EP2857109A1 - Robotic machine for painting wind turbine towers and similar structures - Google Patents
Robotic machine for painting wind turbine towers and similar structures Download PDFInfo
- Publication number
- EP2857109A1 EP2857109A1 EP13793711.6A EP13793711A EP2857109A1 EP 2857109 A1 EP2857109 A1 EP 2857109A1 EP 13793711 A EP13793711 A EP 13793711A EP 2857109 A1 EP2857109 A1 EP 2857109A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- painting
- cabin
- wind turbine
- pistol
- turbine towers
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0436—Installations or apparatus for applying liquid or other fluent material to elongated bodies, e.g. light poles, pipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0228—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the movement of the objects being rotative
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
- B05B13/041—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads with spray heads reciprocating along a straight line
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0405—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with reciprocating or oscillating spray heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B16/00—Spray booths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/002—Processes for applying liquids or other fluent materials the substrate being rotated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D2254/00—Tubes
- B05D2254/02—Applying the material on the exterior of the tube
Definitions
- the invention refers to a robotic machine for painting wind turbine towers and similar structures, which adds several advantages and novel features to its function, which will be described in detail below and which suppose a significant improvement on the current state of the art.
- the object of the invention is centred on a machine specially designed to paint the exterior of electrical wind turbine towers or windmills, or other similar cylindrical, conical, frustoconical or elongated structures, and configured, on the one hand as a robot adapted to work inside a painting cabin, while on the other hand, on the outside of the cabin there is an installation that prepares and drives the paint toward a painting pistol in the robot, with means to combine the robot's displacement with the movement of the tower.
- the field of application of the present invention is framed in the technical sector of the industry dedicated to the manufacture of robotic machinery with control by means of computer systems and specific software, centred on the field of machinery dedicated to painting operations.
- What the invention proposes specifically, as mentioned above, is a machine specially designed to paint the outside of electrical wind turbine generator towers or windmills, as well as similar structures. It is configured as a robot adapted to work inside a painting cabin with an exterior installation that prepares and drives the paint toward a painting pistol which is in the robot.
- said exterior installation is made of paint tanks, pumps to drive the paint from the tanks to some high-pressure pumps, where the paint comes out, ready to be applied to the tower by means of a pistol.
- the robot comprises a metallic structure which goes from one end of the painting cabin to the other, and is situated on one side of the said cabin, and a pistol which moves along the said metallic structure in order to cover the whole length of the wind turbine generator tower.
- the pistol fits into the end of an extensible arm which is also capable of a swinging movement for greater precision.
- the machine In parallel to this, inside the cabin, the machine has some supports over which the tower to be painted is mounted; and these make the tower rotate while it is painted.
- one of said supports makes the tower rotate by means of electrical motors.
- This support we refer to this support as the rotator.
- the other support just acts as a point of support.
- the robot is configured by means of a user interface with specific corresponding software, as indicated by the quality team, so as to ensure several coats are painted between two points as the tube rotates until it completes a section of the tower or ferrule. This painting process is repeated for all the ferrules in which the tower is divided so as to complete its painting.
- the robot is controlled by means of a tactile HID (Human Interface Device) screen situated in a control cabinet for this purpose.
- a tactile HID Human Interface Device
- the user interface program has the following functions:
- the machine has an automatic function mode, by means of which its production progresses. It also incorporates a catalogue data group which is the set of tubes previously configured in the application out of which the corresponding tubes are to be selected.
- the machine also incorporates a zone dispensing box which indicates the status of the painting system associated with the layer which is being painted automatically.
- the program also has some check points, which comprise a series of messages which the operator has to check before initiating the automatic function mode.
- the messages fundamentally refer to the painting system equipment which checks that it is in the appropriate state for the correct application of paint associated with each layer.
- the program also shows a graphic representation of the painting system, where the different sets of equipment for the operator to check whether they are in the appropriate state for the correct application of paints associated with each layer are marked.
- the program also shows a graphic representation of the painting system, where the different sets of equipment are marked that the operator needs to check before starting to work with the machine in automatic mode.
- the machine (1) in question comprises a cabin (2) of appropriate configuration and dimensions to fit inside the tower (3) or similar structure, to be painted by the invention, being made up of a cubicle of rectangular or very elongated cross-section, covering the whole or almost the whole length of the said tower (3).
- the machine On the inside of said cabin (2) the machine has a painting robot that comprises a pistol (4) attached to a longitudinal structure (5) along which it moves, this longitudinal structure (5) being a tubular metallic structure, 'situated laterally within the cabin (2) covering its whole length from end to end., and which comprises at least a horizontal crossbar (5a) which acts as a guide for the movement of the pistol (4).
- the pistol (4) will preferably be attached to the longitudinal structure (5) by means of an extensible arm (6) which has a swinging movement.
