KR101480074B1 - Divot Mark Repairing Machine of Automobile Type and Method for Repairing Divot Mark Using the Same - Google Patents

Abstract

The present invention relates to an automobile type divot repair device which is constituted in the form of an automobile to automatically move a divot repair tool to a work position, and which is located in a divot repair work position to move a divot tool actuator to an accurate work position by using a linear motion device, so as to automatically perform a divot repair work, and a divot repair method using the automobile type divot repair device. The automobile type divot repair device according to the present invention is characterized by including: a frame having a plurality of wheels that roll along the ground; a car body driving part which rolls the wheels; a position determining part which is forwards and backwards, longitudinally, and horizontally movable on the frame; a divot tool actuator, which is coupled to the position determining part to move in the longitudinal and forward/backward directions of the frame by the position determining part and which vertically moves to cut and remove grass in a divot mark position or eject and plant stored grass onto a divot mark of the ground; and a control part which controls operations of the car body driving part, the position determining part, and the divot tool actuator.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle type repairing apparatus,

The present invention relates to an apparatus for repairing a natural turf divot, and more particularly, to an apparatus for repairing a natural turf by dividing a damaged grass into a divot position of a natural grass such as a golf course, And a method of repairing a dibot using the same.

Generally, in teeing ground, fairway, putting green of golf course, a lot of marks of grass and soil are formed when a golfer puts on a golf ball put on a grass and hit the head of a golf club, In this way, the mark of the grass is called the divot mark.

Such a rebound may cause game results and golfer dissatisfaction during the game, so repair work should be completed as soon as possible. In fact, in a fairway with a lot of scuff marks, it is common that a driver's shot of a golfer enters a scar on a scooter, which hurts the golfer's feelings, which is a major factor in reducing the number of golfers.

A technology relating to repair of such a dip-mark has been proposed in Korean Patent No. 0936991. [ In the dipotential mark repairing apparatus of the above-mentioned patent, the cutting blade is rotated due to the thrust generated when the push rod of the hydraulic cylinder, which is controlled by the hydraulic pressure supplied from the external hydraulic pressure supply device, descends, The cutting blade is unfolded by the attractive force generated when the push rod is lifted so that the cutting edge can be disassembled within a short time in a predetermined size.

However, since the repair work of the debit repair station is performed manually by the operator, the repair work of the deboost is carried out manually, so that the repair work of the debooth within a short time is performed in a short time And time-consuming problems.

Considering that maintenance of the dibot is essential for improving the quality of the golf course, there is a problem that the existing method of manually grinding grass and re-introducing the work increases the fatigue of the worker and the maintenance time of the dibot is slowed Therefore, a solution is required.

1. Republic of Korea Patent No. 0936991 (Registered on January 07, 2010) 2. Registered Utility Model No. 3003227 (Registered on August 10, 1994) "Lawn Maintenance Equipment"

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide an apparatus and a method for automatically moving a dive repair apparatus to a work position by using a linear motion device The present invention also provides an apparatus for repairing a car type dibot which is capable of automatically performing a repair operation of a dibot by moving it to an accurate working position.

According to an aspect of the present invention, there is provided a golf club head comprising: a frame having a plurality of wheels rolling along a ground; A body drive unit for rolling the wheels; A positioning unit provided horizontally movably in the front, back and left and right directions on the frame; The positioning unit is coupled to the positioning unit and moves in the front, back, and left and right directions of the frame. The grass is cut and taken out from the divot position while moving up and down, A decoy actuator for performing planting work; And a control unit for controlling operations of the body-driving unit, the positioning unit, and the de-bothering actuator.

According to another category of the present invention, there is provided a method of operating a dive repair apparatus, comprising the steps of: (a) (b) operating the positioning unit to horizontally move the debotric actuator backward, forward, backward, and rearward to align the depot actuator directly above the depot performing the maintenance work; (c) lowering the deboosting actuator to cut the grass on the debooth to a predetermined size and take out the grass with the cutter vessel mounted on the lower end of the deboosting actuator.

According to the present invention, the deboosting actuator is automatically moved to the deboosting position by the frame on which the wheels are mounted, and the deboosting actuator is horizontally moved to any arbitrary position in the forward, rearward, You can perform a dive task.

