KR101216779B1 - Automated crack sealer for hydraulic cylinders manipulator - Google Patents

Abstract

PURPOSE: A crack sealing device for a manipulator using a hydraulic cylinder is provided to prevent a manipulator from sagging using a hydraulic cylinder by installing the manipulator on a truss structure. CONSTITUTION: A crack sealing device(100) for a manipulator using a hydraulic cylinder comprises a main body part(110), an image acquisition part(120), a manipulator(130), a folding unit(140), and a terminal device. The main body part comprises a truss structure(112) and wheels(111). The image acquisition part is connected to the rear of the truss structure and acquires the images of a road in real-time. The manipulator is coupled to the truss structure to be unfolded horizontally to the ground or folded vertically to the ground. The folding unit is installed between the truss structure and the manipulator and folds and unfolds the manipulator. The terminal device is installed in the manipulator and spreads a sealant on cracks on the road.

Description

Hydraulic cylinder seal manipulator crack sealing device {Automated crack sealer for hydraulic cylinders manipulator}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crack sealing apparatus, and more particularly, to a crack sealing apparatus employing a hydraulic cylinder type manipulator structure in order to automatically seal a crack generated on a road surface.

In general, the maintenance of road surface is divided into the way of repaving after road breakage and the preventive maintenance way of partial repairing before breakage.

The preventive maintenance methods include crack sealing, chip sealing, sofa repair and overlay, and the analysis of maintenance cost per unit length shows that crack sealing is the most economical repair. Methodology was investigated (Pavement Maintenance Manual, 2005). In addition, the road surface crack sealing method effectively repairs cracks generated on the road surface at an early stage, thereby preventing freezing damage by preventing subsequent cracks and protecting the road substructure.

However, the conventional road crack sealing method is difficult to secure the safety of working laborers because most of the work is performed in large cities or highways with heavy traffic due to the nature of the work, and the productivity and quality of work are deteriorated due to lack of skilled workers. have.

In order to solve the above problems, automation equipments such as Tethered Mobile Router Robot (TMRR), The Transfer Tank longitudinal Sealer (TTLS), and Operator Controlled Crack Sealing Machine (OCCSM) have been researched and developed overseas. Automated Pavement Crack Sealer (APCS), a cotton cracking automation equipment, was developed, and field tests were conducted on the prototype of the automated equipment developed in 2004. However, the manipulator structure of road surface crack sealing automation equipment, which has been researched and developed domestically and internationally, has been maintained due to problems such as difficulty in moving due to the detachable structure, difficulty in precision control, and limited work and blind spots. It is not widely used in work.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a hydraulic cylinder type manipulator crack sealing apparatus capable of improving the mobility of the apparatus, enabling precise control, and flexibly responding to poor working conditions in the field. have.

According to the present invention, there is provided a truss structure having a rectangular box shape and a main body portion including a wheel; An image acquisition unit connected rearward from the truss structure to acquire an image of a road surface in real time; A manipulator foldably coupled to the truss structure so as to be horizontally spread on the ground or folded vertically on the ground according to a user's selection; Folding means coupled to the truss structure and the manipulator to fold the manipulator; And it is provided with a hydraulic cylinder-type manipulator crack sealing device provided on the manipulator having an end device for applying a sealant to the crack portion.

The hydraulic cylinder-type manipulator crack sealing apparatus may further include one or more laser scanners fixedly mounted to the manipulator to detect in real time cracks of the road surface while moving backward from the rear of the truss structure.

In addition, the folding means may include a hinge portion hinged to one end of the manipulator to the truss structure, a pair of hydraulic cylinders respectively coupled to both sides of the manipulator and the other end to the truss structure, and the hydraulic pressure It may include a hydraulic pressure providing unit for providing hydraulic pressure to the cylinder.

The manipulator may include a main frame hinged to the truss structure, an X-axis gantry movable rearward or forward from the rear of the truss structure when disposed horizontally to the ground, and both ends of the X-axis gantry. Is slidably coupled and movable in a direction perpendicular to the direction of movement of the X-axis gantry, a guide rail for slidably coupling the Y-axis-gantry to the main frame, and the X-axis- It may include a transfer means for moving the gantry and Y-axis gantry, respectively.

