KR102359238B1 - Deck and work method - Google Patents

Abstract

The present invention relates to a working apparatus and a working method, comprising: a boarding unit forming a working space in which the subject can be maintained under the lower part of the subject; a horizontal moving part provided under the boarding part to move the boarding part in a horizontal direction; a rotating part provided under the boarding part to rotate the boarding part on one surface; and a traveling unit capable of running and supporting the rotating unit, the horizontal moving unit, and the boarding unit on the upper part; while performing maintenance work such as repairing an object installed in a high place, the work is performed according to the work position The position of the boarding part can be freely adjusted.

Description

Working device and work method {Deck and work method}

The present invention relates to a working device and a working method, and more particularly, to a working device and a working method that enable a safe and rapid work to be performed at a high place.

In general, the steelmaking process proceeds in the order of the molten iron pretreatment process, the converter refining process, the secondary refining process and the continuous casting process, and after the process is completed, a desired steel sheet can be finally obtained. Among them, in the molten iron pretreatment process and the secondary refining process, impurities contained in the melt are removed by adding a refining agent to the molten steel and stirring the melt through a stirrer such as an impeller or gas injection. In the process of refining the melt in this way, the melt, slag, and dust may be scattered. Accordingly, the melt is refined in a state in which a cover, for example, a splash cover, is seated on the upper part of the container.

On the other hand, the melt, slag, dust, etc. scattered in the process of refining the melt is attached to the cover to form a mold. These now grow as time goes by, form a lump, and fall under the load. In addition, since the process of refining the melt is performed at a very high temperature, problems such as dissolution of the cover or the occurrence of cracks in the cover occur. Accordingly, maintenance work is being performed to periodically remove the metal attached to the cover or repair cracks formed on the cover. However, since the cover is a large structure and is installed at a very high position, that is, at a high place, a working device that can work at high altitude is used for maintenance work. Such a working device is configured to bring a worker closer to the cover by using a lift car or a forklift. However, in the case of maintenance of a cover, which is a large structure, in the case of maintenance of a cover, which is a large structure, it is necessary to move a lift car or forklift, There is a problem in that there is a possibility that the device may overturn and cause a safety accident in which the operator falls.

KR 2017-0043489 A KR 2019-0102880 A

The present invention provides a working device and a working method that can promote the safety of a worker who maintains an object at a height.

The present invention provides a working device and a working method capable of reducing the maintenance time of an object.

A working apparatus according to an embodiment of the present invention includes: a boarding unit forming a working space in which the object can be maintained under the object; a horizontal moving part provided under the boarding part to move the boarding part in a horizontal direction; a rotating part provided under the boarding part to rotate the boarding part on one surface; and a traveling unit capable of traveling and supporting the rotating unit, the horizontal moving unit, and the boarding unit on an upper portion.

The boarding unit may include: a first support plate forming a floor of the working space; and a support frame surrounding at least a portion in a circumferential direction of the working space. and a safety cover connected to the support frame to cover the upper portion of the work space, and may include a spraying unit provided on the boarding unit to spray the blocking medium to at least a portion of the work space in a circumferential direction.

The horizontal moving part may include a second support plate disposed in parallel with the first support plate under the boarding part; at least a portion of the first driving member connected to the boarding part and provided on the second support plate to linearly move the boarding part; and a first support member capable of supporting the boarding part to be movable on the second support plate.

The first driving member may include: a first actuator providing power and at least a portion of which is provided on the second support plate; a first power transmission member for transmitting power provided from the first driver to the boarding unit; and a moving member connected to the first power transmission member and the boarding part to linearly move the boarding part.

The first actuator provides a rotational force, and the first power transmission member includes a lead screw that extends in one direction and is rotatably connected to the first driver, and the moving member determines the direction in which the lead screw extends. It may include a nut connected to the lead screw and the boarding part so as to be movable accordingly.

The rotating unit may include: a third supporting plate disposed in parallel with the second supporting plate under the horizontal moving unit; and a second driving member, at least a portion of which is connected to the horizontal movement unit and is provided on the third support plate to rotate the boarding unit and the horizontal movement unit.

The second driving member may include a second actuator providing power; a second power transmission member for transmitting power provided from the second actuator to the horizontal moving unit; and at least a portion of the rotating member connected to the horizontal moving part and provided on the third support plate so as to be in contact with the second power transmission member.

The rotating member may be used as a rotation shaft of the horizontal moving unit and the boarding unit.

The second actuator provides a rotational force, and the second power transmission member includes a lead screw that extends in one direction and is rotatably connected to the second driver, and the rotation member is engaged with the lead screw on an outer circumferential surface It may include a gear in which the teeth are formed.

It may include a lifting unit provided between the rotating unit and the traveling unit to move the boarding unit, the horizontal moving unit, and the rotating unit in a vertical direction.

a determination unit that detects a work position to maintain the object; and a control unit configured to control operations of the horizontal moving unit, the rotating unit, the lifting unit, and the traveling unit to move the boarding unit to the working position.

The object may include a cover of a container for accommodating the melt, and an area of the working space may be smaller than an area of the cover.

A working method according to an embodiment of the present invention includes the steps of disposing the working device under an object by driving the working device; elevating the boarding part of the working device; The process of identifying a work position to maintain the object; a work position adjustment process of performing at least one of a process of driving the entire working device according to the identified working position, a process of moving the boarding part in a horizontal direction, and a process of rotating the boarding part on one surface; and maintaining the object at the working position.

