KR20120047660A - Independently controlled multi-stage hydrolic cylinder and mooring system using the cylinder - Google Patents

Abstract

PURPOSE: A multi-stage hydraulic cylinder and a mooring system for a ship using the same are provided to dock efficiently by controlling position and distance of a robot arm and an attachment unit corresponding to size or hull forms of the target ship. CONSTITUTION: A multi-stage hydraulic cylinder comprises a cylinder housing(310), a first stage piston rod(320), and a second stage piston rod(330). The cylinder housing has an internal space and the upper side is opened. The first stage piston rod is inserted into the upper side of the cylinder housing. The first stage piston rod divides the internal space of the housing to form a first chamber(321) and a second chamber(322). The first stage piston rod has an internal space and the upper side of the first piston rod is opened. The second stage piston rod is inserted into the upper side of the first stage piston rod. The second stage piston rod divides the internal space of the first stage piston rod to form a third chamber(331) and a fourth chamber(332).

Description

Independently controlled multi-stage hydraulic cylinders and mooring systems for ships using them {INDEPENDENTLY CONTROLLED MULTI-STAGE HYDROLIC CYLINDER AND MOORING SYSTEM USING THE CYLINDER}

The present invention relates to a multi-stage hydraulic cylinder that can simultaneously perform lengthening and shock absorption of a length, and a mooring system of a ship using the same.

The hydraulic cylinder refers to a device that realizes a linear motion of a large output or thrust by using hydraulic pressure, and is commonly used in machine tools, construction machines, or robots. The hydraulic cylinder may be used in combination with a pump or a control valve to perform various functions.

In the hydraulic drive using the hydraulic cylinder, a strong force can be obtained, and the speed can be freely adjusted. The hydraulic cylinder can be easily obtained linear movement compared to the electric linear motor through the length extension. In addition, the hydraulic cylinder has a number of advantages, such as to act as a safety device to perform shock absorption against overload.

On the other hand, the hydraulic cylinder can perform the function of linear movement or shock absorption by adjusting the control valve according to the selection, the cylinder of the structure that can control these two functions independently in one cylinder has not been developed yet to be.

The present invention is to provide a multi-stage hydraulic cylinder that can perform two or more functions while simplifying the configuration of the two or more piston stroke to independently control the stroke and the mooring system of the vessel using the same.

According to an aspect of the present invention, a space is formed therein and an upper surface thereof is opened, and a first chamber and a second chamber are formed by being inserted into an upper surface of the cylinder housing and dividing an inner space of the housing. And a two-stage piston rod having an upper surface opened and a two-stage piston rod inserted into an upper surface of the first-stage piston rod to divide the internal space of the first-stage piston rod to form a third chamber and a fourth chamber. The first to fourth chambers may be hermetically sealed, and have first to fourth openings, respectively, for fluid communication so that hydraulic pressure may be applied to each of the first and second chamber pairs and the third and fourth chamber pairs. The applied hydraulic pressure provides a multistage hydraulic cylinder controlled by independent single stage hydraulic circuit and two stage hydraulic circuit, respectively.

The opening of any one of the first and second chamber pairs or the third and fourth chamber pairs may be in communication with each other when the pair of chambers is neutral.

The other pair of chambers of the first and second chamber pairs or the third and fourth chamber pairs may be disconnected from an external hydraulic circuit when neutral.

The first stage hydraulic circuit allows the first stage piston rod to move freely when neutral, and the two stage hydraulic circuit may allow the second stage piston rod to stop when neutral.

The first stage hydraulic circuit may be provided with an ABT connected four-way direction control valve, and the second stage hydraulic circuit may be provided with a closed center four-way direction control valve.

The first stage hydraulic circuit and the second stage hydraulic circuit may be provided with check valves to apply hydraulic pressure to the first to fourth openings.

Hollows are formed in the first stage piston rod and the second stage piston rod, respectively, and the third and fourth chambers may communicate fluid through a flow path formed in the hollow.

The cylinder housing may have an open lower surface, and the third and fourth openings may be in fluid communication through the lower surface of the cylinder housing.

Another aspect of the present invention, the attachment unit detachably attached to the hull of the ship to be docked, and a plurality of arm parts coupled to each other rotatably up and down by a hinge and extending by the cylinder by extending the attachment unit to the hull Robot arm for transferring to the attachment position of the cylinder may be the multi-stage hydraulic cylinder.

