JPH032022B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a coating method for automatically coating a box-shaped object having a corrugated surface, such as a marine container.

BACKGROUND ART A case will be described in which, for example, a marine container is painted using a prior art painting method. FIG. 11 is a sectional view of a side wall 1 of a marine container having a corrugated surface. When paint is injected onto such a side wall 1 from a nozzle 3 having a horizontal axis 2,
Although a coating film having an appropriate thickness can be obtained on the valley surface 4 perpendicular to the horizontal axis 2, the inclined surfaces 5, 6
The coating becomes thinner. Furthermore, when spraying paint using a nozzle 8 having a horizontal axis 7, even if the thickness of the coating film on the valley surface 9 and the slope surface 10 is appropriate,
The thickness of the coating film on the inclined surface 11 becomes thinner.

If the amount of paint sprayed is increased in an attempt to set the thickness of the coating film on the sloped surfaces 5, 6, 11 to an appropriate value, the thickness of the coating film on the valley surfaces 4, 9 and the sloped surface 10 will become thicker, resulting in waste. It ended up requiring a special paint.

Problems to be Solved by the Invention If the side wall 1 having such a structure and shape is to be painted with a uniform thickness, it must be done manually, and the painting work environment is extremely poor. Furthermore, it becomes difficult to maintain constant quality.

An object of the present invention is to solve the above-mentioned problems, and to reduce the variation in the thickness of the coating film for a box-shaped object to be painted, which includes a ceiling, side walls, and front and rear end walls in the direction of movement, and has a corrugated surface. It is an object of the present invention to provide a coating method that can automatically perform coating with little effort.

Means for Solving the Problems The present invention provides an automatic painting method for a structure having a corrugated surface that periodically repeats a mountain surface, a slope surface, and a valley surface. a first nozzle that paints a mountain surface and a valley surface that are sandwiched between the two; a second nozzle for coating a mountain surface and a valley surface with a second slope sandwiched between them; When the distance between the nozzle and the place to be painted is rcm, the angle at which the virtual straight line connecting the position to be painted on the surface to be painted and the first or second nozzle forms the surface to be painted is θrad, and k is a proportionality constant, the first Or, using the fact that the density of the paint sprayed from the second nozzle is proportional to 1/r ² and the density of the paint adhering to the surface to be painted is proportional to sinθ, it is determined by the paint adhesion efficiency and the sprayed paint. The thickness of the paint film is expressed by multiplying it by a constant k, and the thickness of this paint film is calculated.
and determine the axial direction of each of the second nozzles, maintain this axial direction, and perform the painting work while moving the first and second nozzles in the direction in which the ridgeline of the mountain extends at a predetermined constant speed; A corrugated shape characterized by the fact that after the paint work is completed, the first and second nozzles move in a direction perpendicular to the ridge line in multiples of one cycle, perform the next painting work, and repeat this action to paint the entire wall surface. This is an automatic painting method for a structure having a surface.

The first nozzle is installed so as to paint the first slope and the mountain and valley surfaces sandwiching the first slope,
The first inclined surface is a second inclined surface that is a multiple of one period away from the opposing inclined surface across the valley surface, and a second inclined surface that is separated by a multiple of one period.
The nozzle of the second nozzle is installed so as to paint the mountain face and the valley face with the slope between them, and the first nozzle and the second nozzle are moved back and forth at a constant speed in a direction parallel to the ridgeline of the mountain. Then apply the paint. Thereafter, the first nozzle and the second nozzle are moved in a direction perpendicular to the ridge line by a multiple of one cycle, and the next coating is performed. By repeating the above operations, the entire corrugated wall surface can be painted without leaving any unpainted areas.

Furthermore, the distance between at least one of each nozzle and the position to be painted is rcm, and the angle between the virtual straight line connecting the position to be painted and this nozzle and the surface to be painted is θrad, k.
When is a proportionality constant, the thickness of the coating film Tcm is expressed as T=k・sinθ/r ² , and using this formula, the thickness of the coating film when a corrugated surface is painted using the above coating method. The thickness of the thinnest part of the coating is T ₁ cm,
When the thickness of the thickest part is T ₂ cm, the axial direction of each nozzle is determined so that T ₂ /T ₁ is below a certain value, and the first and second nozzles are installed in this direction for painting. Let's do it. By the above method, coating can be performed over the entire corrugated surface with little variation in coating film thickness.

