WO2013164489A1

WO2013164489A1 - Tool mounting

Info

Publication number: WO2013164489A1
Application number: PCT/EP2013/059353
Authority: WO
Inventors: Palfinger HUBERT
Original assignee: Palfinger Systems Gmbh
Priority date: 2012-05-04
Filing date: 2013-05-06
Publication date: 2013-11-07
Also published as: CN104379442A; SG10201608506RA; EP2844550A1; KR20150013685A; JP2015517423A; BR112014027454A2; SG11201407150RA

Abstract

The invention relates to a tool mounting (100) with a connecting element (120) and a frame for holding tools for treating large surfaces, in particular boat hulls. According to the invention, the proximal end of the connecting element (120) can be positioned on the distal end (201) of a support system (200) using a connecting means (121) and can pivot about a first pivoting axis (S1), the distal end of the connecting element (120) has a self-supporting connection to the frame (110) and can pivot about a second pivoting axis (S2), and the first pivoting axis (S1) is oriented substantially perpendicularly to the second pivoting axis (S2).

Description

tool holder

The invention relates to a tool holder with a connection element and a frame for receiving tools for processing of large surfaces, in particular ship hulls.

In WO 1996/12570 A2, a system for cleaning surfaces is described, wherein a tool holder of the type mentioned is provided, which has a frame, are arranged on the wheels for moving the tool holder over a surface, and a water jet system in this Frame is screwed on. This tool system is only partially suitable for the processing of ship surfaces, because a ship's hull is naturally not formed as a plane, but as a curved surface. However, in order to ensure correct alignment of the tool to the respective ship surface, in particular the alignment of the tool axis normal to the surface to be machined when using this system on curved surfaces, usually a complex crane system is necessary. Furthermore, due to its construction, it requires a considerable amount of space, which precludes use in a shipyard in which there is usually only a small amount of clearance between the ship's wall and the shipyard wall.

Devices with similar high space requirements and limited adaptability to curved surfaces are described in WO 2000/48901 A1 or in EP 0 140 451 A2.

It is therefore an object of the invention to provide a tool holder, which eliminates the disadvantages of the prior art and allows optimal alignment of the tool to the surface to be machined in a small footprint.

This object is achieved by the inventive tool holder of the type mentioned above in that the connecting element at its proximal end via a connecting means at the distal end of a carrier system about a first pivot axis can be arranged pivotably, the connection element at its distal end to the frame by a second Pivot axis is pivotally in cantilevered connection, and the first pivot axis is aligned substantially orthogonal to the second pivot axis. By means of the connecting element according to the invention, the frame, which serves to receive tools, can be arranged in a space-saving manner on a carrier system, wherein the carrier system can be designed, for example, as a crane arm or telescopic arm. The carrier system is not part of the present invention. By this one The first axis pivotable arrangement of the connection element on the carrier system and the arrangement of the frame at the proximal end of the connection element, this compound is also pivotable about a two axis, the tool holder according to the invention can be optimally aligned to the inclined and / or curved surface. In particular, when used on ship hulls Verschenkbarkeit the tool holder to two substantially normal to each other standing pivot axes is particularly advantageous. Since the connection element is only connected to the frame on one side and thus a cantilevered connection is formed, the space requirement of the tool holder according to the invention is particularly low.

It is preferably provided that at least one first pivoting device for the deflection about the first pivot axis and at least one second pivoting device for the deflection about the second pivot axis are arranged on the connecting element. By this measure, the space requirement of the tool holder according to the invention is further minimized because the measures provided for the pivoting of the tool holder devices are arranged solely on the connection element. These pivoting devices are selected in particular from a group that includes electric and / or hydraulic rotary motors, hydraulic cylinders and chain drives. Of course, other suitable drive systems that are suitable for pivoting the tool holder can be used.

In order to reliably and repeatably ensure the approach of the tool holder to the surface to be machined or its alignment, in a particularly preferred embodiment of the invention at least one distance sensor and / or a proximity sensor is arranged on the frame and / or the connection element. As a result, an unintentional and incorrect contact with the surface is prevented especially when approaching the tool holder on the surface to be machined.

