CN1976755A - Cost-effective automated preparation and coating method for large surfaces - Google Patents
Cost-effective automated preparation and coating method for large surfaces Download PDFInfo
- Publication number
- CN1976755A CN1976755A CN 200580007115 CN200580007115A CN1976755A CN 1976755 A CN1976755 A CN 1976755A CN 200580007115 CN200580007115 CN 200580007115 CN 200580007115 A CN200580007115 A CN 200580007115A CN 1976755 A CN1976755 A CN 1976755A
- Authority
- CN
- China
- Prior art keywords
- coating
- guns
- array
- paint
- line
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Landscapes
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
An apparatus and method for preparing and coating large structures such as ship hulls (21) on dry docks is disclosed in which a plurality of paint spray guns (22) arranged in an array are positioned by a robot arm (27) along and spaced from the surface being treated so as to expose overlapping portions of their spray patterns. The array of paint spray guns passes down over and thus coats the strip, and in turn, the paint spray guns are turned off and moved horizontally, turned on and moved upwardly until another strip adjacent to and covering the first strip is coated. The travel of the system along the work surface is accomplished by reference trajectories, which may be virtual or real, along which the unmanned platform (20) travels. The unmanned platform carries an articulated computer control arm that also carries the assembly. Other tools may be selectively connected to the arm for cleaning the hull prior to coating application.
Description
Related application:
Special in according to No. 35, United States code, 119 (e) (1) chapter, the U.S. Provisional Patent Application No.60/540 that submits to United States Patent (USP) trademark office on February 2nd, 2004,623.
Technical field
The present invention relates generally to a kind of device that environmental protection, minimal waste, cost-effective preparation and coating process and utilization are used to prepare, apply the automated system of large surfaces that is easy to.
Background technology
The United States Patent (USP) NO.3 of Hammelmann, 611,849, and at the United States Patent (USP) NO.3 of Van den Broek, 915,092, the large surfaces such as hull is disclosed, it can support and be on the dock.Two patents have been described to carrying out surface preparation to the preparation of hull and the spraying for hull subsequently.Disclose a kind of support with level and vertical support structure in the patent of Hammelmann, it can move along the top vertical surface of dry dock abutment wall.Being positioned at suspension bracket the inside or top surface processing device can be arranged on the dry dock central longitudinal plane at least.This makes this device to handle hull fore and aft.In other words, suspension bracket can move to keel along hull surface from the boat deck on the dry dock.The orientation of device can respond the inclination of the abutment surface that is subject to processing or bending or tilt and crooked both and change automatically.Suspension bracket can support one or more associate members or one or more surface processing device, for example high-pressure water shot is arrived hull surface, to remove existing coating, prepares hull to be applied.Hammelmann has also instructed the device that is intended to carry out for hull sandblast, and purpose is apace the large surfaces with certain profile to be handled relatively.Do not resemble the device of above-mentioned Hammelmann, Van den Broek discloses the supporter of carrying both arms devices, and it is used to support the equipment that is installed on the dry dock vertical side track.This treating apparatus can be sandblast or grit blasting nozzle, rotation cleaning equipment or coating nozzle, and it is arranged to have a little overlapping areas.
To the United States Patent(USP) Nos. 4,285,469 and 4,445 of Hammelmann and Van den Broek, 541 pay close attention to equally.In the Van den Broek patent of back, the technology member of handling hull comprises and being used for respectively along hull horizontal movement and horizontal guide sheave that moves both vertically and vertical guide sheave.If desired, the conversion automatically of the direction of these directive wheels, thus the technology member can level or vertical moving.
The patent of having announced that much sprays relevant for car body as people's such as Takeo U.S. Patent No. 4,721,630, wherein applies robot and is arranged to, and can move on the track of the every side of automobile.Kindred circumstances also is suitable for aircraft, as people's such as Rhinehart U.S. Patent No. 3,460,177 and Berry, people's such as Jr. No.5,248,341.
When the surface that is subject to processing is not sealing,, need to observe the laws and regulations of environment as hull, bulkhead, oil storage tank or the like.People's such as Goldbach U.S. Patent No. 5,398,632 have listed and the relevant issues of obeying environmental requirement, wherein, its working region is covered when being undertaken by applying again, will clear up the needs that working region that sandblast and hull apply again is limited in dry dock and can satisfy at least in part at cleaning sandblast and hull.
