WO2013175036A1 - Robotic machine for painting wind turbine towers and similar structures - Google Patents

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

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Publication number
WO2013175036A1
WO2013175036A1 PCT/ES2013/000124 ES2013000124W WO2013175036A1 WO 2013175036 A1 WO2013175036 A1 WO 2013175036A1 ES 2013000124 W ES2013000124 W ES 2013000124W WO 2013175036 A1 WO2013175036 A1 WO 2013175036A1
Authority
WO
WIPO (PCT)
Prior art keywords
paint
gun
towers
machine
similar structures
Prior art date
Application number
PCT/ES2013/000124
Other languages
Spanish (es)
French (fr)
Inventor
Ignacio SECADES RIESTRA
Original Assignee
Robotics Special Applications, S.L.
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 Applications, S.L. filed Critical Robotics Special Applications, S.L.
Priority to EP13793711.6A priority Critical patent/EP2857109A4/en
Publication of WO2013175036A1 publication Critical patent/WO2013175036A1/en

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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 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.
  • 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.
  • the scope of the present invention is part of the technical sector of the industry dedicated to the manufacture of machinery robotized with control through computer systems and specific software, focusing on the field of dedicated to perform painting operations.
  • what the invention proposes 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.
  • said outdoor installation is made up of tanks with paint, pumps to boost the paint from the tanks to some pumps high pressure where the paint is ready to apply with the gun on 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 moves over said metal structure to travel the total length of the wind turbine tower.
  • the gun is coupled at the end of an extendable arm that can also be balanced to achieve greater accuracy.
  • 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.
  • 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.
  • 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.
  • 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.
  • HID Human Interface Device
  • the user interface program has the following functionalities:
  • an automatic mode of operation is contemplated, by means of which the production of the machine is developed.
  • 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.
  • 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.
  • Tube name assigned in the catalog.
  • Di larger diameter of the tube
  • the program 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.
  • 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.
  • Figure number 1 It shows a side elevation view of the robotic machine for painting wind turbine towers and similar structures, object of the invention, showing its general external configuration.
  • Figure number 2.- It shows a side elevation view of the structure on which the robot gun moves.
  • Figure number 3. It shows a front elevation view of the cabin, showing the interior of the cabin with the tower placed on the supports that make it rotate.
  • Figure number 4.- Shows a partial perspective view of the machine that represents one end of the same, the elements comprising inside and outside the cabin being appreciated in greater detail.
  • 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 and very elongated, since it covers all or almost the entire length of said tower (3).
  • the machine 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 (5a) that acts as a guide for the movement of the gun (4).
  • 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 (5a) that acts as a guide for the movement of the gun (4).
  • 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.
  • the machine On the outside of the cabin (2), the machine has tanks (7) for painting, connected to discharge pumps (8) that, by means of pressure pumps (9), lead it to the gun (4) by the corresponding ducts or tubes (not shown).
  • the cabin (2) has a rotating support system (10) on which the tower (3) rests, which is composed of a turning group (11) formed by 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).
  • Rotating support (10) by controlling the user interface, synchronizes with the movement of the gun (4) through the longitudinal structure ⁇ 5) and the extension and swinging movement of the arm (6) to which is coupled, to carry out the painting of the tower (3).

