KR101702522B1 - Shackle device for hull surface cleaning robot - Google Patents

Abstract

The present invention provides a cleaning apparatus for a honeycomb cleaning robot. The honeycomb cleaning robot binding apparatus of the present invention comprises: a shackle connected to a lifting device and capable of binding or unbinding to a surface cleaning robot; And a rotation preventing part installed at one side of the shackle and preventing the shackle from shaking or rotating at random.

Description

{SHACKLE DEVICE FOR HULL SURFACE CLEANING ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a binding apparatus capable of binding or unbinding a spinning surface cleaning robot for launching and recovering a spinning surface cleaning robot, and a spinning and collecting apparatus for a spinning surface cleaning robot having the same.

Since the ship is operated with the bottom (bottom) being immersed in water, aquatic organisms such as mosses, barnacles, etc. may be attached to the bottom or side of the water. Foreign matter adhering to the surface of the ship is required to be removed through periodic cleaning, as it acts as a resistance when the ship is operating, slowing down the speed and increasing fuel consumption.

Conventionally, in order to remove foreign matter adhered to the hull, the ship was moved to a dock on the land, and the operator then cleaned the hull by spraying high-pressure washing water on the outer surface of the hull. This method, however, not only took a long time due to the process of transferring the hull to the dock, but also had to mobilize a lot of personnel during the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also requires a lot of work because the diver has to work in the water and needs to work, which also causes pollution of the marine environment. In addition, due to the foreign substances occurring during the cleaning process, it is difficult to secure the watch in the work area and there is a burden on safety accidents due to the poor sea environment.

In consideration of these points, recently, a honeycomb cleaning robot has been proposed, which can perform cleaning of the outer surface of the ship while traveling along the outer surface of the ship in water. Such a honeycomb cleaning robot is disclosed in Korean Patent Publication No. 10-2011-0062248 May 10, 2011. public) can be referred to.

However, since these robots are used in the water, they have difficulty in moving them from the land to the work area in the water or recovering them after completing the work.

Korean Patent Publication No. 10-2011-0062248 (published on Jun. 10, 2011)

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a honeycomb cleaning robot binding device capable of easily binding and unbinding a cleaning robot operating in water to facilitate the launching and recovery work of the cleaning robot, And a recovery device.

The present invention relates to a honeycomb cleaning robot binding device capable of preventing the honeycomb cleaning robot from rotating during the evacuation process of the cleaning robot, and a launching and collecting device for the honeycomb cleaning robot having the honeycomb cleaning robot binding device.

The problems to be solved by the present invention are not limited thereto, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a shackle which is connected to a lifting device and is capable of binding or unbinding to a surface cleaning robot; And a rotation preventing portion provided at one side of the shackle and preventing the shackle from shaking or rotating at any time.

In addition, the gap between the rotation preventing portion and the shackle may be variable.

In addition, the anti-rotation part may include a magnet wheel attached to the hull.

The rotation preventing portion may further include a lug connected to the shackle and having a variable length.

The honeycomb cleaning robot binding device may further include a cable guiding part installed on the other side of the shackle and guiding the tilting cable connected to the honeycomb cleaning robot to move along the tether cable.

The cable guide unit may include a first body portion and a second body portion that are openably and closably connected to each other so that the cable guide groove may open at both ends of the cable guide groove, .

The cable guide may further include a guide roller for supporting an outer surface of the tether cable passing through the cable passage groove.

In addition, the shackle, the cable guide, and the rotation preventing portion may be arranged in a line, and the cable guiding portion and the rotation preventing portion may be symmetrically disposed at both ends with respect to the shackle.

The shackle further includes a shackle body having a connecting portion connected to the lifting device; And a clamp which is installed on the shackle body and can be engaged with the pulling hook of the cleaning surface cleaning robot or released from the binding.

The clamp may further include a first hook that is rotatably connected to the shackle body and has a hook portion that is bent so as to engage with the pull ring, And a second hook that is rotatably connected to the shackle body and has a hook portion that is bent so as to be able to engage with the pull ring and be symmetrical with respect to the first hook.

