 50c of the first housing 50 are connected to each other and are sealed to the outside.

The first driving shaft 42a connecting the driving motor 80, the solenoid valve 70, and the pair of first driving wheels 40a is positioned in the first region 50a of the first housing 50. The first travel shaft 42a is rotatably connected to the drive motor 80 by a pulley and a belt.

The drive motor 80 is arranged to extend in a direction perpendicular to the traveling direction of the moving module 10. Two

pulleys

82 and 84 are coupled to the drive shaft 81 of the drive motor 80.

One pulley 82 of the two

pulleys

82 and 84 is connected by a belt 45 and a first pulley 44a coupled to the first travel shaft 42a.

The other pulley 84 is coupled to a second travel shaft 42b connecting the second travel wheels 40b positioned at both sides of the second area 50b of the first housing 50. It is connected by the pulley 44b and the belt 45.

Accordingly, as the driving motor 80 operates, the first driving wheel 40a and the second driving wheel 40b are simultaneously rotated so that the moving module 10 can move.

In the third region 50c of the first housing 50, a controller 92 for controlling the operation of the moving module 10 is installed.

The controller 92 is a coating device 1 such as a paint spraying operation according to the on-off operation of the solenoid valve 70, starting and ending driving of the moving module 10, confirming an end point detected from the distance detecting sensor 94, and the like. To control its operation.

Meanwhile, according to an embodiment of the present invention, the body 30 of the mobile module driver 20 may be disposed between the first region 50a and the second region 50b of the outer side of the first housing 50 and the third region ( The coating gun operating part mounting base 52 is provided in the outer part of 50c).

At this time, the paint gun operating part mounting table 52 may be formed of a rectangular plate-like member formed at the same height as the height of the bottom surface of the first housing 50 of the moving module 10. The paint gun operating part 100 is installed on the paint gun operating part mounting base 52.

The paint gun operating part 100 is a pivot adjusting part (210 in Fig. 11) capable of pivoting the height adjusting part (110 in Fig. 11) and the paint spray nozzle 270 to operate the paint gun 260 up and down. It includes. The height adjustment unit 110 and the pivot operation unit 210 will be described in more detail later.

On the other hand, in one embodiment of the present invention, a pair of magnetic bodies 90 are installed on both side portions of the lower side of the body 30 including the first housing 50 and the paint gun operating part mounting table 52.

In this case, as shown in FIG. 5, the pair of magnetic bodies 90 may be formed of a bar-shaped member extending in a direction parallel to the travel direction between the first travel wheel 40a and the second travel wheel 40b. Can be done. However, the shape and position of the magnetic material is not limited thereto.

The pair of magnetic bodies 90 paint the surface to be painted, such as the side of the side wall or the longage, while moving on the bottom surface formed of a material such as steel, for example, when the moving module 10 paints the inside of the hull formed of steel. In this case, by providing a force to pull the moving module 10 in the direction of the bottom surface to enable the mobile module 10 to stably run the bottom surface.

On the other hand, when viewed in the traveling direction of the moving body 30, the distance sensor 94 is installed on the front and rear surfaces.

The distance sensor 94 checks whether there is an obstacle in front of or behind the moving body 30 when the moving body 30 travels and performs painting, or measures the distance to an obstacle located at the front or rear side. do.

The distance sensor 94 is connected to the controller 92 inside the third area 50c.

When the controller 92 has an obstacle such as a wall on the front side in the moving direction of the moving body 30 while performing painting based on the distance signal transmitted from the distance sensor 94, the moving module 10 stops traveling. You can determine when to stop.

On the other hand, in one embodiment of the present invention, the interior of the first housing 50 should be kept in a sealed state, for this purpose the sealing portion 60 on the first travel shaft (42a) and the second travel shaft (42b) ) Is installed.

The sealing unit 60 is provided on the first travel shaft 42a and the second travel shaft 42b at positions adjacent to the pair of first travel wheels 40a and the second travel wheels 40b. Hereinafter, the sealing unit will be described in more detail with reference to the accompanying drawings.

6 is a partial perspective view of the sealing unit 60 of the drive shaft of the drive unit of the moving module of the coating apparatus according to an embodiment of the present invention. 7 is an exploded perspective view of the sealing unit 60 of FIG. 6.