If the working position identified in the process of recognizing the working position is out of the horizontal movement distance range of the boarding part, the working position adjusting process includes the process of driving the entire working device so that the boarding part is placed in the identified working position may include

When the working position identified in the process of determining the working position is included in the horizontal movement distance range of the boarding part, the process of adjusting the working position may include a process of horizontally moving the boarding part to the identified working position.

a step of rotating the boarding unit in the direction of the identified working position when the working position identified in the process of recognizing the working position is included in the horizontal movement distance range of the boarding unit and deviating from the horizontal movement direction of the boarding unit; and horizontally moving the boarding unit to the identified working position.

Any one of the process of rotating the boarding part and the process of horizontally moving the boarding part may be performed first or may be performed simultaneously.

The process of adjusting the working position may include adjusting the height of the boarding part.

The object may include a cover of a container for accommodating the melt, and the process of servicing the object may include at least one of a process of repairing a refractory material formed on the cover and a process of repairing a cooling means formed on the cover. .

According to an embodiment of the present invention, while performing maintenance work, such as repairing an object installed in a high place, the position of the boarding part performing the work can be freely adjusted according to the work position. Therefore, the entire working device is moved to adjust the position of the boarding part, and the process of adjusting the height of the boarding part can be omitted whenever the entire working device is moved. Accordingly, the object can be repaired quickly, and the occurrence of safety accidents such as collision or overturn due to movement of the work device or adjustment of the height of the boarding part can be suppressed or prevented. In particular, since the position of the boarding table can be automatically moved by sensing the work position, the work position of the boarding board can be moved more precisely, so that the maintenance of the object can be performed efficiently.

1 is a front view showing a state in which a working device according to an embodiment of the present invention is applied to a repair work of a splash cover.
Figure 2 is a perspective view of a working device according to an embodiment of the present invention.
3 is a perspective view and a cross-sectional view of a boarding part constituting a working device according to an embodiment of the present invention.
4 is a perspective view of a horizontal moving part constituting a working device according to an embodiment of the present invention.
5 is a cross-sectional view of the horizontal moving part taken along the line BB' and the line C-C' shown in FIG. 4;
6 is a view showing an operating state of a horizontal moving unit constituting a working device according to an embodiment of the present invention.
7 is a perspective view of a rotating part constituting a working device according to an embodiment of the present invention.
8 is a view showing an operating state of a rotating part constituting a working device according to an embodiment of the present invention.
9 is a perspective view of a lifting unit and a traveling unit constituting a working device according to an embodiment of the present invention.
10 is a flowchart illustrating a process of maintaining an object by a working method according to an embodiment of the present invention.
11 and 12 are views showing an example of moving the working device according to the working position when the splash cover is repaired using the working device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art completely It is provided to inform you. In order to explain the invention in detail, the drawings may be exaggerated, and like reference numerals refer to like elements in the drawings.

The present invention relates to a work device that enables a worker to approach the object and perform maintenance work quickly and safely when maintaining a large structure or an object installed in a high place, for example, at a high place. In an embodiment of the present invention, the object may include a cover covering the upper portion of a container capable of accommodating a high-temperature molten material such as a ladle. Hereinafter, a case in which the cover is a splash cover will be described.

Hereinafter, a working device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a front view showing a state in which a working device according to an embodiment of the present invention is applied to a repair work of a splash cover, and FIG. 2 is a perspective view of the working device according to an embodiment of the present invention.

Referring to FIG. 1 , the working device according to an embodiment of the present invention repairs an object installed at a high place far from the ground, for example, a refractory material or a cooling device constituting the splash cover 10 in the lower part of the splash cover 10 . can be used to In Fig. 1, 20 denotes a duct.

Referring to FIG. 2 , the working device according to an embodiment of the present invention includes a boarding unit 100 that provides a working space in which the splash cover 10 can be maintained at the lower part of the splash cover 10 which is an object, and boarding. A horizontal moving unit 200 provided under the boarding unit 100 to move the unit 100 in the horizontal direction, and a horizontal moving unit to rotate the boarding unit 100 and the horizontal moving unit 200 on one surface It may include a rotating unit 300 provided in the lower portion of the 200 and a traveling unit 500 that is capable of running and supports the rotating unit 300 , the horizontal moving unit 200 and the boarding unit 100 on the upper portion. In addition, the working device is between the rotating unit 300 and the traveling unit 500 to move the boarding unit 100 , the horizontal moving unit 200 and the rotating unit 300 in the vertical direction, for example, in the upper part of the traveling unit 500 . It may include a lifting unit 400 provided and a spraying unit 150 provided in the boarding unit 100 to spray a blocking material for preventing foreign substances such as heat or dust from entering the work space.

3 is a perspective view and a cross-sectional view of a boarding part constituting a working device according to an embodiment of the present invention.

Referring to FIGS. 3A and 3B , the boarding unit 100 includes a first support plate 110 forming the floor of the working space, and a first support plate 110 to surround the edge of the first support plate 110 . It may include a support frame 120 connected to the support plate (110). In this case, the area of the working space formed in the boarding unit 100 , for example, the area of the first support plate 110 may be smaller than the area of the splash cover 10 which is the object. Accordingly, in order to effectively maintain the splash cover 10 having an area larger than the area of the working space, the boarding unit 100 is operated using the horizontal moving unit 200, the rotating unit 300, and the traveling unit 500 to be described later. position can be moved.

