Method and robot platform for washing, sandblasting and painting in shipbuilding dry dock

Claim 2

Robot platform for washing, sandblasting and painting in shipbulding dry dock, of the type insertable into the side structures provided with guide rails (1) of a shipbuilding dock or dry dock (A) preferably for middle and large size vessels (S), comprising at least one support translation structure provided with sliding trolley (B) horizontally controlled on said guide rails (1) on the dock sides (A), said trolley structure supporting a swinging and/or variable in length arm (C), at the end thereof a platform being mounted articulated so as to stay always oriented in a predetermined direction independently of the movements thereof (D), characterised in that: - on said platform (D) at least three operative units are located, respectively washing unit with washing nozzles (13), sandblasting unit with sandblasting guns (8) provided with dust recovery means (10), and painting unit on trolley means which moves backwards and forwards at one side of the platform (11) provided with respective spray guns (12); - at least one robot computerized control and programming unit and detecting means of the surface to be treated (15) in order to remote-control and move automatically or by operator the above-described assembly for performing the washing, sandblasting and painting operations on the correspondent broadside surface of the vessel concerned (S).

Claim 3

A platform as claimed in claim 1, characterised in that said platform supports operating means in polygonal structure placed (D), being said painting unit (11,12) at one side placed.

Claim 4

A platform as claimed in the preceding claims, characterised in that the platform side on which the painting unit is installed is the longer side, said platform having operating means in rectangular adjacent position placed, and wherein at the adjacent side of the painting unit at least one of the other operative washing and/or sandblasting unit is placed, said platform being rotatable in order to present in operating condition either one side or the other respectively.

Claim 5

A platform as claimed in the preceding claims, characterised in that the units for storage and respective conveyance of the treatment materials (4,5,6,7) are placed near said translation trolley structure (B).

Claim 6

A platform as claimed in the preceding claims, characterised in that the units for storage and respective conveyance of the treatment materials (4,5,6,7) are placed on a tender connected unhookable (B') to said translation trolley structure (B).

Claim 7

A platform as claimed in the preceding claims, characterised in that the movement control means of the assembly are placed on said translation trolley structure (B).

Claim 8

Plant for washing, sandblasting and painting in shipbuilding or dry dock (A) for middle and large size vessels (S), characterised in that said plant comprises at least one robot platform structure according to the features as claimed in preceding claims said robot platform structure being placeable on horizontal guides (I) of the sides of said dock (A) .

Claim 9

Method and plant for washing, sandblasting and patting using at least one robot platform according to the features of preceding claims, characterised in that said method and plant comprise the following phases without the presence of labor on the platform for the treatment of the vessel surface: - Washing phase At the start of the working cycle, each robot platform can be positioned in any point of the vessel broadside. Correct positioning is ensured by suitable tracer points placed on the mobile platform. Upon go message the motor pump unit begins to operate and the plant begins the washing operation by pressure water, moving lengthwise at predetermined speed. Such longitudinal movement continues to cover the whole predetermined distance. At this moment the mobile platform lowers automatically by a convenient length so as to ensure by the successive travel in opposite direction complete super imposition with the portion already washed. Such operations repeat cyclically to the complete vertical covering of the determined length. The first cycle being completed, the machine translates and positions at the successive cycle. - Sandblasting phase The washing cycle being completed, the machine is positioned for starting the sandblasting phase. The sandblasting head (8) is placed at the same side of the mobile platform where the washing nozzles (13) are mounted. Upon go message the solenoid valves controlling the inlet of air-grit mixture open and the plant starts the sandblasting operation with all the nozzles working im accordance with the same operating cycle as described for the washing phase. The nozzle holder head is housed within a metal covering case (10); the interior of said case is constantly vacuum in order to avoid outlet of dusts and recover partially the sand used. - Painting phase The sandblasting cycle being completed, the whole platform (D) rotates by 90° thus presenting the longer side parallel to the vessel broadside. On this portion of the platform a frame is placed complete with rails on which a trolley (11) runs supporting two spray guns for airless spraying (12). At the start of the working cycle the machine is positioned on one edge of the vessel broadside. Upon go message the trolley translates, spraying lengthwise the vessel broadside for a portion equal to the working stroke of said trolley (about 3 meters). The coat being completed, the whole machine lowers along the same path for a portion equal to the length sprayed in one coat. At this moment, the trolley translates, still spraying, in opposite direction. The cycle repeats as far as the end of the vertical path along the vessel broadside; the same cycle is then repeated on a path adjacent the preceding one. Working on rounded portions in longitudinal direction is corrected by rotating the mobile platform controlled by transducers. - Working on rounded surfaces With respect to rounded portions in vertical direction, the sandblasting nozzles are positioned by predetermined inclination upward, whenever the lower sensor of the sandblasting head signals that the surface to be painted is too remote from the working distance. Udine, June 28, 1985