For automatic movement of the tool holder on a surface to be machined on the frame an impeller system is arranged with at least two wheels, which are advantageously equipped with encoders. These wheels guide the tool holder according to the invention in accordance with a predeterminable control program over the surface to be machined.

In a further preferred embodiment of the invention, the impeller system has two pivotable impeller pairs, which are arranged on two opposite sides of the frame. If, for example, a coating or painting tool is arranged in the tool holder according to the invention, the second pair of impeller downstream of the painting tool is pivoted in one running direction in order to avoid damaging the coating just made. If the running direction is changed, this will be swiveled second impeller pair unfolded again in the direction of the surface to be coated, while in turn the now trailing first impeller pair is retracted.

In order to be able to determine the exact position or speed and direction of the tool located in the tool holder at any time, in a further embodiment of the invention at least one sensor wheel is arranged on the frame.

In a further variant of the invention, the at least one tool can be arranged by means of a quick release system in the context of the tool holder. Thus, the tools required can be quickly inserted into the tool holder, or remove, which significantly reduces in particular the service life of maintenance facilities, for example, in shipyards.

Particularly preferably, the tool holder is used for the cleaning and coating of hulls, tanks and other large, in particular curved surfaces, and is therefore particularly suitable for receiving different tools. These tools are selected, in particular, from a group comprising a combined washing / wiping tool for removing surface layers, in particular a water jet and / or sandblasting tool, a rinsing lance and a coating tool, in particular for use with paints.

In the following the invention will be explained in more detail with reference to non-limiting embodiments with associated figures. Show in it

1 is a perspective view of a first embodiment of the invention,

2 is a perspective view of a second embodiment of the invention,

Fig. 3 shows the arrangement of the tool holder of FIG. 2 on a telescopic arm,

4 is a first perspective view of a third embodiment of the invention,

Fig. 5 is a second perspective view of the embodiment of Fig. 4, and

Fig. 6 shows a typical tool for use with the invention

Tool holder.

In the Fig. 1 shows a tool holder 100 which has a frame 110 and a connection element 120. The connection element 120 is fastened via a connection means 121, here in the form of a flange plate, to a carrier arm system (see FIG. 3). The tool holder 100 is pivotable away from the connection means 121 via a chain drive 122. For this purpose, the corresponding pivot axis Sl extends substantially parallel to the surface of the connecting means 121. The operation of the chain drive 122 via a hydraulic cylinder 123rd

Furthermore, the tool holder 100 according to the invention is pivotable via a second, likewise substantially parallel to the surface of the connection means 121 extending pivot axis S2, which is substantially normal to the first pivot axis 1, pivotable. For this purpose, a further hydraulic cylinder 123 'is provided.

On the frame 110 fast clamping systems 111 are arranged on two opposite sides, with the aid of a tool in the tool holder 100 according to the invention is fixed. In this case, the tool preferably has two guide pins, which can be used in the recesses 112 on the frame 110, and the centering and alignment of the tool in the tool holder 100 are used.

On the side opposite the connecting element 120 side of the frame 110, an impeller system 130 is arranged, which has two wheels 131. For this purpose, the wheels 131 are preferably driven by rotary encoders 133 and guide the tool holder 100 over the surface. Furthermore, two sensor wheels 132a, 132b are provided, which are oriented orthogonally to one another and serve to measure the speed or the position of the tool holder 100.

Finally, a sensor unit 140 is arranged on the frame 110, which in this embodiment of the tool holder 100 according to the invention is designed as a distance sensor, which continuously determines the distance of the tool holder 100 or the tool located therein from the surface to be processed, for example by means of ultrasonic technology. Of course, other sensors may be arranged in the sensor unit 140.

The in Fig. 1 illustrated tool holder has proven particularly for the inclusion of those tools, especially inspection tools and Abtragswerkzeuge, whose preferred direction of travel in vertical paths to those surfaces to be machined.

