ES2436222A1 - Robotic machine for painting wind turbine towers and similar structures - Google Patents

Robotic machine for painting wind turbine towers and similar structures Download PDF

Info

Publication number
ES2436222A1
ES2436222A1 ES201200554A ES201200554A ES2436222A1 ES 2436222 A1 ES2436222 A1 ES 2436222A1 ES 201200554 A ES201200554 A ES 201200554A ES 201200554 A ES201200554 A ES 201200554A ES 2436222 A1 ES2436222 A1 ES 2436222A1
Authority
ES
Spain
Prior art keywords
gun
tower
machine
towers
paint
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.)
Granted
Application number
ES201200554A
Other languages
Spanish (es)
Other versions
ES2436222B1 (en
Inventor
Ignacio SECADES RIESTRA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robotics Special Applic S L
ROBOTICS SPECIAL APPLICATIONS SL
Original Assignee
Robotics Special Applic S L
ROBOTICS SPECIAL APPLICATIONS SL
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robotics Special Applic S L, ROBOTICS SPECIAL APPLICATIONS SL filed Critical Robotics Special Applic S L
Priority to ES201200554A priority Critical patent/ES2436222B1/en
Priority to EP13793711.6A priority patent/EP2857109A4/en
Priority to PCT/ES2013/000124 priority patent/WO2013175036A1/en
Publication of ES2436222A1 publication Critical patent/ES2436222A1/en
Application granted granted Critical
Publication of ES2436222B1 publication Critical patent/ES2436222B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

Landscapes

  • Spray Control Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a robotic machine for painting wind turbine towers and similar structures. The machine comprises a booth (2) having a configuration and dimensions suitable for receiving therein the tower (3) to be painted and includes an inner longitudinal structure (5) along which the paint gun (4) of a robot moves. The exterior of the booth (2) is provided with tanks (7) for paint, impulse pumps (8) and pressure pumps (9) which convey the paint to the gun (4). In addition, the interior of the booth (2) comprises a rotary supporting system (10) which supports the tower (3) and rotates same and which, by controlling a user interface with specific software, synchronises with the movement of the paint gun (4) along the longitudinal structure (5).

Description

MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES ROBOTIZED MACHINE TO PAINT TOWERS OF AIRLINES AND SIMILAR STRUCTURES

OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION

La invención, tal como expresa el enunciado de la presente memoria descriptiva, se refiere a una máquina robotizada para pintar torres de aerogeneradores y estructuras similares, la cual aporta, a la función a que se destina, varias ventajas y características de novedad que se describirán en detalle más adelante y que suponen una destacable mejora en el estado actual de la técnica. The invention, as expressed in the statement of the present specification, relates to a robotic machine for painting wind turbine towers and similar structures, which contributes, to the function to which it is intended, several advantages and novelty features that will be described. in detail later and that represent a remarkable improvement in the current state of the art.

Más en particular, el objeto de la invención se centra en una máquina especialmente diseñada para pintar el exterior de las torres de los aerogeneradores eléctricos o molinos de viento, u otras estructuras cilíndricas, cónicas o troncocónicas y alargadas similares, la cual se configura, por una parte, como un robot apto para trabajar dentro de una cabina de pintado, mientras que por otra parte, en el exterior de dicha cabina contempla una instalación que prepara e impulsa la pintura hasta una pistola de pintado que hay en el robot, habiéndose previsto medios para combinar el desplazamiento del robot con el movimiento de la torre. More particularly, the object of the invention is centered on a machine specially designed to paint the exterior of the towers of electric wind turbines or windmills, or other similar cylindrical, conical or truncated conical structures, which is configured by one part, like a robot suitable for working inside a painting booth, while on the other hand, outside said booth, it contemplates an installation that prepares and drives the paint to a painting gun in the robot, having been planned means to combine the movement of the robot with the movement of the tower.