- the machine On the outside of the cabin (2), the machine has a number of paint tanks (7) which are connected to booster pumps (8) which, by means of pressure pumps (9), drive the paint to the pistol (4) through their corresponding conducts or tubes (not represented).
- the cabin (2) uses a system of rotating supports (10) which support the tower (3), comprising a rotator (11) in itself comprising a series of bearings which rotate driven by an electric motor (12), and a support group (13) comprising another series of bearings which rotate freely, both groups of bearings being coupled to a common base (14).
- a system of rotating supports (10) which support the tower (3), comprising a rotator (11) in itself comprising a series of bearings which rotate driven by an electric motor (12), and a support group (13) comprising another series of bearings which rotate freely, both groups of bearings being coupled to a common base (14).
Landscapes
- Spray Control Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Manipulator (AREA)
Abstract
Description
- The invention, as expressed in the abstract, refers to a robotic machine for painting wind turbine towers and similar structures, which adds several advantages and novel features to its function, which will be described in detail below and which suppose a significant improvement on the current state of the art.
- More in particular, the object of the invention is centred on a machine specially designed to paint the exterior of electrical wind turbine towers or windmills, or other similar cylindrical, conical, frustoconical or elongated structures, and configured, on the one hand as a robot adapted to work inside a painting cabin, while on the other hand, on the outside of the cabin there is an installation that prepares and drives the paint toward a painting pistol in the robot, with means to combine the robot's displacement with the movement of the tower.
- The field of application of the present invention is framed in the technical sector of the industry dedicated to the manufacture of robotic machinery with control by means of computer systems and specific software, centred on the field of machinery dedicated to painting operations.
- In the current state of the art there are many types of robotic machines that carry out painting operations, given the special features of the support towers of the wind turbines, the existence of no other machine is known that presents technical, structural and constituent features similar to the specific features presented in the claims by the machine being introduced, at least by the applicant.
- What the invention proposes specifically, as mentioned above, is a machine specially designed to paint the outside of electrical wind turbine generator towers or windmills, as well as similar structures. It is configured as a robot adapted to work inside a painting cabin with an exterior installation that prepares and drives the paint toward a painting pistol which is in the robot.
- For this purpose, said exterior installation is made of paint tanks, pumps to drive the paint from the tanks to some high-pressure pumps, where the paint comes out, ready to be applied to the tower by means of a pistol.
- Functioning of the machine. To adapt to the special geometry of the tower and the dimensions of the painting cabin, which is basically an elongated, rectangular cubicle which stretches the length of the tower. The robot comprises a metallic structure which goes from one end of the painting cabin to the other, and is situated on one side of the said cabin, and a pistol which moves along the said metallic structure in order to cover the whole length of the wind turbine generator tower.
- Furthermore, in order to adapt itself to the shape of the towers, which are generally of circular, conical or frustoconical cross-section, the pistol fits into the end of an extensible arm which is also capable of a swinging movement for greater precision.
- In parallel to this, inside the cabin, the machine has some supports over which the tower to be painted is mounted; and these make the tower rotate while it is painted. Thus, one of said supports makes the tower rotate by means of electrical motors. We refer to this support as the rotator. The other support just acts as a point of support.
- The robot is configured by means of a user interface with specific corresponding software, as indicated by the quality team, so as to ensure several coats are painted between two points as the tube rotates until it completes a section of the tower or ferrule. This painting process is repeated for all the ferrules in which the tower is divided so as to complete its painting.
- The robot is controlled by means of a tactile HID (Human Interface Device) screen situated in a control cabinet for this purpose.
- The functioning of the program is described briefly below.
- The user interface program has the following functions:
- Status indicators
- Control of function modes
- Selection of function modes
- Selection of function mode display
- Function mode display
- Menu bar
- Thus, the machine has an automatic function mode, by means of which its production progresses. It also incorporates a catalogue data group which is the set of tubes previously configured in the application out of which the corresponding tubes are to be selected.
- The machine also incorporates a zone dispensing box which indicates the status of the painting system associated with the layer which is being painted automatically.
- The following parameters are used to identify the tube:
- Description of tube: name assigned in the catalogue
- D1: maximum diameter of tube
- D2: minimum diameter of tube
- Length: length of the tube
- As well as controlling the cross-section of the tower to be painted and the coat of paint, the program also has some check points, which comprise a series of messages which the operator has to check before initiating the automatic function mode. The messages fundamentally refer to the painting system equipment which checks that it is in the appropriate state for the correct application of paint associated with each layer.
- The program also shows a graphic representation of the painting system, where the different sets of equipment for the operator to check whether they are in the appropriate state for the correct application of paints associated with each layer are marked.
- The program also shows a graphic representation of the painting system, where the different sets of equipment are marked that the operator needs to check before starting to work with the machine in automatic mode.
