ES2695627A1 - Robot- automatic structure painting machine (R-MAPE) (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Robot-Automatic Structures Packing Machine (R-MAPE) equipped with a supervision and control cabin (1), with structure (12) for longitudinal movement with carriage (11) with transversal movement and turning system (10) of telescopic tower (8) with vertical movement (9), telescopic horizontal arm (4) and painting robot (3). It incorporates storage system with tanks (5) for painting and pneumatic pumps to drive paint to the gun incorporated in the robot (3). It incorporates surveillance control cameras (6) and artificial vision hardware by 3D laser scanner (14), 3D smart cameras, focal length sensors and laser measuring integrated in robot for recognition of structural geometry and surface finish, with image acquisition and subsequent processing thereof with vision software with which trajectory and robot guidance is achieved for the automatic painting of the structure. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

ROBOT-AUTOMATIC PAINTING MACHINE FOR STRUCTURES (R-MAPE).

OBJECT OF THE INVENTION

The present invention refers to a Robot-Automatic Machine Painted Structures (R-MAPE). Said invention is intended to be incorporated into paint booths (Fig. 1), warehouses, or even to outdoor painting processes such as dry docks (Fig.2) in the naval sector or large esplanades (Fig.3) intended for the painting process. It is oriented to civil, industrial, aeronautical or naval structures. The automatic painting is achieved by the robot that incorporates the machine. The application of the invention affects the painting process by reducing time, increasing the surface quality, reducing the consumables used (paint optimization), eliminating the auxiliary means currently used (scaffolding, mobile lifting platforms for people, cranes with basket , etc.), reducing the workforce and, ultimately, having an impact on the optimization of costs and process times.

Regarding the current state of the art, the invention presents remarkable lines of innovation through the implementation of axle control systems external to the robot and the recognition technology of structural geometry based on artificial vision. The reverse engineering process allows the geometric recognition and through this we get the description of the Cartesian trajectory that the machine must make to get the painting robot to apply the paint on the structure. The structure to be painted does not move and the robot, by means of the gun incorporated in it, performs the painting on the structure.

The machine that is described presents technological innovations with specific characteristics for the development of the process of painting of structures, which endow it with the singularity sufficient to obtain the privilege of exclusivity granted by the patent requested by means of this report.

BACKGROUND OF THE INVENTION

It is known the existence of robotized machines for the application of paint, highlighting especially the automotive sector in this type of development. The applicant is unaware of the existence of machines that have the technical characteristics described herein, the innovation in the state of the art, the combination and implementation of the different components and elements that make up the machine, the object of the present invention. The automatic machine is intended for the painting of structures of large dimensions and specific characteristics, providing a configuration that provides a specific singularity.

The painting processes for large structures are carried out by manual systems with auxiliary means (scaffolding, mobile lifting platforms for people, cranes with a basket, etc.). The incorporation of this machine allows to dispense with the manual painting system for the external faces of the structures. The owner of the present invention proposes the incorporation of a machine with an automatic system for the process of painting structures equipped with a robot for painting. In the crane bridge (12) a vertical telescopic tower (8) is incorporated as shown in Fig. 1, or in its case, a gantry crane (12) as defined in Fig. 2 and 3. A in turn, in the lower part of the vertical telescopic tower (8), a horizontal telescopic arm (4) is incorporated which allows the horizontal displacement to approach the non-straight parts that externally define the structures that are not flat, such as, for example, blocks of the lower parts of the hull of ships. At the end of the horizontal telescopic arm (4) is the painting robot (3). Below are described, in a non-exhaustive way, the most remarkable advantages:

1. Elimination of auxiliary means during the painting process. The installation and subsequent disassembly of scaffolding structures is not necessary. The scissor platforms, cranes with basket and mobile lifting platforms for people (PEMP) are dispensable during the painting process since the manual human application becomes automatic.

2. Painting times are reduced as it is an automatic process with no human manual work.

3. Surface finishes increase when they are carried out through an automatic process that eliminates human error or fatigue. The quality of the final product improves.

4. The uniformity in the application of paint (microns required in each process) allows an optimization of the kg. of paint used directly impacting on a cost reduction.

5. Reduction of costs associated with the labor used as it is an automated process.

FIELD OF APPLICATION OF THE INVENTION

The invention is presented as an innovation within the manufacture of machinery and industrial automation. The specific control systems developed for this machine, both for the structural recognition, and for the application of paint on structures using a previously defined Cartesian trajectory, and developed through the artificial vision of the robot, are the basis of the present invention.