CAMPO DE APLICACIÓN DE 'LA INVENCIÓN FIELD OF APPLICATION OF 'THE INVENTION

El campo de aplicación de la presente invención se enmarca dentro del sector técnico de la industria dedicada a la fabricación de maquinaria robotizada con control mediante sistemas informáticos y software específico, centrándose en el ámbito de la dedicada a realizar operaciones de pintura. The field of application of the present invention is part of the technical sector of the industry dedicated to the manufacture of robotic machinery with control through computer systems and specific software, focusing on the field of dedicated to perform painting operations.

ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION

En la actualidad, y como referencia al estado de la técnica, cabe señalar que, si bien se conocen en el mercado múltiples tipos de máquinas robotizadas que realizan operaciones de pintura, dadas las especiales características de las torres de soporte de los aerogeneradores, al menos por parte del solicitante se desconoce la existencia de ninguna que presente unas características técnicas, estructurales y constitutivas que sean semejantes a las específicas y concretas que presenta la máquina que aquí se preconiza, según se reivindica. At present, and as a reference to the state of the art, it should be noted that, although multiple types of robotic machines that perform painting operations are known in the market, given the special characteristics of wind turbine support towers, at least On the part of the applicant, the existence of none that presents technical, structural and constitutive characteristics that are similar to the specific and specific ones presented by the machine described here is claimed, as claimed.

EXPLICACIÓN DE LA INVENCIÓN EXPLANATION OF THE INVENTION

De forma concreta, lo que la invención propone, como ya se ha apuntado anteriormente, es una máquina especialmente diseñada para pintar el exterior de las torres de los aerogeneradores eléctricos o molinos de viento, así como también estructuras de configuración similar, la cual se configura como un robot apto para trabajar dentro de una cabina de pintado y en el exterior contempla una instalación que prepara e impulsa la pintura hasta una pistola de pintado que hay en el robot. Specifically, what the invention proposes, as already noted above, is a machine specially designed to paint the exterior of the towers of electric wind turbines or windmills, as well as similar configuration structures, which is configured as a robot suitable for working inside a painting booth and outside it contemplates an installation that prepares and drives the paint to a paint gun in the robot.

Para ello, dicha instalación exterior está compuesta por tanques con la pintura, bombas para impulsar la pintura desde los tanques hasta unas bombas de alta presión de donde la pintura ya sale lista para aplicarse con la pistola sobre la torre. To do this, said outdoor installation is made up of tanks with paint, pumps to propel the paint from the tanks to high-pressure pumps where the paint is already ready to be applied with the gun on the tower.

Funcionamiento de la máquina. Para adaptarse a la especial geometría de la torre y las dimensiones de la cabina de pintado que básicamente es un cubículo rectangular alargado que abarca toda la longitud de la torre, el robot comprende una estructura metálica que va de extremo a extremo de la cabina de pintura, situándose en un lateral de la misma, y una pistola que Machine operation To adapt to the special geometry of the tower and the dimensions of the painting booth, which is basically an elongated rectangular cubicle that covers the entire length of the tower, the robot comprises a metal structure that goes from end to end of the paint booth , standing on one side of it, and a gun that

se be
desplaza sobre dicha estructura metálica para shifts on bliss structure metallic for

recorrer travel
la longitud total de la torre del the length total from the tower of the

aerogenerador. wind turbine

Además, para adaptarse a la forma de las torres, que generalmente son de sección circular o cónica o troncocónica, la pistola se acopla en el extremo de un brazo extensible que también puede balancearse para conseguir una mayor precisión. In addition, to adapt to the shape of the towers, which are generally of circular or conical or truncated conical section, the gun is coupled at the end of an extendable arm that can also be balanced to achieve greater accuracy.

Paralelamente, la máquina contempla la existencia dentro de la cabina de unos soportes sobre los que se monta la torre a pintar, los cuales hacen girar la torre mientras se pinta. Así, uno de dichos soportes impulsa el giro de la torre mediante motores eléctricos, y se le denomina virador. El otro soporte solo actúa como punto de apoyo. In parallel, the machine contemplates the existence within the cabin of some supports on which the tower to be painted is mounted, which rotate the tower while painting. Thus, one of these supports drives the rotation of the tower by electric motors, and is called a turn. The other support only acts as a foothold.