In addition, the boarding unit 100 may include a safety cover 130 connected to the support frame 120 to cover the upper portion of the first support plate 110 .

The first support plate 110 may have an area so that the worker can move on foot. The first support plate 110 may be formed in various shapes such as a circle, a square, a pentagon, etc., but an example in which the first support plate 110 is formed in a circle will be described. The first support plate 110 may be formed using a strong material, such as iron, to withstand the weight of the operator and the weight of the work tools.

The support frame 120 is to prevent an operator from falling from the first support plate 110 , and may be connected to the first support plate 110 to surround at least a portion of the edge of the first support plate 110 . . The support frame 120 includes a first support frame 122 connected to the first support plate 110 to extend in the vertical direction, and a first support frame ( It may include a second support frame 124 connected to 122). In this case, a plurality of first support frames 122 may be provided to be spaced apart along the edge of the first support plate 110 . Some of the plurality of first support frames 122 may be formed shorter than the worker's elongation, and some may be formed longer than the worker's elongation. The second support frame 124 may be disposed to substantially surround at least a portion of an edge of the first support plate 110 . The second support frame 124 may be formed, for example, in a ring shape and connected to the first support frame 122 . One or more second support frames 124 may be provided, and at least some of them may be connected to the first support frame 122 to be disposed at a position lower than the height of the operator.

In addition, the support frame 120 may be connected to a door 126 for an operator to enter and exit. The door 126 may be provided between the first support frames 122 spaced apart from each other, and may be connected to the first support frame 122 to be opened and closed.

The boarding part 100 may be provided with a spraying unit 150 for spraying a blocking medium (not shown) along the circumferential direction of the boarding part 100 . Here, the object, the splash cover 10, is used when processing the melt, and may be maintained in a high temperature state in order to suppress the temperature drop of the melt when processing the melt. Accordingly, there is a problem in that the operator is burned by the heat emitted from the splash cover 10 , or it interferes with the operation. In addition, there is a problem that the dust generated in the process of maintaining the splash cover 10 is introduced into the work space to harm the safety of the operator. Accordingly, it is possible to block the heat or dust emitted from the splash cover 10 from flowing into the work space by spraying a blocking medium such as mist, for example, through the spray unit 150 .

The injection unit 150 may be installed on the boarding unit 100 so as to be sprayed along the circumferential direction of the work space, that is, the circumferential direction of the boarding unit 100 . The injection unit 150 includes supply pipes 151 and 152 used as a movement path of the blocking medium, and a nozzle 153 connected to the supply pipes 151 and 152 to spray the blocking medium along the circumferential direction of the work space. may include The supply pipes 151 and 152 are in communication with the first supply pipe 151 connected to the first support plate 110 so as to extend in the vertical direction, and the first supply pipe 151, and the first support plate 110 . may include a second supply pipe 152 disposed along the circumferential direction of the. The first supply pipe 151 and the second supply pipe 152 may be formed in the form of a double pipe including outer tubes 151a and 152a and inner tubes 151b and 152b, respectively. In addition, valves 154 and 156 for controlling the flow rates of water and air may be connected to the outer tubes 151a and 152a and the inner tubes 151b and 152b, respectively. In this case, the outer tubes 151a and 152a and the inner tubes 151b and 152b may be formed to communicate with each other at a portion where the nozzle 153 is formed or inside the nozzle 153 . Accordingly, the water supplied to the outer tubes 151a and 152a and the air supplied to the inner tubes 151b and 152b may be mixed inside the nozzle 153 and may be sprayed in the form of mist through the nozzle 153 .

The nozzle 153 may be installed in the second supply pipe 152 . In this case, a plurality of nozzles 153 may be provided to be spaced apart from each other in the second supply pipe 152 so as to spray the blocking medium along the circumferential direction of the work space. Here, an example in which the supply pipes 151 and 152 are formed separately from the support frame 120 has been described, but a part of the support frame 120 may be used as a supply pipe for supplying a blocking medium.

Through this configuration, while the operator repairs cracks formed in the refractory material of the splash cover 10 or repairs the cooling means, the injection unit 150 moves along the circumferential direction of the boarding unit 100 , that is, along the circumferential direction of the working space. By spraying a mist-type barrier medium, it is possible to suppress or prevent exposure of workers to heat or dust.

The safety cover 130 may cover the upper part of the working space to prevent dangerous materials such as now from falling into the working space of the upper part of the first support plate 110 . The safety cover 130 may be connected to the support frame 120 , for example, the first support frame 122 . The safety cover 130 may be formed such that at least a portion thereof is inclined downward so that it can be immediately removed from the safety cover 130 in case of a fall, for example, it may be formed in a conical shape.

4 is a perspective view of a horizontal moving unit constituting a working device according to an embodiment of the present invention, and FIG. 5 is a cross-sectional view of the horizontal moving unit taken along lines B-B' and C-C' shown in FIG. 4 .

The horizontal moving unit 200 may be provided under the boarding unit 100 to move the boarding unit 100 in a horizontal direction from one surface. Referring to FIG. 4 , the horizontal moving unit 200 is connected to the second support plate 210 provided under the boarding unit 100 , and at least a part of the boarding unit 100 is connected to and moves the boarding unit 100 . It may include a first driving member provided on the second support plate 210 and a first support member 250 for supporting the boarding unit 100 so as to be movable on the second support plate 210 .