Embodiment FIG. 1 is a horizontal sectional view of a corrugated surface 43 to be painted according to the present invention, and FIG. 2 is a perspective view of the surface 43 to be painted. This surface to be painted 4
No. 3 has a structure in which a mountain surface 44, a slope surface 45, a valley surface 46, and a slope surface 47 are continuously repeated as one period W. To simplify the explanation, it is assumed that the mountain ridgeline 48 coincides with the vertical direction. Referring to FIG. 1, a corrugated surface 43
The painting operation of painting by the first nozzle 33 and the second nozzle 34 will be explained. The paint ejected from the first nozzle 33, which has a horizontal axis 49, is uniformly spread within the area indicated by reference numerals 51, 52. The first nozzle 33 is installed so that the first inclined surface 45, peak surface 44, and valley surface 46 at this time can be coated.

The paint ejected from the second nozzle 34, which has a horizontal axis 53, spreads within the area indicated by reference numerals 55, 56. At this time, the second nozzle 34 is installed so that the second inclined surface 47b, the mountain surface 44c, and the valley surface 46b can be coated. The first nozzle 33 and the second nozzle 34 are connected to each other by a connecting body 32.
At the same time, the paint is sprayed and painted while reciprocating at a constant speed in the vertical direction, that is, in the direction perpendicular to the plane of the paper.

When the painting at the position indicated by reference numeral 32 is completed, the first nozzle 33 moves horizontally to the position indicated by reference numeral 32a by one period W, and the first nozzle 33 moves to the position indicated by reference numeral 33a, and the second nozzle 34 moves to the position indicated by reference numeral 34a. Move to the new location and do the next painting job. By repeating this operation, the mountain surfaces 44, 44 of the surface to be painted 43 are
b, 44c and the valley surfaces 46, 46b are painted with both the first nozzle 33 and the second nozzle 34,
The inclined surfaces 45, 47, 45b, 47b are painted with the first nozzle 33 or the second nozzle 34, and can be painted over the entire surface without leaving any unpainted area.

FIG. 3 shows, for example, how the paint sprayed from the first nozzle 33 spreads, with reference numeral 5.
The paint is spread evenly between 1 and 52. 1st
At a point Q on the surface 43 to be painted, which is a distance r away from the nozzle 33, the density of the sprayed paint is 1/r ²
is proportional to. If the angle between the surface to be painted 43, the point Q, and the first nozzle 33 is θ, then the surface to be painted 33
The density of the paint that adheres to the area is proportional to sin θ, so if the paint is sprayed from the first nozzle 33 at a constant flow rate, the thickness T ₀ of the paint film that can be applied to this area per unit time is calculated using the first equation: It is expressed as

T ₀ =K·sinθ/r ² ...(1) Here, K is a constant.

FIG. 3A is an enlarged view of a minute portion of the surface to be painted 43 that is coated with the paint ejected from the first nozzle 33 of FIG. The first equation will be explained with reference to FIG. 3A. The paint is sprayed in the direction of arrow C and adheres to the surface 43 to be painted. The arrow A indicates the space area D where the paint for coating a minute portion of the surface to be painted 43 is ejected.
Let S be the cross-sectional area in the direction perpendicular to the direction, and let S1 be the area of a minute portion of the surface to be painted 43 coated with the paint in this spatial region D. The areas S1 and S have the following relationship.

S1=S/sinθ That is, since the area to be painted is proportional to 1/sinθ, the density of the paint on the surface to be painted 43 is proportional to sinθ. Therefore, the thickness T ₀ of the coating film that can be coated per unit time can be expressed by the first equation.

Therefore, when the first nozzle 33 moves at a constant speed and paints, the thickness T of the coating film is expressed by the second equation.

T=ksinθ/r ² ...(2) where k is a constant.