The Carderock Division of naval surface combat center (The Naval Surface Warfare Center) has developed the hull automatic spraying system, can be used for naval and commercial dry docks.Please note this piece article: APACTS Represents Apex anEnvironmentally Friendly Painting, page 52 of CURRENTS, the navy ' sEnvironmental Magazine, Winter 2003.Automatically paint application keeps treatment system (APACTS) at " the Automated Paint Applicant of manufacturing with 1999 the 4th interim Robert doctors E.Keay of the quarterly iMAST of Research on Supporting Techniques institute (Institute for Manufacturingand Sustainement Technologies), Containment, and Treament System (APACTS) for Dry Dock Hull CoatingOperations " introduction of part arranged in the literary composition.IMAST has set forth, automatically paint application keeps treatment system (APACTS) just to be born as far back as 1997, concept development wherein movably automanual robot control (but having the real-time operation input) platform, it can apply coating and catch spray in dry dock hull coat operations process.Investigation shows, still do not have patent or commercial sources obtainable movably reach be positioned at the nozzle place cross the spray gathering-device.Captive spray excessively is directed to a suitable physical treatment system, also possible chemical processing system, and it also must be movably in design.The advantage of anticipation is that faster speed that coating is used and better evening ratio can reduce manpower, and improve the degree of observing of the rule that control air and water pollution thing is increased day by day.The against vacuum application system is observed, when the little paint particle with different quality that arrives target, can be caused forming and paint spray when taking out of by skidding air-flow (entrained airflow).According to estimates, 50 microns or most possibly caused spray less than 50 microns paint ion.Recommend a kind of blackwash sprayer (paint spray gun) the same surround of cover on every side that is centered around.Its principle is to utilize the advantage of the natural speed that jet impact produces, and separates with wall with the spray of crossing that will contain wall carbon (wall jet), and it is guided to suction outlet (suction outlet).The applicator utensil of anticipation and capture shroud control concept adopt the executor of two series connection under common supervision control.When large operation device fixedly the time, this mode provides five frees degree.
The automatic coating of the Carderock Division of naval surface combat center use keep treatment system (APACTS) use erosion-resisting and paint anti-soil is developed and tested in the environmental protection mode.The APACTS system utilizes self-propelled removable base, this bottom support is extended micromanipulator (long reach macro-manipulator) at a distance, and this extends micromanipulator at a distance and also carries quick response narishige, applies spray gun and holding device to handle along hull.Though the APACTS design is the paint for the coating same thickness, it is also unsuccessful in this respect.It applies paint in the rectangular area of design in advance.Based on paint patterns shown in the CURRENTS article, blackwash sprayer is about one meter horizontal strip with zig-zag fashion width and vertical survey vertically mobile or that seemingly cover between one meter to two meters basically by inference, and it can be roughly corresponding to following guard shield or the cover that blackwash sprayer is installed.After horizontal strip spraying, blackwash sprayer integrally moves down, and by again at the zigzagging up and down or the similar movement of opposite horizontal direction, provides contiguous or has been overlapped in more or less that to be next to rectangular another of top firm spraying rectangular.So repeat up to minimum rectangular of spraying, therefore device lateral moves and continues to spray a segment distance forward or backward along hull, then by spraying other zone adjacent that move upward with first spraying area (in the vertical), perhaps device can outwards move a series of horizontal strips of spraying, just as the moving up and down and spray and be parallel to foundation the vertical area of first vertical area of former blackwash sprayer, but this vertical area and first vertical area are isolated in abutting connection with the feasible device that moves up of horizontal strip.Then other vertical area up and down can spray, thereby entire hull finally obtains covering.In a word, photo based on the CURRENTS article, obviously blackwash sprayer is in the cover lower-pilot, in order to zigzagging spraying up and down in abutting connection with last time spraying area above or below a series of horizontal strips in a zone, therefore be bonded together, they can form long vertical area, and then produce a series of such vertical area, when these vertical area in abutting connection with the time, so a series of vertical area can cover the large tracts of land of the hull that needs coating.For fear of facing the zone that appearance is not sprayed between the vertical elongated area that connects, slight overlapping several inches prolongation vertical area is arranged on or plans to be arranged on and prolongs between the vertical area.In the coating process from the side to the side, adopt the feature of paint to make, in order to obtain the same thickness of painting layer, the rectangular overlapping relative little distance of each horizontal strip and adjacent firm spraying.If the initial motion of the blackwash sprayer of APACTS is not inferred according to the CURRENTS article, it can be level from the avris to the avris also in practical operation so.But, in any case applied spraying method can't obtain identical paint thickness among the APACTS on hull surface.Be appreciated that this is because the fund of APACTS had been terminated before more than a year.Therefore, do not consider the accurate motion of blackwash sprayer under the cover, APACTS do not reach the present invention at advantage.
Though later APACTS design object was the paint that applies same thickness in 1997, known to this date, it can't be adopted by any naval project or shipbuilding merchant so far.In the whole development process of APACTS, be provided the naval research department of the naval surface combat center of millions of U.S. dollars, after shipbuilding industry is demonstrated, consider that this design does not obtain benefit in the public or private shipbuilding industry, at the beginning of 2004, stop to continue this design financial support.Problem about its commercial survival ability and deliverability rises thereupon.
