KR102047721B1 - The working robot system of autonomous type in lngc cargo hold - Google Patents

Abstract

The present invention relates to a robot system 100 for working in the LNGC cargo hold (1), shearing to run using the Invar Tongue (2) installed at a predetermined interval inside the LNGC cargo hold (1) as a guide rail The first body 110 is installed in; A second body 120 installed at a rear end thereof so as to travel by using the Invar Tongue 2 as a guide rail; The first and second bodies 110 and 120 may be coupled to each other, and the first and second bodies 110 and 120 may include a rotary drive module 131 and a left and right drive module 132 so as to enable rotational motion and left and right translational motions, respectively. Wow; A work module (140) installed in the first body (110) or the second body (120); It characterized in that it comprises an obstacle detection sensor 150 which is installed for the obstacle detection on the first body (110). According to the present invention, the Invar Tongue is used as a guide rail in a special environment, such as an LNGC cargo hold, to perform tasks such as cleaning, welding, and inspection while autonomous driving. Through the Invar Tongue, it can be repeatedly cleaned, welded, and inspected to reduce work time and improve productivity, and to prevent safety accidents such as falls and wounds.

Description

Automated Driving LNCC Cargo Work Robot System {THE WORKING ROBOT SYSTEM OF AUTONOMOUS TYPE IN LNGC CARGO HOLD}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an LNGC cargo hold robot system, and more particularly, to an autonomous LNGC cargo hold robot system capable of conveniently performing various operations such as cleaning, welding, and inspection while driving inside an LNGC cargo hold.

As shown in Fig. 1, the walls of the LNGC cargo hold are composed of 10 surfaces of A, B, C, D, E, F, G, H, J, and K. Each wall of the LNGC cargo hold 1 is provided with an Invar Tongue 2 having a height of 30 mm and a width of about 2 mm at intervals of about 500 mm, as shown in FIG. 2.

On the other hand, when installing LNGC cargo hold insulation box and INVAR construction, a large amount of various dust generated during working due to long time air is accumulated in the cargo hold, and after the completion of construction, the scaffold is removed at the request of the owner, C, G, K. The lower side of the wall should be cleaned. By the way, the current situation is that the worker climbs directly to the Invar Tongue (2) to manually clean the inside of the LNGC cargo hold (1). At this time, it is difficult to arrange mechanically to assist the worker inside the LNGC cargo hold and there is a limitation of personnel placement, so the worker has to clean the section over 40m by walking the Invar Tongue (2) with a cleaning tool. Not only is the castle deteriorated, but if it falls, there is a high risk of wound and other safety accidents.

As a related art patented technology, wheel parts formed of wheels and caterpillars are respectively formed on both sides of the main body of the autonomous vehicle, and the front and rear of the main body of the autonomous vehicle are provided with a camera head having a tilting means to photograph the front and rear of the autonomous vehicle. And, on the upper end of the self-propelled vehicle body is formed foreign matter removal means for removing foreign matter in the new pipe, and the conduction detection means for detecting the self-contained vehicle and conduction (상 到) on the inner front upper side of the self-propelled vehicle body, In the rear of the main body of a car, a cleaning mechanism for forming an industrial pipe is formed by forming a cable fastener for fastening a cable between a connector and a cable drum (refer to Patent Document 1).

Domestic Patent Publication 10-1999-0076145

Accordingly, the present invention is to solve the above problems, while using the Invar Tongue as a guide rail in a special environment, such as LNGC cargo hold while performing autonomous driving, such as cleaning, welding and inspection to improve workability and The purpose is to provide a self-driving LNGC cargo hold robot system that can prevent safety accidents.

In order to achieve the above object, the self-driving LNGC cargo hold work robot system according to the first embodiment of the present invention is a robot system for working in an LNGC cargo hold, and has an Invar Tongue installed at a predetermined interval inside the LNGC cargo hold. A first body installed at a front end to travel by using the guide rail; A second body installed at a rear end thereof so as to travel by using the Invar Tongue as a guide rail; A mechanism unit coupled to the first and second bodies, the mechanism having a rotation drive module and a left and right drive module such that the first and second bodies are rotatable and left and right translationally respectively; A work module installed in the first body or the second body; It characterized in that it comprises an obstacle detection sensor installed in the first body for detecting the obstacle.