The sectors of application of the invention cover areas such as industrial, naval, aeronautic and any where structures that require painting process (dry dock, paint booths, ships, hangars, outdoor areas, etc.) that can incorporate this invention. The transfer system can be achieved through a birrall bridge (Fig. 1) sustained by the structure of the enclosure where the painting operation is carried out, or by means of a gantry crane (Fig.2 and 3) in open places that do not have a load-bearing structure. for crane crane birrall.

The use of Robot-Automatic Structures Painting Machine (R-MAPE) allows the optimization of the painting process, both in times and costs. The incorporation of the robot for the painting process reduces the application times, achieving a higher surface finish quality. The present invention achieves a reduction in paint consumption due to the uniformity achieved by the painting robot in the application process.

DESCRIPTION OF THE INVENTION

The characteristics and mode of operation of the invention are described briefly below.

In view of Figures 1, 2 and 3 incorporated in the drawings of the present specification, the elevations of the machine are observed in two configurations: Fig. 1 with Crane Birrall Bridge (12) as a means of support and translation, Fig. 2 and 3 with Crane Portico (9) as a means of support and translation. The transfer of the machine has two technical solutions depending on the possibilities of the bearing structure of the place where the painting process is carried out. In places where there is no structure to incorporate bridge crane is used the technical solution of Fig. 2 and 3 incorporating a Portico crane according to the required needs. For example, for a dry and painted ship dock, the configuration of Fig. 2 is chosen as the ideal one. In the case of painting in diaphanous areas, the configuration of Fig. 3 is the most appropriate.

The machine consists of a Birrall Crane Bridge (12) in Fig. 1 or Portico Crane (12) in Fig. 2 and 3, which runs through the paint / dike cabin / ship in translation movement (X axis). The double beam box of the bridge in Fig.1 or Portico in Fig. 2 and 3 incorporates a carriage (11) that allows movement in a direction perpendicular to the translation of the bridge crane (y axis). The telescopic tower (8) (z-axis) is supported in the trolley for movement at different heights (7). The telescopic system has a turning system (10) allowing the movement of the horizontal telescopic axis (4). The telescopic horizontal axis (4), driven by a linear motor actuator, supports the painting robot (3) and allows movement on that axis to perform approximations on non-planar structures that have curved areas or specific features. In the lower part of the horizontal axis, the painting storage zone (5) is arranged to supply the painting robot. In the storage area, the paint deposits are installed for the subsequent pumping by means of pneumatic impulsion to the paint application gun incorporated in the robot (3).

Surveillance cameras (6) are incorporated to perform a perfect follow-up of the operations of the machine. The infrastructure is provided, depending on the required dimensions, of the sufficient equipment of laser scanners for 3D modeling (14), both fixed and incorporated to the lower part of the beam of the crane. The number of them is defined by the dimensions and volumes of the spaces where the invention is installed.

From the control cabin (1) in Fig.1 to the crane bridge, the channelization (13) is available for communications bus, electric power, compressed air for pneumatic control, compressed air for painting and other necessary control components. From the upper zone by means of an articulated cable curtain along the translation path, it is inserted inside the girders of the crane bridge and then into an articulated cable tray along the length of the transversal carriage, accessed through the vertical telescopic arm (8) up to the lower area. In the case of the port crane arrangement, the same configuration is adapted to the leg where the control cabin (1) is located up to the upper part of the transverse carriage. The connection is made by means of the winding (15) incorporated in one of the legs. Through this winding it is endowed with the necessary services (electric power, communications, compressed air, etc.) running through the rolling path of translation (13) of the gantry crane, both for Fig. 2 and Fig. .3.

The other parts that make up the machine refer to the description of Fig. 1 except the control cabin (1) that in the Portico crane (Fig.2) is arranged in one of the legs while in the solution of Puente Grua Birrall It is available in an independent area. From said cabin the control and monitoring of the machine is carried out using the human machine interface (HMI) interface for the recognition operations of the geometry of the structure to be painted. Later, in automatic mode, the structure is painted. The machine has a "Manual" and another "Automatic" mode with different alarms (collision, lack of paint, etc.), displays and control screens and monitoring of the different processes. Surveillance cameras (6) are available. The operating mode in "Automatic" comprises the recognition phase of the areas of interest through artificial vision and the painting phase in production, in addition to the surface finish control to determine the quality of the structure's painting.

The control system is based on the automation of the movement of external axes and the robot through the implementation of digital electronic instrumentation. The man-machine control interface (HMI: Human Machine Interface) together with software and data acquisition (SCADA: Supervisory Control And Data Acquisition) installed on the industrial PC in the control room (1) configure the operation of the machine . The recognition of the structural geometry is carried out by means of artificial vision hardware based on 3D smart cameras, measurement by 3D laser scanner (14) and focal cameras incorporated in the robot arm. They perform the acquisition of images at high speed by transferring them to the control computer by means of image processing software for the interpretation and analysis of pixels. Afterwards, image processing is carried out through artificial vision software. The output of generated data reproduces the structural topography of the piece including the appropriate tolerances, previously defined, for the definition of the path to be followed by the robot in the painting phase.