Therefore, the depot operation can be performed very easily and quickly, and the amount of work required for the depot operation can be reduced, thereby reducing the fatigue of the worker.

1 is a perspective view of a device for repairing a divot according to an embodiment of the present invention.
Fig. 2 is a plan view of the divo repairing apparatus of Fig. 1;
3 is a side view of the divo repairing apparatus of FIG.
4 is a perspective view showing a part of the positioning unit of the debug repair apparatus of FIG.
5 is a perspective view showing another part of the positioning unit of the debug repair apparatus of FIG.
6 is a perspective view of a depot actuator of the depot repairing apparatus of FIG.
7 is a front view of the depot actuator of Fig.
8 is a side view showing an example of a cutter container detachable structure of the depot actuator of Fig.
Fig. 9 is a partially cutaway perspective view schematically showing another embodiment of the cutter container detachment structure of the depot actuator of Fig. 6; Fig.
Fig. 10 is a partially cutaway perspective view of the detachable structure of Fig. 9 viewed from another angle; Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of an automobile type dibot repairing method and a dibot repairing method using the same will be described in detail with reference to the accompanying drawings.

1 to 3, an automobile type debones repairing apparatus according to the present invention includes a frame 10 having a plurality of wheels 11 rolling along a ground surface, A positioning unit 30 provided in the frame 10 so as to be horizontally movable in the front and rear direction and in the left and right direction and a positioning unit 30 coupled to the positioning unit 30, A control unit 50 for controlling operations of the body-driving unit, the positioning unit 30, and the deboosting actuator 40; and a control unit 50 for controlling operations of the body- And a conveyor 60 formed on the one side portion of the cutter container 47 so as to be inclined downward at a predetermined angle from the rear portion to the front portion to forward the cutter container 47 from the rear to the front.

The frame 10 has a seat 12 on which a worker sits and a front part of the seat 12 is provided with a control unit 50, An operation section 52 for adjusting the driving and direction switching of the damper actuator 11 and the positioning of the dambo actuator 40 via the positioning section 30 and the extraction and planting of the grass by the dambo actuator 40 are provided .

Any one of the pairs of wheels 11 provided on the front and rear sides of the frame 10 is connected to a body driving part provided on the front part or the rear part of the frame 10 so as to receive power from the body driving part, . The body-driving unit includes a battery 53, a motor 20, and the like. It is preferable that the wheel 11 is configured to be capable of turning by using a steering apparatus of a known vehicle.

A compressor 54 for lifting and lowering the depot actuator 40 is installed on the front side of the frame 10.

The positioning unit 30 functions to automatically horizontally move the debotric actuator 40 to any position in the front and back (X-axis direction) and left and right (Y-axis direction) with respect to the frame 10. The positioning unit 30 includes a pair of guide rails 31 extending on both sides of the upper end of the frame 10 in the forward and backward directions (X-axis direction) A movable frame 32 mounted on the upper end of the frame 10 so as to move along the guide rail 31 so as to move along the guide rail 31, A first horizontal drive unit 33 and a second horizontal drive unit 33 which are installed to horizontally move along the longitudinal direction of the movable frame 32 and move in the Y axis direction orthogonal to the movable frame 32, And a second horizontal drive unit 35 installed on the movable frame 32 and horizontally moving the mount block 34 along the movable frame 32. The mount block 34 is mounted on the movable frame 32,

The first horizontal drive unit 33 includes a first racetrack 33c disposed at an upper end of the frame 10 in parallel with the guide rail 31 and a second racetrack 33c rotatably mounted at one end of the movable frame 32 A first pinion gear 33b installed to be engaged with the first rack gear 33c and a first driving motor 33a rotating the first pinion gear 33b.

The second horizontal drive unit 35 includes a second rack shaft 35c formed on the movable frame 32 along the longitudinal direction of the movable frame 32 and a second rack shaft 35c rotatably mounted on the mount block 34 A second pinion gear 35b fitted to the second rack gear 35c and a second drive motor 35a rotating the second pinion gear 35b.