In order to achieve the above object, the autonomous LNGC cargo hold work robot system according to the second embodiment of the present invention is a robot system for working in an LNGC cargo hold, and has an Invar Tongue installed at a predetermined interval inside the LNGC cargo hold. A first body installed at a front end to travel by using the guide rail; A second body installed at a rear end thereof so as to travel by using the Invar Tongue as a guide rail; A mechanism unit having the upper and lower driving modules and the left and right driving modules coupled to the first and second bodies, respectively, so that the first and second bodies are capable of raising and lowering motions; A work module installed in the first body or the second body; It characterized in that it comprises an obstacle detection sensor installed in the first body for detecting the obstacle.

Here, the working module may be a module capable of performing any one of cleaning, welding and inspection.

In addition, when the working module is a cleaning module, a dust collector installed on the first body; It may have a mop installed in the second body.

In addition, the mop may be attached to the pump for water supply periodically.

In addition, the obstacle detection sensor may be configured of any one of an ultrasonic sensor, an infrared sensor, and a laser sensor.

In addition, when an obstacle is detected by the obstacle detecting sensor, the driving speed may be set in proportion to the distance.

In addition, the first body may further include a limit sensor that is additionally installed to detect the obstacle.

The first and second bodies may include a travel motor and left and right travel guide rollers to travel by using two invar tongues as left and right guide rails, respectively.

In addition, the traveling guide rollers may be configured in a pair so as to press the Invar Tongue in a state fitted to the Invar Tongue.

In addition, the vertical drive module and the left and right drive module may be provided with a drive motor, LM guide and rack and pinion, respectively.

In addition, the vertical drive module and the left and right drive module may be provided with an LM guide and a linear actuator, respectively.

In addition, the linear actuator may be attached to a linear actuator scale and a linear scale head to control the linear actuator.

In addition, the linear actuator may be attached to the linear actuator home sensor for adjusting the initial position.

In addition, the rotation drive module may include a harmonic driver for generating a rotation torque by the driving force of the tilting motor and the tilting motor for the rotational movement.

In addition, the tilting motor may be provided with a brake for braking the tilting motor.

In addition, the tilting motor may be provided with an absolute encoder so as to check the position.

In addition, the first and second bodies may further include an auxiliary guide roller.

In addition, the robot system may include a remote control terminal and a robot controller to enable remote control.

According to the present invention, the Invar Tongue is used as a guide rail in a special environment, such as an LNGC cargo hold, to perform tasks such as cleaning, welding, and inspection while autonomous driving, and also performs left and right translation and rotation or lifting and left and right translational movements. Through the Invar Tongue, it can be repeatedly cleaned, welded, and inspected to reduce work time and improve productivity, and to prevent safety accidents such as falls and wounds.

1 is a conceptual view of the cargo hold.
2 is a view inside the cargo hold.
3 is a conceptual diagram of a self-driving LNGC cargo hold work robot system according to a first embodiment of the present invention.
4 is a conceptual diagram of a self-driving LNGC cargo hold working robot system according to a second embodiment of the present invention.
5 is a conceptual view of a traveling guide roller and an auxiliary guide roller according to the present invention.
6 is a detailed block diagram of a traveling guide roller according to the present invention.
7 shows a rack & pinion according to the invention.
8 shows a linear actuator according to the invention.
Figure 9 is an internal block diagram of an autonomous LNGC cargo hold working robot system according to the present invention.
10 is a use state diagram of the autonomous LNGC cargo hold working robot system according to the present invention.
11 is a cleaning operation process chart (1) using the LNGC cargo hold robot system according to the first embodiment of the present invention.
12 is a cleaning operation process chart (2) using the LNGC cargo hold work robot system according to the first embodiment of the present invention.
13 is a cleaning operation process chart using the LNGC cargo hold working robot system according to the second embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

The self-driving LNGC cargo hold work robot system according to the present invention greatly improves workability by conveniently performing tasks such as cleaning, welding and inspection while autonomous driving using an Invar Tongue as a guide rail in a special environment called LNGC cargo hold. In order to prevent safety accidents, the technical point is to In other words, it is a self-driving work robot that minimizes human operation so that the robot can be attached to the side of the cargo compartment as well as to the lower side of the cargo hold to automatically perform tasks such as cleaning, welding, and inspection by minimizing not only manpower but also mechanical arrangement. It is.

3 is a conceptual diagram of a self-driving LNGC cargo hold working robot system according to a first embodiment of the present invention, Figure 4 is a conceptual diagram of a self-driving LNGC cargo hold working robot system according to a second embodiment of the present invention, Figure 5 Conceptual view of the traveling guide roller and the auxiliary guide roller according to the invention, Figure 6 is a detailed configuration of the driving guide roller according to the invention, Figure 7 shows a rack & pinion according to the invention, Figure 8 is a linear according to the invention Figure 9 shows the actuator, Figure 9 is an internal block diagram of the self-driving LNGC cargo hold working robot system according to the present invention, Figure 10 is a state diagram of use of the autonomous driving LNGC cargo hold working robot system according to the present invention, Figures 11 and 12 Cleaning operation process chart using the LNGC cargo hold robot system which concerns on 1st Embodiment of this invention, FIG. 13 is a robot sheath for LNGC cargo hold operation | work which concerns on 2nd Embodiment of this invention. Clean the work process diagram using.