- To complement the description given herein, and to help understand better the features that distinguish it, a set of plans is attached to this document as an integral part of the document with an illustrative, non-limiting nature, which represents the following:
-
Figure 1 shows a side elevation of the robotic machine for painting wind turbine generator towers and similar structures, object of the invention, where their general external configuration can be appreciated. -
Figure 2 shows a side elevation of the structure over which the robot's pistol moves -
Figure 3 shows a front elevation of the cabin, where its interior can be appreciated with the tower situated over the supports which make it rotate. -
Figure 4 shows a partial perspective view of the machine that represents one end of the same, where the elements that comprise the interior and the exterior of the cabin can be appreciated in greater detail. - Referring to the figures mentioned above, and the numbering system adopted, one example of a preferred embodiment can be appreciated, comprising the parts and elements described below.
- Thus, as may be observe in said figures, the machine (1) in question comprises a cabin (2) of appropriate configuration and dimensions to fit inside the tower (3) or similar structure, to be painted by the invention, being made up of a cubicle of rectangular or very elongated cross-section, covering the whole or almost the whole length of the said tower (3).
- On the inside of said cabin (2) the machine has a painting robot that comprises a pistol (4) attached to a longitudinal structure (5) along which it moves, this longitudinal structure (5) being a tubular metallic structure, 'situated laterally within the cabin (2) covering its whole length from end to end., and which comprises at least a horizontal crossbar (5a) which acts as a guide for the movement of the pistol (4).
- The pistol (4) will preferably be attached to the longitudinal structure (5) by means of an extensible arm (6) which has a swinging movement.
- On the outside of the cabin (2), the machine has a number of paint tanks (7) which are connected to booster pumps (8) which, by means of pressure pumps (9), drive the paint to the pistol (4) through their corresponding conducts or tubes (not represented).
- In a singularly characteristic way, the cabin (2) uses a system of rotating supports (10) which support the tower (3), comprising a rotator (11) in itself comprising a series of bearings which rotate driven by an electric motor (12), and a support group (13) comprising another series of bearings which rotate freely, both groups of bearings being coupled to a common base (14).
- The driving and the movement of this system of rotating supports (10), using the user interface control, is synchronized with the movement of the pistol (4) through the longitudinal structure (5) and the extensible movement and swinging of the arm (6) to which said system is attached, so as to carry out the painting of the tower (3).
- Having described sufficiently the nature of the present invention as well as how it is put into practice, it is not considered necessary to further elaborate on the explanation for any expert in the field to understand its scope and the advantages it offers, while drawing attention to the fact that, within its essentiality, it could be put into practice in other embodiments which differ in detail to the example described above, said embodiments being equally covered by the protection claimed, as long as its fundamental principal is not altered, changed or modified.
Claims (5)
- ROBOTIC MACHINE FOR PAINTING WIND TURBINE TOWERS AND SIMILAR STRUCTURES which, being specially applicable to the painting of the exterior of electrical wind turbine towers or windmills or other cylindrical, conical, frustoconical or other similar elongated structures, and being the type of machine that comprises a robot with a painting pistol (4), controlled and configured by means of a user interface with specific software wherein a cabin (2) is of configuration and dimensions such that the tower (3) to be painted fits inside said cabin, and within the cabin a longitudinal structure (5) displaces itself, along which the pistol (4) pertaining to the robot; an external part of the cabin (2) has painting tanks (7), booster pumps (8) and pressure pumps (9) that drive the paint to the pistol (4); and within the cabin (2) there is a rotating support system system (10) on which the tower (3) is supported, making it rotate, synchronized with the displacement of the pistol (4) by means of a user interface control through the longitudinal structure (5).
- ROBOTIC MACHINE FOR PAINTING WIND TURBINE TOWERS AND SIMILAR STRUCTURES according to claim 1, wherein the cabin (2) is an elongated cubicle of rectangular cross-section.
- ROBOTIC MACHINE FOR PAINTING WIND TURBINE TOWERS AND SIMILAR STRUCTURES according to claims 1 or 2, wherein the longitudinal structure (5) is a metallic tubular structure situated laterally within the cabin (2) covering its full length from end to end and comprises at least one horizontal crossbar (5a) that acts as a guide for the displacement of the pistol (4).
- ROBOTIC MACHINE FOR PAINTING WIND TURBINE TOWERS AND SIMILAR STRUCTURES according to any of claims 1-3, wherein the pistol (4) is attached to the longitudinal structure (5) by means of an extensible arm (6) and with a swinging movement.