FIG. 4 shows a horizontal sectional view of a corrugated surface 43 to be coated and the first nozzle. length of each side
l1, l2, l3, l4 are not necessarily equal, and the slope 4
The inclination angles δ ₁ and δ ₂ of 5 and 47 do not necessarily have to be equal.

In order to calculate the coating film thickness of the surface to be painted by the first nozzle 33, coating film thickness calculation points Q are provided by subdividing the surfaces 44, 45, 46 to be coated at regular intervals. i-th calculation point Qi counted from the edge of
If the distance between Qi and the first nozzle 33 is ri, and the angle between the first nozzle 33 and the plane containing the i-th calculation point Qi is θi, then using the second equation, the i-th point
The coating thickness Ti of Qi is expressed by the third equation.

Ti=k・sinθi/ri ² ...(3) Figure 6 is a horizontal sectional view of the surface to be painted, and the point 0
is the origin. Using Figures 4 and 6, ri,
Explain how to find Qi. Now the coordinates of point P ₁ are (X ₁ , Y ₁ ), the coordinates of point P ₂ are (X ₂ , Y ₂ ), the coordinates of point P ₃ are (X ₃ , Y ₃ ), and the coordinates of point P ₄ are (X ₄ , _Y4 ),
Let the coordinates of a point Qi on the surface to be painted 44 or 45 or 46 or 47 be (xi, yi).

_At this time, _the coordinates _of points P _{1 ,} P _{2 , P 3 , and P 4 are :} α ₁ = _sin ^-1 L ₁ / _{l 1} X ₂ = X ₁ +l ₁・cosα ₁ Y _{2 = Y 1 + l 1 ・}sinα _{1 3} +l ₃ , Y ₄ =0. Therefore, the coordinates of point Qi on surface 43 are as follows.

When point Qi is on the slope 47 and the length of the line segment is a, xi=a・cosδ ₂ yi=a・cosδ ₂ Point Qi is on the slope 44 and the length of the line segment ₁ is b When, xi=X ₁ +b・cosα ₁ yi=X ₁ +b・cosα When _one point Qi is on the slope 45 and the length of line segment ₂ is c, xi=X ₂ +c・cosδ ₁ yi= Y ₂ −c·sin δ When _one point Qi is on the valley surface 46 and the length of line segment ₃ is d, xi=X ₃ +d yi=0.

Further, the straight line l10 is located at a distance R suitable for painting from the mountain surface 44, and is a straight line extending in a direction perpendicular to the ridgeline of the mountain. The injection port of the first nozzle 33 is installed on this straight line, and the coordinate values of the injection port are (x, y). At this time, the i-th calculation point Qi
Calculate θi using the following formula depending on the surface that includes:

If it is a point on the mountain surface 44, θi=|tan ^-1 y−yi/x−xi−α ₁ | If it is a point on the slope 45, θi=π−δ ₁ |−tan ⁻¹ y− yi/x-xi | If it is a point on the valley surface 46, θi = | tan ^-1 y-yi/x-xi | In either case, the distance is ri = / (-) ² + (
-yi) ² , and the coating thickness of the painted surfaces 44, 45, and 46 can be calculated for each calculation point Qi using the third formula for calculating the coating thickness.

FIG. 5 shows a horizontal cross-sectional view of the second nozzle 34, similar to FIG. 4, and the coating thickness by the second nozzle 34 can be calculated in the same manner as the first nozzle 33. When this coating method is carried out, for the mountain surfaces 44 and valley surfaces 46 to be painted by both the first nozzle 33 and the second nozzle 34, add the film thicknesses painted by the respective nozzles 33 and 34,
Find the coating thickness at each calculation point.

By the above method, for example, when the coordinates (x, y) of the location where the first nozzle 33 is installed are given,
The coating thickness of the surface 43 to be painted can be calculated.

Next, a method of determining the location where the first nozzle 33 is installed using the above calculation method will be explained. Here, among the coating film thicknesses calculated by the above method, the thickness of the thinnest part is T ₁ , the thickness of the thickest part is T ₂ , and the ratio thereof is T ₂ /T ₁ .