When APACTS design functional is subjected to carefully investigating, seen the specific limited in demonstration " optimum " the painting method process.When concern is of the present invention, be equally under relevant situation, the APACTS design is very strict for application and it requires the operator directly to control.System can not carry out other process such as surface preparation, monitoring or diagnostic function.
Indulge the above, be to be appreciated that, really exist under outdoor environment and some indoor environments large-scale basic vertical surface (being positioned at the hull of dry dock specifically, but also can be the fuel oil holding vessel, grain elevators and other large scale structure) needs preparing automatically and apply, do not produce simultaneously refuse and environmental pollution, described automatic preparation and coating are only to need seldom personnel except programming and monitor procedure, are automatic basically.
Summary of the invention
The present invention is a computer-controlled mobile robot system, and it utilizes interchangeable tools and is subjected to the manipulation of complicated interconnection computer program, automatically performs to be used for surface preparation, application, surface measurement and the diagnostic operation that large surfaces is handled.Biao Mian example is a hull like this, but the present invention also is used for the automatic surface preparation of the same a lot of different large surfaces of handling of needs and applies.
The first step of method is the surface measurement data that obtain to limit the target working surface.This can comprise any available technological means and combination thereof, for example but be not limited to, uses the input of Design CAD file, digital picture and laser image.These data are used for existing program, so that the robot control arm of handling operation is programmed.Please refer to United States Patent(USP) Nos. 6,365,221 and 6,562,139, the DATA REASONING acquisition method has wherein partly been described.Being captured in of surface data calculated and the related surperficial material requested quantity of evaluation process and the aspect in cycle also are useful, and then can increase the accuracy of the such project of plan and the minimizing influence to environment.
Industry is automation day by day.For many years, the auto-maker utilizes automatics to apply for car body.Be provided with any robot that has driving arm in the dissimilar spraying equipments by automated programming, think that the car body of different structure applies.Usually these robots are installed in the fixed position, and when assembly line moved car body through paint chamber (paintbooth), the robot follow procedure was carried out its operation.Paint applies in the same manner with repetitive mode, and the material waste in the process reduces to minimum.
The description above the contrast and the instruction of prior art, wherein driving arm is installed on a side of dry dock to finish the work, the present invention includes the removable system of computer control, its edge, for example, the sidepiece of dry dock deck or other any large-scale working surface moves, and attached, automatic, hinged manipulator with and instrument and material concrete application system is provided effectively.Removable system is programmed with along the line and moves, this line can be by global positioning satellite system, laser guide navigation system or the determined dummy line of number sub-video picture systems, or the true line of temporarily or forever locating and fixing on the dry dock deck of hull.By using proper sensors, mobile system need obtain location or guiding data from dummy line or true line, and then by mobile system data is handled, and makes mobile system to move at working surface and with respect to working surface.This can finish by the surface measurement data that cooperate previous acquisition and processing.
After obtaining the surface measurement data, handle and the sequencing of mobile system transfer order, suitable instrument is selected for carrying out next task by system.Carry out the computer processes data received, think that treatment step determines optimum tool path.Driving arm upper end is designed to, and carries the various tool that the mode of utilizing interchangeable wrist connects.Single mobile system can be used to carry out mobile process by the instrument exchange, next step, and perhaps a plurality of mobile systems can independently keep different instruments, and in series carry out the maintenance preparation before the application.
When zone to be applied is suitably assessed, maintain and prepare and recovery, it comprises cleaning and surface preparation device, preferably super-pressure (UHP) water column (water jet) and the vacuum (-tight) housing that is used to reclaim, and the device that is used to filter used water and removal material.
Be included in a plurality of shower nozzles and sensor in the vacuum (-tight) housing structure in this disclosed application, be designed in the concern for the environment problem control and optimize the same application that applies.
Before application, clean and prepare for the target working surface for application usually.This step need be removed oxide, chloride, rust and other pollutant usually and be removed existing coating.Preferred surface preparation tool is in conjunction with the UHP water spray means, and debris collection device, water filtering device is provided and utilizes the EGR of vacuum (-tight) housing, and this is enough to satisfy environmental requirement.The instrument physical connection is to the articulated robot arm end, and when being connected to when being absolutely necessary different power transmission line concerning its operation, plays the effect of manipulation device (effector).Proper sensors is installed on the instrument, comes orientation tool and assists performing a programme to obtain real time data.