The process of recognizing the structural geometry defined above is the initial phase of operation. This will define large areas and structural volumes. Once the structure has been recognized, painting begins with the robot (3). It is possible to enter, in manual mode, prohibited areas. These are areas where it is not necessary to paint or areas where there are auxiliary elements that are not part of the structure and can cause a collision (supports, etc.) Defining them previously in order to avoid them, inhibiting them in this way, the Cartesian path to follow by the robot. The machine is provided with enough sensors to avoid collision and avoid damage due to any circumstance that may be generated, both in the initial recognition of capture of the areas of interest to be processed, and in the painting phase once the acquisition of data and the definition of the painting trajectory has been made.

Finishing parameters (speed, dosage, etc.) are defined for the different technical demands of the structure to be painted. The parameters of paint dosage and paint speed are entered through the HMI screen located in the control cabinet.

Within the essentiality of the invention, it can be implemented in other forms of realization that differ in detail from that indicated by way of example in Fig. 1 and in Fig. 2 and 3, and to which it will also reach the protection that it is collected as long as it does not alter, change or modify its fundamental principle.

From all that has been described and from the observation of the drawings, the advantages of the Robot-Automatic Machine for Painting Structures (R-MAPE) are apparent.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of what has been described in the present report, some drawings are accompanied in which, only by way of example, with illustrative and non-limiting character, technical solutions for the invention are represented: Fig. 1 with Bridge Crane and Fig.2 and 3 with Portico crane.

Fig.1

1. Control cabin.

2. Structure to paint.

3. Painting robot equipped with paint gun and sensors: anti-collision by laser, focal cameras, etc.

4. Horizontal telescopic arm (approach / withdrawal) with linear motor actuator.

5. Paint storage system and pneumatic impulse pumps. 6. Surveillance camera.

7. Vertical telescopic arm lifting / lowering system.

8. Vertical telescopic arm with reduction motorcycle with cable drum for lifting / lowering movement.

9. Moto reducer of telescopic arm rotation.

10. Turn crown.

11. Transfer carriage and articulated cable chain system (transverse translation movement.

12. Bridge crane neighborhood.

13. Channel connection to machine (communications bus, power supply, painted compressed air, pneumatic control, etc.).

14. Artificial vision hardware (3D laser scanner).

^Fig. 2

1. Control cabin.

2. Structure to paint.

3. Painting robot equipped with paint spray gun and surface recognition sensors: anti-collision by laser, focal cameras, etc.

4. Horizontal telescopic arm (approach / withdrawal) with linear motor actuator.

5. Paint storage system and pneumatic impulse pumps. 6. Surveillance camera.

7. Vertical telescopic arm lifting / lowering system.

8. Vertical telescopic arm with reduction motorcycle with cable drum for lifting / lowering movement.

9. Moto reducer of telescopic arm rotation.

10. Turn crown.

11. Transfer carriage and articulated cable chain system (transverse translation movement.

12. Crane portico neighborhood.

13. Channel connection to machine (communications bus, power supply, painted compressed air, pneumatic control, etc.).

14. Artificial vision hardware (3D laser scanner).

15. Overdrive

Fig. 3

1. Control cabin.

2. Structure to paint.

3. Painting robot equipped with paint spray gun and surface recognition sensors: anti-collision by laser, focal cameras, etc.

4. Horizontal telescopic arm (approach / withdrawal) with linear motor actuator.

5. Paint storage system and pneumatic impulse pumps. 6. Surveillance camera.

7. Vertical telescopic arm lifting / lowering system.

8. Vertical telescopic arm with reduction motorcycle with cable drum for lifting / lowering movement.

9. Moto reducer of telescopic arm rotation.

10. Turn crown.

11. Transfer carriage and articulated cable chain system (transverse translation movement.

12. Crane portico neighborhood.

13. Channel connection to machine (communications bus, power supply, painted compressed air, pneumatic control, etc.).

14. Artificial vision hardware (3D laser scanner).

15. Overdrive

PREFERRED EMBODIMENT OF THE INVENTION

The Robot-Automatic Machine of Structures Painted (R-MAPE) consists of a structure in the form of a bridge crane birrall (12) in Fig. 1 or Portico crane in Fig. 2 and Fig. 3 (12) where an arm is installed vertical telescopic (8) with rotary function (± 180 °) equipped with control system of rotation with variable speed and positioning system of control in its upper part incorporated in the carriage of translation (11) through the beams of the structure (12) of both the Crane Bridge Fig. 1 and the Crane Portico Fig. 2 and Fig.3.

