WO2013164489A1 - Porte-outil - Google Patents

Porte-outil Download PDF

Info

Publication number
WO2013164489A1
WO2013164489A1 PCT/EP2013/059353 EP2013059353W WO2013164489A1 WO 2013164489 A1 WO2013164489 A1 WO 2013164489A1 EP 2013059353 W EP2013059353 W EP 2013059353W WO 2013164489 A1 WO2013164489 A1 WO 2013164489A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool holder
frame
tool
pivot axis
pivot
Prior art date
Application number
PCT/EP2013/059353
Other languages
German (de)
English (en)
Inventor
Palfinger HUBERT
Original Assignee
Palfinger Systems Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from ATA50155/2012A external-priority patent/AT512876B1/de
Priority claimed from ATA50159/2012A external-priority patent/AT513237B1/de
Application filed by Palfinger Systems Gmbh filed Critical Palfinger Systems Gmbh
Priority to SG11201407150RA priority Critical patent/SG11201407150RA/en
Priority to CN201380029373.5A priority patent/CN104379442A/zh
Priority to JP2015509464A priority patent/JP2015517423A/ja
Priority to KR1020147033970A priority patent/KR20150013685A/ko
Priority to BR112014027454A priority patent/BR112014027454A2/pt
Priority to EP13721684.2A priority patent/EP2844550A1/fr
Publication of WO2013164489A1 publication Critical patent/WO2013164489A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C3/00—Abrasive blasting machines or devices; Plants
    • B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
    • B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
    • B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
    • B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
    • B08B2203/0217—Use of a detergent in high pressure cleaners; arrangements for supplying the same

Definitions

  • 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.
  • a system for cleaning surfaces 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.
  • a complex crane system is necessary in order to ensure correct alignment of the tool to the respective ship surface.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • At least one distance sensor and / or a proximity sensor is arranged on the frame and / or the connection element.
  • 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.
  • 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.
  • At least one sensor wheel is arranged on the frame.
  • the at least one tool can be arranged by means of a quick release system in the context of the tool holder.
  • 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.
  • 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.
  • FIG. 1 is a perspective view of a first embodiment of the invention
  • FIG. 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
  • FIG. 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
  • 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.
  • 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
  • the tool holder 100 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.
  • a further hydraulic cylinder 123 ' is provided.
  • the tool 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.
  • 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.
  • an impeller system 130 On the side opposite the connecting element 120 side of the frame 110 , an impeller system 130 is arranged, which has two wheels 131.
  • the wheels 131 are preferably driven by rotary encoders 133 and guide the tool holder 100 over the surface.
  • 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.
  • 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.
  • a sensor unit 140 may be arranged in the sensor unit 140.
  • Fig. 1 illustrated tool holder has proven particularly for the inclusion of those tools, especially inspection tools and Abtragstechnikmaschinee, whose preferred direction of travel in vertical paths to those surfaces to be machined.
  • 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 Victoriaarmsystem 200.
  • a connection element 120 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 Collinsarmsystems 200, an offset of the tool holder 100, which is monitored and controlled by the sensor wheels 132, 132 '.
  • 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.
  • 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.
  • 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.
  • 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.
  • the inspection system and the sensor wheels 132a, 132b 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.
  • 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.
  • 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.
  • FIGS. 4 and 5 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.
  • 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 .
  • 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.
  • 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.
  • the tools 300, 300 'within the respective frame member 113, 113' are preferably moved via link guides.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the nozzle bodies 400 each have three rotor arms 401, on which nozzles 402 are arranged substantially radially.
  • 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.
  • 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.
  • the sealing element 320 according to the invention supports the suction during the removal.
  • sensors may additionally be attached to the tool body 310 to monitor and control the optimal alignment of the tool 300 with a surface.
  • sensors may be, for example, proximity sensors based on ultrasound technology and the like.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Cleaning In General (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un porte-outil (100) comprenant un élément de liaison (120) et un cadre destiné à recevoir des outils pour l'usinage de grandes surfaces, notamment de coques de bateaux. A son extrémité proximale, l'élément de liaison (120) peut être monté rotatif autour d'un premier axe de rotation (S1) sur l'extrémité distale (121) d'un moyen de liaison (121) d'un système de support (200) et, à son extrémité distale, l'élément de liaison (120) est en liaison avec le cadre (110) de manière à pouvoir tourner autour d'un deuxième axe de rotation (S2) et à être en porte-à-faux, le premier axe de rotation (S1) étant orienté sensiblement perpendiculaire au deuxième axe de rotation (S2).
PCT/EP2013/059353 2012-05-04 2013-05-06 Porte-outil WO2013164489A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
SG11201407150RA SG11201407150RA (en) 2012-05-04 2013-05-06 Tool mounting
CN201380029373.5A CN104379442A (zh) 2012-05-04 2013-05-06 工具安装件
JP2015509464A JP2015517423A (ja) 2012-05-04 2013-05-06 工具マウント
KR1020147033970A KR20150013685A (ko) 2012-05-04 2013-05-06 도구 장착기
BR112014027454A BR112014027454A2 (pt) 2012-05-04 2013-05-06 suporte de ferramenta
EP13721684.2A EP2844550A1 (fr) 2012-05-04 2013-05-06 Porte-outil