As illustrated in FIG. 3, the autonomous LNGC cargo hold work robot system 100 according to the first embodiment of the present invention is a robot system for working inside the LNGC cargo hold 1, and is provided at a first stage. Body 110, the second body 120 is installed at the rear end, the mechanism unit 130 for coupling the first, second body (110, 120), the work is installed on the first body 110 or the second body 120 Module 140, obstacle detection sensor 150, and limit sensor 160.

" 형태로서 LNGC 화물창(1) 내부에 일정 간격으로 설치되는 Invar Tongue(2)을 가이드 레일로 이용하여 주행할 수 있도록 설치된다. 구체적으로는, 2개의 Invar Tongue(2)을 좌우측 가이드 레일로 이용하여 주행할 수 있도록 주행 모터 및 좌우측 주행 가이드 롤러(111)를 구비한다. The first body 110 is viewed from the front "

"Invar Tongue (2) which is installed at regular intervals inside the LNGC cargo hold (1) as a guide rail is installed. Specifically, two Invar Tongue (2) is used as the left and right guide rails It is provided with a travel motor and the left and right travel guide rollers 111 to travel by.

" 형태로서 Invar Tongue(2)을 가이드 레일로 이용하여 주행할 수 있도록 설치된다. 구체적으로는, 2개의 Invar Tongue(2)을 좌우측 가이드 레일로 이용하여 주행할 수 있도록 주행 모터 및 좌우측 주행 가이드 롤러(121)를 구비한다. The second body 120 when viewed from the same front as the first body 110 "

It is installed so that it can travel by using the Invar Tongue (2) as a guide rail. Specifically, the traveling motor and the left and right travel guide rollers can travel by using two Invar Tongue (2) as the left and right guide rails. (121).

The mechanism unit 130 couples the first and second bodies 110 and 120, and the first and second bodies 110 and 120 respectively rotate the rotary drive module 131 and the left and right drive modules 132 to enable rotational movement and left and right translational movements. Equipped. That is, the first and second bodies 110 and 120 are able to cross the Invar Tongue 2 through the Pictch-Surge movement.

In detail, the rotation driving module 131 may include a tilting motor and a harmonic driver that generates rotational torque using a driving force of the tilting motor for the rotational motion. In this case, the tilting motor may be provided with a brake to prevent the tilting motor from rotating rapidly in case of an emergency, that is, when a problem occurs during rotation, and the position may be adjusted without attaching a separate home sensor. An absolute encoder can be installed to verify.

The left and right drive module 132 may include a drive motor, an LM guide and a rack and pinion 133, or an LM guide and a linear actuator 134 for left and right translational motions. In this case, a linear actuator scale and a linear scale head may be attached to the linear actuator 134 for precise control of the linear actuator. In addition, a linear actuator home sensor may be attached to the linear actuator 134 to adjust an initial position.

The work module 140 may be a module capable of performing work such as cleaning, welding, and inspection. At this time, when the working module 140 is a cleaning module, a dust collector is installed on the first body 110 to suck dust using a vacuum suction motor, and a mop is installed on the second body 120. Can be. In addition, the mop is preferably attached to the pump for water supply periodically.

The obstacle detecting sensor 150 is installed in the first body 110 to detect an obstacle, and may include an ultrasonic sensor, an infrared sensor, and a laser sensor.

At this time, when the obstacle is detected by the obstacle sensor 150, it is preferable to reset the current running speed in proportion to the distance.

The limit sensor 160 is installed in the first body 110 to detect an obstacle such as a wall.

The first and second bodies 110 and 120 may further include auxiliary guide rollers 112 and 122 so that the first and second bodies 110 and 120 may be stably positioned on the bottom surface without being eccentrically inclined.

On the other hand, the traveling guide rollers (111, 121), in order to enable the driving without falling even inclined, as shown in Figure 6, each pair is composed of the Invar Tongue (2) in the state fitted to the Invar Tongue (2) It is preferable to be able to press with elastic force by means, such as a spring.