Referring to FIG. 4, point A is the intersection of straight line l10 and the extension of slope 45, and point B is the intersection of direct line l10 and the extension of slope 47. The area between point A and point B is subdivided at regular intervals, and each dividing point is set as the installation position of the first nozzle 33. At this point point A
The coordinates (x, y) of the jth installation position are y=
R + l ₂ · sin δ ₁ , and the coordinates of point A are (x ₀ , y),
If the division interval is Δx, then x = x ₀ + Δx・(j−1)
Since the coordinates of the position of the first nozzle 33 are given, the coating thickness can be calculated.

In this way, when painting is performed with the first nozzle 33 set at the j-th installation position and the second nozzle 33 at the k-th installation position, the film thickness of the surface to be painted is determined by both j and k. , calculate T ₂ /T ₁ for each combination, and determine the installation positions of the first nozzle and second nozzle so that this value does not exceed a certain value. Once the installation position of the spray nozzle is determined, the direction in which the axis 49 faces can be uniquely determined.

In this embodiment, a case has been described in which the mountain surface and the valley surface are not parallel, but the case where the mountain surface and the valley surface are parallel can also be implemented by setting α ₁ =0.

In the third equation for calculating the coating thickness, the proportionality constant k
If it is not necessary to know the absolute amount of coating film thickness, there is no need to know its value. Even when the absolute amount of paint film thickness must be known, if the value of k is determined through an experiment with specified paint flow rates and painting speeds, the value of k required for painting under the same conditions can be calculated. Obtainable.

FIG. 7 is a perspective view of one implementation order of the present invention,
FIG. 8 is a simplified horizontal sectional view thereof. Marine containers 20a, 20b, 20c to be painted
(hereinafter generally referred to as reference post 20) is the connector 21,
22, 23, and 24, and is moved in the direction of arrow 25 by a winch or the like, and in this way, a container designated by reference numeral 20b is carried into painting booth 26.

Inside the coating booth 26, rails 27 and 28 are installed along the transport direction 25 of the container 20. The rails 27 and 28 are provided so that the gate-shaped frame 29 can reciprocate back and forth in the transport direction 25. The gate-shaped frame 29 straddles the container 20. The portal frame 29 has a pair of legs 30 and 31 and a connecting part 32 that connects them. One leg 30 has a moving body 32 that can move up and down as shown in FIG.
is provided. This moving body 32 has a first nozzle 3
3 and a second nozzle 34 are attached. A horizontally extending elongated hole 35 is formed in the movable body 32, and a bottle 36 is loosely engaged with the elongated hole 35. The pin 36 is fixed to an endless chain 37. This chain 37 is connected to sprocket foils 38 and 3 provided at the upper and lower portions of the legs 30.
This sprocket wheel 39 is rotated by a motor 40.
The lower part of the leg part 30 is provided with wheels 41 and 42 for moving along the rail 27 and a drive source for driving the wheels 41 and 42.

Although the above description has mainly been made regarding one leg 30, the other leg 31 has a similar configuration, and the movable body 72
is installed so that it can be raised and lowered freely. This moving body 72 has
First and second nozzles 73, 74 are attached,
Side wall 60 is painted.

FIG. 9 is a block diagram showing the electric circuit of this embodiment. A motor 61 for moving the portal frame 29 is driven by a drive circuit 98. A processing circuit 100 realized by a microcomputer or the like has a target position setting device 101, and a current position detected by a position detector 102 and counted by a counter 103 with respect to a target position set here. The subtractor 104 calculates the difference between the two.
The drive circuit 98 drives the motor 61 in proportion to this difference, and the portal frame 29 moves. Through this control, the gate-shaped frame 29 stops when the difference between the target position and the current position becomes zero. The values set by the coating number setting device 105, painting speed setting device 106 and positioning interval setting device 107 are as follows.
The data are input to the processing circuit 100 via interfaces 108, 109, and 110.

FIG. 10 is a simplified plan view of this embodiment. At the start of painting, container 2 is placed inside booth 26.
0 is stopped as shown in Figure 10. At this time, (1) The gate-shaped frame 29 is connected to the limit switch SX1.
It is detected by and located at the origin in the X direction.