The robot arm is connected between a first arm portion having one end coupled to an installation surface side, a second arm portion having one end coupled with the other end of the first arm portion, and connected between the first arm portion and the second arm portion. It may include a cylinder for conveying the attachment unit by stretching and absorbing the shock applied to the second arm.

The cylinder and the second arm may be connected by a spring to absorb the shock applied to the second arm.

It may further include a mooring winch for winding the mooring cable to attract the attachment unit.

The robot arm may further include a rotation unit connected to the left and right in a predetermined angle range around the axis perpendicular to the installation surface.

According to the multi-stage hydraulic cylinder according to the present invention, two or more pistons can be independently controlled to simultaneously perform extension and impact absorption of the cylinder length, and can have two or more functions with a simple configuration. .

According to the mooring system according to the present invention, by adjusting the position and distance of the robot arm and the attachment unit corresponding to the size or linear of the ship to be docked, it is possible to efficiently dock the eyepiece, and also by the elasticity of the multi-stage hydraulic cylinder and the spring While absorbing the piercing shock, it is possible to maintain a stable ship berth or anchoring by maintaining the distance between the vessels.

1A is a conceptual diagram illustrating a state of a multistage hydraulic cylinder and a hydraulic circuit according to an embodiment of the present invention, and FIG. 1B is a cross-sectional view illustrating a structure of a multistage hydraulic cylinder.
2 is a schematic view showing the state of the ship mooring system according to an embodiment of the present invention, Figure 2a is a plan view showing when in the mooring state, Figure 2b is a perspective view showing when in the sailing state.
3 is a conceptual diagram illustrating a state in which a mobile harbor equipped with a mooring system according to an embodiment of the present invention is docked in a container ship, and FIG. 3A is a front view and FIG. 3B is a plan view.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that detailed descriptions of related well-known technologies or functions may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

DETAILED DESCRIPTION Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components will be given the same reference numerals and redundant description thereof will be omitted. do.

1A is a conceptual diagram illustrating a state of a multistage hydraulic cylinder and a hydraulic circuit according to an embodiment of the present invention, and FIG. 1B is a cross-sectional view illustrating a structure of a multistage hydraulic cylinder.

The multi-stage hydraulic cylinder 300 according to the embodiment of the present invention may control the stroke of two or more pistons independently to simultaneously perform extension and impact absorption of the cylinder length.

The multi-stage hydraulic cylinder 300 includes a cylinder housing 310 having a space formed therein and an upper surface thereof opened, and a first chamber 321 and a first chamber inserted into the upper surface of the cylinder housing 310 to divide the internal space of the housing. The first stage piston rod 320 is formed to form a two-chamber 322 but a space is formed therein and the upper surface (right side in the drawing) is opened, and the first stage piston rod 320 is inserted into the upper surface of the first stage piston rod 320. By dividing the internal space of the) may include a two-stage piston rod 330 to form a third chamber 331 and the fourth chamber (332).

The first to fourth chambers 321, 322, 331, and 332 may be respectively provided with first to fourth openings 321a, 322a, 331a, and 332a, which are hermetically sealed but allow fluid to be communicated to apply hydraulic pressure. Hollows 323 and 333 are formed in the first stage piston rod 320 and the second stage piston rod 330, respectively, and the third and fourth chambers 331 and 332 may communicate fluid through a flow path formed in the hollow. Can be. The lower surface (the left side in the drawing) of the cylinder housing 310 may be opened, and the third and fourth openings 331a and 332a may communicate with the fluid through the lower surface of the cylinder housing 310.

Hydraulic pressure applied to the first and second chambers 321 and 322 and the third and fourth chambers 331 and 332 is controlled by independent first stage hydraulic circuit 340 and two stage hydraulic circuit 350, respectively. Can be. When hydraulic pressure is applied to the first chamber 321 or the second chamber 332, the first stage piston rod 320 moves up and down (left and right in the drawing), and extends or contracts in length, and the third chamber 331 or the fourth chamber. When hydraulic pressure is applied to the chamber 332, the two-stage piston rod 330 may move up and down and extend or contract in length. Check valves 341, 342, 351, which allow fluid to communicate with the first to fourth openings 321a, 322a, 331a, and 332a through the first stage hydraulic circuit 340 and the second stage hydraulic circuit 350. 352 may be provided.