The second support plate 210 is provided parallel to the first support plate 110 at the lower portion of the boarding unit 100 , and may be formed to have a large area with the first support plate 110 . In this case, the second support plate 210 may be formed as a plate having a square shape, and may be formed as a plate having a square shape or a rectangular shape extending in one direction.

Referring to (a) of FIG. 5 , the first driving member includes a first driver 220 providing power, and a first power transmission member 230 connected to the first driver 220 and disposed to extend in one direction. and a moving member 240 connected to the first support plate 110 and connected to the first power transmitting member 230 to be movable along the extending direction of the first power transmitting member 230 . .

The first driver 220 may provide power, for example, a rotational force, for moving the boarding unit 100 in the horizontal direction, and at least a portion may be installed on one side of the upper portion of the second support plate 210 .

The first power transmission member 230 may transmit power provided from the first driver 220 , that is, rotational force to the moving member 240 . The first power transmission member 230 may be disposed on the second support plate 210 in parallel with the second support plate 210 or the first support plate 110 . The first power transmission member 230 may be formed in the form of a cylindrical bar extending in one direction, and may include a lead screw in which a screw is formed on at least a portion of an outer circumferential surface. One side of the first power transmission member 230 may be connected to the first driver 220 , and the other side may be rotatably fixed to an upper portion of the second support plate 210 through the first fixing member 232 . At this time, the first fixing member 232 may be provided in plurality, and rotate the first power transmission member 230 on the second support plate 210 at at least two points outside the movement range of the boarding unit 100 . It can be fixed as possible. The first fixing member 232 may be fixed to the upper portion of the second support plate 210 in a state in which the first power transmission member 230 is inserted therein, and this first fixing member 232 may transmit the first power. The inner side in contact with the outer circumferential surface of the member 230 may include a bearing formed to be rotatable with the first power transmission member 230 .

The first power transmission member 230 may form a movement path of the boarding unit 100 , and the screw formed on the outer circumferential surface of the first power transmission member 230 is at least over a range in which the boarding unit 100 can move. can be formed.

Referring to FIG. 5B , the moving member 240 may connect the first support plate 110 and the first power transmission member 230 to each other. In this case, the moving member 240 may be connected to the first power transmitting member 230 so as to be movable along the extending direction of the first power transmitting member 230 . The moving member 240 may have a through hole (not shown) through which the first power transmission member 230 passes therein may be formed, and the first power transmitting member 230 may have an inner surface of the through hole (not shown). A screw capable of meshing with the screw formed in may be formed. When rotational force is provided from the first driver 220 through this configuration, the first power transmission member 230 rotates, and the moving member 240 meshed with the first power transmission member 230 transmits the first power. It may move to one side or the other side according to the rotation direction of the member 230 .

The first support member 250 may support the boarding part 100 to be movable on the second support plate 210 . The first support member 250 includes a wheel 254 connected to the bottom surface of the first support plate 110 , and a first power transmission member 230 provided in parallel with the first power transmission member 230 on the second support plate 210 . A guide rail 252 may be included.

A pair of first guide rails 252 may be provided in parallel with each other spaced apart from each other on both sides of the first power transmission member 230 , and may be provided in parallel with the first power transmission member 230 . At least two pairs of wheels 254 may be connected to the lower surface of the first support plate 110 to be movable along the upper portion of the first guide rail 252 . In this case, the first guide rail 252 may limit the horizontal movement distance and direction of the boarding unit 100 . That is, the first guide rail 252 may be formed to extend in one direction, the boarding unit 100 may move as much as the length extended by the first guide rail 252 , and the first guide rail 252 may extend can move in any direction. In addition, the first guide rail 252 may be formed to surround at least a portion of the wheel 254 to prevent the wheel 254 from being separated. In addition, the plurality of wheels 254 may be disposed at positions opposite to each other on both sides of the first power transmission member 230 , and the two wheels 254 disposed at positions opposite to each other are formed by the shaft 255 . can be connected to each other. In this case, the lower surface of the first support plate 110 may be connected to the shaft 255 through a fixing block 251 that is rotatably connected to the shaft 255 . In this case, the shaft 255 may be disposed in a direction crossing the first power transmission member 230 , and may be disposed not to contact the first power transmission member 230 . The first support member 250 supports the boarding part 100 and may prevent the first driving member, for example, the first power transmission member 230 from being damaged by the load of the boarding part 100 .

6 is a view showing an operating state of a horizontal moving unit constituting a working device according to an embodiment of the present invention. Referring to FIG. 6 , when the first actuator 220 is operated, the first power transmission member 230 is rotated, and the moving member 240 connected to the first power transmission member 230 is the first power transmission member. It moves along (230). Accordingly, the first support plate 110 connected to the moving member 240 , that is, the boarding unit 100 may move along the direction in which the first power transmission member 230 extends, that is, it may move in a horizontal direction. At this time, the boarding unit 100 is supported on the second support plate 210 by the first support member 250 , and can move horizontally along the first power transmission member 230 and the first guide rail 252 . have. In addition, the boarding unit 100 may move along a direction in which the first guide rail 252 constituting the first support member 250 extends.

7 is a perspective view of a rotating part constituting a working device according to an embodiment of the present invention.