El robot es configurado mediante una interfaz de usuario dotada del software específico correspondiente, según indique el equipo de calidad para que realice varias pasadas entre dos puntos mientras el tubo gira hasta completar una sección de la torre o virola. Este proceso de pintado se repite para todas las virolas en que se divide la torre para así pintarla completamente. The robot is configured through a user interface equipped with the corresponding specific software, as indicated by the quality team to make several passes between two points while the tube rotates to complete a section of the tower or ferrule. This painting process is repeated for all the ferrules in which the tower is divided in order to paint it completely.

El control del robot se realiza mediante una pantalla táctil (HID: Human Interface Device) colocada en un armario de control previsto en la máquina a tal efecto. The robot is controlled by means of a touch screen (HID: Human Interface Device) placed in a control cabinet provided on the machine for this purpose.

El funcionamiento del programa se describe a continuación de forma resumida. The operation of the program is described below in summary form.

El programa de la interface de usuario dispone de las siguientes funcionalidades: The user interface program has the following functionalities:

--
Indicadores de estado Status indicators

--
Control del modo de funcionamiento -Selección del modo de funcionamiento -Selección del display del modo de funcionamiento -Display del modo de funcionamiento Control of the operating mode -Selection of the operating mode -Selection of the operating mode display -Display of the operating mode

--
Barra de menú Menu bar

Así, se contempla un modo de funcionamiento automático, mediante el que se desarrolla la producción de la máquina. Asimismo, se contempla un grupo de datos catálogo que es el conjunto de tubos que han sido previamente configurados en la aplicación y de los que se debe escoger el que corresponda. Thus, an automatic mode of operation is contemplated, by means of which the production of the machine is developed. Likewise, a group of catalog data is contemplated, which is the set of tubes that have been previously configured in the application and from which the corresponding one must be chosen.

Se contempla asimismo un cuadro dispensador de zona donde se indica el estado en el que se encuentra el sistema de pintura asociado a la capa que está siendo pintada en automático. A zone dispensing frame is also contemplated where the state in which the paint system associated with the layer that is being painted automatically is indicated.

Para identificar el tubo se manejan las siguientes características: The following characteristics are handled to identify the tube:

--
Descripción Tubo: nombre asignado en el catalogo. Description Tube: name assigned in the catalog.

--
01: diámetro mayor del tubo 01: larger diameter of the tube

--
02: diámetro menor del tubo -Longitud: longitud del tubo 02: smaller diameter of the tube -Length: length of the tube

El programa además de controlar la sección de la torre a pintar y la capa, contempla también unos puntos a comprobar consistentes en una serie de mensajes que el operario deberá comprobar antes de iniciar el modo de funcionamiento automático. Los mensajes hacen referencia fundamentalmente, a los equipos del sistema de pintado que deberá comprobar que estén en el estado indicado para la correcta aplicación de las pinturas asociadas a cada capa. In addition to controlling the section of the tower to be painted and the layer, the program also includes points to check consisting of a series of messages that the operator must check before starting the automatic mode of operation. The messages refer mainly to the equipment of the painting system that must verify that they are in the indicated state for the correct application of the paints associated with each layer.

El programa muestra también una representación grá~ica del sistema de pintura, donde se marcarán los distintos equipos que el operario a de comprobar antes de comenzar a trabajar con la máquina en modo automático. The program also shows a graphic representation of the paint system, where the different equipment that the operator will check before starting to work with the machine in automatic mode will be marked.