By robot program and utilize interchangeable wrist or, can realize physical connection automatically partly by means of the operation of technologically-monitoring system.In case on connecting, if be provided with, required UHP hydraulic grade, vacuum pipeline, filtration and re-circulation line can be connected or be connected by automatics by the technical staff.Utilize the previous surface measurement data that obtain, the system engages working surface is also instructed by computer in a predefined manner, to finish surface preparation procedure.Surface preparation tool is suitably located with respect to working surface in the mode that method therefor needs.Scope vertical and that horizontal movement speed is prepared by the surface determines, when evaluating automatically together by the real-time digital image processing or by personal monitoring's mode or both, these data are necessary.Because thereby each working surface can different propose unique requirement, so system wants and can operate automatically and under manual two patterns.Sometimes, actual service preparation procedure may require technician's intervention, carries out direct operator's control.This is necessary for the regional of special problem being arranged or may being difficult to arrive the section that therefore can't implement for automatics.Prepare relevant necessaries with the surface, kinetic pump and vacuum filter recirculating system or the like can simply place on the working region, are beneficial to service preparation procedure.Replacedly, equipment can be arranged on contacting with mobile system of closing on and on the mobile supply platform that moves.In case stage of surface preparation is finished and through suitably affirmation, application can begin to carry out.In aforesaid mode, the application instrument also physically is connected to robot end and plays the effect of end effector.If necessary, on liquid, air and electric power supply line all suitably are connected.Once more, this can and utilize the automated manner of interchangeable wrist to finish by the robot program, or following essential, can finish by means of the operation of technical staff's monitoring system.Suitable inductor is installed on the coated tool, to obtain real time data, is used for locating and assisting performing a programme, and guarantees homogeny the highest in the application and accuracy.The essential replenishment device relevant with the application program preferably is positioned at the center, is beneficial to the carrying out of surface preparation procedure.Replacedly, replenishment device can be arranged on the mobile supply platform of vicinity that contacts with make-up system and move.Be used for finishing automatic material and be included in the application equipment that is used to apply, so need not to stop coating procedure at the device of supply.In order to finish automatic re-supply, combine suitable measuring and controlling device in the system.
The equipment that comprises mobile system be not in dry dock or other facility or on permanent installation, enter the working region or remove by crane if necessary but can reduce.
System core requires the integration and the coordination of two main software programs.First programme-control is moved along processed mobile system, for example along fore and aft hull.The main task of second program is to keep tool location with respect to the surface that is applied.Instrument with respect to working surface location and move approaching, leave angle and speed depends on ongoing function and in order to make that operation is carried out and essential data of collecting automatically.The inductor of measuring paint thickness is incorporated in the automatic spray procedure, with the real-time report coating layer thickness, therefore can strengthen the control and the homogeny of application program.Software program can also comprise surface data collection subprogram, maybe can be individual components.All programs are interrelated, therefore have necessary interface each other, so that make desired operation of the present invention be achieved.Need treat manner of execution, the inspection step of process modestly, and avoid mistake.
With reference to accompanying drawing, along with the carrying out of declarative procedure, other purpose, adaptability and function of the present invention will manifest, in the accompanying drawing:
Description of drawings
Fig. 1 is the floor map of spray paint gun array, and this spray paint gun array is used at the bow of accepting coated hull;
Fig. 2 is the floor map of spray paint gun array shown in Figure 1, and it shows spray patterns, this pattern be used for upwards in abutting connection with pattern shown in Figure 1 and to the hull coating up to the further motion that arrives stern;
Fig. 3 is the further schematic diagram of the array of spray gun shown in Fig. 1 and 2, and it shows and is used for the blackwash sprayer that finishing operation uses; And
Fig. 4 is a schematic diagram, and it shows other assembly of the present invention, comprise mobile platform, trailer carrier, automatically the driving arm assembly and be installed in driving arm assembly end hull is cleared up the treatment bench of coating.
The specific embodiment
The present invention will eliminate or be reduced to minimum for the waste material that hull and other large-scale outdoor structure apply, and simultaneously, provide the same thickness in using.Application system of the present invention is full automatic substantially, therefore need not setting operation person on the mobile platform confession energy and that drive voluntarily, be used for when carrying out the coating function, controlling along coated hull or moving of other large scale structure sidepiece for platform.
As shown in the figure, mobile support platform 20 along one foregoing may be that true or virtual line 16 moves.As shown in Figure 1, for the outer surface for hull 21 applies, be provided with assembly unit or spray paint gun array 22.Along this array five blackwash sprayers 10,11,12,13 and 17 are arranged, wherein each can provide adjustable spray fan patterns.In order to use four blackwash sprayers that 45 inches wide spray patterns are provided, each blackwash sprayer will provide 18 inches wide fan pattern like this.This is to finish by the blackwash sprayer 10,11,12 and 13 of lateral alignment.Auxiliary gun 17 provides nine inches wide fan pattern through regulating.Therefore, as shown in Figure 1, from four blackwash sprayers 10,11,12 and 13 and the spray patterns of auxiliary gun 17 ejection, on the stem (stem) 24 of ship, provide 45 inches wide spray patterns that begin from the being seen left side of Fig. 1 with coated housing.Each blackwash sprayer 10,11,12,13 and 17 is vertically set on the working surface.Avoid collision through the blackwash sprayer spray patterns of fully biasing, so pattern can shallow trapezoidal (shallow echelon) or replace.