In this embodiment, a linear motion device using rack and pinion gears is applied to the first horizontal drive unit 33 and the second horizontal drive unit 35, but other known linear motion devices, Various known linear motion devices such as a linear motion device using a ball screw and a motor, a linear motion device using a linear motor, a linear motion device using a plurality of pulleys, a belt, and a motor may be applied.

The divot actuator 40 is configured to cut grass and take out the grass at a divot working position while moving up and down with respect to the frame 10, do. The damper actuator 40 includes an elevating unit 41 coupled to the mount block 34 of the positioning unit 30 and moving in the vertical direction and a lifting unit 41 coupled to the lower end of the elevating unit 41, A cutter mount disc 44 installed to rotate about an axis 44a perpendicular to the ground surface of the elevation block 42, A rotating unit 43 which rotates the cutter mount disk 44 with respect to the elevation block 42 and a maintenance unit 43 which is detachably coupled to the cutter mount disk 44 to cut grass and take it out, The cutter mount 47 is installed above the lift block 42 and passes through the center of the lift block 42 and the cutter mount disk 44. The cutter mount 47 is moved up and down by a certain distance, The grass in the cutter container 47 coupled to the disc 44 And an injection operation unit provided with a lawn mower press (45) for pushing the lawn mower (45).

The cutter container 47 is detachably attached to the cutter mount disk 44 in the shape of a cylinder having open top and bottom surfaces, and serves as a storage container for cutting the lawn and storing the lawn taken out after cutting. A plurality of cutter containers 47 may be provided for each diameter so that the cutter container 47 can be replaced according to the size of the divot. Although not shown in the drawing, the cutter vessel 47 has a plurality of rows of holes formed on its outer circumferential surface to function to facilitate the ventilation function or absorb moisture, and also functions to increase the friction with the grass and to prevent the grass from slipping in the vessel . In addition, the cutter vessel 47 may be tapered so as to have a wider diameter as it goes up, so that the grass placed on the upper side of the stacked grass may be prevented from being caught in the cutter vessel 47. In addition, the cutter container 47 may be used for grass cultivation, and a blade formed in a wrinkle shape or a saw tooth shape may be formed at the lower end.

The cutter vessel 47 may also function as a planting container for receiving a repairing grass to be planted in the depot mark.

The elevating block 42 is composed of an upper plate 42a and a lower plate 42b and a connecting shaft 42c spaced apart from each other by a predetermined distance in the vertical direction and is provided between the upper plate 42a and the lower plate 42b. A rotating unit 43 is provided.

The rotation unit 43 includes a motor 43a mounted on the elevation block 42, a driving gear 43b axially coupled to the motor 43a, And a driven gear 43c fixed to the outer surface of the driving gear 43a and engaged with the driving gear 43b and rotated by rotation of the driving gear 43b. Accordingly, when power is applied to the motor 43a to rotate the drive gear 43b, the driven gear 43c engaged with the motor 43a rotates to rotate the cutter mount disk 44 relative to the lift block 42. [

The elevator unit 41 moves the cutter mount disk 44 up and down by moving the elevator block 42 up and down. In this embodiment, the elevator unit 41 has the upper end connected to the mount block 34 Two hydraulic / pneumatic cylinders including a piston fixedly coupled and being vertically contracted and extended by an oil pressure or an air pressure applied from the compressor 54 are applied, A linear motor system composed of a motor and a ball screw or a linear motor system, a linear motion system composed of a pulley and a belt and a motor, and the like.

The injection operation unit includes an injection pneumatic cylinder 46 disposed between the elevation unit 41 and a lower end fixedly coupled to the lift block 42, And a piston 46a slidable up and down through the center of the cutter mount disk 44 by pneumatic pressure and the grass cutter 45 being fixed at its lower end.

