Cost effective automated preparation and coating methodology for large surfaces

摘要

An apparatus and method of preparing and coating a large structure such as a ship's hull while in a dry dock wherein a plurality of spray guns disposed in an array are positioned by a robotic arm in a spaced relationship along the surface to be treated so that their spray patterns overlap. The array of spray guns is traversed downwardly and thus painting a strip whereupon the spray guns are secured, move horizontally and then are activated to be moved upwardly until another strip adjacent to and overlapping the first strip is painted. These steps are repeated until the surface area is substantially entirely painted. A shroud is provided for collecting paint oversprays and other excess paint is mounted in the array assemblage. An auxiliary spray gun may be positioned and its spray pattern adjusted to apply paint to area which were missed by the original spray pattern emanating from the array of spray guns. Travel of the system along the work surface is accomplished by a reference track, which may be virtual or actual along which an unmanned platform travels. An articulated computer controlled arm is carried by the unmanned platform which in turn carries the assemblage. Other tools may be selectively operatively connected to the arm for cleaning the hull before a coating is applied thereto.

主权项

1. A method for treating a surface of a large structure comprising:
positioning an unmanned mobile device relative to a surface of a large structure, the mobile device moving automatically, flexibly, dynamically and substantially continuously along a virtual line relative to said surface, said mobile device comprising at least one arm, said arm comprising at least one tool affixed thereto, positioning, by data from at least one sensor operatively associated with the disposition of said at least one tool, said at least one tool relative to said surface; moving said mobile device, under processor control, along said surface, flexibly adapting the course of said mobile device relative to said surface for treatment thereof along said virtual line relative to said surface and not along a track adjacent thereto; wherein the movement of said unmanned mobile device along said surface adjacent said large structure is dynamic and substantially continuous; and treating said surface with said at least one tool, said treatment being substantially uniform across said surface, wherein, during said treating, at least one sensor operatively associated with said at least one tool governs the relationship of said at least one tool to said surface, wherein said unmanned mobile device does not move along a track.