Suppose that for example, need 0.01 inch same thickness to be coated on the hull 21, initial, robot system left end inductor 14 is positioned hull 21 upper left corners.When the robot utilization be installed on the application system either side position sensor and during in the face of the shipboard portion that will apply, robot positions array 22, and feasible beginning is at the array 22 and the hull 21 parallel and blackwash sprayer sensing hulls 21 of hull 21 top forward edge.Spray paint gun array 22 is supplied paint, thereby when paint was sprayed onto the surface, each spray gun pattern stayed 0.005 inch paint thickness.As shown in Figure 1, the 18 inches wide scallops of each spraying in four blackwash sprayers 10,11,12 and 13, nine inches wide scallops of auxiliary gun 17 sprayings.When applying paint, array 22 moves vertically downward with the identical speed with respect to hull 21, keeps the same distance with ship 21, up to whole rectangular to 45 inches wide of water line 25 sprayings on hull 21.After reaching the vertical stroke end of waterline 25, spray paint gun array 22 is closed (secured), and 36 inches the water lines 25 that move right to hull 21, the paint supply of additional lances 17 is closed, and other blackwash sprayer is opened, by in abutting connection with along hull 21 and with the rectangular overlapping nine inches mode of as shown in Figure 2 the firm spraying vertical mobile spray paint gun array 22 that makes progress, feasible coating restarts, and moves to waterline 25 once more and finishes next rectangular spraying up to array 22.Arrive to the vertical stroke end of waterline 25, spray paint gun array 22 36 inches the water lines that move right once more to hull 21, the paint supply of blackwash sprayer is simultaneously closed, and by in abutting connection with along hull 21 and with the rectangular overlapping nine inches mode of the firm spraying vertical mobile spray paint gun array 22 that makes progress, feasible coating restarts, up to the rectangular arrival water line 25 that sprays in downward mode, so the stern that this process can proceed to the signal indication that utilizes inductor 15 has been arrived.If the stern part is more than water line, each rectangular so downward restriction is consistent with hull 21 longitudinal centre lines so.Last when rectangular in spraying, the blackwash sprayer of array 22 left-hand components cuts out or is adjusted into and is necessary to avoid spray.If desired, the last rectangular spraying of ship 21 right-hand sides can be postponed, for the finishing that allows blackwash sprayer 17 carry out subsequently.
When the edge thereon of ship 21 and when the spraying between water line 25 is finished downwards, be fit to another spraying that water line uses and be the coating of carrying out in mode same as described above between water line and keel, this coating may require the interim chosen keel blocks (keel block) of removing, with the coating of guaranteeing ship 21 downsides is complete, and perhaps program may provide and make the keel part be applied by blackwash sprayer 17 with the state of unitary part.
Some specific region that spray as mentioned above, can keep the finishing blackwash sprayer 17 to as shown in Figure 3.But this must not mean, the finishing zone can not be subjected to automatic spraying as the some of the employed original program of ship.Usually these zones are located on or near the stem and the stern of the ship that will spray, and the around openings such as the condenser coolant outlet of hull 21.Under each situation, with the needed coating layer thickness that uses such as 0.01 inch, unless on the specific region, may specify thicker coating.
It is emphasized that the robot application system along the finishing of hull 21 length strokes, need not on mobile platform 20 personnel to be set.Use the guidance system of ultrasonic wave, infrared ray, laser or other method to be installed on the chassis (chassis) of mobile platform 30, this guidance system can read reference locus (feference track) 16, this reference locus can be to be coated with wiring, laser rays, tape measure (tape line), or may be such as the dummy line of global position measurement system (GPS), LGPS or other method.By this way, the automatic motion of mobile platform 20 any other large scale structure that maybe will apply with respect to hull 21 can automation.When mobile platform 20 when reference line 16 moves, array 22 or be used for cleaning the location of the equipment of hull in order to prepare to apply, data by sensor 14 and 15 are controlled with respect to hull 21, perhaps, any other structure that will apply is by controlling by being operatively connected to the sensor of array 22 or by the miscellaneous equipment of controlling for driving arm 27.