Referring to FIG. 7 , the rotating unit 300 is provided under the horizontal moving unit 200 to rotate the boarding unit 100 and the horizontal moving unit 200 on one surface. The rotating unit 300 includes a third support plate 310 provided under the horizontal moving unit 200 , and at least part of it is connected to the horizontal moving unit 200 and includes the boarding unit 100 and the horizontal moving unit 200 . It may include a second driving member provided on the third support plate 310 to rotate. Also, although not shown, a second support member (not shown) capable of rotatably supporting the boarding unit 100 and the horizontal moving unit 200 on the third support plate 310 may be included.

The third support plate 310 is provided parallel to the second support plate 210 under the horizontal moving part 200 , and may be formed to have the same or similar area as the second support plate 210 . In this case, the third support plate 310 may be formed in various shapes capable of stably supporting the boarding unit 100 and the horizontal moving unit 200 . In addition, a second guide rail 444 for connecting to at least a portion of the lifting unit 400 may be formed on the bottom surface of the third support plate 310 . The second guide rail 444 may be formed to extend in one direction on the bottom surface of the third support plate 310 .

The second driving member is connected to a second actuator 320 providing power, a second power transmission member 330 and a second support plate 210 connected to the second actuator 320 and arranged to extend in one direction. and may include a rotation member 340 provided on the third support plate 310 to be in contact with the second power transmission member 330 .

The second actuator 320 may provide power, for example, rotational force, for rotating the boarding unit 100 and the horizontal moving unit 200 , and at least a portion may be installed on one side of the upper portion of the third support plate 310 .

The second power transmission member 330 may transmit power provided from the second driver 320 , that is, rotational force to the rotation member 340 . The second power transmission member 330 may be disposed on the third support plate 310 in parallel with the third support plate 310 . The second power transmission member 330 may be formed in the form of a cylindrical bar extending in one direction, and may include a lead screw in which a screw is formed on at least a portion of an outer circumferential surface. One side of the second power transmission member 330 may be connected to the second driver 320 , and the other side may be rotatably fixed to the upper portion of the third support plate 310 through the second fixing member 332 . At this time, the second fixing member 332 may be provided in plurality so as to stably support the second power transmission member 330 , and the third support plate ( 310), the second power transmission member 330 may be rotatably fixed to the upper portion. The second fixing member 332 may be fixed to the upper portion of the third support plate 310 with the second power transmission member 330 inserted therein, and this second fixing member 332 may transmit the second power. The inner side in contact with the outer circumferential surface of the member 330 may include a bearing formed to be rotatable with the second power transmission member 330 .

The rotating member 340 may be used as a rotating shaft for rotating the boarding unit 100 and the horizontal moving unit 200 using the rotational force transmitted by the second power transmitting member 330 . The rotating member 340 may be provided to extend in the vertical direction on the upper part of the third support plate 310 , the upper part is connected to the bottom surface of the second support plate 210 , and the lower part is the third support plate 310 . It may be rotatably connected to the upper part. The rotating member 340 may include various gears, such as a pinion gear, in which teeth capable of meshing with the second power transmission member 330 are formed on the outer peripheral surface. At least a portion of the rotating member 340 may be provided to be embedded in the third support plate 310 , and rotate to prevent friction with the third support plate 310 when the rotating member 340 rotates. An anti-friction member 350 such as a bearing may be provided between the member 340 and the third support plate 310 .

Through this configuration, the rotating unit 300 can rotate the horizontal moving unit 200 and the boarding unit 100 in all directions, that is, 360° in the horizontal direction. Accordingly, when the working position of the rotating unit 300 deviates from the horizontal movement direction of the boarding unit 100 , that is, the direction in which the boarding unit 100 can be horizontally moved by the horizontal moving unit 200 , the horizontal moving unit 200 . and the boarding unit 100 may be rotated in the direction of the working position.

8 is a view showing an operating state of a rotating part constituting a working device according to an embodiment of the present invention. As shown in (a) of FIG. 8 , it may be assumed that the first driver 220 and the second driver 320 are disposed to face the same direction before the second driver 320 is operated. And when the second actuator 320 is operated to control the linear movement direction of the boarding unit 100 , as shown in FIG. 8( b ), the third support plate 310 and the second The position of the actuator 320 is fixed, and the horizontal moving part 200 and the boarding part 100 of the upper part of the rotating part 300 can be rotated. Through this, the rotating unit 300 may rotate the boarding unit 100 to face all directions in the horizontal direction.

9 is a perspective view of a lifting unit and a traveling unit constituting the working device according to an embodiment of the present invention.

Prior to describing the lifting unit 400 , the traveling unit 500 will be described. The traveling unit 500 can travel as shown in FIGS. 1 and 2 , and can support the lifting unit 400 , the rotating unit 300 , the horizontal moving unit 200 , and the boarding unit 100 . Referring to FIG. 9 , the driving unit 500 includes a vehicle body 510 for installing the lifting unit 400 on the upper portion, a plurality of driving wheels 520 connected to the lower portion of the vehicle body 510 , and a plurality of A power unit (not shown) for providing power to at least one of the driving wheels 520 may be included. A third guide rail 442 for moving at least a portion of the lifting unit 400 in one direction may be formed on the upper portion of the vehicle body 510 . In this case, the third guide rail 442 may be formed to extend in the same direction as the second guide rail 444 . In addition, at least four driving wheels 520 may be provided to stably move the vehicle body 510, and at least some of these driving wheels 520 may be connected to a power unit, and the remaining driving wheels 520a may be connected to the driving machine. The wheel 520b may be rotatably connected to the vehicle body 510 to change the moving direction of the vehicle body 510 .