The cutter mount disk 44 of the depot actuator 40 has a substantially disk shape and the cutter container 47 conveyed by the conveyor 60 is detachably coupled. The cutter container 47 may be manually attached to or detached from the cutter mount disk 44. However, the cutter container 47 may be automatically attached to the cutter mount 47 in a state in which the divot actuator 40 is aligned with the cutter container 47 above the front end of the conveyor 60. [ The cutter container 47 may be coupled to the disc 44. [

Various methods such as a pin coupling method, a chucking method, an electromagnet fixing method, a clamp coupling method, and a sliding method can be applied to the method of coupling the cutter container 47 to the cutter mount disk 44 can do. 8, a hydraulic or pneumatic cylinder 48 may be provided at one end or both ends of the cutter mount disk 44, and the piston of the hydraulic or pneumatic cylinder A chucking arm 49 for pressing and fixing the outer peripheral surface of the upper end of the cutter vessel 47 is provided so that the chucking arm 49 can be moved back and forth to attach and detach the cutter container 47 to and from the cutter mount disk 44.

9 and 10, the slot 44b into which the upper end of the cutter container 47 is inserted is formed to be cut downward at the lower end of the cutter mount disk 44, and the outer side of the slot 44b And a compression spring 92 for elastically supporting the pin 91. The pin 91 is provided at the upper end of the cutter container 47. The pin 91 is inserted into the slot 44b, The upper end of the cutter container 47 is inserted into the slot 44b of the cutter mount disk 44 and the pin 91 is inserted into the cutter container 47 So that the cutter container 47 can be attached to and detached from the cutter mount disk 44. Reference numeral 93 denotes a stopper which is coupled to the pin receiving groove 44c in which the pin 91 and the compression spring 92 are installed to support the compression spring 92. [ The pin 91 may be replaced with a ball.

In addition, a variety of attaching / detaching methods may be applied such as a method of holding the upper end of the cutter container 47 by reducing the distance between the slots 44b while the cutter mount disk 44 is lowered and rotated.

The control unit 50 controls the driving of the body-driving unit, the direction switching, the driving speed, and the like in accordance with the operation of the operating unit 52 provided on the frame 10, And controls the conditions such as the moving direction and the moving speed and controls the ascending and descending operations of the depot actuator 40, the rotating operation and the ascending and descending operations of the lawn mower publisher 45, Roots, soil and so on.

Further, although not shown in the drawing, an air feeder for supplying air into the cutter vessel 47 may be further provided, so that the grass can be easily separated from the cutter vessel 47.

On the other hand, a spraying unit 80 for spraying a chemical such as pesticide, insecticide, or nutrient to the planted grass after the grass planting work can be additionally installed on one side of the rear part of the frame 10.

The thus configured dive repair apparatus of the present invention operates as follows.

The coordinate system of the debotric actuator 40 is first set in the control unit 50 via the operating unit 52. [ Then, the body-driving portion of the operating portion 52 is operated to cause the wheel 11 to roll and the steering lever (not shown) or the steering wheel (not shown) to operate the dive repair device.

When the dibot maintenance device is positioned at the dibot work position, the positioning portion 30 is operated to move the dibot actuator 40 to the upper side of the front end of the conveyor 60, and the cutter mount disk 44 of the dibot actuator 40, The cutter container 47 is mounted automatically or manually.

Subsequently, the positioning unit 30 is moved in the forward, backward, and horizontal directions with respect to the frame 10 to align the defoebe actuator 40 with the correct position to perform the defoaming operation. When the cutter container 47 of the depot actuator 40 is aligned directly above the divot, hydraulic or pneumatic pressure is applied to the elevator unit 41 of the damper actuator 40 from the compressor 54 to move the elevator block 42 So that the cutter vessel 47 is buried in the grass around the dibot to a predetermined depth. Subsequently, power is applied to the motor 43a of the rotation unit 43 to rotate the cutter mount disk 44. [

As described above, the cutter container 47 cuts the grass and the soil of the divot portion by the downward and rotational movement of the cutter mount disk 44. In this state, when the elevation unit 41 is operated again to raise the elevation block 42, grass and soil cut by the cutter vessel 47 are taken out in a state accommodated inside the cutter vessel 47.

After the grass is taken out from the cutter vessel 47, the grass repairing device is operated to move to the grass ejection position. Hydraulic or pneumatic pressure is applied to the ejection pneumatic cylinder 46 at the ejection position, And the grass inside the cutter vessel 47 is ejected to the outside.