In practice, the use of a further tool holder 100 according to the invention as shown in FIG. 2, which has been optimized for horizontal movement along a surface to be machined, has proven to be suitable for the coating.

This tool holder 100 also has a connection element 120, which allows the adaptation of the tool holder 100 to curved surfaces due to their pivoting about two pivot axes Sl, S2, and over a Connection means 121 can be attached to a Trägerarmsystem 200. On the frame 110, two impeller systems 130, 130 'are arranged in this embodiment, wherein the respective impeller pairs 131, 131' can be folded away. Depending on the direction of travel, the trailing pair of wheels 131, 131 'is folded away in order to avoid damage to the coating of the surface which has taken place by means of the tool (not shown) arranged in frame 110. Each impeller system 130, 131 'further includes a pair of sensor wheels 132, 132' which determines the position of the tool holder 100 with respect to the surface to be machined. Now, if the end of a first horizontal path on the surface to be machined reached, using the Trägerarmsystems 200, an offset of the tool holder 100, which is monitored and controlled by the sensor wheels 132, 132 '.

In the automated repair of ship hulls and other large areas, in particular with curved surfaces, the following procedure has proven successful: First, an inspection and surveying system, which is fixed, for example, in the inventive tool holder 100 according to FIG. 1, is arranged on an arm system 200 and with this the entire surface is scanned in vertical tracks, whereby curvature and contour of the surface detected and the areas of the surface to be machined automatically or manually determined and stored in a control program.

Preferably, it is provided here that the carrier arm system 200 brings the tool holder 100 to the upper edge of the ship's hull and brings the tool holder 100 into contact with the surface so that the wheels 131 touch the surface. Now, the tool holder 100 is guided for receiving and inspecting the subsequently machined surface in vertical paths along the hull, wherein the distance sensor of the sensor unit 140 monitors the distance continuously. For this purpose, the tool holder 100 is equipped with an inspection system, wherein, for example, a camera system or another suitable system for analyzing the surface is arranged on the frame and / or on the connection element 120. With the help of the inspection system and the sensor wheels 132a, 132b, the contour of the entire hull is recorded, as well as recorded the areas to be processed and stored their position in the control program.

On the basis of this control program, the actual complete or partially automated maintenance takes place after this inspection step. First, the cleaning and removal tool is arranged in the tool holder according to the invention in a cleaning step, and then in turn the surface in vertical paths over the surface to be processed in the previously defined areas cleaned and the paint layers to be removed, for example, removed with waterjet technology. A removal tool 300 suitable for this purpose can be shown in FIGS. 6 and 7 are taken.

For coating the previously cleaned and unpainted areas, a coating tool is inserted into the tool holder according to the invention as shown in FIG. 2 arranged and again automatically guided in horizontal tracks over the surface to prime the exposed areas and then coated.

A further embodiment of the invention can be taken from FIGS. 4 and 5, wherein this tool holder 100 is capable of accommodating two tools, in the present case removal tools 300, 300 ', which simultaneously process the surface to be cleaned. Thus, the processing time can be significantly reduced.

The tool holder 100 has a connecting element 120, which can be arranged via a connecting flange 121 at the distal end 201 of the carrier arm system 200. A hydraulic cylinder 123 accommodated in the connecting element 120 pivots the tool holder 100 about a first axis S1 and thus supplies the necessary contact pressure of the tool 300, 300 'to the surface to be machined.

The frame 110 of the tool holder 100 can be pivoted about a second pivot axis S2 via a pivoting device 124 guided in the manner of a stage. Here, the second pivot axis Sl is aligned substantially orthogonal to the first pivot axis Sl. The two tools 300, 300 'are accommodated in two frame elements 113, 113' and are pivotable in these frame elements 113, 113 'via two further axes S3, S4, which run essentially parallel to the first pivot axis S1 and the second pivot axis S2 , Finally, the two frame elements 113, 133 'can also be pivoted via a fifth axis S5, which runs essentially parallel to the first pivot axis S1. In addition, this further axis S5 is preferably located substantially in a common plane with the first pivot axis Sl and the second pivot axis S2, so that a particularly space-saving design of the tool holder 100 according to the invention is achieved.