The lifting unit 400 is provided at the lower portion of the rotating unit 300 to move the rotating unit 300 , the horizontal moving unit 200 and the boarding unit 100 in the vertical direction, that is, to ascend and descend. The lifting unit 400 is connected to the rotating unit 300 and the traveling unit 500 , and a link member 410 expandable in the vertical direction, and a third actuator 420 that provides power for expanding and contracting the link member 410 . ) may be included. The link member 410 may include a plurality of link portions 411 that are rotatably connected with a connecting pin 411c. In this case, the link part 411 may be formed by assembling two links 411a and 411b formed in a long bar shape or a plate shape in an “X” shape. The link member 410 may be formed by rotatably connecting a plurality of link units 411 with a connecting pin 411c. At this time, the connection pin 411c may be connected to the center of the links 411a and 411b where the two links 411a and 411b overlap, and to both ends of the links 411a and 411b connected to the other link unit 411, respectively. have. The link member 410 may extend or contract in the vertical direction according to the angle formed by the two links 411a and 411b. A link part provided at the bottom of the plurality of link parts 411 constituting the link member 410, for example, the lower link part 411 is connected to the driving part 500, that is, the upper part of the vehicle body 510, The link part provided at the uppermost part, for example, the upper link part 411 may be connected to the bottom surface of the third support plate 310 . At this time, one of the two links 411a and 411b constituting the lower link unit 411 is rotatably connected to the upper portion of the vehicle body 510 through a first fixing bracket 432a, and the other one moves through the first movement. It may be movably connected to the third guide rail 442 through the bracket 434a. And one of the two links 411a and 411b constituting the upper link part 411 is rotatably connected to the bottom surface of the third support plate 310 through a second fixing bracket 432b, and the other one is It may be movably connected to the second guide rail 444 through the second moving bracket 434b.

The third actuator 420 may provide power for extending or contracting the link member 410 and may include a drive shaft 422 capable of linear motion. At this time, one end of the driving shaft 422 is connected to the third driver 420 , and the other end is rotatable to one of the links 411a and 411b among the plurality of links 411a and 411b constituting the link member 410 . can be connected Also, the third actuator 420 may be rotatably connected to the upper portion of the vehicle body 510 of the driving unit 500 .

When the driving shaft 422 is linearly moved by operating the third actuator 420 through this configuration, the link member 410 contracts or contracts according to the moving direction of the driving shaft 422 as shown in FIG. 9(a). It is possible to move the rotating unit 300, the horizontal moving unit 200, and the boarding unit 100 in the vertical direction by descending or by elongating or rising as shown in FIG. 9(b) .

A work device according to an embodiment of the present invention includes a determination unit (not shown) that detects a work position to maintain the splash cover 10, which is an object, and a horizontal moving unit 200 to move the boarding unit 100 to the work position. ), a control unit (not shown) for controlling the rotating unit 300 , the lifting unit 400 , and the traveling unit 500 may be included. That is, in the working device according to the embodiment of the present invention, the operator arbitrarily grasps the working position, and manually controls the horizontal moving unit 200 , the rotating unit 300 , the lifting unit 400 , and the driving unit 500 to get on board. The unit 100 may be moved to the working position, but the boarding unit 100 may be automatically moved to the working position using the determination unit and the control unit.

In this case, the determination unit may include an image acquisition member (not shown) capable of acquiring an image of the splash cover 10 or a temperature measuring member (not shown) for measuring the temperature of the splash cover 10 . The determination unit is a means for detecting a work position from the splash cover 10 disposed on the upper portion of the work space, and may be installed in the support frame 120 of the boarding unit 100 , the safety cover 130 , and the like. In addition, the determination unit may transmit the acquired image or the measured temperature to the control unit.

The control unit determines the working position from the result transmitted from the determination unit, for example, the acquired image or the measured temperature, and the horizontal moving unit 200 and the rotating unit 300 to move the boarding unit 100 to the determined position, that is, the working position. ), at least one operation of the lifting unit 400 and the traveling unit 500 may be controlled.

On the other hand, when the operator directly determines the working position, a separate input unit (not shown) may be provided so that the operator can input the determined working position. In this case, when the operator inputs a working position to the input unit, the controller controls the horizontal moving unit 200 , the rotating unit 300 , the lifting unit 400 and the driving unit to move the boarding unit 100 to the working position input to the input unit. At least one operation of the unit 500 may be controlled.

Hereinafter, a process of repairing the splash cover, which is an object, using the working device according to an embodiment of the present invention will be described.

10 is a flowchart showing a process of maintaining an object by a working method according to an embodiment of the present invention, and FIGS. 11 and 12 are according to the working position when the splash cover is repaired using the working device according to the embodiment of the present invention It is a drawing showing an example of moving a work device. Here, FIG. 11 is a view showing an example of horizontally moving the working device, and FIG. 12 is a diagram showing an example of rotating and horizontally moving the working device.