According to an aspect of the present invention, there is provided a lifting device for lifting a spinning surface cleaning robot into water or lifting the robot in water; And a spinning surface cleaning robot binding device connected to the lifting device, wherein the lifting device comprises a winding device for winding or unwinding a tether cable of the spinning surface cleaning robot; A power supply for supplying power to the surface cleaning robot; And a controller for controlling the operation of the honeycomb cleaning robot may be provided.

According to the embodiment of the present invention, the wire of the lifting device and the clamp attached to the cleaning surface cleaning robot are disposed at the center, and the cable guide for guiding the shackle is disposed at the side of the shackle to secure a proper distance between the wire and the tether cable It has a remarkable effect that the interference between the wire and the tether cable can be minimized during the recovery process.

According to the embodiment of the present invention, the magnet wheel is installed on one side of the shackle so that the honeycomb cleaning robot moves while being attached to the wall surface of the vessel during the recovery of the honeycomb structure, And has a remarkable effect.

Fig. 1 shows an example of cleaning foreign matter adhering to the outer surface of a ship by using a cleaning surface cleaning robot.
Fig. 2 is a perspective view of the robot cleaner of the honeycomb surface viewed from above. Fig.
Fig. 3 is a perspective view of the robot cleaner of the honeycomb surface as viewed from below. Fig.
Fig. 4 is a perspective view showing a connection state of a tether cable and a pulling ring installed at the rear side of the spinning surface cleaning robot; Fig.
5 and 6 show a state in which the honeycomb cleaning robot is launched or recovered using the launching and collecting apparatus according to the embodiment of the present invention.
FIG. 7 is a perspective view of a honeycomb cleaning robot binding apparatus according to an embodiment of the present invention. FIG.
FIG. 8 is a front view of the honeycomb cleaning robot binding apparatus according to the embodiment of the present invention. FIG.
9 is a view showing a state in which the first body portion and the second body portion of the cable guide portion are opened.
10 is a view showing a state in which a honeycomb cleaning robot binding apparatus according to an embodiment of the present invention is bound to a pulling ring of a honeycomb cleaning robot.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout the specification and claims. The description will be omitted.

Fig. 1 shows an example of cleaning foreign matter adhering to the outer surface of a ship by using a cleaning surface cleaning robot.

As shown in FIG. 1, the honeycomb cleaning robot 100 can clean the outer surface of the hull 10 while traveling on the outer surface of the water-immersed hull 10 in an attached state. FIG. 1 illustrates a case where the honeycomb cleaning robot cleans the outer surface of the hull 10, but the use range of the cleaning surface cleaning robot 100 is not limited thereto. It can also be used to clean the outer surfaces of various offshore plants and floating structures that float on the sea.

The robot cleaner 100 is connected to a tether cable 20, which is not shown in the figure, but extends from another power supply unit and a separate steering equipment. Maneuvering equipment and power supplies may be operated on the ground or on the deck of a ship or on the deck of another ship which is being cleaned.

Fig. 2 and Fig. 3 are perspective views showing the external appearance of the honeycomb cleaning robot, Fig. 2 is a top view, and Fig. 3 is a bottom surface configuration.

2 and 3, the honeycomb cleaning robot 100 may include an upper cover 101 and a lower cover 102 covering the outer surface thereof. The upper cover 101 and the lower cover 102 are coupled to cover the outside of the body surface cleaning robot 100 at the upper and lower parts, respectively, to thereby protect the built-in components. The upper cover 101 and the lower cover 102 may be formed in a streamlined shape so that the resistance of the fluid can be minimized so as to stably travel in water as shown in the drawing.

The robot cleaner 100 includes a frame (not shown) provided on the inner side of the upper cover 101 and the lower cover 102, two drive units 110 provided on both sides of the rear side of the bottom surface, A steering unit 120, a cleaning unit 130 for cleaning the work surface, a foreign body collecting apparatus (not shown) for collecting and collecting foreign matter leaving the work surface in the cleaning process, a control unit ). Here, the expression " forward " means the direction in which the cleaning robot 100 travels, and the rear indicates the opposite side.

Since the body surface cleaning robot 100 is attached to the operation target surface by the magnetic force of the driving wheel 111 of the driving unit 110 and the steering wheel 121 of the steering unit 120, The vehicle can be driven in the attached state. In addition, the cleaning robot 100 can clean the work surface while the cleaning brush 131 of the cleaning unit 130 rotates in the course of traveling.