Fig. 4 shows the schematic diagram of combiner of the present invention.An importance of the present invention is, it can provide the automatic processing for large scale structure, for example, and hull outside specifically.Before described structure coating, as mentioned above, need remove existing paint and cleaning body structure surface usually, for coat operations is prepared.Purpose in order to clean different structure and to apply for this structure has many systems.For instance, sand, be full of the gravel of fiber impact media (fiber blasting media), steel sand and other type of aluminium oxide, may be pushed to the surface that will spray, therefore can remove paint, the corrosion thing of existence and stick sea-plant and microorganism.Like this, sand or gravel or other impact media and removed material need to collect and dispose or filter recirculation.For hull, preferably use the super-pressure water column.For efficient system, spraying needs to hide, and the unnecessary water and the paint of removal and corrosive deposit filter together.Can recycle or be disposed through the water that filters.Dispose the material that from water, filters out in a suitable manner, but in some cases, also can be used as fuel or material recovery.
In Fig. 4, for exemplary purpose, can in scope widely, be considered as the array 22 of integral unit (assemblage unit), promptly as the device of removing paint and cleaning for the surface that will spray, in this case, play the material of removal effect, can be water or steel scrap sand,, shift from integral unit shown in Figure 4 22 with removed paint, corrosion thing etc., and can arrive container 35 by means of pipeline 37, carry out in circulation through the water that filters.This can provide pipeline 36 to finish.As previously mentioned, container 35 can be loaded in the transport vehicle (wagon) 31 that is drawn by mobile platform 20.Integral unit 22 must be in conjunction with the cover or other device that are used to collect from the material of being removed by the cleaning surface.Should be appreciated that integral unit 22 can be controlled, moving with the identical mode of discussing for the automatic coating process, except normal cleaning operation water line more than 25 or following all be the same.In coat operations, when understanding widely for the illustration purpose once more, container 35 comprises the paint that is used to apply hull.Normally, this is to finish by the paint tube of 50 entrained five gallon bottles of transport vehicle 31.Yet the container of any suitable type or any container can be used for this purpose.If use a plurality of bucket or other container, container needs the device that paint wherein can be carried in proper order so.For the purpose of cleaning or spraying, transport vehicle 20 is followed line 16 automatically and is moved, and no matter this line is the line of mark or virtual line.For cleaning operation, driving arm 27 is programmed to, and moves on the whole surface from stem post 24 to stern of ship 21 basically.In the spraying operating aspect, removed through pipeline 34 by vacuum source 32 by vacuum such as any paint that may escape from and be attached on the hull 21 of crossing spray, so they can be delivered in the container entrained on the transport vehicle 31 35.In Fig. 4, show keel blocks 40.Usually keel blocks is made of timber, and still, if it is removable and automatic, its dismounting and displacement can be arranged to the some as automatic system of the present invention so.They do not illustrate among Fig. 4 such as the opening that is used for grappling and condenser cooling water, though may appear on the one or both sides of ship.Yet if necessary, automatic cleaning equipment and finishing blackwash sprayer 17 can be such opening, to a certain extent, provide automatic cleaning and automatic coating in these around openings.
At the provisional application No.60/540 of this reference, 623 and existing patent publications be hereby expressly incorporated by reference.The design of computer program and driving arm also is very familiar to those skilled in the art.Though the initial step that the UHP water ejector is prepared for sprayed surface is preferred device, other known procedure also can be used, as the abrasive jet cleaning with sand or grit (comprising steel sand).Also can utilize and use the various known method that applies, comprise that no gas (airless) applies, has the no gas (air assisted airless) of gas assistance to apply, have gas coating, rotating disc coating (spining disc), triangle or fan-shaped spray, circle or oval spray pattern to apply and the conic jet pattern applies.Coating may be priming paint, anti-soil, erosion-resisting, powdery, metal, such as being similar to the nickel flame coating that specified being used to of Corps of Engineers applies bridge, polyurethane, polymer, epoxy resin and other coating well known in the prior art also can use.Coating can act on usually the electric charge in 50,000 to 100,000 volt range, so its adhesive force for the ground connection fibre reinforced plastic hull has improved.For the coating that is designed to heat, can adopt the fusing heater of suitable thermal source, for example laser instrument is as the parts of Spray painting tool.Therefore the present invention is not only applicable to conventional washcoat material, and can be applicable to non-traditional materials by non-traditional mode.Can also further understand, though the preferred embodiments of the present invention can have other reorganization and correction within the scope of the appended claims with open.