In addition, the end device may be slidably installed on the X-axis gantry.

In addition, a plurality of laser scanners may be fixedly mounted along the X-axis gantry to move together with the X-axis gantry.

In addition, the image acquisition unit may include a camera, one end is fixed to the camera and the other end is fixed to the truss structure.

In addition, the end device, the injection nozzle for injecting the molten sealant to the crack portion of the road surface, the X-axis gantry so that one end is coupled to the injection nozzle, the other end is slidable in the movement direction of the Y-axis gantry And a squeezer connected to the mobile coupling part and coupled to the mobile coupling part, and squeezes the sealant injected from the injection nozzle to the crack part and pushes the sealant into the crack.

According to the hydraulic cylinder-type manipulator crack sealing device of the present invention as described above, the manipulator with X-axis and Y-axis gantry is installed on the truss structure to prevent sagging of the manipulator with the hydraulic cylinder, the manipulator during movement Lifting upwards can improve mobility. In particular, the truss structure of the main body portion catches the moment on the deflection of the equipment provided on the main body portion and the rotational movement of the manipulator by the hydraulic cylinder.

In addition, by extending the work area of the manipulator by using the X-axis and Y-axis, it is possible to secure a work area of more than one lane.

In addition, since a crack scanner recognizes cracks in real time, accurate cracks can be detected.

1 is a perspective view showing a state in which the manipulator is folded perpendicular to the road surface as a hydraulic cylinder type manipulator crack sealing device according to an embodiment of the present invention,
FIG. 2 is a perspective view illustrating a state in which the manipulator is horizontally spread on the ground in the hydraulic cylinder manipulator crack sealing apparatus shown in FIG. 1;
3 is a perspective view illustrating a state in which a crack of a road surface is detected in real time by a laser scanner in the hydraulic cylinder manipulator crack sealing apparatus shown in FIG. 2;
4 is a partial perspective view showing an expanded state of the work area by the movement of the X-axis and Y-axis of the manipulator in the hydraulic cylinder manipulator crack sealing apparatus shown in FIG.
FIG. 5 is a flowchart illustrating a crack sealing process by the hydraulic cylinder manipulator crack sealing apparatus shown in FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a state in which the manipulator is folded perpendicular to the road surface as a hydraulic cylinder-type manipulator crack sealing device according to an embodiment of the present invention, Figure 2 is a manipulator in the hydraulic cylinder-type manipulator crack sealing device shown in FIG. 3 is a perspective view showing a horizontally unfolded state, FIG. 3 is a perspective view showing a real-time crack detection of a road surface by a laser scanner in the hydraulic cylinder type manipulator crack sealing device shown in FIG. 2, FIG. 4 is shown in FIG. The partial perspective view which shows the expansion state of the working area by the movement of the X-axis and Y-axis of a manipulator in a hydraulic cylinder type manipulator crack sealing apparatus.

1 and 2, the hydraulic cylinder manipulator crack sealing apparatus 100 (hereinafter, referred to as a “crack sealing apparatus”) according to an embodiment of the present invention may include a main body 110 and an image acquisition unit 120. And a manipulator 130, a folding means 140, and an end device 150.

The main body 110 may include a truss structure 112 and a wheel 111 having a rectangular box shape to easily move to a work area. In particular, the truss structure 112 prevents equipment provided on the main body 110 from sagging, and catches the moment on the rotational movement of the manipulator 130 by the hydraulic cylinder 142 to be described later.

The image acquisition unit 120 is connected to the rear (X direction) from the truss structure 112 to obtain an image of the road surface in real time. To this end, the image acquisition unit 120 includes a camera 121 for capturing an image of a road surface in real time. As the camera 121, a charge-coupled device (CCD) camera may be used. The camera 121 is positioned such that one end thereof is fixed to the camera 121 and the other end thereof extends in the direction of the truss structure 112 so that the camera 121 is perpendicular to the ground by a connection table 122 fixed to the main body 110. Can be. Here, the road surface image photographed by the camera 121 is transmitted to, for example, a monitor (not shown) mounted in the driver's seat, and the driver visually checks the crack existing in the image to determine whether the crack sealing operation is necessary. You can judge.