Fig. 4 is a perspective view showing a connection state of a tether cable and a pulling ring installed at the rear side of the spinning surface cleaning robot; Fig.

Referring to FIG. 4, a ring-shaped pulling ring 140 for launching and recovering the cleaning robot 100 is installed on the rear side of the honeycomb cleaning robot 100. The pulling hook 140 may be fixed to the extension 141 extending rearward from the frame inside the body 1. The tether cable 20 connected to the rear side of the spinning surface cleaning robot 100 is installed to extend rearward with a certain distance from the pulling ring 140. As described later, the binding apparatus 300 for binding the pulling ring 140 for moving and collecting the surface cleaning robot 100 moves along the tether cable 20 to bind the pulling ring 140 In order to make it possible.

5 and 6 show a state in which the honeycomb cleaning robot is launched or recovered using the launching and collecting apparatus according to the embodiment of the present invention.

5 and 6, the spinning and collecting apparatus includes a lifting device 200 for lifting or lifting the spinning surface cleaning robot 100 from the water, a lifting device 200 for lifting the spinning surface cleaning robot 100 from the spinning surface cleaning robot 100, The cleaning robot binding apparatus 300 may be connected to the lifting apparatus 200 so as to bind the spinning surface cleaning robot 100 when the robot 100 is launched or recovered.

5, the lifting apparatus 200 includes a lifting head 210 having a length and an adjustable angle and a lifting head 230 whose height is changed by adjusting the length of the rope 220 extending from the lifting platform 210 And a wire rope 250 connected to the lifting head 230 for lifting the heavy object. That is, the lifting device 200 may be in the form of a conventional crane. Although not shown in the drawing, the lifting device 200 includes a winding device that winds or unwinds the tether cable 20 of the spinning surface cleaning robot 100, a power supply device that supplies power to the spinning surface cleaning robot 100, And a control device for controlling the operation of the honeycomb cleaning robot 100 through a user operation. The boom table 210 constituting the lifting device 200, the winding device, the power supply device, the control device, and the like may be mounted on a vehicle such as a truck or a trailer. Of course, such a transportation means may include a space for loading the cleaning surface cleaning robot 100, so that the cleaning surface cleaning robot 100 may be carried and transported.

The cleaning robot binding apparatus 300 may be connected to the lifting head 230 of the lifting apparatus 200 by a wire rope 250 or the like. The cleaning robot binding device 300 is connected to the outside of the tether cable 20 in such a manner that the tether cable 20 passes through the center portion of the tether cable 20 vertically. Thus, when the cleaning robot 100 is recovered from the water, And can approach the pulling ring 140 of the cleaning robot 100.

Referring to FIGS. 7 and 8, the cleaning robot binding apparatus 300 includes a shackle 330, a rotation preventing unit 380, and a cable guide unit 310.

The shackle 330, the cable guide 310 and the rotation preventing portion 380 are arranged in a line and the cable guide portion 310 and the rotation preventing portion 380 are symmetrical with respect to the shackle 330 at both ends Respectively.

Shackle 330 is connected to lifting device 200. The shackle 330 includes a shackle body 332 and a clamp 340.

An upper portion of the shackle body 332 may be provided with an eye bolt connecting portion 334 to which the wire rope 250 connected to the lifting apparatus 200 is coupled. Shackle body 332 has a wedge shaped top portion 333 that is inserted into lifting head 230 of the crane when it is placed in the lifting head 230 of the crane and can be prevented from turning.

The clamp 340 may include a first hooking hook 341 provided on the shackle body 332 and a second hooking hook 342 as shown in Figs.

The first hooking hook 341 is extended downwardly in a state where the upper portion of the first hooking hook 341 is rotatably connected to the shackle body 332. The hooking hook 341 is engaged with the hooking hook 140 at a lower position than the lower end of the shackle body 332 And has an inwardly bent hanger portion 341a to allow the hanger portion 341a to bend.