The openings of any one of the first and second chambers 321 and 322 or the pair of the third and fourth chambers 331 and 332 may allow the pair of chambers to communicate with each other when neutral. On the other hand, the other pair of chambers may be disconnected from the external hydraulic circuit when neutral. In this embodiment, the pair of first and second chambers 321 and 322 communicate with each other so that the first stage piston rod 320 can move freely when neutral, and the pair of third and fourth chambers 331 and 332 Disconnected from the external hydraulic circuit so that the two-stage piston rod 330 stops when neutral.

The first stage hydraulic circuit 340 may allow the first stage piston rod 320 to move freely when neutral. For this purpose, the first stage hydraulic circuit 340 may be provided with an ABT connected 4-way directional control valve 344. have. The two-stage hydraulic circuit 350 may allow the two-stage piston rod 330 to stop when neutral. For this purpose, the two-stage hydraulic circuit 350 may be provided with a closed center four-way directional control valve 354.

Although the two-stage cylinder is illustrated in this embodiment, it may have a similar structure and be extended to three or more stages. According to the multi-stage hydraulic cylinder 300 according to the present invention, two or more piston rods can be independently controlled to simultaneously perform extension and impact absorption of the cylinder length, and have two or more functions in a simple configuration. do.

Hereinafter, an example in which such a multistage hydraulic cylinder is applied to a mooring system of a ship will be described. This embodiment does not limit the application range of the multistage hydraulic cylinder, but is only one example.

2 is a schematic view showing the state of the ship mooring system according to an embodiment of the present invention, Figure 2a is a plan view showing when in the mooring state, Figure 2b is a perspective view showing when in the sailing state.

Mooring system 200 according to an embodiment of the present invention, the attachment unit 210, the robot arm 220, the rotating unit 230, the mooring winch 240, the robot arm winch 250 Include.

The multi-stage hydraulic cylinder 300 according to the present embodiment is applied to the mooring system 200 to perform two functions in parallel in one cylinder structure. The first stage piston rod 320 may perform a function of adjusting the position of the robot arm 220 by extending the length and stopping when neutral. The two-stage piston rod 330 is free to move when neutral to provide some time between the ships shaking at sea and to absorb the impact between ships.

The robot arm 220 includes a plurality of arm parts coupled to each other by a hinge so as to be rotatable in the vertical direction. The robot arm 220 may move the attachment unit 210 to the attachment position of the hull by extending by the cylinder 300. Specifically, the robot arm 220 is formed by a first arm portion 223 coupled to a rotating unit 230 provided at one end of the robot arm 220 and another end and hinge 225 of the first arm portion 223. It may include a second arm portion 224 is coupled to the end. The first arm 223 is coupled to the rotating unit 230 by the hinge 226 to be able to rotate up and down. In addition, the robot arm 220 has a protrusion 224d protruding to be located at the rear of the connection member 212 of the attachment unit, the connection member 212 is connected by the protrusion 224d and the spring (212c) attached unit The shock applied to 210 may be absorbed.

In this case, the cylinder 300 may be connected between the first arm 223 and the second arm 224 to extend, thereby transferring the attachment unit 210. In addition, the cylinder 300, the shock applied to the second arm portion 224 through the attachment unit 210 can be absorbed. Furthermore, the cylinder 300 and the second arm part 224 may be connected by the spring 224c to absorb the shock applied to the second arm part 224.

The attachment unit 210 is detachably attached to the hull of the ship to be docked, such as a container ship. Attachment unit 210 may include a suction pad (211) for generating an attachment force for attachment to the hull. The adsorption pad 211 may be adsorbed to the hull by a vacuum supplied through a vacuum supply line from a vacuum supply unit, which is not shown. For this purpose, a plurality of vacuum holes may be formed in the suction pad 211. In addition, the suction pad 211 may include an electromagnet attached to the hull by magnetic force generated by the supply of power as another example.

Rotating unit 230, the robot arm 220 is connected to be able to rotate left and right in a predetermined angle range about an axis perpendicular to the installation surface. Rotation force is applied when the vessel in which the mooring system 200 is installed moves in the longitudinal direction.