The autonomous LNGC cargo hold work robot system 100A according to the first embodiment of the present invention may include a remote control terminal 170 and a robot controller 180 to enable remote control. In this case, the robot controller 180 may include a receiver 181 for receiving a signal from the remote control terminal 170, the operation processor 182, the motion controller 183, and the driving modules 131, 132 or the work module 140. The transmitter 184 may be provided to transmit a control signal.

Referring to FIGS. 11 and 12, a process of working inside the LNGC cargo hold 1 using the autonomous LNGC cargo hold working robot system 100 according to the first embodiment of the present invention will be described below.

First, the robot system 100 uses two Invar Tongues 2 installed at regular intervals inside the LNGC cargo hold 1 as guide rails to perform cleaning, welding, and inspection.

When the end of the work area is reached, the first body 110 or the second body 120 is rotated to move to the neighboring space to move to the neighboring space in the state that is spaced apart from the floor and then rotates backward to Land on Invar Tongue (2).

Then, the remaining second body 120 or the first body 110 is rotated in the same manner to translate the neighboring car in the state spaced apart from the floor, and then rotate back to the Invar Tongue (2) of the neighboring car To land on.

Next, the robot system 100 uses two Invar Tongues 2 of neighboring cars as guide rails to perform cleaning, welding and inspection.

As shown in Fig. 4, the autonomous LNGC cargo hold work robot system 100A according to the second embodiment of the present invention is a robot system for working inside the LNGC cargo hold 1, which is provided at the front end. Body 110, the second body 120 is installed at the rear end, the mechanism unit 130A for coupling the first and second bodies 110, 120 and the work installed on the first body 110 or the second body 120 Module 140, obstacle detection sensor 150, and limit sensor 160.

The first and second bodies 110 and 120, the work module 140, the obstacle detecting sensor 150, and the limit sensor 160 are the same as in the first embodiment, and thus description thereof will be omitted.

The mechanism unit 130A couples the first and second bodies 110 and 120, and the first and second bodies 110 and 120 respectively move up and down, and the left and right drive modules 131A and the left and right drive modules 132A, respectively, to enable lifting and translational movements. It is provided. That is, the first and second bodies 110 and 120 are able to cross the Invar Tongue 2 through the Heave-Surge movement.

Specifically, the up and down drive module 131A and the left and right drive module 132A have a drive motor, an LM guide, and a rack & pinion 133 in the same way as the left and right drive module 132 for left and right translational motion. Or an LM guide and a linear actuator 134. In this case, a linear actuator scale and a linear scale head may be attached to the linear actuator 134 for precise control of the linear actuator. In addition, a linear actuator home sensor may be attached to the linear actuator 134 to adjust an initial position.

Referring to FIG. 13, the operation process of working inside the LNGC cargo hold 1 using the autonomous LNGC cargo hold work robot system 100A according to the second embodiment of the present invention will be described below.

First, the robot system 100A uses two Invar Tongues 2 installed at regular intervals in the LNGC cargo hold 1 as guide rails to perform cleaning, welding, and inspection.

When the end of the work area is reached, the first body 110 or the second body 120 moves upward to move to the neighboring space, and then moves to the neighboring space in the state spaced apart from the floor and then moves down to the Invar Tongue ( Land on 2).

Thereafter, the remaining second body 120 or the first body 110 moves up and down to move to the neighboring car in a state spaced apart from the floor, and then moves down to land on the Invar Tongue 2.

Subsequently, the robot system 100A performs operations such as cleaning, welding, and inspection while traveling by using two Invar Tongues 2 of neighboring cars as guide rails.

As described above, according to the present invention, in the special environment called LNGC cargo hold using the Invar Tongue (2) as a guide rail while performing automatic driving, cleaning, welding, inspection, etc., and also moving up and down and left and right translation After moving over Invar Tongue (2) through exercise or lifting and left / right translational movements, it is possible to perform cleaning, welding, and inspection repeatedly, thus greatly improving workability and preventing safety accidents.

On the other hand, although the autonomous LNGC cargo hold operation robot system according to the present invention has been described according to a limited embodiment, the scope of the present invention is not limited to a specific embodiment, it will be apparent to those skilled in the art with respect to the present invention. Various alternatives, modifications, and changes can be made within the scope of this.

Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. . The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

1: LNGC Cargo 2: Invar Tongue
100,100A: working robot system 110: first body
111,121: driving guide roller 112,122: auxiliary guide roller
120: second body 130: mechanism part
131: rotation drive module 132,132A: left and right drive module
133: Rack & Pinion 134: Linear Actuator
140: work module 150: obstacle detection sensor
160: limit sensor 170: work input unit (remote control terminal)
180: robot controller 131A: up and down drive module

Claims (19)

As a robotic system 100 for working inside an LNGC cargo hold 1,
A first body 110 installed at a front end of the LNGC cargo hold 1 so as to be driven by using the Invar Tongue 2 installed at predetermined intervals as a guide rail;
A second body 120 installed at a rear end thereof so as to travel by using the Invar Tongue 2 as a guide rail;
The first and second bodies 110 and 120 may be coupled to each other, and the first and second bodies 110 and 120 may include a rotary drive module 131 and a left and right drive module 132 so as to enable rotational motion and left and right translational motions, respectively. Wow;
A work module (140) installed in the first body (110) or the second body (120);
The autonomous LNGC cargo hold work robot system comprising an obstacle detection sensor (150) installed for the obstacle detection on the first body (110). As a robotic system 100A for working inside an LNGC cargo hold 1,
A first body 110 installed at a front end of the LNGC cargo hold 1 so as to be driven by using the Invar Tongue 2 installed at predetermined intervals as a guide rail;
A second body 120 installed at a rear end thereof so as to travel by using the Invar Tongue 2 as a guide rail;
Mechanism 130A having the upper and lower drive modules 131A and the left and right drive modules 132A so as to couple the first and second bodies 110 and 120, respectively, so that the first and second bodies 110 and 120 can move up and down and move left and right. Wow;
A work module (140) installed in the first body (110) or the second body (120);
The autonomous LNGC cargo hold work robot system comprising an obstacle detection sensor (150) installed for the obstacle detection on the first body (110). The method according to claim 1 or 2,
The work module 140 is a self-driving LNGC cargo hold work robot system, characterized in that the module that can perform any one of the cleaning, welding and inspection. The method according to claim 3,
When the work module 140 is a cleaning module,
A dust collector installed on the first body 110;
Autonomous LNGC cargo hold work robot system, characterized in that provided with a mop installed on the second body (120). The method according to claim 4,
The mop is a self-driving LNGC cargo hold working robot system, characterized in that the pump is attached to periodically supply water. The method according to claim 1 or 2,
The obstacle detection sensor 150, an autonomous LNGC cargo hold working robot system, characterized in that composed of any one of an ultrasonic sensor, an infrared sensor and a laser sensor. The method according to claim 6,
Autonomous LNGC cargo hold working robot system, characterized in that for setting the traveling speed in proportion to the distance when the obstacle is detected by the obstacle sensor 150. The method according to claim 1 or 2,
The autonomous LNGC cargo hold work robot system, characterized in that further comprising a limit sensor 160 is further installed to detect the obstacle in the first body (110). The method according to claim 1 or 2,
The first and second bodies 110 and 120 each have a driving motor and left and right travel guide rollers 111 and 121 so as to travel by using two Invar Tongues 2 as left and right guide rails, respectively. Cargo Work Robot System. The method according to claim 9,
The traveling guide rollers 111 and 121 are configured in pairs, respectively, so as to press the Invar Tongue 2 in a state where the driving guide rollers 111 and 121 are fitted to the Invar Tongue 2. The method according to claim 2,
The vertical drive module (131A) and the left and right drive module (132A), each of the self-driving LNGC cargo hold operation robot system characterized in that it comprises a drive motor, LM guide and rack & pinion (133). The method according to claim 2,
The vertical drive module (131A) and the left and right drive module (132A), each LM guide and linear actuator 134, characterized in that the autonomous LNGC cargo hold operation robot system. The method according to claim 12,
The linear actuator (134), an autonomous type LNGC cargo hold robot system characterized in that the linear actuator scale and the linear scale head is attached to control the linear actuator. The method according to claim 12,
The linear actuator (134), autonomous type LNGC cargo hold operation robot system, characterized in that the linear actuator home sensor for adjusting the initial position is attached. The method according to claim 1,
The rotary drive module (131), an autonomous LNGC cargo hold working robot system characterized in that it comprises a harmonic driver for generating a rotational torque by the driving force of the tilting motor and the tilting motor for rotational movement. The method according to claim 15,
The tilting motor, a self-driving LNGC cargo hold work robot system, characterized in that the brake is installed for braking the tilting motor. The method according to claim 15,
The tilting motor, self-driving LNGC cargo hold work robot system, characterized in that the absolute encoder is installed so that the position can be confirmed. The method according to claim 1 or 2,
The first and second bodies (110, 120) is an autonomous type LNGC cargo hold working robot system characterized in that it further comprises an auxiliary guide roller (112, 122). The method according to claim 1 or 2,
The robot system is a self-driving LNGC cargo hold work robot system comprising a remote control terminal 170 and a robot controller 180 to enable remote control.

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