6 and 7, the sealing part 60 may include a bracket 62, a bearing 66, and an oil seal 68.

The bracket 62 is coupled to the side wall 51 of the first housing 50 so that the bearing 66 and the oil seal 68 may be installed on the side wall 51 of the first housing 50.

The oil seal coupling hole 64 and the bearing coupling hole 63 are formed at the center of the bracket 62 so that the oil seal 68 and the bearing 66 can be coupled to each other.

The oil seal coupling hole 64 and the bearing coupling hole 63 are formed parallel to each other in the axial direction of the first travel shaft 42a.

The oil seal 68 is a ring-shaped member which is coupled inside the oil seal coupling hole 64 and is formed to penetrate the driving shaft, and prevents a contaminant such as dust from flowing into the first housing 50.

The bearing 66 is coupled to the bearing coupling hole 63 to support the rotation of the travel shaft.

According to the present embodiment, the bracket 62 is coupled to the hole 55 formed in the side wall 51 of the first housing 50 while the oil seal 68 and the bearing 66 are coupled to the bracket 62. As a result, the oil seal 68 and the bearing 66 may be easily coupled to the side wall 51 of the first housing 50.

8 is a partial perspective view of the drive unit 20 of the moving module 10 of the painting apparatus 1 according to an embodiment of the present invention. 9 is a configuration diagram of the solenoid valve 70 installed inside the drive unit 20 of the moving module 10 of the painting apparatus according to an embodiment of the present invention. In this case, in FIG. 9, the wiring connection line 170 and the plurality of

air transfer pipes

420, 430, 450, and 460 of FIG. 8 are arranged in a line.

1, 5, 8, and 9, a wiring connection line 170 and a second air transfer pipe 420 are disposed on the upper side of the first region 50a among the upper sides of the first housing 50. The third air delivery pipe 430, the fifth air delivery pipe 450, and the sixth air delivery pipe 460 are installed.

The wiring connection line 170 includes an electrical device installed inside the first housing 50, for example, a controller 92 for driving the electrical device inside the second housing 220, for example, a bevel gear part. Electrical wirings and the like connected to the drive motor 230 (see FIG. 13) are provided.

The second air transfer pipe 420 is a pipe that transfers the air of the first pressure from the first regulator 310 to the solenoid valve 70 inside the first housing 50.

The third air transfer pipe 430 is a pipe for guiding air of the first pressure from the solenoid valve 70 to the paint gun 260. Accordingly, air of the first pressure is supplied into the painting gun 260 through the painting gun supporter 247 (see FIG. 12).

The fifth air delivery pipe 450 is a pipe for introducing air of the second pressure from the second regulator 320 into the first housing 50. Accordingly, the inside of the first housing 50 is filled by the air of the second pressure.

The sixth air transfer pipe 460 is a pipe connected to one side of the second housing 220 to supply air of the second pressure inside the first housing 50 to the second housing 220.

In this case, an air fitting may be installed on the outer surface of the first housing 50 at a position where each air transfer pipe is connected to the housing.

The solenoid valve 70 may be connected to the controller 92 to control an amount of supplying air of the first pressure to the painting module 250.

Meanwhile, the cable gland 160, the operation switch 150, and the emergency stop switch 140 are positioned on the upper surface of the second region 50b of the first housing 50.

The cable gland 160 is formed at an outer surface of the first housing 50 to connect cables, such as a power cable, from the electric field board 300 into the first housing 50.

The operation switch 150 may be, for example, a push type or a toggle type, and set an on / off switch for operating the moving module 10 and a direction for setting forward and backward directions of the moving module 10. And a switch.

The emergency stop switch 140 is formed to be connected to the power supply of the drive motor 80 and the power supply of the controller 92, and may be used for stopping the operation of the painting apparatus 1 in an emergency.

In this case, the cable gland 160, the operation switch 150, and the emergency stop switch 140 installed outside the first housing 50 are moved modules (1) of the painting device 1 in the work space of the painting in which the painting is made. 10) It is preferable to be explosion-proof because it is easy to be exposed to dangerous situations such as this explosion.

FIG. 10 is a perspective view of a part of the moving module 10 of the painting apparatus 1 according to the embodiment of the present invention.

Referring to FIG. 10, the guide part 130 of the moving module 10 includes a guide arm 132 and a guide wheel 136.