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 ROBOTIZAPA PARA PINTAR TORRES DE  ROBOTIZAPA MACHINE TO PAINT TOWERS OF
AEROGENERADORES Y ESTRUCTURAS SIMILARES  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 cilindricas, 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 especifico, centrándose en el ámbito de la dedicada a realizar operaciones de pintura. The scope of the present invention is part of the technical sector of the industry dedicated to the manufacture of machinery robotized 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. For this, said outdoor installation is made up of tanks with paint, pumps to boost the paint from the tanks to some pumps high pressure where the paint is ready to apply 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 se desplaza sobre dicha estructura metálica para recorrer la longitud total de la torre del aerogenerador . 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. 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 moves over said metal structure to travel the total length of the wind turbine tower. 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 . 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 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. 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  - Control of the operating mode
- Selección del modo de funcionamiento  - Operation mode selection
- Selección del display del modo de funcionamiento- Selection of the operating mode display
- Display del modo de funcionamiento - Operating mode display
- Barra de menú  - Menu bar
Asi, 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. - Di: diámetro mayor del tubo - Description Tube: name assigned in the catalog. - Di: larger diameter of the tube
- D2 : diámetro menor del tubo - Longitud: longitud del tubo - D2: smaller tube diameter - Length: tube length
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 gráfica 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 hasta ahora para tal fin, razones que unidas a su utilidad práctica, la dotan de fundamento suficiente para obtener el privilegio de exclusividad que se solicita . Given the foregoing, it is found that the described robotic machine for painting wind turbine towers and similar structures represents an innovative structure with characteristics unknown until now for this purpose, reasons that together with its practical utility, provide it with sufficient foundation to obtain the privilege of exclusivity that is requested.
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 representado lo siguiente: 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 represented the following:
La figura número l.~ Muestra una vista en alzado lateral de la máquina robotizada para pintar torres de aerogeneradores y estructuras similares, objeto de la invención, apreciándose su configuración general externa. Figure number 1. It shows a side elevation view of the robotic machine for painting wind turbine towers and similar structures, object of the invention, showing its general external configuration.
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 front elevation view of the cabin, showing the interior of the cabin 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.- Shows a partial perspective view of the machine that represents one end of the same, the elements comprising inside and outside the cabin being appreciated in greater detail.
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 in accordance with 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 rectangular y muy alargado, ya que abarca toda o casi toda la longitud de la citada torre (3) . 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 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 (5a) 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 (5a) 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 bombas de presión (9), la conducen hasta la pistola (4) mediante los correspondientes conductos o tubos (no representados) . On the outside of the cabin (2), the machine has tanks (7) for painting, connected to discharge pumps (8) that, by means of pressure pumps (9), lead it to the gun (4) by the corresponding ducts or tubes (not shown).
De forma singularmente caracterizadora, la cabina (2) cuenta con un sistema de soporte giratorio (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 (14) . In a uniquely distinctive way, the cabin (2) has a rotating support system (10) on which the tower (3) rests, which is composed of a turning group (11) formed by 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).
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 extensión y balanceo del brazo (6) al que se acopla, para llevar a cabo el pintado de la torre (3) . The drive and movement of this system Rotating support (10), by controlling the user interface, synchronizes with the movement of the gun (4) through the longitudinal structure <5) and the extension and swinging movement of the arm (6) to which is coupled, to carry out the painting of the tower (3).
Descrita suficientemente la naturaleza de la presente invención, asi como la manera de ponerla en 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 formas de realización que difieran en detalle de la indicada a titulo de ejemplo, y a las cuales alcanzará igualmente la protección que se recaba siempre que no se altere, cambie o modifique su principio fundamental. Describing sufficiently the nature of the present invention, as well as the way of putting it into practice, it is not considered necessary to make its explanation more extensive so that any person skilled in the art understands its scope and the advantages derived therefrom, stating that, within its essentiality, it may be implemented in other embodiments that differ in detail from that indicated by way of example, and to which it will also achieve the protection that is sought provided that it is not altered, changed or modified its fundamental principle .

Claims

R E I V I N D I C A C I O N E S
1. - MÁQUINA ROBOTI ZADA 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 cilindricas 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 especifico, 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 {5) 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 (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 (3) haciéndola girar, y que, mediante el control de la interfaz de usuario, se sincroniza con el desplazamiento de la pistola (4) a través de la estructura longitudinal (5) . 1. - ROBOTI ZADA 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 frustoconical and conical cylindrical structures, and being of the type of machine comprising a robot with a painting gun (4), controlled and configured by means of a user interface provided with specific software, it is characterized in that it comprises a cabin ( 2) configuration and dimensions suitable to accommodate inside the tower {3) to be painted, there being a longitudinal structure inside {5) through which the robot's gun (4) moves; because on the outside of the cabin (2), it has tanks (7) for painting, discharge pumps (8) and pressure pumps (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 (3) is supported by turning it, and which, by controlling the user interface, synchronizes with the movement of the gun (4) through the longitudinal structure (5).
2. - MÁQUINA ROBOTIZADA 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. - ROBOTIZED MACHINE TO PAINT AEROGENERATOR 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 1 ó 2, caracterizada porque la estructura longitudinal (5) es una estructura tubular metálica que se sitúa lateralmente dentro de la cabina (2) abarcando toda su extensión de extremo a extremo y comprende, al menos, un larguero horizontal (5a) que actúa de guia para el desplazamiento de la pistola (4) . 3. - ROBOTIZED MACHINE TO PAINT AEROGENERATOR TOWERS AND SIMILAR STRUCTURES, according to claim 1 or 2, characterized in that the longitudinal structure (5) is a metal tubular structure that is located laterally inside the cabin (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).
4.- MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE4.- ROBOTIZED MACHINE TO PAINT TOWERS
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 movimiento de balanceo. AEROGENERATORS 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 extensible arm (6) and with rocking motion.
5.- MÁQUINA ROBOTIZADA PARA PINTAR TORRES DE AEROGENERADORES Y ESTRUCTURAS SIMILARES, según cualquiera de las reivindicaciones 1-4, caracterizada porque el sistema de soporte giratorio (10) 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 (14) . 5.- ROBOTIZED MACHINE TO PAINT AEROGENERATOR TOWERS AND SIMILAR STRUCTURES, according to any of claims 1-4, characterized in that the rotating support system (10) is composed of a turning group (11) formed by 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).
PCT/ES2013/000124 2012-05-25 2013-05-22 Robotic machine for painting wind turbine towers and similar structures WO2013175036A1 (en)

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ES201200554A ES2436222B1 (en) 2012-05-25 2012-05-25 Robotized machine to paint wind turbine towers and similar structures

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ES2436222B1 (en) 2014-11-07
ES2436222A1 (en) 2013-12-27
EP2857109A1 (en) 2015-04-08

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