The second hooking hook 342 also extends downward in a state where the upper portion of the second hooking hook 342 is rotatably connected to the outer side of the shackle body 332 and hooks the pulling hook 140 at a position lower than the lower end of the shackle body 332, And has a hooking portion 342a bent inwardly so as to be able to carry out the operation.

That is, as shown in FIGS. 8 and 10, the first hooking hook 341 and the second hooking hook 342 are symmetrically arranged on both sides of the shackle body 332. The first hooking hook 341 and the second hooking hook 342 are opened outward by rotation to release the coupling with the pulling collar 140. The hooking portions 341a, 342a can be tied together by hooking the pulling ring 140.

Although not shown, the shackle body 332 may include an operating device that implements binding and unbinding by rotating the first hooking hook 341 and the second hooking hook 342.

The actuating device may be constituted by various types of devices capable of rotating the first hooking hook 341 and the second hooking hook 342 to implement binding and unbinding. For example, when the motor rotates the connecting part shaft of the first and second hooking hooks 341 and 342 directly, or rotatably connected to the inside of the shackle body 332 at one end and the other end, And a hydraulic driving system in which the first and second hooking hooks 341 and 342 are operated by an operation in which the length thereof is expanded and contracted by being rotatably connected to an intermediate portion of the second hooking hooks 341 and 342.

Although the first hooking hook 341 and the second hooking hook 342 are mounted on both sides of the shackle body 332 in this embodiment, the hooking hooks provided on the shackle body 332 may have one or more .

The cable guide 310 includes a body 310 having a cable passage groove 313 vertically penetrating the center portion of the body 310 and a cable 310 extending from the body 310 to allow the body 310 to move along the tether cable 20. And a movement guide member for guiding the movement.

The body portion 310 may be formed in a cylindrical shape by coupling the first body portion 311 and the second body portion 312 having a hemispherical cross-sectional structure. A semicircular cable (not shown) is formed in the center of the first body 311 and the second body 312 to form a cylindrical hole through which the tether cable 20 passes while the first body 311 and the second body 312 are coupled to each other. A through groove 313 is formed.

9, the first body part 311 and the second body part 312 can be opened and closed so that they can be opened to both sides and the cable passage groove 313 can be opened. The first body 311 and the second body 312 are rotatably connected to each other by a hinge connection part 315 and a coupling part 316 is provided on the opposite side of the hinge connection part 315 have. The fastening portion 316 includes hook portions 316a and 316b provided to correspond to the first body portion 311 and the second body portion 312 respectively and fastening bolts 316a and 316b fastened to the hook portions 316a and 316b 316c. ≪ / RTI >

The body portion 310 can be engaged by the fastening bolt 316c in a state where the first body portion 311 and the second body portion 312 are engaged and by separating the fastening bolt 316c, The body portion 311 and the second body portion 312 can be opened to open the cable passage groove 313 inside. 9, the tether cable 20 is inserted into the cable passage groove 313 after the first body portion 311 and the second body portion 312 are opened and the outer side of the tether cable 20 .

The moving guide member may include a plurality of guide rollers 321, 322, 323, and 324 installed on the body portion 310 to support the outer surface of the tether cable 20 passing through the cable passage groove 313. A first guide roller 321 and a second guide roller 322 provided to face each other on the upper part of the first body part 311 and the upper part of the second body part 312 and the lower part of the first body part 311 And a third guide roller 323 and a fourth guide roller 324 which are disposed to face each other at the lower part of the second body part 312. These rollers are installed at the upper and lower portions of the cable passage groove 313 so that the body portion 310 can smoothly move along the tether cable 20 in a state where the friction between the tether cable 20 and the body portion 310 is minimized .

The rotation preventing portion 380 is installed on one side of the shackle 330. The anti-rotation portion 380 includes a magnet wheel 382 for preventing the shak- er 330 from shaking or rotating at random. The magnet wheel 382 is attached to the wall surface of the hull during rotation or recovery of the honeycomb cleaning robot to prevent rotation of the shackle 330.

The rotation preventing portion 380 includes a lug 384 connected to the shackle 330. The lugs 384 may be provided in a structure whose length can be varied. Thus, the spacing between the anti-rotation portion 380 and the shackle 330 can be varied by the lugs 384.

As described above, the cleaning robot binding apparatus 300 is provided between the wire rope 250 and the tether cable 20 by securing a proper distance between the wire rope 250 and the tether cable 20, The interference can be minimized and the rotation of the shackle 330 can be prevented to some extent. In order to fundamentally prevent the rotation of the shackle 330, the cleaning robot binding apparatus 300 mounts a magnet wheel 382 on one side of the shackle 330, So that the rotation of the shackle 330 and the robot cleaner of the surface cleaning robot can be prevented.

The following describes the operation of moving the cleaning robot 100 to an underwater working area (such as an outer surface of the ship) or recovering the cleaning robot 100 from an underwater working area using the launching and collecting device according to the present embodiment.

When the cleaning robot 100 is moved to a work area underwater, the binding apparatus 300 is first connected to the lifting apparatus 200 on the land (such as a quay wall), the binding apparatus 300 is connected to the tether cable 20, And binds the pulling ring 140 of the cleaning robot 100 to be launched to the binding apparatus 300 in a state where it is installed outside.

6, the cleaning robot binding apparatus 300 operates the lifting apparatus 200 in a state where the magnet wheel 382 of the rotation preventing section 380 is attached to the wall surface of the hull, To the work area underwater.

After the cleaning robot 100 is attached to the outer surface of the ship 10 in the water, the binding apparatus 300 is released from the binding apparatus 300 to pull up only the binding apparatus 300. At this time, the binding apparatus 300 moves along the wall surface of the hull 10 by pulling the wire rope 250 and is pulled up to the water surface, and the cleaning robot 100 travels attached to the outer surface of the hull 10 A cleaning operation can be performed.

When the cleaning robot 100 that has completed the cleaning work is recovered from the working area, the binding apparatus 300 connected to the lifting apparatus 200 is lowered to the water through the operation of the lifting apparatus 200. At this time, the binding apparatus 300 is guided toward the pulling ring 140 of the cleaning robot 100 located in the water along the tether cable 20 while attached to the wall surface of the hull 10. Therefore, the binding apparatus 300 can be easily guided toward the pulling ring 140 of the cleaning robot even in a situation where it is difficult to visually determine the pulling ring 140 of the cleaning robot 100 located in the water.

When the binding apparatus 300 reaches the cleanliness surface cleaning robot 100, the cleaning robot 100 is lifted up by the lifting apparatus 200 after binding the towing ring 140 of the cleaning robot with the shackle 330 . At this time, the magnet wheel 382 of the rotation preventing part 380 is moved in a state of being attached to the wall surface of the hull, so that any rotation of the shackle or the spinning surface cleaning robot can be fundamentally blocked.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

20: tether cable, 100: cleaning surface cleaning robot,
140: pulling ring, 200: lifting device,
300: binding apparatus, 310: cable guide
330: Shackle 380: Anti-rotation part
382: Magnetic Wheel

Claims (8)

A shackle connected to the lifting device and capable of binding or releasing the binding surface cleaning robot; And
And a rotation preventing part installed at one side of the shackle and preventing the shackle from shaking or rotating at random.
The anti-
A magnet wheel attached to the hull; And
And a lug connected to the shackle and having a variable length. delete delete The method according to claim 1,
The cleaning apparatus for the surface cleaning robot
Further comprising a cable guide portion provided on the other side of the shackle and guiding the tether cable to move along a tether cable connected to the cleaning surface cleaning robot. 5. The method of claim 4,
The cable guide
And a cable passing groove through which the tether cable passes,
And a first body part and a second body part that are openably and closably connected to each other so as to open the cable passage groove. 6. The method of claim 5,
The cable guide
And a guide roller for supporting an outer surface of the tether cable passing through the cable passage groove. The method according to claim 1,
The shackle
A shackle body having a connecting portion connected to the lifting device; And
And a clamp which is installed on the shackle body and is capable of engaging with the pulling hook of the spinning surface cleaning robot or releasing the binding. 8. The method of claim 7,
The clamp
A first hook that is rotatably connected to the shackle body and has a hook portion that is bent so as to engage with the pull ring; And
And a second hook which is rotatably connected to the shackle body and has a hook portion bent in such a manner as to be able to engage with the pull ring and to be symmetrical with respect to the first hook.

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