The folding means 140 is coupled between the truss structure 112 and the manipulator 130 to fold the manipulator 130 as shown in FIGS. To this end, the folding means 140, the hinge portion 141 for hinge coupling one end of the manipulator 130 to the truss structure 112, and one end is coupled to both sides of the manipulator 130 and the other end, respectively And a pair of hydraulic cylinders 142 respectively coupled to the truss structure 112, and a hydraulic pressure providing unit for providing hydraulic pressure to the hydraulic cylinder 142. Accordingly, the hydraulic cylinder 142 may prevent the manipulator 130 from sagging, and in particular, when the main body 110 moves, the manipulator 130 may be lifted upward to improve mobility.

The manipulator 130 is foldably coupled to the truss structure 112 so that the manipulator 130 is extended horizontally to the ground (see FIG. 2) or folded vertically to the ground (see FIG. 1) by the folding means 140. . The manipulator 130, as shown in Figures 2 to 4, the main frame 131 hinged to the truss structure 112, and when the body portion truss structure 112 is horizontally disposed on the ground An X-axis gantry 132 that is movable from the rear to the rear or forward (X direction) and both ends of the X-axis gantry 132 are slidably coupled and the direction of movement of the X-axis gantry 132 The Y-axis gantry 133 which is movable in the direction (Y direction) perpendicular to the (X direction), and the guide rail 134 to slidably couple the Y-axis gantry 133 to the main frame 131. And, it comprises a transport means (not shown) for moving the X-axis gantry 132 and the Y-axis gantry 133, respectively. Although not illustrated, the transfer means may be an actuator and a power supply unit for driving the same. However, the transfer means may be a variety of methods, and a detailed description thereof will be omitted since it is a known technique.

In the above-described embodiment of the present invention, the crack sealing apparatus 100 is fixedly mounted to the manipulator 130 and moves to the rear (X direction) from the rear of the truss structure 112 (Crack on the road surface). ) May be further provided with one or more laser scanner 160 for detecting in real time. Here, the laser scanner 160 may be fixedly mounted along the X-axis gantry 132 to move together with the X-axis gantry 132.

The end device 150 is installed in the manipulator 130 as shown in Figs. 3 and 4 to apply a sealant to the crack site. In addition, the X-axis gantry 132 is slidably installed to move to the rear of the vehicle together with the X-axis gantry 132. To this end, the end device 150, the injection nozzle 151 for injecting the molten sealant to the crack portion of the road surface, one end is coupled to the injection nozzle 151 and the other end is the Y-axis gantry 133 A moving coupling part 152 coupled to the X-axis gantry 132 so as to be slidable in a moving direction (Y direction) of the and coupled to the moving coupling part 152, a crack portion from the injection nozzle 151 It may include a squeezer 153 for scraping the sealant sprayed on and pushed into the crack. Here, if the detected crack is out of the range of the main frame 131, the Y-axis gantry 133 mounted on the guide rail 134 is extended to enable continuous crack sealing work.

On the other hand, the crack sealing apparatus 100 according to an embodiment of the present invention, although not shown is provided with a sealant supply unit for supplying the molten sealant to the end device 150. In addition to the sealant melter 170 (see FIGS. 1 and 2) in which the sealant is melted and stored, the sealant supply unit may include a sealant feed pipe for supplying the melted sealant to the injection nozzle 151 of the terminal device 150, and the sealant. It may include a sealant conveying tube for conveying.

Hereinafter, a process of sealing cracks in a road surface by using the hydraulic cylinder-type manipulator crack sealing device 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 5 is a flowchart illustrating a crack sealing process by the hydraulic cylinder manipulator crack sealing apparatus shown in FIG. 1.

First, referring to FIGS. 1 and 5, the crack sealing apparatus 100 is moved to a position where cracks are generated in the work area (S10). When moving, the manipulator 130 is raised to be perpendicular to the ground to increase mobility.

Then, when the crack sealing apparatus 100 arrives at the work section as shown in FIG. 2, the manipulator 130 mounted at the rear of the vehicle is attached to the rear surface using the folding means 140 including the hydraulic cylinder 142. Complete the work preparation by descending to the horizontal (S20).