The guide arms 132 are installed in pairs on the front and rear surfaces of the moving module 10 in the traveling direction of the moving module 10.

At this time, a guide slit 139 is formed at one end of the guide arm 132, and the coupling hole 138 is formed at the front or rear surface of the moving module 10 by passing through the guide slit 139. It is formed to be coupled to (57).

In this case, a plurality of guide slits 139 may be formed side by side in the longitudinal direction of the guide arm 132, and each guide slit 139 has at least one coupling bolt 138 to guide the slits 139. It is formed to penetrate through the coupling hole 57.

When the coupling bolt 138 is coupled to the coupling hole 57, the side of the guide arm 132 is pressed to fix the position of the guide arm 132.

According to an embodiment of the present invention, the guide arm 132 is moved by adjusting the position of the guide arm 132 when the coupling bolt 138 is coupled to the coupling hole 57 through the guide slit 139. The protruding length in the direction perpendicular to the running direction of 10 can be adjusted.

Guide wheels 136 are rotatably installed at the other end of the guide arm 132.

The guide wheel 136 is formed to rotate in contact with the painting target surface while the moving module 10 moves along the painting target surface adjacent to the painting target surface. Accordingly, during the painting operation, the relative distance of the moving module 10 to the painting target surface may be kept constant.

At the other end of the guide arm 132, a support arm 134 is installed perpendicular to the extending direction of the guide arm 132. Accordingly, the distance between the other ends of the pair of guide arms 132 can be kept constant.

On the other hand, as can be seen in Figure 10, the wheel cover 46 is provided on the driving wheel 40 located on the side adjacent to the coating target surface of the driving wheel 40 of the moving module 10.

The wheel cover 46 is a component for preventing the paint scattering in the air from covering or contaminating the traveling wheel 40 when the paint is sprayed onto the surface to be coated.

At this time, the traveling wheel located on the side far from the running target surface is relatively less paint than the traveling wheel located on the side adjacent to the running target surface, so that the contamination by the scattering paint is less. Accordingly, in the present embodiment, the wheel cover is installed only on the upper side of the driving wheel adjacent to the coating target surface, but it may be possible to install the wheel cover on all the driving wheel upper sides for the same purpose.

11 is a perspective view of a painting gun operating unit of the painting apparatus according to an embodiment of the present invention. 12 is a perspective view of the weaving shaft drive unit of the coating apparatus according to an embodiment of the present invention. 13 is a plan view of the weaving shaft drive unit of the coating apparatus according to an embodiment of the present invention.

Referring to FIG. 11, the paint gun operating unit 100 includes a height adjusting unit 110 and a pivot operating unit 210.

The height adjusting unit 110 is installed above the paint gun operating unit mounting table 52. The height adjusting unit 110 may include a plurality of

support bars

111a, 111b, 113b, 113a, 115a, and 115b which may be operated in an arrow I direction, that is, in a vertical direction when viewed in FIG. 11 in a ridge pantograph manner. have.

In more detail, referring to FIG. 11, the plurality of

support bars

111a, 111b, 113b, 113a, 115a, and 115b may be a pair of lower supports rotatably installed on the pair of

lower hinge shafts

112a and 112b, respectively. A pair of central support bars 113b and 113a rotatably connected to the

bars

111a and 111b and upper ends of the

lower support bars

111a and 111b and upper ends of the central support bars 113b and 113a. It may include a pair of upper support bars (115a, 115b) rotatably connected.

At this time, the upper end of the lower support bar (111a, 111b) and the lower end of the center support bar (113b, 113a) is coupled to the first connecting shaft (114a, 114b).

The second connecting shaft 118 is coupled to the central portion of the pair of central support bars 113b and 113a.

The upper ends of the pair of central support bars 113b and 113a and the lower ends of the upper support bars 115a and 115b are coupled to the third connecting

shafts

116a and 116b.

Upper hinge shafts

117a and 117b are coupled to upper ends of the upper support bars 115a and 115b, and a coating gun 260 and a pivot operating portion 210 are installed on upper portions of the

upper hinge shafts

115a and 115b. do.