Referring to FIG. 10 , the working method according to an embodiment of the present invention includes a process ( S100 ) of driving a working device and disposing it under the splash cover 10 , which is an object, and raising the boarding part 100 of the working device. The process (S110), the process of determining the work position for maintenance of the splash cover 10 (S120), the process of driving the entire work device according to the identified work position (S141), the boarding unit 100 is horizontally A process of adjusting the working position of performing at least one of the process of moving in the direction (S143) and the process of rotating the boarding unit 100 on one surface (S145) and the process of maintaining the splash cover 10 at the working position (S150) may include

First, by driving the driving unit 500, the working device may be moved to the lower part of the splash cover 10, which is an object (S100). In this case, the working device may be disposed at an arbitrary position under the splash cover 10 , for example, in the center of the splash cover 10 . And when the working device approaches the center of the splash cover 10 , it is possible to stop the traveling of the traveling unit 500 .

After placing the working device under the splash cover 10 , the operator may use a ladder or a separate lift to open the door 126 and enter the boarding unit 100 . In addition, the door 126 may be closed using a separate locking device to prevent the door 126 from being opened.

Next, the rotating unit 300 , the horizontal moving unit 200 , and the boarding unit 100 may be raised ( S110 ) by driving the lifting unit 400 . At this time, when the driving shaft 422 is extended or moved toward the link member 410 by driving the third actuator 420 of the lifting unit 400, the link member 410 is extended while the rotating unit 300, the horizontal moving unit ( 200) and the boarding unit 100 rises. After that, when the boarding unit 100 rises to a height at which the work can be performed, for example, the target height, the driving of the third actuator 420 is stopped to stop the rotating unit 300, the horizontal moving unit 200 and the boarding unit ( 100) can be stopped.

In addition, the blocking medium may be injected along the circumferential direction of the boarding unit 100 through the injection unit 150 . In this case, the blocking medium may be sprayed before raising the boarding part 100 to the target height, or may be sprayed after raising the boarding part 100 to the target height. Alternatively, in the course of repairing the splash cover 10 , the blocking medium may or may not be sprayed as needed.

After raising the boarding unit 100 to a target height at which the work can be performed, the operator may identify the work position X that needs repair or now needs to be removed from the lower part of the splash cover 10 ( S120 ). Here, it is described that the work position (X) is grasped after raising the boarding part 100, but as long as it is performed only before the process of adjusting the position of the boarding part 100, it may be performed in any process.

The working position (X) may be directly grasped by the operator with the naked eye, and the working position (X) may be grasped through a determination unit capable of detecting the working position (X) in the splash cover 10 . For example, when the operator visually grasps the working position (X), the operator may input the grasped working position (X) to a separately provided input unit and transmit it to the control unit. On the other hand, when determining the working position (X) through a determination unit capable of detecting the working position, such as an image acquisition means or a temperature measuring means, the operation using the image acquired by the image acquisition means or the temperature measured by the temperature measuring means The position (X) can be grasped.

When the working position (X) is identified in this way, by comparing the identified working position (X) with the current position of the boarding unit 100 , a method for adjusting the position of the boarding unit 100 may be determined ( S130 ).

For example, when the working position X exists in the horizontal movement distance range of the boarding unit 100 as shown in FIG. 11(a), as shown in FIG. 11(b), the first actuator 220 may be driven to horizontally move the boarding unit 100 in the direction in which the identified working position X exists, for example, linearly move by “L” (S143).

On the other hand, when the identified working position (X) does not exist in the horizontal movement distance range of the boarding unit 100, the driving unit 500 is operated to move the entire working device to the identified working position (X) ( S141) can be done. In this case, the driving unit 500 may move the boarding unit 100 to a greater distance than “L” illustrated in FIG. 11A . At this time, when the entire working device is moved, that is, driven by operating the driving unit 500 , the working device may be moved in various directions through the driving wheel 520 of the driving unit 500 .

On the other hand, when the identified working position X is not included in the horizontal movement distance range and the horizontal movement direction range of the boarding unit 100, the boarding unit 100 is rotated in the direction in which the working position X exists (S145). ), the boarding unit 100 may be horizontally moved (S147) to the working position (X). Here, it has been described that the boarding part 100 is rotated and then horizontally moved, but the boarding part 100 is horizontally moved and then rotated, or the horizontal movement and rotation of the boarding part 100 may be simultaneously performed.

Referring to FIG. 12A , the second actuator 320 may be driven to rotate the boarding unit 100 in a direction in which the identified working position X exists. This is because the boarding unit 100 can be moved in a straight line in the horizontal direction by the horizontal moving unit 200 , and thus, when the working position is out of the linear movement range, the boarding unit 100 cannot be moved to the working position. Therefore, when the working position is out of the horizontal movement range of the boarding unit 100, the third actuator 420 of the rotating unit 300 is driven to move the boarding unit 100 and the horizontal moving unit 200 in the direction in which the working position exists. It can be rotated, for example rotated by α°. Then, as shown in (b) of FIG. 12 , by driving the second actuator 320 of the horizontal moving unit 200, the boarding unit 100 may be horizontally moved by “L” to the working position.

When the position adjustment process of moving the boarding unit 100 to the working position (X) is completed, the splash cover 10 may be maintained at the working position (X) (S150).

After that, when the maintenance of the splash cover 10 is completed (S160), a process opposite to the process of moving the boarding unit 100 to the working position is performed to perform the process of the boarding part 100, the horizontal moving part 200, and the rotating part 300 ) and the lifting unit 400 may be lowered.

In addition, the driving unit 500 may be driven to return the working device to an original position, for example, to a standby position.

On the other hand, if the maintenance work is not completed (S160), for example, if the splash cover 10 is required in another position, after the process of identifying the working position (X), the position adjustment process and the maintenance process of the boarding unit 100 are performed. process can be performed.