Visto lo que antecede, se constata que la descrita máquina robotizada para pintar torres de aerogeneradores y estructuras similares representa una estructura innovadora de características desconocidas Given the foregoing, it is found that the described robotic machine for painting wind turbine towers and similar structures represents an innovative structure with unknown characteristics

hasta until
ahora para tal fin, razones que unidas a su now for such finish, reasons that united to its

utilidad utility
práctica, la dotan de fundamento suficiente practice, the dotan from basis enough

para for
obtener el privilegio de exclusividad que se obtain he privilege from exclusiveness that be

solicita. request.
DESCRIPCIÓN DE LOS DIBUJOS DESCRIPTION OF THE DRAWINGS

Para complementar la descripción que se está realizando de la invención, y para ayudar a una mejor comprensión de las características que la distinguen, se acompaña la presente memoria descriptiva, como parte integrante de la misma, de un juego de planos, en los que con carácter ilustrativo y no limitativo se ha To complement the description that is being made of the invention, and to help a better understanding of the characteristics that distinguish it, the present descriptive report is attached, as an integral part thereof, of a set of drawings, in which with illustrative and non-limiting nature has

representado lo siguiente: represented the following:

La The
figura número l. - Muestra una vista en figure number l. - Sample a view in

alzado raised
lateral de la máquina robotizada para pintar side from the machine robotic for paint

torres towers
de aerogeneradores y estructuras similares, from wind turbines Y structures Similar,

objeto object
de la invención, apreciándose su configuración from the invention, appreciating its setting

general externa. external general

La figura número 2. -Muestra una vista en alzado lateral de la estructura sobre la que se desplaza la pistola del robot. Figure number 2. - It shows a side elevation view of the structure on which the robot gun moves.

La figura número 3. -Muestra una vista en alzado frontal de la cabina, apreciándose el interior de la misma con la torre colocada sobre los soportes que la hacen girar. Figure number 3. - It shows a view in front elevation of the cabin, showing the interior of it with the tower placed on the supports that make it rotate.

La figura número 4. -Muestra una vista en perspectiva parcial de la máquina que representa un extremo de la misma, apreciándose con mayor detalle los elementos que comprende dentro y fuera de la cabina. Figure number 4. - It shows a partial perspective view of the machine that represents one end of it, showing in greater detail the elements that it comprises inside and outside the cabin.

REALIZACIÓN PREFERENTE DE LA INVENCIÓN PREFERRED EMBODIMENT OF THE INVENTION

A la vista de las mencionadas figuras, y de acuerdo con la numeración adoptada, se puede apreciar en ellas un ejemplo de realización preferida de la invención, la cual comprende las partes y elementos que se describen en detalle a continuación. In view of the aforementioned figures, and according to the numbering adopted, an example of a preferred embodiment of the invention can be seen therein, which comprises the parts and elements described in detail below.

Así, tal como se observa en dichas figuras, la máquina (1) en cuestión comprende una cabina (2) de configuración y dimensiones aptas para dar cabida en su interior a la torre (3) o estructura similar a que se destina, siendo por tanto, un cubículo de sección Thus, as observed in said figures, the machine (1) in question comprises a cabin (2) of configuration and dimensions suitable to accommodate inside the tower (3) or similar structure to which it is intended, being by so much, a section cubicle

rectangular y muy alargado, ya que abarca toda o casi toda la longitud de la citada torre (3). rectangular and very elongated, since it covers all or almost the entire length of said tower (3).

En el interior de dicha cabina (2) la máquina cuenta con un robot de pintado que comprende una pistola (4 ) acoplada a una estructura longitudinal (5 ) por la que se desplaza, siendo dicha estructura longitudinal (5) una estructura tubular metálica que se sitúa lateralmente dentro de la cabina (2) abarcando toda su extensión de extremo a extremo, y que comprende, al menos, un larguero horizontal (Sa) que actúa de guía para el desplazamiento de la pistola (4). Inside said cabin (2) the machine has a painting robot comprising a gun (4) coupled to a longitudinal structure (5) through which it moves, said longitudinal structure (5) being a metallic tubular structure that it is positioned laterally inside the cabin (2), covering its entire extension from end to end, and comprising at least one horizontal stringer (Sa) that acts as a guide for the movement of the gun (4).