Claims (64)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US54062304P | 2004-02-02 | 2004-02-02 | |
| US60/540,623 | 2004-02-02 | ||
| US11/046,865 | 2005-02-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1976755A true CN1976755A (en) | 2007-06-06 |
Family
ID=38126287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200580007115 Pending CN1976755A (en) | 2004-02-02 | 2005-02-02 | Cost-effective automated preparation and coating method for large surfaces |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN1976755A (en) |
| ZA (1) | ZA200606906B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102821877A (en) * | 2009-12-17 | 2012-12-12 | 杰克逊Msc有限责任公司 | Warewashing system arm |
| CN104624429A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Spraying robot for surface of ship body |
| CN105772295A (en) * | 2016-05-24 | 2016-07-20 | 李富平 | Automobile spraying equipment capable of inducing spraying distance |
| CN105880064A (en) * | 2016-06-17 | 2016-08-24 | 佛山市联智新创科技有限公司 | Spraying equipment for colored paint |
| CN106079898A (en) * | 2016-07-18 | 2016-11-09 | 张海军 | A kind of novel intelligent spray drawing machine for furniture |
| CN106256446A (en) * | 2015-09-24 | 2016-12-28 | 耘创九州智能装备有限公司 | flexible character intelligent selection system |
| CN106362913A (en) * | 2015-07-21 | 2017-02-01 | 丰田自动车株式会社 | Electrostatic painting method |
| CN106824686A (en) * | 2017-03-08 | 2017-06-13 | 江苏集萃有机光电技术研究所有限公司 | Device and method for removing sprayed surface high spot |
| CN107442340A (en) * | 2017-07-25 | 2017-12-08 | 广东加德伟自动化有限公司 | A kind of unmanned body section Painting Shop system of intelligent robot |
| CN108114821A (en) * | 2016-11-29 | 2018-06-05 | 耐克创新有限合伙公司 | Multiinjector instrument and the method using multiinjector applicator material |
| CN108554669A (en) * | 2018-01-03 | 2018-09-21 | 京东方科技集团股份有限公司 | A kind of nozzle, coating machine and coating method |
| CN110059831A (en) * | 2018-01-17 | 2019-07-26 | 中国国际海运集装箱(集团)股份有限公司 | Realize the method and device monitored in the process for using of paint for ship |
| CN110090759A (en) * | 2018-01-30 | 2019-08-06 | 福特汽车公司 | Thermoplastic material applicator and its application method |
| CN110198791A (en) * | 2016-11-30 | 2019-09-03 | 浦上合同会社 | Adsorption movable type applying device |
| CN110860392A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | A strip powder spraying device |
| CN110860393A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | A strip powder spraying device |
| CN110860394A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | Plate and strip powder spraying device |
| CN114558761A (en) * | 2021-03-31 | 2022-05-31 | 无锡沃格自动化科技股份有限公司 | 5G filter surface metallization spraying method |
| CN114670983A (en) * | 2022-04-11 | 2022-06-28 | 武汉大学 | An underwater multi-degree-of-freedom intelligent decontamination device and method based on image recognition |
| CN117943265A (en) * | 2022-10-20 | 2024-04-30 | 青岛海尔智慧电器设备有限公司 | Water heater tank spraying method and production line |
| CN119414745A (en) * | 2024-09-25 | 2025-02-11 | 中国长江电力股份有限公司 | A robot control system and operation method for steel gate anti-corrosion operation |
-
2005
- 2005-02-02 CN CN 200580007115 patent/CN1976755A/en active Pending
-
2006
- 2006-08-18 ZA ZA200606906A patent/ZA200606906B/en unknown
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102821877B (en) * | 2009-12-17 | 2014-12-17 | 杰克逊Msc有限责任公司 | Warewashing system arm |
| CN102821877A (en) * | 2009-12-17 | 2012-12-12 | 杰克逊Msc有限责任公司 | Warewashing system arm |
| US9867520B2 (en) | 2009-12-17 | 2018-01-16 | Jackson Wws, Inc. | Warewashing system arm |
| CN104624429A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Spraying robot for surface of ship body |
| CN106362913A (en) * | 2015-07-21 | 2017-02-01 | 丰田自动车株式会社 | Electrostatic painting method |
| CN106256446B (en) * | 2015-09-24 | 2019-08-30 | 耘创九州智能装备有限公司 | Flexible character intelligent selection system |
| CN106256446A (en) * | 2015-09-24 | 2016-12-28 | 耘创九州智能装备有限公司 | flexible character intelligent selection system |
| CN105772295A (en) * | 2016-05-24 | 2016-07-20 | 李富平 | Automobile spraying equipment capable of inducing spraying distance |
| CN105880064A (en) * | 2016-06-17 | 2016-08-24 | 佛山市联智新创科技有限公司 | Spraying equipment for colored paint |
| CN106079898A (en) * | 2016-07-18 | 2016-11-09 | 张海军 | A kind of novel intelligent spray drawing machine for furniture |
| CN108114821B (en) * | 2016-11-29 | 2023-03-28 | 耐克创新有限合伙公司 | Multi-nozzle tool and method of coating material using multi-nozzle tool |