As such, the

lower support bars

111a and 111b, the center support bars 113b and 113a, and the upper support bars 115a and 115b are coupled to each other, and thus the

lower support bars

111a and 111b and the center support bars 113b and 113a. And the upper support bars 115a and 115b rotate, the coating gun 260 and the pivot operating portion 210 can be moved in the vertical direction (arrow I direction) as shown in FIG. Is called an active pantograph type coupling structure.

In this case, at least one hydraulic cylinder (not shown) is connected to each of the support bars to rotate the

lower support bars

111a and 111b, the center support bars 113b and 113a, and the upper support bars 115a and 115b. It may be coupled to any one or more of the third connecting shaft (114a, 114b, 118, 116a, 116b).

On the other hand, the height adjustment unit 110 according to an embodiment of the present invention is composed of a plurality of support bars operated in the ridge pantograph method, the configuration of the height adjustment unit 110 for adjusting the height of the movable support 119 is It can be made in a variety of known structures.

For example, it may be possible to move the movable support in the vertical direction by using a hydraulic cylinder, or to install the vertical support on the upper surface of the body and then configure the movable support to operate in the vertical direction by sliding the vertical support.

Meanwhile, the pivot actuator 210 installed on the height adjuster 110 includes a movable support 119, a paint gun support 212, and a paint gun support 247.

Referring to FIG. 11, the movable support 119 may be formed of a rectangular plate member installed at an upper end of the height adjusting unit 110. At this time, the paint gun support support 212 for rotatably supporting the paint gun support 247 is coupled to one side edge of the movable support 119.

12 and 13, the paint gun supporter 212 includes a second housing 220, a drive motor 230, and a bevel gear part 240.

The second housing 220 is a hexahedral member having one side coupled to one side edge of the moving support 119, and is sealed from the outside to protect the driving motor 230 and the bevel gear unit 240 located therein. Consists of a structure.

Referring to FIG. 12, at one side of the second housing 220, a wire connection line 170 and an inside of the first housing 50 connecting the wires from the first housing 50 to the inside of the second housing 220 may be provided. A sixth air transfer pipe 460 is connected to inject air of a second pressure from the second housing 220 into the second housing 220. Accordingly, the inside of the second housing 220 is filled with air of the second pressure.

Meanwhile, the driving motor 230 and the bevel gear unit 240 are installed in the second housing 220.

At this time, the drive motor 230 is formed such that the drive shaft 232 extends in the direction toward the coating target surface.

The first bevel gear 242 of the bevel gear unit 240 is coupled to the drive shaft 232 of the drive motor 230. The second bevel gear 244 is rotatably connected to the first bevel gear 242 about the weaving shaft 246 perpendicular to the rotation axis of the first bevel gear 242.

13, the weaving shaft 246 extends from the front side of the driving motor 230 inside the second housing 220 to the left side and is connected to the paint gun supporter 247.

The paint gun supporter 247 is rotatably formed in accordance with the rotation of the weaving shaft 246.

In this case, a sealing part having a structure similar to that installed in the first housing 50 may be installed between the weaving shaft 246 and the second housing 220 to seal the inside of the second housing 220.

On the other hand, according to an embodiment of the present invention, the coating gun 260 is installed below the coating gun support 247. Accordingly, when the paint gun supporter 247 rotates, the paint gun 260 is rotatably formed together.

More specifically, as the first bevel gear 242 and the second bevel gear 244 is rotated by the drive motor 230, the paint gun support coupled to the weaving shaft 246, which is the rotation axis of the second bevel gear 244 The 247 and the coating gun 260 are formed to be able to rotate in the direction of arrow II as shown in FIG.

At this time, the coating gun 260 may reciprocate in a vertical direction with respect to the coating target surface (4 in FIG. 14) according to the rotation direction of the drive motor 230. In this specification, reciprocating rotation of a predetermined angle range is referred to as 'pivot rotation' or 'weaving'.

Meanwhile, according to an embodiment of the present invention, the painting module 250 includes a painting gun 260 and a paint supply unit 280.

The paint gun 260 includes a support body 261 that supports the paint spray nozzle 270 so that the paint spray nozzle 270 is positioned at one end side, and the support body 261 is supported by the paint gun supporter 247. The pivot is supported to be rotatable.

12 and 13, a third air delivery pipe 430 for supplying air at a first pressure to the paint gun 260 is connected to the paint gun support 247, thereby providing a paint gun support 247. The air of the first pressure is supplied to the painting gun 260 through the paint gun 260.