(2) Move the gate-shaped frame 29 and move the gate-shaped frame 2
The magnetic proximity switch 131 attached to the end wall 8 of the container 20 comes next to the container 20 and
8, set this position as XF0, and set this position as
Move gate frame 29 to XF0.

(3) Move the gate-shaped frame 29 to the first painting position X1 of the side walls 43, 60. The amount of movement at this time is calculated in advance as a relative amount from position XF0.

(4) At this position X1, move the movable bodies 72, 32 at the speed set by the speed setting device 106 and perform painting.

(5) After the painting is finished, move the gate frame 29 by a predetermined distance and paint again at position X2.

(6) In the same manner, while moving the same distance by the distance set in the positioning interval 107, positioning is performed 1 times.
Repeat until the n times of coating set in step 05 are completed.

(7) After painting the side walls, limit switch SX1
The portal frame 29 is returned until it is detected by.

In this way, the corrugated surface to be painted 4
3 can be automatically painted on a sea container.

In this example, the explanation was given in relation to the painting of a marine container having a corrugated surface.
In the embodiments of the present invention, objects to be coated are not limited to marine containers.

Effects As described above, according to the present invention, a corrugated surface can be automatically coated with less variation in coating thickness. Therefore, the number of painting workers can be reduced, and the quality of the product can be stabilized.

[Brief explanation of the drawing]

FIG. 1 is a horizontal sectional view of a corrugated surface 43 to be coated according to the present invention, FIG. 2 is a perspective view of the surface 43 to be coated, and FIG. 3 is a first nozzle 33 illustrating the principle of the present invention. 3A is a diagram of a minute portion of the surface to be painted 43, FIG. 4 is a horizontal cross-sectional view of the first nozzle 33 explaining the principle of the present invention, and FIG. 5 is a diagram of the first nozzle 33 explaining the principle of the present invention. A horizontal sectional view of the two nozzles 34, FIG. 6 shows the surface to be coated 34
7 is a perspective view of one embodiment of the present invention, FIG. 8 is a simplified horizontal sectional view of FIG. 7, and FIG. 9 is a block diagram showing the electric circuit of this embodiment. Figure 10 is a simplified horizontal sectional view of this embodiment, the first
FIG. 1 is a horizontal sectional view of a side wall 1 illustrating a prior art painting method. 33...first nozzle, 34...second nozzle, 4
3...Surface to be painted, 44...Mountain surface, 45, 47...
Inclined surface, 46... Valley surface, Qi... Point to be painted, T ₁ ...
...Minimum film thickness, T ₂ ...Maximum film thickness, W...Period.

Claims (1)

[Claims] 1. In an automatic painting method for a structure having a corrugated surface that periodically repeats a mountain surface, a slope surface, and a valley surface, a first slope surface and a mountain sandwiching the first slope surface in between. A first nozzle that paints the surface and the valley surface, and a second inclined surface that is a multiple of one period W from the opposing inclined surface with the valley surface in between. and a second nozzle for coating a mountain surface and a valley surface sandwiched between the two nozzles, and the thickness of the coating film applied by each of the first nozzle and the second nozzle, T cm, is determined by at least one nozzle and the area to be coated. from the first or second nozzle, where the distance from the first or second nozzle is rcm, the angle between the virtual straight line connecting the coating position on the surface to be coated and the first or second nozzle and the surface to be coated is θrad, and k is a proportionality constant. Using the fact that the density of the sprayed paint is proportional to 1/r ² and the density of the paint that adheres to the surface to be painted is proportional to sinθ, multiply it by a constant k determined by the paint adhesion efficiency and the sprayed paint. The first step is to calculate the thickness of the paint film and keep the ratio of the paint film thickness between the thinnest part and the thickest part below a certain value.
and determine the axial direction of each of the second nozzles, maintain this axial direction, and perform the painting work while moving the first and second nozzles in the direction in which the mountain ridgeline extends at a predetermined constant speed; After finishing the painting work, the first and second nozzles are moved in a direction perpendicular to the ridgeline by a multiple of one cycle, the next painting work is performed, and this operation is repeated to paint the entire wall surface. Automatic painting method for a structure having a surface.