Preferentemente, la pistola (4) se acopla a la estructura longitudinal (5) mediante un brazo (6) que es extensible y, además, está dotado de movimiento de balanceo. Preferably, the gun (4) is coupled to the longitudinal structure (5) by means of an arm (6) that is extensible and, in addition, is provided with rocking motion.

En la parte externa de la cabina (2), la máquina cuenta con tanques ( 7 ) para la pintura, conectados a bombas de impulsión (8) que, mediante On the outside of the cabin (2), the machine has tanks (7) for painting, connected to drive pumps (8) which, by

bombas bombs
de presión (9), la conducen hasta la pistola (4) from Pressure (9), the they lead until the gun (4)

mediante through
los correspo ndi entes conductos o tubos (no the I correspond ndi entities ducts or pipes (no

representados) represented)

De forma singularmente caracterizadora, la cabina (2) cuenta con un sistema de soporte giratorio In a uniquely distinctive way, the cabin (2) has a rotating support system

(10) sobre el que se apoya la torre (3), el cual está compuesto por un grupo virador (11) conformado por una serie de rodamientos que giran accionados por un motor eléctrico (12), y un grupo de apoyo (13) conformado por otra serie de rodamientos que giran libres, estando ambos grupos de rodamientos acoplados a una base común (10) on which the tower (3) rests, which is composed of a turning group (11) consisting of a series of rotating bearings driven by an electric motor (12), and a support group (13) formed by another series of free rotating bearings, both groups of bearings being coupled to a common base

(14) . (14).

El accionamiento y movimiento de este sistema de soporte giratorio (10), mediante el control de la interfaz de usuario, se sincroniza con el desplazamiento de la pistola (4) a través de la estructura longitudinal (5) y el movimiento de The operation and movement of this rotating support system (10), by means of the control of the user interface, is synchronized with the movement of the gun (4) through the longitudinal structure (5) and the movement of

5 extensión y balanceo del brazo (6) al que se acopla, para llevar a cabo el pintado de la torre (3). 5 extension and balancing of the arm (6) to which it is attached, to carry out the painting of the tower (3).

Descrita suficientemente la naturaleza de la presente invención, así como la manera de ponerla en 10 práctica, no se considera necesario hacer más extensa su explicación para que cualquier experto en la materia comprenda su alcance y las ventajas que de ella se derivan, haciéndose constar que, dentro de su esencialidad, podrá ser llevada a la práctica en otras Describing sufficiently the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to extend its explanation so that any expert in the field understands its scope and the advantages that derive from it, stating that , within its essentiality, may be implemented in other

15 formas de realización que difieran en detalle de la indicada a título de ejemplo, y a las cuales alcanzará igualmente la protección que se recaba siempre que no se altere, cambie o modifique su principio fundamental. 15 embodiments that differ in detail from that indicated by way of example, and which will also achieve the protection that is sought as long as it is not altered, changed or modified its fundamental principle.

Claims (4)