Next, as shown in FIG. 3, the X-axis gantry 133 moves to the rear of the vehicle (X direction) and at the same time, using the laser scanner 160 mounted on the X-axis gantry 133, Detects cracks in real time and acquires images. On the basis of the acquired image, the operation of real-time crack sealing by the end device 150 is performed (S30). Here, real-time cracking is performed on one longitudinal crack.

If the number of cracks is one or more, as shown in FIG. 4, after extending the work section using the X-axis 133 and the Y-axis gantry 134, the remaining cracks move along the crack plane. Seal (S40).

Next, in order to increase the mobility of the equipment, the manipulator 130 is raised to be perpendicular to the ground by using the folding means 140 including the hydraulic cylinder 142 as shown in FIG. 1 (S50).

Finally, when the manipulator rise is completed, the equipment is moved to another region (S60).

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

100: crack sealing apparatus 110: main body
111: Wheel 112: Truss Structure
120: image acquisition unit 121: camera
122: connecting rod 130: manipulator
131: main frame 132: X-axis gantry
133: Y-axis gantry 134: guide rail
140: folding means 141: hinge portion
142: hydraulic cylinder 150: end device
151: injection nozzle 152: mobile coupling
153: squeezer 160: laser scanner

Claims (8)

A truss structure 112 having a rectangular box shape and a main body 110 including a wheel 111;
An image acquisition unit 120 connected rearward from the truss structure 112 to obtain an image of a road surface in real time;
A manipulator 130 foldably coupled to the truss structure 112 so as to be horizontally spread on the ground or folded vertically on the ground according to a user's selection;
Folding means (140) coupled to the truss structure (112) and the manipulator (130) to fold the manipulator (130); And
Hydraulic cylinder-type manipulator crack sealing device provided on the manipulator 130 and having a distal device 150 for applying a sealant to the crack portion.
The method according to claim 1,
Hydraulically further provided with one or more laser scanner 160 fixedly mounted to the manipulator 130 to move in the rear (X direction) from the rear of the truss structure 112 to detect cracks on the road surface in real time Cylindrical manipulator crack sealing device.
The method according to claim 1,
The folding means 140,
A hinge part 141 hinged to one end of the manipulator 130 to the truss structure 112;
A pair of hydraulic cylinders 142 having one end coupled to both sides of the manipulator 130 and the other end coupled to the truss structure 112 respectively;
Hydraulic cylinder-type manipulator crack sealing device including a hydraulic pressure providing unit for providing hydraulic pressure to the hydraulic cylinder (142).
The method according to any one of claims 1 to 3,
The manipulator 130,
A main frame 131 hinged to the truss structure 112;
An X-axis gantry 132 that is movable rearward or forward (in the X direction) at the rear of the truss structure 112 when disposed horizontally on the ground,
Both ends of the X-axis gantry 132 is slidably coupled, and the Y-axis gantry 133 which is movable in a direction (Y direction) perpendicular to the moving direction (X direction) of the X-axis gantry 132. )Wow,
A guide rail 134 slidably coupling the Y-axis gantry 133 to the main frame 131,
Hydraulic cylinder-type manipulator crack sealing apparatus including a transfer means for moving the X-axis 132 and the Y-axis gantry 133, respectively.
The method of claim 4,
The end device 150 is a hydraulic cylinder-type manipulator crack sealing device slidably installed in the X-axis gantry (132).
The method of claim 4,
The laser scanner 160 is a hydraulic cylinder-type manipulator crack sealing device that is fixed to a plurality of the X-axis gantry 132 is moved along with the X-axis gantry (132).
The method according to any one of claims 1 to 3,
The image acquisition unit 120,
Camera 121,
One end is fixed to the camera 121, the other end is a hydraulic cylinder-type manipulator crack sealing device comprising a connection table (122) fixed to the truss structure (112).
The method according to any one of claims 1 to 3,
The terminal device 150,
An injection nozzle 151 for injecting the molten sealant into cracks on the road surface;
One end coupled to the injection nozzle 151, the other end coupled to the X-axis gantry 132 slidably in the movement direction (Y direction) of the Y-axis gantry 133 Wow,
A hydraulic cylinder type manipulator crack sealing device connected to the movable coupling part 152 and including a squeezer 153 which scrapes and seals the sealant injected from the injection nozzle 151 into the crack.

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