The paint gun 260 is connected to the paint supply unit 280 by the paint supply line 281 so that the paint can be supplied to the paint gun in the process of painting work.

Referring to FIG. 13, the paint supply line 281 extending from the paint supply unit 280 is connected to the paint gun 260 through one side of the paint gun support 271. In this case, although the paint supply unit 280 is not shown, it may include a paint storage unit and a paint supply pump.

The paint spray nozzle 270 installed at one end of the paint gun 260 may be formed to be inclined in an upward direction as shown in FIG. 12.

Thus, when the paint spray nozzle 270 is formed to be inclined upward, the paint gun 260 and the bottom surface are prevented from colliding when the paint gun pivots when, for example, a low height is being applied. can do.

The state which coats the side surface of the coating object surface 4, for example the ronge 2 provided in the ship body by driving the coating device which consists of the above structures is shown in FIG.

Referring to Figure 14, the coating device 1 according to an embodiment of the present invention by adjusting the height of the coating gun operating unit 100, the coating target surface 4, such as the lower side or upper side of the longage 2 Can be painted.

At this time, when painting the side surface of the coating target surface (4), as an embodiment of the coating method, the coating device is painting in a state in which the height adjusting portion 110 of the painting gun operating portion 100 is located at a predetermined height Only the gun 260 is pivotally rotated, and thus the moving module 10 moves along the paint target surface 4 while the paint gun 260 pivots, so as to paint the paint target surface 4. have.

As described above, the coating target surface 4 may be uniformly coated by applying the coating while moving the moving module 10 while the painting gun 260 pivots.

At this time, the method of coating the coating target surface 4 by using the coating apparatus 1 according to the present embodiment, in addition to the method described in the present embodiment, the position of the coating target surface 4 and the coating target surface It can be variously changed according to the situation of the surface to be painted, such as the width.

In addition, in performing painting using the painting apparatus according to an embodiment of the present invention, the rotation angle and the rotation speed of the painting gun 260 are between the painting target surface 4 and the painting apparatus 1 to which the paint is sprayed. It can be set in various ways depending on the distance, the amount of paint sprayed, the moving speed of the coating device (1).

As described above, the coating device 1 according to an embodiment of the present invention is provided with a height adjusting unit 110 to change the position of the coating gun 260 according to the height of the coating target surface (4) Thereby, the coating target surface 4 of various height can be painted.

In addition, the coating apparatus 1 according to the exemplary embodiment of the present invention may coat the coating target surface 4 with a uniform thickness because the coating spray nozzle of the coating gun performs painting while pivoting.

In addition, the moving module 10 of the painting device 1 according to the embodiment of the present invention drives the pivot actuator for pivoting the painting gun and the interior of the first housing surrounding the driving motor for rotating the traveling wheel. Since air having a predetermined pressure is injected into the second housing surrounding the motor, the explosion risk of the painting apparatus can be lowered.

In addition, the coating apparatus according to an embodiment of the present invention is a moving module for moving the solenoid valve which is an on-off means for adjusting the amount of high-pressure air when supplying the high pressure air for spraying the paint through the paint gun through the paint gun By installing inside the first housing, the risk of explosion during painting can be reduced.

In the above, but described with respect to the coating apparatus according to an embodiment of the present invention, the spirit of the present invention is not limited to the embodiments presented herein, those skilled in the art to understand the spirit of the present invention within the scope of the same idea Other embodiments may be easily proposed by adding, changing, deleting, or adding components, but this will also fall within the spirit of the present invention.

Claims

A moving module having a body including a first housing in which a driving wheel is installed outside and a driving means for driving the driving wheel is installed inside;

A painting module including a painting gun installed to be movable up and down on the moving module;

An air supply unit supplying air at a first pressure to the paint gun to inject paint using the paint gun;

Including a power supply for supplying electricity to the mobile module,

On-off operation means for supplying and blocking the high pressure air supplied to the paint gun is located inside the first housing, characterized in that the inside of the first housing is sealed.
The method of claim 1,

And a sealing part provided between the rotating shaft of the traveling wheel connected to the driving means and the first housing.
The method of claim 2,

The sealing unit,

A bracket installed in the first housing and having an oil seal coupling hole and a bearing coupling hole parallel to each other;