The cutter container 47 is detached from the cutter mount disk 44 and the cutter container 47 containing the turf to be newly cleaned is mounted on a cutter mount disk 44 and then moves the deboting repair device to the depot position where the grass removing operation is completed and horizontally moves the positioning portion 30 back and forth and left and right so as to move the depot actuating device 40 to the depot position The descending block 42 of the debotric actuator 40 is lowered and the grass cutter 45 is lowered so that the grass in the cutter container 47 is injected onto the divot and planted.

In the above-described embodiment, the operator performs the dibot repair operation by operating the positioning unit 30 once for each dibot position. However, when a vision camera, a laser sensor, or the like is attached to a predetermined position of the frame 10 of the dibo- The control unit 50 automatically moves the position determining unit 30 to align the position of the divot detected by the vision camera or the laser sensor, And operate the dibot actuator 40 to perform the dibot repair operation.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the present invention.

10: Frame 11: Wheel
12: seat 20: motor
30: Positioning part 31: Guide rail
32: movable frame 33: first horizontal drive unit
34: Mount block 35: Second horizontal drive unit
40: Devotional actuator 41: Lift unit
42: lift block 43: rotating unit
44: Cutter-mounted disc 45: Lawn grass publication
46: Pneumo-hydraulic cylinder for injection 47: Cutter container
50: control unit 52:
60: compressor 80: spraying unit

Claims (20)