| US11325146B2 (en) | 2016-11-29 | 2022-05-10 | Nike, Inc. | Multiple-nozzle defined edge tool |
| CN108114821A (en) * | 2016-11-29 | 2018-06-05 | 耐克创新有限合伙公司 | Multiinjector instrument and the method using multiinjector applicator material |
| TWI682813B (en) * | 2016-11-29 | 2020-01-21 | 荷蘭商耐克創新有限合夥公司 | Multiple-nozzle tool and method of applying material with multiple-nozzle tool |
| CN110198791B (en) * | 2016-11-30 | 2021-10-01 | 浦上合同会社 | Surface adsorption mobile coating device |
| CN110198791A (en) * | 2016-11-30 | 2019-09-03 | 浦上合同会社 | Adsorption movable type applying device |
| CN106824686A (en) * | 2017-03-08 | 2017-06-13 | 江苏集萃有机光电技术研究所有限公司 | Device and method for removing sprayed surface high spot |
| CN107442340A (en) * | 2017-07-25 | 2017-12-08 | 广东加德伟自动化有限公司 | A kind of unmanned body section Painting Shop system of intelligent robot |
| CN108554669A (en) * | 2018-01-03 | 2018-09-21 | 京东方科技集团股份有限公司 | A kind of nozzle, coating machine and coating method |
| CN110059831A (en) * | 2018-01-17 | 2019-07-26 | 中国国际海运集装箱(集团)股份有限公司 | Realize the method and device monitored in the process for using of paint for ship |
| CN110090759A (en) * | 2018-01-30 | 2019-08-06 | 福特汽车公司 | Thermoplastic material applicator and its application method |
| CN110860392A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | A strip powder spraying device |
| CN110860394A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | Plate and strip powder spraying device |
| CN110860393A (en) * | 2019-12-09 | 2020-03-06 | 中冶京诚工程技术有限公司 | A strip powder spraying device |
| CN114558761A (en) * | 2021-03-31 | 2022-05-31 | 无锡沃格自动化科技股份有限公司 | 5G filter surface metallization spraying method |
| CN114670983A (en) * | 2022-04-11 | 2022-06-28 | 武汉大学 | An underwater multi-degree-of-freedom intelligent decontamination device and method based on image recognition |
| CN117943265A (en) * | 2022-10-20 | 2024-04-30 | 青岛海尔智慧电器设备有限公司 | Water heater tank spraying method and production line |
| CN119414745A (en) * | 2024-09-25 | 2025-02-11 | 中国长江电力股份有限公司 | A robot control system and operation method for steel gate anti-corrosion operation |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA200606906B (en) | 2008-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10183306B2 (en) | System and apararatus for cost effective automated preparation and coating for large surfaces | |
| CN1976755A (en) | Cost-effective automated preparation and coating method for large surfaces | |
| RU2250141C2 (en) | Method and a device for giving the surfaces of ships a streamlined shape and their coloring under control of a computer | |
| JP5556819B2 (en) | Maintenance inspection device | |
| US4674949A (en) | Robot with climbing feet | |
| CN207120858U (en) | A kind of laser cleaner of hull surface paint | |
| CN112975932A (en) | Mechanical arm system for maintaining building vertical face with irregular vertical face | |
| US12365061B2 (en) | System for blast-cleaning a barge deck, sides, and fittings | |
| CN118305702A (en) | Large multi-curved-surface rust removing equipment and implementation method | |
| CN113649359B (en) | Intelligent laser paint removing equipment, system and method for removing paint of complete airplane | |
| KR20070017124A (en) | Inexpensive, automated large surface treatment and coating methods | |
| TWI801805B (en) | Coating system and its application method | |
| Echt et al. | Automated abrasive blasting equipment for use on steel structures | |
| WO2019195427A1 (en) | System for blast-cleaning a barge bottom | |
| TWM613175U (en) | Coating system | |
| US20190210190A1 (en) | System for blast-cleaning a barge bottom | |
| CN120861321A (en) | Defect identification and positioning spraying device and method | |
| CN120348431A (en) | Marine repair platform and application method thereof | |
| CN221563395U (en) | Vehicle-mounted environment-friendly ship outer plate rust removal and paint spraying equipment in dock and control system | |
| Yi et al. | A Large Surface Spraying Technical Analysis of Ship Shell with Wall Climbing Robot in China | |
| CN119077637A (en) | Automatic sandblasting rust removal system and sandblasting rust removal method for removing rust from ship surface | |
| Dunn et al. | Automated Abrasive Blasting Equipment for Use on Steel Structures | |
| CN117798137A (en) | An intelligent laser cleaning control system | |
| HK1034698B (en) | Computer controlled method and apparatus for fairing and painting of marine vessel surfaces |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |