KR101940262B1 - Management robot for mooring line - Google Patents

Abstract

A mooring line management robot is disclosed. The mooring line management robot according to an embodiment of the present invention is provided with a frame that forms a body and is movable along a mooring line installed on a floating marine structure, a support structure provided on the front or rear of the frame, A first binding device for binding and unbinding lines and frames, a second binding device for binding and unbinding the moire ring lines and support structure, and a moving device for moving and separating the frame and support structure from each other, A docking unit for detaching the frame and support structure to the mooring line, a cleaning unit for cleaning the mooring line, and an observation unit for performing the observation of the mooring line.

Description

{MANAGEMENT ROBOT FOR MOORING LINE}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a mooring line management robot, and more particularly, to a mooring line management robot that can collectively perform maintenance and maintenance such as cleaning and observation of a mooring line.

In general, various floating marine structures floating on a ship or floating on the sea are provided with a mooring line and an anchor for anchoring at a fixed position. In order to moor the vessel, a mooring line To an underside and fix it on the sea floor. The anchor can be formed in a structure that can easily be fixed to the sea floor with sufficient weight so that the hull of the ship or the floating sea structure stably maintains a constant position even in a storm or an algae for its use purpose.

A ship or a floating marine structure is supported by an anchor fixed to the sea floor through a mooring line connected to the hull, so that it can be anchored at a fixed position without flowing along a storm or an algae, and a ship or a floating marine structure It is possible to prevent the difficulty of marine operation, collision of the hull or stranding. Both end portions of the mooring line are connected to the hull and the anchor, respectively, so that the gripping force of the hull by the anchor can be generated and maintained.

This mooring line is stored in the hull when the ship or the floating marine structure is operated, and when the mooring line is to be moored at a certain position, the mooring line installation device such as an underwater fairlead chain stopper And the installation process is performed.

However, when an external force due to waves or gusts is applied to the mooring line during the installation process or operation of the mooring line, there is a risk that the mooring line is broken due to interference between the mooring line and the mooring line installation device. And the mooring line may be damaged by corrosion. In addition, since the mooring line is operated for a long time in a submerged state, aquatic life such as moss, barn, etc. can be attached to the outer surface of the mooring line. These foreign substances may have an adverse effect on the life and performance of the mooring line, and it is necessary to remove the mooring line through periodic cleaning as it interferes with checking whether the mooring line is damaged or broken.

Conventionally, in order to observe the installation state and the operating state of the mooring line, the diver may directly observe the mooring line near the mooring line, or the mooring line may be observed by the diver manually by hand And the like. However, in the conventional method, there is a risk of a safety accident of a diver when a wave such as a wave or a storm is strong, and a separate vessel for supporting the operation of a diver is required, there was.

Therefore, there is a need for a method that effectively performs maintenance and maintenance such as cleaning of the muirering line and observation of the installation state, and efficient operation in terms of cost and workability.

Korean Patent Publication No. 10-2015-0072700 (published on May 30, 2015)

An embodiment of the present invention is to provide a mooring line management robot capable of effectively performing maintenance and maintenance such as cleaning and observation of a mooring line.

An embodiment of the present invention is to provide a mooring line management robot capable of collectively performing maintenance and maintenance such as cleaning and observation of a mooring line.

An embodiment of the present invention is to provide a mooring line management robot capable of reducing labor and work fatigue required for maintenance and maintenance of a mooring line.

Embodiments of the present invention provide a mooring line management robot that can reduce the cost required for the management and maintenance of the mooring line.

An embodiment of the present invention is to provide a mooring line management robot that can stably and smoothly operate a mooring line.

According to an aspect of the present invention, there is provided a floating structure, comprising: a frame which is provided to be movable along a mooring line installed in a floating marine structure and which forms a body; a support structure provided in front of or behind the frame; A first binding device for binding and unbinding the frame, a second binding device for binding and unbinding the mooring line and the support structure, and a moving device for moving and separating the frame and the support structure from each other A docking unit for detaching the unit, the frame and the support structure to the mooring line, a cleaning unit for cleaning the mooring line, and an observation unit for performing observation of the mooring line.

The moving device may be provided with a cylinder having one end supported by the frame and the other end supported by the support structure, and being movable and retractable, and an moving driving unit driving the cylinder.

Wherein the frame and the supporting structure each have a penetration portion in which the moire ring line is received, the frame including at least one door frame hinged to an end of the main frame and the main frame so as to be openable and closable, , The supporting structure includes a main structure and at least one door structure hinged to an end of the main structure so as to be openable and closable, wherein the docking unit includes a first opening and closing device for opening and closing the door frame, And a docking driver for driving the first opening and closing device and the second opening and closing device.

The cleaning unit may be provided with a cavitation gun for cleaning the outer surface of the mooring line by cavitation.

The observation unit may be provided with a camera for photographing the moire ring line, an illumination device for irradiating the moire ring line, and a measurement device for detecting the damage or thickness of the moire ring line.

The measuring apparatus includes an ACFM for detecting an impairment of the mooring line by sensing an external magnetic field change corresponding to an amount of current changed by the damage of the mooring line, (Alternating Current Field Measurement) meter.

The measuring apparatus may further include an ultrasonic thickness gauge for measuring the thickness of the mooring line using ultrasonic waves.

And a control unit for controlling the operation of the device and transmitting and receiving the information acquired by the observation unit.

The penetrating portion may be provided with a guide pad for guiding movement of the frame and the support structure with respect to the mooring line.

Wherein the first binding device includes a first contact member which closely contacts and separates from the moire ring line and realizes coupling and decoupling of the frame and the moire ring line and a first contact member which closely contacts the moire ring line And the second binding device includes a second contact member for realizing bonding and disengagement of the frame and the support structure in close contact with and spaced from the mooring line and a second contact member And a second binding drive portion for bringing the support structure into close contact with the mooring line from the support structure.

The mooring line management robot according to the embodiment of the present invention has the effect of effectively performing maintenance and maintenance such as cleaning of the mooring line and observation.

The mooring line management robot according to the embodiment of the present invention has the effect of performing overall management and maintenance such as cleaning and observation.

The mooring line management robot according to the embodiment of the present invention has an effect of performing efficient operation by reducing manpower and cost for maintenance and maintenance of the mooring line.

The mooring line management robot according to the embodiment of the present invention has the effect of shortening the work time required for cleaning and observing the mooring line.

The mooring line management robot according to the embodiment of the present invention has the effect of enabling stable and smooth operation of the mooring line.

FIG. 1 is a view showing a state in which a mooring line management robot according to an embodiment of the present invention is operated on a mooring line of a floating marine structure.
2 is a perspective view showing a mooring line management robot according to an embodiment of the present invention.
3 is a sectional view showing a mooring line management robot according to an embodiment of the present invention.
4 is a perspective view showing a state in which the door frame and the door structure according to the embodiment of the present invention are opened by the docking unit.
5 is a cross-sectional view showing an operating state in which a frame and a supporting structure according to an embodiment of the present invention are mounted on a mooring line by a docking unit.
6A to 6D are perspective views showing an operating state in which a mooring line management robot according to an embodiment of the present invention moves along a mooring line by a mobile unit.
7 is a sectional view showing a state in which the cleaning unit according to the embodiment of the present invention operates.
8 is a perspective view showing an observation unit according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

1 is a view showing a state in which a mooring line management robot 100 according to an embodiment of the present invention is operated in a mooring line 10 installed in a floating marine structure 1.

The floating marine structure 1 described below should be understood as a concept including both marine vessels and floating structures that moor or anchor at a certain position in the sea using the mooring line 10.

Referring to FIG. 1, the mooring line 10 may be provided with an anchor (not shown) at an end thereof so that the floating structure 1 can be anchored at a predetermined position. The mooring line 10 is installed and supplied to the seabed along with the anchor by means of a mooring line 10 installation device (not shown) installed in the floating marine structure 1. The mooring line 10 and the anchor, which are supplied to and installed on the seabed, can be anchored on the bottom surface of the mooring line 10 and exhibit a gripping force, so that the floating structure 1 can be moored at a predetermined position.

The mooring line 10 is continuously subjected to a load due to waves or storms, and is operated by being immersed in water for a long time, so that the mooring line 10 may be damaged due to breakage, deformation or corrosion. In addition, there is a fear that the operation and performance of the mooring line 10 may be deteriorated due to attachment of aquatic organisms such as mosses, barnacles, etc. to the outer surface due to the operating environment. Therefore, there is a need to periodically perform maintenance and management, such as observing the operating state of the muirring line 10 and removing foreign matters adhering to the outer surface of the muirring line 10 through cleaning. Accordingly, the mooring line management robot 100 according to the embodiment of the present invention performs the cleaning of the mooring line 10, observes the operating state of the mooring line 10, and provides the information to the operator And to perform maintenance and maintenance of the stable mooring line 10.

2 and 3 are a perspective view and a cross-sectional view respectively showing a mooring line management robot 100 according to an embodiment of the present invention. FIG. 4 is a perspective view showing a door frame 112 and a door structure 121b according to an embodiment of the present invention. Fig. 7 is a perspective view showing a state in which the docking unit 130 is opened. 5 is a sectional view showing an operating state in which the frame 110 and the supporting structure 121 according to the embodiment of the present invention are mounted on the moire ring line 10 by the docking unit 130, To (d) are perspective views showing an operating state in which the mooring line management robot 100 according to the embodiment of the present invention is moved along the mooring line 10 by the mobile unit 120. [

2 and 3, a mooring line management robot 100 according to an embodiment of the present invention includes a frame 110, a frame 110, A moving unit 120 for moving the mooring line 10 along the longitudinal direction of the mooring line 10 and a docking unit 120 for mounting and dismounting the supporting structure 121 of the frame 110 and the moving unit 120 to the mooring line 10. [ A cleaning unit 140 for performing cleaning of the mooring line 10, an observation unit 150 for performing the observation of the mooring line 10, And a control unit 160 for transmitting and receiving information acquired by the control unit 160.

The frame 110 may be provided with a penetration portion 110a which is a main body to which various devices are mounted and in which a mooring line 10 is received. And may be provided in a hollow cylindrical shape. The penetration 110a of the frame 110 guides the movement of the frame 110 relative to the moire ring line 10 and prevents the contact between the frame 110 and the moire ring line 10 A guide pad 170 may be provided to prevent damage to the frame 110 or the mooring line 10 due to the movement of the frame 110. The guide pad 170 may extend along the longitudinal direction of the mooring line 10 on the inner surface of the frame 110 corresponding to the outer shape of the mooring line 10, And may be made of a member having elasticity for stably guiding the relative movement of the frame 110.

The frame 110 includes at least one door frame hinged to an end portion of the main frame 111 and the main frame 111 to be opened and closed by a first opening and closing device 131 of a docking unit 130 112). The main frame 111 is provided with a control unit 160 and a cable 180 for supplying power to various devices and transmitting and receiving information to the main frame 111. The door frame 112 includes a main frame 111, And the opening and closing of the penetrating portion 110a can be realized by the docking unit 130 which will be described later. The frame 110 may be made of a metal material coated with stainless steel to prevent corrosion by seawater, or may be made of a composite resin material having high rigidity such as engineering plastic.

The docking unit 130 is provided to mount and detach the frame 110 and the support structure 121 of the mobile unit 120, which will be described later, on the moire ring line 10.

Referring to FIGS. 4 and 5A and 5B, the docking unit 130 includes a first opening and closing device 131 for opening and closing the door frame 112, A second opening and closing device 132 for opening and closing the first opening and closing device 121b and docking driving devices 131a and 132a for driving the first opening and closing device 131 and the second opening and closing device 132. [ The first opening and closing apparatus 131 and the second opening and closing apparatus 132 are connected to and supported by a bracket 121c provided at one end of the main frame 111 and a main structure 121a described later, And a bracket 121d provided on the door structure 121b. The docking driver may be a hydraulic device that provides hydraulic pressure to the hydraulic cylinder.

When the first opening and closing device 131 and the second opening and closing device 132 are to enter or remove the moire ring line 10 into the frame 110 and the penetration part 110a of the supporting structure 121, The hydraulic cylinders of the opening and closing apparatus 131 and the second opening and closing apparatus 132 are shortened to rotate the door frame 112 and the door structure 121b to the outside of the main frame 111 and the main structure 121a, The frame 110 and the supporting structure 121 can be opened by the first opening and closing of the door 110. In contrast, when the frame 110 and the supporting structure 121 are to be mounted on the mooring line 10, The hydraulic cylinders of the apparatus 131 and the second opening and closing apparatus 132 are extended to rotate the door frame 112 and the door structure 121b to the inside of the main frame 111 and the main structure 121a, (See Fig. 5 (b)).

4 and 5, the first opening and closing device 131 and the second opening and closing device 132 are formed of hydraulic cylinders to realize opening and closing operations of the door frame 112, but the present invention is not limited thereto And a door frame 112 and a door structure 121b hinged to the main frame 111 and the main structure 121a, respectively.

2 to 6, the mobile unit 120 includes a support structure 121 provided at the front or rear of the frame 110, and a support structure 121 provided at the front or rear of the frame 110 to bond and bond the moire ring line 10 and the frame 110. [ A second binding apparatus 123 for binding and unbinding the mooring line 10 and the supporting structure 121 and a second binding apparatus 123 for connecting the frame 110 and the supporting structure 121 to each other And a moving device 124 for separating the moving device 124. The forward direction described in this embodiment means that the mooring line management robot 100 moves forward in the left down direction and the rear direction is in the opposite direction on the basis of Fig.

The support structure 121 may be provided on the front or rear of the frame 110 and may include a penetration through which the mooring line 10 is received inwardly as with the frame 110 and may extend along the mooring line 10 And the inner side may be provided in a hollow hollow cylindrical shape so as to be movable. The support structure 121 includes a main structure 121a and at least one door structure hinged to an end of the main structure 121a and openable and closable by a second opening and closing device 132 of a docking unit 130, (121b). The penetrating portion of the support structure 121 guides the movement of the support structure 121 relative to the moire ring line 10 as well as the penetration 110a of the frame 110, A guide pad 170 may be provided to prevent damage to the support structure 121 or the mooring line 10 due to contact of the structure 121 with the mooring line 10. The guide pad 170 may extend along the longitudinal direction of the mooring line 10 at the inner surface of the support structure 121 corresponding to the outer shape of the mooring line 10, And a support member 121. The support structure 121 may be made of a flexible material.

The first binding apparatus 122 is provided on one side of the main frame 111 and is provided to bind and unbond the muor ring line 10 and the frame 110. [ The first binding device 122 includes a first contact member 122a which is in contact with the moire ring line 10 and which realizes binding and disengagement of the frame 110 and the moire ring line 10, To the mooring line 10 from the frame 110. As shown in FIG. The first abutting member 122a can be brought into close contact with the moire ring line 10 through the opening formed in the main frame 111 to realize the binding between the moire ring line 10 and the frame 110, It is possible to implement disengagement of the muirring line 10 and the frame 110 by separating the muffling line 10 and the frame 10 from each other. The first binding drive part 122b is connected to and supported by brackets provided on the main frame 111 and the first contact member 122a so that the first contact member 122a is connected to the mooring line 10 It can be closely contacted and spaced apart.

The second binding apparatus 123 is provided on one side of the support structure 121 and is provided to bind and unbond the mooring line 10 and the support structure 121. The second binding device 123 is provided with a second contact member (not shown) for realizing binding and disengagement of the support structure 121 and the moire ring line 10 in contact with the moire ring line 10 in the same manner as the first binding device 122 And a second binding drive part 123b which closely contacts the second adhesion member 123a from the support structure 121 to the mooring line 10. [ The second abutting member 123a can be brought into close contact with the mooring line 10 through the opening formed in the supporting structure 121 to realize the binding of the mooring line 10 and the supporting structure 121, The separation of the mu ring line 10 and the support structure 121 can be realized by being separated from the ring line 10. The second binding drive part 123b can connect and support one end and the other end of the bracket provided respectively to the main structure 121a and the second contact member to closely contact and separate the second contact member with the mooring line 10 .

The first and second tightening drive portions 122b and 123b are provided with a pair of hydraulic cylinders for stable operation of the first contact member 122a and the second contact member 123a, And a pair of hydraulic devices for supplying hydraulic pressure to the hydraulic cylinders of the engine. However, the present invention is not limited thereto, and the approaching and separating of the contact members 122a, 123a to and from the moire ring line 10 may be used for binding and unbinding the moire ring line 10 and the support structure 121 and the frame 110 And if it can be implemented, it should be equally understood that it is composed of devices of various methods and structures.

The moving device 124 includes a cylinder 124a having one end supported on the frame 110 and the other end supported on the support structure 121 and capable of expanding and contracting and a moving drive unit (not shown) driving the cylinder 124a . The cylinder 124a can be actuated to be able to expand and contract by receiving power such as hydraulic pressure from the moving driving unit so that the frame 124 and the supporting structure 121 can be operated to approach and separate each other. Specifically, when the frame 110 and the supporting structure 121 are to be brought close to each other, it is possible to reduce the size of the cylinder 124a by activating the moving driving part, and the frame 110 and the supporting structure 121 In order to separate the cylinder 124a from the cylinder 124a, the moving part is operated to enlarge the cylinder 124a.

Hereinafter, the movement of the moireing line management robot 100 using the mobile unit 120 will be described.

6, when the mooring line management robot 100 is moved forward of the mooring line 10, when the frame 110 and the supporting structure 121 approach each other, 122 to unbond the mooring line 10 and the frame 110 and bind the mooring line 10 and the support structure 121 by the second binding apparatus 123 the moving device 124 is then expanded to separate the muirring line 10 and the unbonded frame 110 from the supporting structure 121 bounded by the mooring line 10, 6B). After the frame 110 is moved to the front side of the moire ring line 10, the first binding device 122 is operated The mooring line 10 and the frame 110 are bound together and the mooring line 10 and the supporting structure 121 are unbonded by using the second binding apparatus 123. [ Reference 6 (d)) by moving the support structure 121 unbonded to the mooring line 10 toward the side of the frame 110 bound to the mooring line 10 by reducing the moving device 124, , The mooring line management robot 100 can be moved forward of the mooring line 10 (see FIG.

The cleaning unit 140 is provided on the inner surfaces of the main frame 111 and the door frame 112 to clean foreign matter such as water moss, barnacle, etc. attached to the outer surface of the mooring line 10.

Referring to FIG. 7, the cleaning unit 140 includes a cavitation gun for removing foreign substances by cavitation, a cleaning unit 140 for cleaning the cleaning unit 140, May be provided. The cavitation gun may jet the high-speed fluid to the outer surface side of the mooring line 10 or may emit strong ultrasonic waves to cause a local pressure reduction. At this time, the gas dissolved in the seawater flows into the mooring line 10 As the volume of the cavity is rapidly reduced when the cavity is destroyed, the local pressure is greatly increased, so that the foreign matter attached to the outer surface of the mooring line 10 can be removed and cleaned by erosion. These cavitation guns may be provided on the inner surfaces of the front and rear inner surfaces of the main frame 111 and the door frame 112 so as to effectively clean the outer surface of the mooring line 10. However, And may be installed at various positions and numbers depending on the outer shape of the muirering line 10. [

An observation unit 150 is provided on the inner side of the frame 110 and is provided to perform imaging and measurement of the moire ring line 10. [

8 is a perspective view showing an observation unit 150 according to an embodiment of the present invention. Referring to FIG. 8, the observation unit 150 includes a camera 151 for photographing an outer surface of the mooring line 10, The illumination device for irradiating the moire ring line 10 with light in order to acquire an image of stable illuminance and image quality when photographing the moire ring line 10 of the moire ring line 10, A measuring device 152 may be included.

The camera 151 photographs the outer surface of the mooring line 10 and transmits the image to the control unit 160 to be described later so that the operator visually confirms the operation state or the cleaning state of the mooring line 10. Since the illumination device (not shown) may not stably irradiate the light in consideration of the operation of the moireing line management robot 100 in the deep sea, the mooring line 10 ) To irradiate light. The camera 151 may be a miniature camera 151 module (CCM) or the like for miniaturization of the equipment. The lighting device may be composed of a light emitting diode (LED) or the like in order to reduce power consumption and weight, It is not.

The measuring device 152 is provided to sense the damage or thickness of the mooring line 10. A plurality of measuring devices 152 may be provided on the inner surface of the main frame 111 to observe and sense the moire ring line 10 in various angles.

The measuring device 152 may be provided with an ACFM (Alternating Current Field Measurement) measuring device 152a. The ACFM measurer 152a may include an alternating current unit for supplying an alternating current to the moire ring line 10 and a magnetic sensor for sensing a magnetic field change of the outer surface of the moering line 10. [ The ACFM measuring device 152a measures the ACFM of the mooring line 10 on the outer surface of the mooring line 10 corresponding to the amount of current changed by the damage of the mooring line 10 after flowing an alternating current through the mooring line 10 by the alternating- It is possible to detect the damage of the mooring line 10 by detecting the magnetic field change. The ACFM measuring device 152a can effectively detect whether the mooring line 10 is damaged even if paint, rust, or foreign matter exists on the outer surface of the mooring line 10, The specific degree of damage such as the length and depth of the crack can be continuously measured and provided to the operator. Accordingly, the ACFM measuring device 152a can promptly provide the operator with detailed information on whether the mooring line 10 is damaged or not.

The observation device may further include an ultrasonic thickness measurement device 152b for measuring and sensing the thickness of the bottoming mooring line 10 using ultrasonic waves. The ultrasonic thickness gauge 152b emits ultrasonic waves toward the moire ring line 10 and then transmits ultrasonic waves to the moire ring line 10 using the frequency of the ultrasonic waves resonated in the moire ring line 10 or the reciprocating time of the reflected ultrasonic pulses, Can be measured. However, the ACFM measuring device 152a and the ultrasonic thickness measuring device 152b may be constructed as facilities having various methods and structures besides the measurement device 152, and they are limited to any one method and structure It is not.

The control unit 160 may be provided to control the operation of the docking unit 130, the mobile unit 120 and the cleaning unit 140 or to transmit and receive information obtained by the observation unit 150. [

The control unit 160 may be provided in the main frame 111 and connected to a cable 180 capable of transmitting and receiving power and information. The control unit 160 can control the operation of the docking unit 130 for opening and closing the door frame 112, the direction and direction of movement of the mobile unit 120, the operation of the cleaning unit 140, Information regarding damage and thickness of the mooring line 10 acquired by the observation unit 150 can be transmitted / received or analyzed and provided to a worker through a display device (not shown) such as a display. In addition, the control unit 160 can acquire the information about the depth of the moireing line management robot 100, the bird condition, and the like, and provide the information to the operator.

Hereinafter, the operation of the moireing line management robot 100 according to the embodiment of the present invention will be described.

When the maintenance and maintenance of the mooring line 10 is to be managed and maintained, the mooring line management robot 100 is advanced to approach the mooring line 10 side. The mooring line management robot 100 approaching the mooring line 10 operates the first opening and closing device 131 and the second opening and closing device 132 of the docking unit 130 to move the door frame 112 and the door structure The first and second open / close devices 131 and 132 are opened after the moire ring line 10 is disposed in the through hole 110a of the frame 110 and the support structure 121, The door frame 112 and the door structure 121b are closed to mount the frame 110 and the supporting structure 121 on the mooring line 10.

After the frame 110 and the supporting structure 121 are mounted on the mooring line 10, the mooring line management robot 100 is moved along the length direction of the mooring line 10 using the mobile unit 120 The cleaning unit 140 can be started to perform the cleaning operation of the mooring line 10 when the mooring line 10 needs to be cleaned. At the same time, in order to observe the operation state and the cleaning state of the mooring line 10 or to measure the damage or the thickness of the mooring line 10, the observation unit 150 is operated, The operation and cleaning state of the line 10 is photographed and provided to the operator and the damage of the mooring line 10 through the measuring device 152 including the ACFM measuring device 152A or the ultrasonic thickness measuring device 152b, And thickness of the workpiece to the operator.