A frame (10) having a plurality of wheels (11) rolling over the ground;
A body driving part for rolling the wheels 11;
A positioning unit (30) horizontally movably provided in the frame (10) in the front, rear, left and right directions;
The positioning unit 30 is coupled to the positioning unit 30 to move the frame 10 in the forward and backward directions and in the left and right direction. The grass is cut and taken out from the divot position while being moved up and down, (40) for performing an operation of planting the lawn on the ground in the form of a dive;
And a control unit (50) for controlling operations of the body-driving unit, the positioning unit (30) and the deboosting actuator (40);
The depot actuator 40 includes an elevating unit 41 coupled to the positioning unit 30 and moving in the up and down direction and an elevating unit 41 coupled to a lower end of the elevating unit 41, A cutter mount disk 44 installed to rotate about an axis perpendicular to the ground on the lower side of the elevation block 42 and a cutter mounting disk 42 installed to rotate about a vertical axis with respect to the elevation block 42 A rotating unit 43 for rotating the cutter mount disk 44; a cylindrical cutter container (not shown) which is detachably coupled to the cutter mount disk 44 to cut grass and take out the repair grass to be planted 47). ≪ / RTI > 2. The apparatus according to claim 1, wherein the positioning unit (30)
Guide rails (31) provided on both sides of the upper end of the frame (10) so as to extend in the front, rear, or left and right directions;
A movable frame (32) installed at both ends so as to move along the guide rail (31) so as to move in the front, rear, or left and right directions of the frame (10);
A first horizontal driving unit 33 installed at an upper end of the frame 10 to move the movable frame 32 along the guide rail 31;
A mount block 34 mounted horizontally along the longitudinal direction of the movable frame 32 and moving in a direction orthogonal to the movable frame 32 and fixedly coupled to an upper end of the debit actuator 40;
And a second horizontal drive unit (35) installed on the movable frame (32) for moving the mount block (34) along the movable frame (32). The apparatus according to claim 2, wherein the first horizontal drive unit (33) comprises a first racetrack (33c) provided at an upper end of the frame (10) and arranged parallel to the guide rail (31) A first pinion gear 33b that is rotatably installed at one end of the first pinion gear 33b and meshes with the first rack gear 33c and a first drive motor 33a that rotates the first pinion gear 33b And the vehicle-type dibot repairing device. The apparatus according to claim 2, wherein the second horizontal drive unit (35) comprises a second rake surface (35c) formed in the movable frame (32) along the longitudinal direction of the movable frame (32) A second pinion gear 35b which is rotatably mounted on the second pinion gear 35b and meshed with the second rack gear 35c and a second drive motor 35a that rotates the second pinion gear 35b Of the vehicle type. delete The cutter according to claim 1, wherein a hydraulic or pneumatic cylinder (48) is provided at one end or both ends of the cutter mount disk (44), and the outer peripheral surface of the upper end of the cutter container (47) is pressed against the piston of the hydraulic or pneumatic cylinder Wherein the chucking arm (49) is fixed and the cutter container (47) is detachably coupled to the cutter mount disk (44) by the chucking arm (49). The cutting device according to claim 1, wherein the lift block (42) or the positioning portion (30) is provided with a cutter container (44) coupled to the cutter mount disk (44) while passing through a central portion of the cutter mount disk 47), and a lawn mower (45) for pushing lawns downward. The injection and pneumatic pressurizing apparatus according to claim 7, wherein the injection operation unit comprises: an injection pneumatic / hydraulic cylinder (46) having a lower end fixedly coupled to the lift block (42) And a piston (46a) which penetrates through the center of the cutter mount disk (44) and slides up and down, and on which the grass paste (45) is fixed. The conveyor according to claim 1, further comprising a conveyor (60) installed at one side of the frame (10) for conveying the cutter container (47) from a first position to a second position of the frame (10) A car type dive repair device. The conveyor according to claim 9, wherein the conveyor (60) is inclined downward at a predetermined angle from the first position to the second position so that the cutter vessel (47) placed at the first position of the conveyor (60) To the position of the vehicle. The apparatus of claim 1, further comprising a spraying unit (80) installed at one side of the frame (10) and spraying a medicine toward lawn planted after grass planting work. The seat according to claim 1, wherein a seat (12) on which an operator is seated is provided at one side of the frame (10), and a worker moves the wheel (11) And an operation unit (52) for adjusting the direction of the vehicle, the direction of the vehicle, the orientation of the depot actuator (40) through the positioning unit (30), and the extraction or planting work of the grass by the depot actuator (40) DIVOT repair equipment. The apparatus according to claim 1, wherein the control unit (50) is provided with a coordinate system of the depot actuator (40), and the frame (10) is equipped with a vision camera or a laser sensor A car type dive repair device characterized by. The motorcycle according to claim 1, wherein the rotation unit (43) comprises a motor (43a) installed in the lift block (42), a drive gear (43b) And a driven gear (43c) fixed to an outer surface of a shaft (44a) of the driven gear (44) and engaged with the drive gear (43b) and rotated by rotation of the drive gear (43b) Repair device. The cutter according to claim 1, wherein a slot (44b) for inserting an upper end of the cutter container (47) is formed at a lower end of the cutter mount disk (44) A plurality of fins 91 that move toward the inside and outside of the cutter vessel 47 and a compression spring 92 that elastically supports the fins 91 are provided in the cutter vessel 47. The fin 91 is elastically inserted into the upper end of the cutter vessel 47, The upper end of the cutter container 47 is inserted into the slot 44b of the cutter mount disk 44 and the pin 91 is inserted into the engaging hole 47a of the upper end of the cutter container 47 47a so that the cutter container (47) is detachably coupled to the cutter mount disk (44). (a) moving the wheel 11 to an upper side of the databot to be repaired,
(b) operating the positioning unit 30 to horizontally move the debotric actuator 40 backward, forward, backward, and rearward, and aligning the depot actuator 40 directly above the depot performing the maintenance work;
(c) Lowering the divot actuator 40 and cutting out the grass on the divot by a cutter container 47 mounted on the lower end of the divot actuator 40. [ And a method for repairing a dive-bike using the dive repair device according to any one of claims 4 to 6. The method according to claim 16, wherein cutting the grass while rotating the cutter vessel (47) mounted on the lower end of the debotric actuator (40) about a vertical axis when descending the descent actuator (40) A method of repairing a dibot. The method according to claim 16, wherein after the step (c), the grass inside the cutter container (47) is pressed downward and the grass is injected outside the cutter container (47). 17. The method according to claim 16, wherein the step of setting the coordinate system of the debotric actuator (40) in the controller (50) before the step (a) is performed. The method according to claim 19, further comprising the step of recognizing a position of a databot to be operated after the step (a), wherein the control unit (50) automatically moves the positioning unit (30) And aligning the actuator (40) to the recognized depot position.

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