This arrangement of five independent pivot axes Sl, S2, S3, S4, S5 further allows a particularly flexible adaptation of the arranged in the tool holder 100 according to the invention tools 300, 300 'to the respective surface to be machined. In this case, the tools 300, 300 'within the respective frame member 113, 113' are preferably moved via link guides. In this embodiment, the pivoting movements along the pivot axes S2, S3, S4 and S5, which are caused by slide guides, take place without control, as a result of which a simple adaptation of the tool holder 100 or the tools 100, 100 'takes place on an example curved surface. Only the pivoting movement about the pivot axis Sl is controlled by the hydraulic cylinder 123 to achieve the necessary contact pressure of the tool to the surface to be machined. In an alternative variant (not shown) of the tool holder 100 according to the invention, one or more of the further pivot axes S2, S3, S4, S5 can also be controlled, which is particularly advantageous when using coating tools in the tool holder 100 according to the invention.

Each frame member 133, 133 'is also provided with an impeller system 130, wherein the first frame member 113 has three wheels 131, while the second frame member 113' with two wheels 131 and a sensor wheel 132 for monitoring the movement of the tool holder 100 on the Surface is equipped. In the illustrated arrangement of the frame members 113, 113 ', the tool holder 100 according to the invention is arranged for the vertical machining of a surface. If the machining is to take place, for example, in horizontal paths, then only the frame parts 113, 113 'are rotated by 90 ° in the frame 110, so that the wheels 131 are arranged in the region of the vertical edges of the frame parts 113, 113' in the installation direction.

An ablation tool 300 according to the invention arranged in the holder according to FIGS. 6 and 7 has a tool body 310 which has a substantially elliptical base 311 on which two nozzle bodies 400 are arranged. Furthermore, a tool body wall 312 which is essentially orthogonal to the base surface 311 encloses the two nozzle bodies 200.

On the outside of the tool body wall 312, a sealing element 320 is arranged, which consists of a one-piece brush body 321 and a neoprene seal 322, which partially surrounds the brush body 321 exists. The sealing element 320 is fastened to the tool body 310 via four spring devices 323, in the present case spring bearings, this resilient mounting allowing adaptation of the sealing element 320 to the surface to be machined. In operation, the tool according to the invention 300 due to this combination seal consisting of brush body 321 and neoprene seal 322 and the resilient storage on the spring means 323 optimal tightness against the environment, so that virtually no Abtragsmaterial enters the environment and at the same time the suction can be optimally dimensioned.

For the extraction of the space material suction openings 313 are provided in the tool body 310, wherein the flow conditions within the tool body by the arrangement of suction channels 314, which lead to the suction openings 313, further improved. In order to obtain an optimum removal rate of the tool 310 according to the invention, the nozzle bodies 400 each have three rotor arms 401, on which nozzles 402 are arranged substantially radially.

On at least one rotor arm, as shown in FIG. 7, the longitudinal axes A of the nozzles 402 are arranged substantially normal to the base E of the rotor arm 401, only the nozzle 402 'at the proximal end 403 is inclined, the angle .alpha Embodiment of the invention is about 5 °. As a result, a lower removal rate is obtained in the area of the surface machined by this part of the rotor arm 401, as a result of which the desired profile between machined and unprocessed surface is obtained.

Via a central supply line 315, the cleaning agent, for example water, abrasive agents such as sand or mixtures of abrasive agents with water or solvents by high pressure (500 to 3,000 bar) to the nozzles 402, 402 ', and via the nozzles 402, 402 'brought to the surface to be machined. A hydraulic motor in this case causes, for example via a bevel gear, a rotation of the nozzle body 400 in order to obtain a uniform machining of the surface. The resulting waste of removed material, as well as the water used and / or abrasive agent are sucked through the suction openings 313 to minimize contamination of the environment with these materials. Furthermore, the sealing element 320 according to the invention supports the suction during the removal.