All transport and carriage movements of the crane or gantry crane consist of digital control (speed variators and digital positioning sensors) commanded by PLC.

In the lower part of the vertical telescopic arm (8) a telescopic horizontal axis (4) equipped with a displacement system, actuated by a linear motor drive, is incorporated to approach or move the robot to the surface of the structure. At the end of the horizontal axis (4) the robot (3) and its painting accessory (gun) are positioned. The sensors (14) and the robot (3) cameras that make up the artificial vision hardware for the surface recognition system and surface finish quality are incorporated. In the control booth (1) the image processing and the subsequent determination of the trajectory for the painting are carried out. A communication bus (interconnection hardware software) is established from the control booth (1) with each of the components to perform the functions determined and assigned to each one of them through the artificial vision software and the movement control of the robot for the fulfillment of the defined route and the necessary movement (fan / swing) for painting.

The invention is sufficiently described both in regard to the functions, characteristics, components and elements necessary for its implementation, it is not considered necessary to make a greater explanation of it so that any expert in the field understands its scope and the advantages it offers. , stating that, within its essential nature, it could be implemented in other forms of realization that differ in detail from that indicated by way of example, without prejudice to technological evolution, and to which the protection sought as long as it is not altered, change or modify its fundamental principle.

Likewise, the materials used in the manufacture of the components and dimensions thereof, adapted in each case, to the specific needs of the sector and the application where it is required to implement the Automatic Robot-Machine of Painted Structures will be independent from the object of the invention. (R-MAPE), in addition to all the accessory details that can be presented as long as they do not affect its essentiality.

Claims (3)

1. ROBOT AUTOMATIC STRUCTURAL PAINTING MACHINE (R-MAPE) Fig. 1 intended for the painting of structures (2) in painting booths or warehouses by means of recognition of the structural geometry based on image acquisition hardware, subsequent automatic painting by means of of robot (3) with accessory (gun) and movement of fan / swing for the painting process equipped with sensors for surface finish recognition, which performs Cartesian trajectory using the structural topography processed by means of artificial vision software characterized by load-bearing structure by means of bridge crane birrafl (12) for movement of translation, incorporating between beams drawer carriage of translational (11) and rotary movement equipped with rotating crown (10) with motor reducer and digital positioning control, and on this, arm telescopic (8) with lifting / lowering movement (7) by motorcycle reducer (9) that drives rope drum, which as At the same time, it incorporates a horizontal telescopic arm (4) in the lower part, with a linear motor actuator drive, for approaching / distancing the painting robot (3). Image acquisition is performed through the hardware installed in the control booth (1) with industrial PC, artificial vision software and through SCADA and HMI interface image processing, topographic survey of the structural geometry and monitoring by means of cameras is performed. surveillance (6) and 3D laser scanner (14). Surface finish control using 3D laser scanner and intelligent focal cameras. In the lower part of the horizontal telescopic arm, storage tank (5) of paint is installed to feed the robot by means of pneumatic pressure pumps. The necessary services such as communication, electrical energy, compressed air and auxiliary elements of connection are made through vertical channeling (13) and subsequent channeling by roller / articulated cable chain along the translation of the bridge crane birrafl. Similarly for the transverse carriage (11) and vertical telescopic arm (8). 2 ROBOT AUTOMATIC STRUCTURAL PAINTING MACHINE (R-MAPE) , Fig. 2 according to claim 1, characterized by a load-bearing structure in the form of a gantry crane (12) and equipped with a control cabin (1) on one of the legs of the crane portico with channel system by winding (15) and channeling communications services, air, electricity, etc. in trench (13) along the movement of translation. The gantry crane incorporates 3D scanner cameras (14) for image acquisition. Specifically designed for dams or infrastructures of similar characteristics are installed along it (length in port sides and starboard) 3D laser cameras (14) for geometric recognition of the structure to be painted, both fixed to the sides and mobile (legs and lower part of the beam) for the upper zone, obtaining the images to be processed by artificial vision software that defines the trajectory to be followed by the painting robot. Camera surveillance system (6) for monitoring and control of operation. 3 ROBOT AUTOMATIC STRUCTURE PAINTING MACHINE (R-MAPE) Fig. 3 according to claim 1, characterized by supporting structures in the form of a gantry crane (12) and equipped with a control cabin (1) in one of the legs of the gantry crane with channeling system by means of winding (15) and channeling (13) of services in trench along the movement of translation. Designed for open areas (absence of paint booth or naves) as esplanades or open areas, the 3D laser cameras (14), in legs and lower beam part, are installed on the gantry crane for geometric recognition of the bottom / side of the structure to be painted and the upper part of the structure.