The mooring winch 240 winds the mooring cable 245 so that the hull attached to the attachment unit 210 can be pulled toward the installation surface. When the attachment unit 210 is attached to the hull, by releasing the driving force of the robot arm 220 it can bear all or most of the load so that no load is applied to the robot arm 220. This not only bears the load on the mooring or mooring of the hull, but also allows the robot arm 220 to be free from the load burden, thereby preventing fatigue of the robot arm 220, and bringing down the structure and reducing the scale.

The robot arm winch 250 may attract the robot arm 220 by winding the robot arm cable 255. Similar to the mooring winch 240, the robot arm winch 250 also bears the load generated when the attachment unit 210 is attached to the hull to prevent fatigue of the structure.

3 is a conceptual diagram illustrating a state in which a mobile harbor equipped with a mooring system according to an embodiment of the present invention is docked in a container ship, and FIG. 3A is a front view and FIG. 3B is a plan view.

The mooring system 200 according to an embodiment of the present invention may be arranged in the side of the floating body, such as a mobile harbor. The mobile harbor 100 may be a vessel that can move with its own power, or may be a floating structure mooring at sea. The mobile harbor 100 may perform a function of temporarily transferring the container and floating the container between the container ship 150 instead of the land port or the land port while floating on the sea.

The mobile harbor 100 according to the present invention may further include a fender 110 installed between the hull of the ship such as the container ship 150. The winding of the mooring cable 245 prevents the hull from colliding with the mobile port 100 in which the robot arm 220 is installed by the fender 110, and also acts to push the hull, thereby providing the mooring cable 245. ) Tension can be maintained, and even if the sea conditions are poor, such as when the waves are rough at sea, the mooring or mooring of the vessel, etc. to be made stable.

Although the embodiment of the present invention describes an example in which the mooring system 200 is arranged in the mobile harbor, the mooring system according to the present invention may be arranged on the quay (or pier) of the land so that the vessel may be used when the vessel is docked on the quay of the land. .

Hereinafter, referring to FIG. 3, the operation method when the ship mooring system according to the embodiment of the present invention is mounted in the mobile harbor will be described.

The mooring method of the vessel includes the steps of transferring the attachment unit 210 to the hull by the robot arm 220, attaching the attachment unit 210 to the hull, and neutralizing the cylinder 300 of the robot arm 220 And a step of winding the mooring cable 245.

According to the step of transferring the attachment unit 210 to the hull by the robot arm 220, the mobile harbor 100 is close to the container ship 150, which is the ship to be docked, and then the attachment unit 210 is optimally attached. The position is selected and the attachment unit 210 is moved to the attachment position of the hull by the robot arm 220. In this case, the attachment unit 210 is moved through the movement of the robot arm 220 and the attitude of the attachment unit 210 such as the extension of the multi-stage hydraulic cylinder 300 and the rotation by the ball joints 212a and 212b and the hinge 213b. Reach the position to be attached on this hull. At this time, the first stage piston rod 320 and the second stage piston rod 330 of the multi-stage hydraulic cylinder can be selectively extended.

In the step of attaching the attachment unit 210 to the hull, the attachment unit 210 may be attached to the hull by the supply of vacuum or magnetic force.

In the winding of the mooring cable 245, the mooring cable 245 pulls the attachment unit 210 through the mooring winch 240 so as to bear the load due to the mooring or mooring of the vessel. At this time, the cylinder 300 of the robot arm 220 is neutralized, and the robot arm 220 of the load is turned off by turning off the driving of the hinges 213b or the actuators (not shown) of the ball joints 212a and 212b. Free yourself from the burden. Here, the first stage hydraulic circuit 340 may allow the first stage piston rod 320 to freely move when neutral, and the second stage hydraulic circuit 350 may allow the second stage piston rod 330 to stop when neutral. . The second stage piston rod 330 determines the distance from the container vessel 150 to be moored in a stopped state, and the first stage piston rod 320 moves freely to absorb the impact applied from the container vessel 150. .

Before winding the mooring cable 245, the fender 110 is installed between the mobile harbor 100 or the container ship 150 where the robot arm 220 is installed, and then the mooring cable 245 is wound. Can be.

The mooring system of the ship according to the present invention minimizes the time and effort required for the mooring of the ship and the ship or the mooring of the ship and the mobile port, so that they can maintain a stable mooring state to smoothly unload the cargo, To ensure the stability of the system for mooring ships.