REIVINDICACIONES 1.-MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES que, siendo especialmente aplicable para pintar el exterior de las torres de los aerogeneradores eléctricos o molinos de viento, u otras estructuras cilíndricas cónicas o troncocónicas y alargadas similares, y siendo del tipo de máquina que comprende un robot con pistola (4) de pintado, controlado y configurado mediante una interfaz de usuario dotada de un software específico, está caracterizada porque comprende una cabina (2) de configuración y dimensiones aptas para dar cabida en su interior a la torre (3) a pintar, existiendo en su interior una estructura longitudinal (S) por la que se desplaza la pistola (4) del robot; porque en la parte externa de la cabina (2), cuenta con tanques (7) para pintura, bombas de impulsión (8) y bombas de presión 1.-ROBOTIZED MACHINE TO PAINT AEROGENERATOR TOWERS AND SIMILAR STRUCTURES which, being especially applicable to paint the exterior of the towers of electric wind turbines or windmills, or other similar conical or truncated conical cylindrical structures, and being of the type of machine comprising a robot with a spray gun (4), controlled and configured by means of a user interface equipped with specific software, is characterized in that it comprises a cabin (2) with configuration and dimensions suitable to accommodate inside the tower (3) to be painted, there being a longitudinal structure (S) inside which the gun (4) of the robot moves; because on the outside of the cabin (2), it has tanks (7) for painting, discharge pumps (8) and pressure pumps (9) que la conducen hasta la pistola (4); y porque dentro de la cabina (2) cuenta con un sistema de soporte giratorio (10) sobre el que se apoya la torre (9) that lead it to the gun (4); and because inside the cabin (2) it has a rotating support system (10) on which the tower rests
(3) (3)
haciéndola girar, y que, mediante el control de la doing it turn, Y that, through he control from the
interfaz Interface
de usuario, se sincron iza con el from Username, be sync iza with he
desplazamiento displacement
de la pistola (4) a través de la from the gun (4) to through from the
estructura structure
longitudinal (S). longitudinal (S)
2.-MÁQUINA ROBO~IZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES, según la reivindicación 1, caracterizada porque la cabina (2) es un cubículo alargado de sección rectangular. 2.-ROBO MACHINE ~ LEFT FOR PAINTING TOWER TOWERS AND SIMILAR STRUCTURES, according to claim 1, characterized in that the cabin (2) is an elongated cubicle of rectangular section. 3.-MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES, según la reivindicación ó 2, caracterizada porque la estructura longitudinal (S) es una estructura tubular metálica que se sitúa lateralmente dentro de la cabina 3.-ROBOTIZED MACHINE TO PAINT AEROGENERATOR TOWERS and SIMILAR STRUCTURES, according to claim or 2, characterized in that the longitudinal structure (S) is a metal tubular structure that is located laterally inside the cabin (2) abarcando toda su extensión de extremo a extremo y comprende, al menos, un larguero horizontal (5a) que actúa de guía para el desplazamiento de la pistola (4). (2) covering its entire extension from end to end and comprises at least one horizontal crossbar (5a) that acts as a guide for the movement of the gun (4). 5 4.-MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES, según cualquiera de las reivindicaciones 1-3, caracterizada porque la pistola (4) se acopla a la estructura longitudinal (5) mediante un brazo (6) extensible y con 5 4.-ROBOTIZED MACHINE FOR PAINTING TOWER TOWERS AND SIMILAR STRUCTURES, according to any of claims 1-3, characterized in that the gun (4) is coupled to the longitudinal structure (5) by means of an extendable arm (6) and with 10 movimiento de balanceo. 10 rocking motion. 5.-MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES y ESTRUCTURAS SIMILARES, según cualquiera de las reivindicaciones 1-4, caracterizada 5.-ROBOTIZED MACHINE FOR PAINTING TOWER TOWERS AND SIMILAR STRUCTURES, according to any of claims 1-4, characterized 15 porque el sistema de soporte giratorio (10) está compuesto por un grupo virador (ll) conformado por una serie de rodamientos que giran accionados por un motor eléctrico (12), y un grupo de apoyo (13) conformado por otra serie de rodamientos que giran libres, estando 15 because the rotating support system (10) is composed of a turning group (ll) formed by a series of rotating bearings driven by an electric motor (12), and a support group (13) formed by another series of bearings that spin free, being 20 ambos grupos de rodamientos acoplados a una base común 20 both groups of bearings coupled to a common base (14) • (14) • FIG.l  FIG. L 4t Sa  4t Sa II ¡ 1 1 1 1 I~5  1 1 1 1 I ~ 5 FIG.2  FIG. 2 14 10 1314 10 13 FIG.3 FIG. 3 \ \ \ \ \ \ "------------\-----------::~------+---"------------ \ ----------- :: ~ ------ + --- \ \ ----,  ----, r==/?=~~   r == /? = ~~ I I ~~_____ 6  ~~ _____ 6 I I I I 3/ / 3/ / S S FIG.4 FIG. 4
ES201200554A 2012-05-25 2012-05-25 Robotized machine to paint wind turbine towers and similar structures Expired - Fee Related ES2436222B1 (en)