When the maintenance of the splash cover 10 is completed, a process opposite to the process of moving the boarding part 100 to the working position is performed to the boarding part 100, the horizontal moving part 200, the rotating part 300 and the lifting part ( 400) can be lowered.

In addition, the driving unit 500 may be driven to return the working device to an original position, for example, a standby position.

As such, although specific embodiments have been described in the detailed description of the present invention, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims to be described below as well as the claims and equivalents.

10: Splash cover (object) 20: Hood
100: boarding unit 200: horizontal moving unit
300: rotating unit 400: elevating unit
500: driving unit

Claims (19)

a boarding unit forming a working space in which the object can be maintained under the object;
a horizontal moving part provided under the boarding part to move the boarding part in a horizontal direction;
a rotating part provided under the boarding part to rotate the boarding part on one surface;
a traveling unit capable of traveling and supporting the rotating unit, the horizontal moving unit, and the boarding unit on an upper portion;
a lifting unit provided between the rotating unit and the traveling unit to vertically move the boarding unit, the horizontal moving unit, and the rotating unit;
a determination unit that detects a work position to maintain the object; and
and a control unit for controlling operations of the horizontal moving unit, the rotating unit, the lifting unit, and the traveling unit to move the boarding unit to the working position. The method according to claim 1,
The boarding unit,
a first support plate forming a floor of the working space; and
a support frame surrounding at least a portion of the work space in a circumferential direction; and
and a safety cover connected to the support frame to cover the upper portion of the working space.
and a spraying part provided in the boarding part to spray the blocking medium to at least a part of the working space in a circumferential direction. 3. The method according to claim 2,
The horizontal moving unit,
a second support plate disposed in parallel with the first support plate under the boarding part;
at least a portion of the first driving member connected to the boarding part and provided on the second support plate to linearly move the boarding part; and
and a first support member capable of supporting the boarding part to be movable on the second support plate. 4. The method according to claim 3,
The first driving member,
a first actuator that provides power, at least a portion of which is provided on the second support plate;
a first power transmission member for transmitting power provided from the first driver to the boarding unit; and
and a moving member connected to the first power transmission member and the boarding part to linearly move the boarding part. 5. The method according to claim 4,
The first actuator provides a rotational force,
The first power transmission member includes a lead screw extending in one direction and rotatably connected to the first actuator,
and the moving member includes a nut connected to the lead screw and the boarding part so as to be movable in a direction in which the lead screw extends. 6. The method of claim 5,
The rotating part,
a third support plate disposed in parallel with the second support plate under the horizontal moving part; and
At least a portion of the second driving member is connected to the horizontal moving part, the second driving member provided on the third support plate to rotate the boarding part and the horizontal moving part. 7. The method of claim 6,
The second driving member,
a second actuator providing power;
a second power transmission member for transmitting power provided from the second actuator to the horizontal moving unit; and
At least a portion of the rotating member is connected to the horizontal moving part, the rotating member provided on the third support plate so as to be in contact with the second power transmission member; and a working device. 8. The method of claim 7,
The rotating member is a working device used as a rotating shaft of the horizontal moving unit and the boarding unit. 9. The method of claim 8,
The second actuator provides a rotational force,
The second power transmission member includes a lead screw extending in one direction and rotatably connected to the second actuator;
The rotating member is a working device including a gear having teeth meshed with the lead screw on an outer circumferential surface. delete 3. The method according to claim 2,
The determination unit is installed on at least one of the boarding unit and the safety cover,
The determination unit is a working device including at least one of an image acquisition means and a temperature measuring means. The method according to claim 1,
The object comprises a cover of a container containing the melt,
An area of the working space is formed to be smaller than an area of the cover. disposing the working device under the object by driving the working device;
elevating the boarding part of the working device;
The process of identifying a work position to maintain the object;
a work position adjustment process of performing at least one of a process of driving the entire working device according to the identified working position, a process of moving the boarding part in a horizontal direction, and a process of rotating the boarding part on one surface; and
Including; maintaining the object in the working position;
The process of determining the working position includes the process of detecting the working position using a determination unit installed in the working device,
The process of adjusting the working position includes determining a method of adjusting the position of the boarding part by comparing the working position identified through the determination unit with the current position of the boarding part. 14. The method of claim 13,
If the working position identified in the process of identifying the working position is out of the horizontal movement distance range of the boarding unit,
The working position adjusting process includes driving the entire working device so that the boarding part is disposed at the identified working position. 14. The method of claim 13,
When the working position identified in the process of identifying the working position is included in the horizontal movement distance range of the boarding unit,
The working position adjustment process includes a process of horizontally moving the boarding unit to the identified working position. 14. The method of claim 13,
When the working position identified in the process of identifying the working position is included in the horizontal movement distance range of the boarding unit and deviates from the horizontal movement direction of the boarding unit,
rotating the boarding part in the direction of the identified working position; and
A work method comprising a; horizontally moving the boarding unit to the identified working position. 17. The method of claim 16,
A method of performing any one of the process of rotating the boarding part and the process of horizontally moving the boarding part first or performing simultaneously. 18. The method according to any one of claims 13 to 17,
The working position adjusting process includes adjusting the height of the boarding part. 19. The method of claim 18,
The object comprises a cover of a container containing the melt,
The process of servicing the object includes at least one of a process of repairing a refractory material formed on the cover and a process of repairing a cooling means formed on the cover.

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