After the cleaning and observation of the mooring line 10 are completed, the first opening and closing device 131 and the second opening and closing device 132 of the docking unit 130 are operated to open the door frame 112 and the door structure 121b, The frame 110 and the supporting structure 121 can be removed from the mooring line 10 and the cable 180 is wound using a winch or the like provided on the deck of the hull, The robot 100 can be recovered.

The mooring line management robot 100 according to an embodiment of the present invention having such a configuration effectively performs maintenance and maintenance such as cleaning and observation of the mooring line 10, It is possible to reduce the manpower and cost required for maintenance and maintenance, and to perform efficient operation.

The mooring line management robot 100 according to the embodiment of the present invention simultaneously performs cleaning and observation of the mooring line 10 to shorten the time required for maintenance and maintenance of the mooring line 10 And can have an effect of ensuring stable and smooth operation of the mooring line 10.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, You will understand. Accordingly, the true scope of the invention should be determined only by the appended claims.

100: mooring line management robot 110: frame
111: main frame 112: door frame
120: mobile unit 121: support structure
121a: main structure 121b: door structure
122: first binding device 123: second binding device
124: Moving device 130: Docking unit
131: first opening and closing device 132: second opening and closing device
140: Cleaning unit 150: Observation unit
151: camera 152: measuring device
160: control unit 170: guide pad
180: Cable

Claims (10)

A frame which is provided movably along a mooring line installed in the floating floating structure and forms a body;
A support structure provided at a front or a rear of the frame; and a support structure provided closely to and spaced apart from the mooring line so as to unbond and unbond the mooring line and the frame, wherein an inner side is formed to correspond to an outer shape of the mooring line A first bonding device having a first contact member and a second bonding device which is formed to be in contact with and spaced apart from the mooring line so as to unbond and unbond the mooring line and the supporting structure, A second binding device having a second contact member provided on the frame and a moving device that moves and separates the frame and the support structure from each other;
A docking unit for detachably attaching the frame and the support structure to the mooring line;
A cleaning unit for cleaning the mooring line; And
And an observation unit for performing the observation of the moire ring line,
Wherein the frame and the support structure each have a penetration portion in which the mooring line is received,
Wherein the penetration portion is formed in the inner surface of the support structure along the longitudinal direction of the mooring line in correspondence with the outer shape of the mooring line and guides the movement of the frame and the support structure to the mooring line The robot is equipped with a guide pad to guide the mooring line. The method according to claim 1,
The moving device
A cylinder having one end supported by the frame and the other end supported by the support structure, the arm being extendable and retractable; and a moving driver driving the cylinder. 3. The method of claim 2,
Wherein the frame includes a main frame and at least one door frame hinged to an end of the main frame to be openable and closable,
Wherein the support structure includes a main structure and at least one door structure hinged to an end of the main structure to be openable and closable,
The docking unit
A door opening / closing device for opening / closing the door frame, a second opening / closing device for opening / closing the door structure, and a docking drive for driving the first opening / closing device and the second opening / closing device. The method of claim 3,
The cleaning unit
And a cavitation gun for cleaning the outer surface of the mooring line by cavitation. 5. The method of claim 4,
The observation unit
A camera for photographing the moire ring line; an illumination device for emitting light to the moire ring line; and a measurement device for detecting damage or thickness of the moire ring line. 6. The method of claim 5,
The measuring device
An alternating current field (ACFM) for detecting the damage of the mooring line by sensing a change in the magnetic field of the outer surface of the mooring line corresponding to the amount of current changed by the damage of the mooring line, Mooring Line Management Robot with Metering. The method according to claim 6,
The measuring device
Further comprising an ultrasonic thickness gauge for measuring the thickness of the mooring line using ultrasonic waves. The method according to claim 1,
Further comprising a control unit for controlling operation of the device and for transmitting and receiving information acquired by the observation unit. delete The method according to claim 1,
The first binding apparatus
Further comprising a first binding drive portion for bringing the first contact member into close contact with the mooring line from the frame,
The second binding apparatus
Further comprising a second binding drive portion for bringing the second contact member into close contact with the mooring line from the support structure.

Images