Priority Applications (3)

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
EP13793711.6A EP2857109A4 (en) 2012-05-25 2013-05-22 Robotic machine for painting 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

Applications Claiming Priority (1)

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

Publications (2)

Publication Number Publication Date
ES2436222A1 true ES2436222A1 (en) 2013-12-27
ES2436222B1 ES2436222B1 (en) 2014-11-07

Family

ID=49623200

Family Applications (1)

Application Number Title Priority Date Filing Date
ES201200554A Expired - Fee Related ES2436222B1 (en) 2012-05-25 2012-05-25 Robotized machine to paint 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 (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2597174R1 (en) * 2015-07-16 2017-02-21 Tubacero, S.L. TUBE TREATMENT MACHINE
CN112317181A (en) * 2020-11-16 2021-02-05 柳州市中晶科技有限公司 Rail type spraying robot

Families Citing this family (6)

* Cited by examiner, † Cited by third party
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
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
CN109718973A (en) * 2019-02-26 2019-05-07 安徽理工大学 A kind of paint-spray robot
CN110280423B (en) * 2019-07-12 2020-10-30 中宁县智才技术服务有限公司 Automatic spraying device for outer surface of hydraulic control valve body
AU2022433871A1 (en) 2022-01-14 2024-07-04 Aerones Engineering Sia Wind turbine robotic cleaning and painting system
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)

* Cited by examiner, † Cited by third party
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

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2597174R1 (en) * 2015-07-16 2017-02-21 Tubacero, S.L. TUBE TREATMENT MACHINE
CN112317181A (en) * 2020-11-16 2021-02-05 柳州市中晶科技有限公司 Rail type spraying robot
CN112317181B (en) * 2020-11-16 2021-10-26 柳州市中晶科技有限公司 Rail type spraying robot

Also Published As

Publication number Publication date
EP2857109A4 (en) 2016-03-02
ES2436222B1 (en) 2014-11-07
WO2013175036A1 (en) 2013-11-28
EP2857109A1 (en) 2015-04-08

Similar Documents

Publication Publication Date Title
ES2436222A1 (en) Robotic machine for painting wind turbine towers and similar structures
US9272414B2 (en) Robot arm assembly
US9642458B2 (en) Fixing device
ITTO20110159A1 (en) ROBOT MANIPULATOR
CN103737575A (en) Spatial orientation pointing device
CN209175778U (en) A kind of mechanical arm having maintenance door
BR112012030159A2 (en) refinishing head for circular caps
US20140346687A1 (en) Electrical device for circulating air
CN104440942B (en) Robot
CN105422489A (en) Folding fan
CN105290699A (en) Welding fixture for universal joints
CN104061919A (en) Prism centering rod
CN204673643U (en) A kind of articulated robot arm
CN204308546U (en) For the runing rest of tool magazine assembling
WO2008090246A1 (en) Semi-automatic platform for painting wind generator towers
CN103143972A (en) Large-span framework-type turnover clamp
CN204007630U (en) Prism centering rod
CN103817035B (en) Airless spraying base
CN104440702A (en) Air conditioning unit, wall-mounted unit, special-shaped gear drive box and assembly tool thereof
CN103818416B (en) Installation and transportation special cart
CN208466633U (en) A kind of storage case for four work position rotation table formula Spray-cleaning Machines
CN207788082U (en) A kind of sub- welding tooling of turbulent flow
CN106552727A (en) A kind of sucked type bumper positioner
CN104338641A (en) Rotating type automobile bumper spraying tool
CN203645204U (en) Spider-type overhead work rack

Legal Events

Date Code Title Description
FG2A Definitive protection

Ref document number: 2436222

Country of ref document: ES

Kind code of ref document: B1

Effective date: 20141107

FD2A Announcement of lapse in spain

Effective date: 20210915