- ROBOTIC MACHINE FOR PAINTING WIND TURBINE TOWERS AND SIMILAR STRUCTURES according to claim 1, wherein the rotating support system (10) comprises a rotator group (11) made up of a series of bearings that rotate driven by an electric motor (12), and a support group (13) made up of another series of bearings that rotate freely, both groups of bearings being attached to a common base (14).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES201200554A ES2436222B1 (en) | 2012-05-25 | 2012-05-25 | Robotized machine to paint wind turbine towers and similar structures |
PCT/ES2013/000124 WO2013175036A1 (en) | 2012-05-25 | 2013-05-22 | Robotic machine for painting wind turbine towers and similar structures |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2857109A1 true EP2857109A1 (en) | 2015-04-08 |
EP2857109A4 EP2857109A4 (en) | 2016-03-02 |
Family
ID=49623200
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13793711.6A Withdrawn EP2857109A4 (en) | 2012-05-25 | 2013-05-22 | Robotic machine for painting wind turbine towers and similar structures |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2857109A4 (en) |
ES (1) | ES2436222B1 (en) |
WO (1) | WO2013175036A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105797891A (en) * | 2016-05-11 | 2016-07-27 | 广西玉柴机器配件制造有限公司 | Automatic coating machine for casting coatings |
CN110280423A (en) * | 2019-07-12 | 2019-09-27 | 郭颂 | A kind of hydraulic control valve outer surface automatic spraying device |
WO2023135448A1 (en) | 2022-01-14 | 2023-07-20 | Aerones, Sia | Wind turbine robotic cleaning and painting system |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9599282B2 (en) | 2015-03-18 | 2017-03-21 | RBW Enterprises, Inc. | Maintenance system support apparatus and support systems |
ES2597174B1 (en) * | 2015-07-16 | 2017-12-20 | Tubacero, S.L. | TUBE TREATMENT MACHINE |
CN109718973A (en) * | 2019-02-26 | 2019-05-07 | 安徽理工大学 | A kind of paint-spray robot |
CN112317181B (en) * | 2020-11-16 | 2021-10-26 | 柳州市中晶科技有限公司 | Rail type spraying robot |
CN117443629B (en) * | 2023-12-26 | 2024-03-01 | 烟台科立尔涂装设备有限公司 | Automatic paint spraying equipment |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4571798A (en) * | 1983-09-19 | 1986-02-25 | Beloit Corporation | Urethane covered paper machine roll |
WO2003039764A1 (en) * | 2001-11-08 | 2003-05-15 | Coldwater Resins, Inc. | One pass polyurethane roll covering system and method |
AU2004203037A1 (en) * | 2004-07-07 | 2006-02-02 | Aht Pty Ltd | An apparatus and method for the deposition of material |
DE102006032804A1 (en) * | 2006-07-14 | 2008-01-17 | Dürr Systems GmbH | Painting plant and associated operating method |
DE102008011998A1 (en) * | 2008-02-29 | 2009-09-10 | Abb Ag | Arrangement for coating workpieces |
DE102008056142A1 (en) * | 2008-11-08 | 2010-05-20 | Eisenmann Anlagenbau Gmbh & Co. Kg | Plant for surface treatment of objects |
AR076167A1 (en) * | 2009-03-30 | 2011-05-26 | Sumitomo Metal Ind | APPLIANCE AND METHOD FOR THE APPLICATION OF A LUBRICANT TO A THREADED PORTION OF A STEEL PIPE |
CN101786061B (en) * | 2010-02-26 | 2012-05-30 | 保定天威集团有限公司 | Spraying technology and special device for outer wall of wind power tower |
GB2483892A (en) * | 2010-09-23 | 2012-03-28 | Vestas Wind Sys As | Automatically guided apparatus and method for treatment of structural parts |
-
2012
- 2012-05-25 ES ES201200554A patent/ES2436222B1/en not_active Expired - Fee Related
-
2013
- 2013-05-22 EP EP13793711.6A patent/EP2857109A4/en not_active Withdrawn
- 2013-05-22 WO PCT/ES2013/000124 patent/WO2013175036A1/en active Application Filing
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105797891A (en) * | 2016-05-11 | 2016-07-27 | 广西玉柴机器配件制造有限公司 | Automatic coating machine for casting coatings |
CN105797891B (en) * | 2016-05-11 | 2018-02-16 | 广西玉柴机器配件制造有限公司 | Cast paint automatic spraying machine |
CN110280423A (en) * | 2019-07-12 | 2019-09-27 | 郭颂 | A kind of hydraulic control valve outer surface automatic spraying device |
WO2023135448A1 (en) | 2022-01-14 | 2023-07-20 | Aerones, Sia | Wind turbine robotic cleaning and painting system |
Also Published As
Publication number | Publication date |
---|---|
EP2857109A4 (en) | 2016-03-02 |
ES2436222B1 (en) | 2014-11-07 |
WO2013175036A1 (en) | 2013-11-28 |
ES2436222A1 (en) | 2013-12-27 |
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