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
ATA50155/2012 2012-05-04
ATA50155/2012A AT512876B1 (de) 2012-05-04 2012-05-04 Werkzeug zur Reinigung von großen Flächen
ATA50159/2012 2012-05-07
ATA50159/2012A AT513237B1 (de) 2012-05-07 2012-05-07 Werkzeughalterung

Publications (1)

Publication Number Publication Date
WO2013164489A1 true WO2013164489A1 (fr) 2013-11-07

Family

ID=48407507

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/059353 WO2013164489A1 (fr) 2012-05-04 2013-05-06 Porte-outil

Country Status (7)

Country Link
EP (1) EP2844550A1 (fr)
JP (1) JP2015517423A (fr)
KR (1) KR20150013685A (fr)
CN (1) CN104379442A (fr)
BR (1) BR112014027454A2 (fr)
SG (2) SG10201608506RA (fr)
WO (1) WO2013164489A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1514118A (en) * 1975-12-18 1978-06-14 Urakami F Device capable of suction-adhering to a wall surface and moving therealong
WO1981000372A1 (fr) * 1979-08-08 1981-02-19 Nelson R Machine de traitement au jet abrasif
DE3629623A1 (de) * 1986-08-30 1988-03-03 Schlick Roto Jet Masch Einrichtung zum reinigen von oberflaechen grossflaechiger objekte mit einem bewegbaren strahlkorb
WO2000048901A1 (fr) * 1999-02-22 2000-08-24 Remote Tools, Inc. Appareil permettant de suivre un contour lors du nettoyage de surfaces
US6315648B1 (en) * 1998-03-13 2001-11-13 Dana L. Neer Apparatus for pressure treating a surface
US20050064804A1 (en) * 2003-09-23 2005-03-24 The Boeing Company Surface preparation device and method
US20070051291A1 (en) * 2005-09-08 2007-03-08 Hudd Adrian G Apparatus for cleaning the hull of a floating vessel

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51126697A (en) * 1975-04-28 1976-11-04 Suzuki Giken Kogyo Kk Brushing apparatus
JPS53115493U (fr) * 1977-02-22 1978-09-13
JPS63182861U (fr) * 1987-05-20 1988-11-25
WO1992000832A1 (fr) * 1990-07-12 1992-01-23 Loh Optical Machinery, Inc. Surfaceuse commandee par ordinateur pour lentilles
JPH1149087A (ja) * 1997-08-08 1999-02-23 Ishikawajima Harima Heavy Ind Co Ltd 船体曲り外板部の研掃装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1514118A (en) * 1975-12-18 1978-06-14 Urakami F Device capable of suction-adhering to a wall surface and moving therealong
WO1981000372A1 (fr) * 1979-08-08 1981-02-19 Nelson R Machine de traitement au jet abrasif
DE3629623A1 (de) * 1986-08-30 1988-03-03 Schlick Roto Jet Masch Einrichtung zum reinigen von oberflaechen grossflaechiger objekte mit einem bewegbaren strahlkorb
US6315648B1 (en) * 1998-03-13 2001-11-13 Dana L. Neer Apparatus for pressure treating a surface
WO2000048901A1 (fr) * 1999-02-22 2000-08-24 Remote Tools, Inc. Appareil permettant de suivre un contour lors du nettoyage de surfaces
US20050064804A1 (en) * 2003-09-23 2005-03-24 The Boeing Company Surface preparation device and method
US20070051291A1 (en) * 2005-09-08 2007-03-08 Hudd Adrian G Apparatus for cleaning the hull of a floating vessel

Also Published As

Publication number Publication date
CN104379442A (zh) 2015-02-25
SG10201608506RA (en) 2016-11-29
SG11201407150RA (en) 2014-12-30
JP2015517423A (ja) 2015-06-22
EP2844550A1 (fr) 2015-03-11
BR112014027454A2 (pt) 2017-10-24
KR20150013685A (ko) 2015-02-05

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