As mentioned above, although specific embodiment of this invention was described, this is only an illustration and this invention is not limited to this, It should be interpreted that it has the broadest range based on the basic idea disclosed in this specification. Those skilled in the art can change the material, size, etc. of each component according to the application field, it is possible to implement a pattern of the shape not shown by combining or replacing the disclosed embodiments, but this is also not departing from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, it is apparent that such changes or modifications are included in the scope of the present invention.

100: mobile port 110: fender
150: container ship 200: mooring system
210: attachment unit 211: suction pad
212: connecting member
220: robot arm 223: first arm part
224: second arm 225, 226: hinge
230: rotary unit
240: mooring winch 245: mooring cable
250: robot arm winch 255: robot arm cable
300: hydraulic cylinder 310: cylinder housing
320: first stage piston rod 321: first chamber
322: second chamber 323: hollow
330: two-stage piston rod 331: third chamber
332: fourth chamber 333: hollow
340: one-stage hydraulic circuit 341, 342: check valve
344: direction control valve 350: two-stage hydraulic circuit
351, 352: check valve 354: directional control valve

Claims (12)

A cylinder housing having a space formed therein and an upper surface opened;
A first stage piston rod inserted into an upper surface of the cylinder housing to form a first chamber and a second chamber by dividing an inner space of the housing, wherein a space is formed therein and the upper surface is opened;
A second stage piston rod inserted into an upper surface of the first stage piston rod to divide the internal space of the first stage piston rod to form a third chamber and a fourth chamber,
The first to fourth chambers are respectively sealed but have first to fourth openings for allowing fluid to be communicated to apply hydraulic pressure.
Hydraulic pressure applied to the first and second chamber pairs and the third and fourth chamber pairs is controlled by independent one-stage hydraulic circuits and two-stage hydraulic circuits, respectively.
Multi-stage hydraulic cylinder.
The method of claim 1,
The openings of any one of the first and second chamber pairs or the third and fourth chamber pairs communicate with each other when the pair of chambers are neutral.
Multi-stage hydraulic cylinder.
The method of claim 1,
The other one of the first and second chamber pairs or the third and fourth chamber pairs is disconnected from an external hydraulic circuit when neutral.
Multi-stage hydraulic cylinder.
The method of claim 1,
The first stage hydraulic circuit allows the first stage piston rod to move freely when neutral,
The two-stage hydraulic circuit is to stop the two-stage piston rod when neutral
Multi-stage hydraulic cylinder.
The method of claim 4, wherein
The first stage hydraulic circuit is provided with an ABT connected 4-way directional valve,
The two-stage hydraulic circuit is provided with a closed center four-way direction control valve
Multi-stage hydraulic cylinder.
The method of claim 5,
The first stage hydraulic circuit and the second stage hydraulic circuit are provided with a check valve for applying hydraulic pressure to the first to fourth openings.
Multi-stage hydraulic cylinder.
The method of claim 1,
Hollow is formed in the first stage piston rod and the second stage piston rod,
The third and fourth openings communicate fluid through a flow path formed in the hollow.
Multi-stage hydraulic cylinder.
The method of claim 7, wherein
The cylinder housing has an open lower surface,
The third and fourth openings are in fluid communication with the bottom surface of the cylinder housing.
Multi-stage hydraulic cylinder.
An attachment unit detachably attached to the hull of the ship to be docked;
And a robot arm having a plurality of arm parts coupled to each other by a hinge so as to be rotatable in a vertical direction and extending by a cylinder to transfer the attachment unit to an attachment position of the hull.
The cylinder is a multi-stage hydraulic cylinder according to any one of claims 1 to 8.
Mooring system of the ship.
10. The method of claim 9,
The robot arm is,
A first arm portion having one end coupled to the installation surface side;
A second arm part having one end coupled to the other end of the first arm part;
And a cylinder connected between the first arm and the second arm to extend the transfer unit to absorb the impact applied to the second arm.
Mooring system of the ship.
The method of claim 10,
The cylinder and the second arm are connected by a spring to absorb the shock applied to the second arm.
Mooring system of the ship. 10. The method of claim 9,
Further comprising a mooring winch winding the mooring cable to attract the attachment unit
Mooring system of the ship.

Images