A bearing installed in the bearing coupling hole of the bracket and to which the rotating shaft is coupled;

And an oil seal coupled to the oil seal coupling hole but through which the rotating shaft penetrates.
The method of claim 1,

And a power transmission means for connecting the drive shaft of the drive means and the rotary shaft of the travel wheel.
The method of claim 4, wherein

The power transmission means provided on the drive shaft of the drive means,

A first belt connected to a rotation axis of the front driving wheels located in front when viewed in the travel direction of the painting apparatus; And

And a second belt connected with the rotational axis of the rear traveling wheels located rearward in the driving direction of the painting device.
The method of claim 1,

And the air supply unit injects air of a second pressure into the body.
The method of claim 6,

The apparatus further includes an electric panel installed inside the regulator for adjusting the pressure of the air supplied from the air supply.
The method of claim 7, wherein

The regulator

A first regulator for forming air of the first pressure supplied to the painting module;

And a second regulator for forming air of the second pressure supplied into the body.
The method of claim 8,

And the first pressure is higher than the second pressure.
The method of claim 1,

Painting apparatus further comprises a magnet installed on the bottom of the body.
The method of claim 1,

The first housing is made of a c-shape, the interior of the first housing,

A first area in which the rotation axis of the front driving wheels is located;

A second region in which the axis of rotation of the rear traveling wheels is located and arranged side by side with the first region; and

And a third region arranged in a traveling direction perpendicular to the first region and the second region parallel to each other and positioned on the side of the body.
The method of claim 11,

And the body is provided with a paint gun operating part mount between the first area and the second area.
The method of claim 12,

And a height of the paint gun operating part mounting base corresponds to a bottom height of the first housing.
The method of claim 13,

The paint gun is provided with a paint spray nozzle capable of spraying the paint toward the surface to be coated, wherein the paint spray nozzle is arranged so that the paint is sprayed in a direction inclined upwardly obliquely with respect to the surface to be coated. Device.
The method of claim 14,

A paint gun operating part installed on the paint gun operating part mounting table to movably support the paint gun, wherein the paint gun operating part is

A pivot operating unit configured to operate the painting gun such that the spray nozzle is pivotable in an up and down direction with respect to the painting target surface; And

One side supports the pivot operation portion to adjust the height of the paint gun and the other side includes a height adjustment unit installed on the paint gun operating unit mounting.
The method of claim 15,

The height adjustment unit, characterized in that it comprises a plurality of support bars that can be moved up and down in a pantograph method.
The method of claim 15,

The pivot actuator

A moving support coupled to an upper portion of the height adjusting part;

A paint gun support coupled to the paint gun and rotatable with the paint gun; And

And a driving motor for rotating the paint gun support, wherein the paint gun support is rotatably supported and one side includes a paint gun support support coupled to the movable support.
The method of claim 17,

The paint gun support unit,

A first bevel gear installed on a drive shaft of the drive motor and

A second bevel gear connected to the first bevel gear to be rotatable about a pivot axis of rotation arranged perpendicular to the axis of rotation of the first bevel gear,

One side of the pivot axis of rotation is combined with the paint gun support, painting apparatus.
The method of claim 18,

The paint gun supporter includes a second housing including the driving motor, the first bevel gear, and the first bevel gear,

The interior of the second housing, characterized in that the sealing device.
The method of claim 19,

The interior of the second housing is in fluid communication with the first housing and filled by air at a second pressure.
The method of claim 1,

Further comprising a guide portion installed in the body to space the body at a predetermined interval with respect to the coating target surface, the guide portion

A guide arm having one side coupled to the body and the other extending in a lateral direction of the body; And

And a roller positioned at an end of the guide arm and rotatable in contact with the surface to be painted.
The method of claim 1,

Further comprising a distance sensor located on the front and rear of the body when viewed in the direction of movement of the body.
The method of claim 1,

Exterior of the body is provided with an emergency stop switch for stopping the operation of the controller and the drive means installed in the housing, the painting apparatus.
The method of claim 1,

The driving wheels are formed in pairs, respectively, in the front both sides and the rear both sides in the moving direction of the body,

The coating device of claim 1, wherein a wheel cover is formed on an upper side of the traveling wheel positioned adjacent to the object to be painted, among the traveling wheels formed as a pair on both front and rear sides.