Finally, sensors may additionally be attached to the tool body 310 to monitor and control the optimal alignment of the tool 300 with a surface. These may be, for example, proximity sensors based on ultrasound technology and the like. Likewise, inspection devices such as cameras and the like may be provided. The tool 300 has proven particularly suitable for use in automated maintenance systems for processing curved surfaces, such as ship hulls. In this case, the tool 300 is arranged in the tool holder 100 according to the invention, which is brought via the arm system 200 to the surface to be machined.

It is understood that the present invention is not limited to the illustrated embodiments. Rather, different systems for swiveling the tool holder and its frame elements can be used. Similarly, a variety of different tools such as removal tools, coating tools, inspection systems and the like can be arranged in the tool holder according to the invention.

Claims

PATENT APPLICATIONS

1. Tool holder (100) with a connection element (120) and a frame for receiving tools (300, 300 ') for processing large surfaces, in particular ship hulls, characterized in that the connecting element (120) at its proximal end via a connecting means (121) at the distal end (201) of a carrier system (200) about a first pivot axis (Sl) is pivotally arranged, the connection element (120) at its distal end to the frame (110) about a second pivot axis (S2) pivotally in cantilevered relationship, and the first pivot axis (Sl) is oriented substantially orthogonal to the second pivot axis (S2).

2. Tool holder (100) according to claim 1, characterized in that on the connecting element (120) at least a first pivot means (122, 123) for the deflection about the first pivot axis (Sl) and at least one second pivot means (123 ') for the Deflection about the second pivot axis (S2) are arranged.

3. Tool holder (100) according to claim 2, characterized in that the pivoting means (122, 122 ') are selected from a group comprising electric, pneumatic and / or hydraulic rotary motors, hydraulic cylinders (123, 123') and chain drives (122). contains.

4. Tool holder (100) according to any one of claims 1 to 3, characterized in that the frame (110) has at least two frame members (113, 113 ') which serve to receive a respective tool (300, 300').

5. Tool holder (100) according to claim 4, characterized in that in the frame elements (113, 113 ') can be arranged tools (300, 300') via two substantially orthogonal mutually extending axes (S3, S4) are pivotable.

6. tool holder (100) according to claim 4 or 5, characterized in that the at least two frame members (113, 113 ') via a further axis (S5) are mutually pivotable.

7. Tool holder (100) according to any one of claims 4 to 6, characterized in that the further axis (S5) lies substantially in a plane with the first pivot axis (Sl) and the second pivot axis (S2).

8. Tool holder (100) according to one of claims 1 to 7, characterized in that on the frame (110) and / or on the connection element (120) and / or the frame elements (113, 133 ') at least one distance sensor (140) and / or proximity sensor is arranged.

9. Tool holder (100) according to one of claims 1 to 8, characterized in that on the frame (110) and / or frame members (113, 113 ') an impeller system (130, 130') with at least two wheels (131, 131 ') is arranged.

10. Tool holder (100) according to claim 9, characterized in that at least one of the wheels (131, 131 ') are equipped with encoders.

11. Tool holder (100) according to claim 9 or 10, characterized in that the impeller system (130, 130 ') via two pivotable impeller pairs (131, 131') has, which are arranged on two opposite sides of the frame (110).

12. Tool holder (100) according to one of claims 1 to 11, characterized in that on the frame (110) and / or on the at least one frame member (113, 113 ') at least one sensor wheel (132, 132a, 132b) for speed - And / or position determination is arranged.

13. Tool holder (100) according to one of claims 1 to 12, characterized in that the at least one tool (300, 300 ') by means of a quick release system (111) in the frame (110) can be arranged.

14. Tool holder (100) according to one of claims 1 to 12, characterized in that the at least one tool (300, 300 ') via a slotted guide in the frame (110) and / or frame member (113, 113') can be arranged.

15. Tool holder (100) according to any one of claims 1 to 13, characterized in that the at least one tool (300, 300 ') is selected from a group comprising a combined washing / Abstockwerkzeug for removing surface layers, in particular a water jet and / or sandblasting tool, a flushing lance and a painting tool contains.