KR20150050602A - The working robot system of autonomous type in lngc cargo hold - Google Patents

Abstract

The present invention relates to a working robot system (100) of an autonomous type in an LNGC cargo hold (1). The present invention comprises: a first body (100) installed in a front part of the robot to operate an invar tongue (2) installed inside the LNGC cargo hold (1) at regular intervals using a guide rail; a second body (120) installed in the rear of the robot to operate the invar tongue (2) using a guide rail; a device part (130) having a rotary driving module (131) and left and right driving module (132) to integrate the first body and the second body (110, 120) in a rotatable position, and in a left and right translation position respectively; an operation module (140) installed in the first body (110) or in the second body (120); and an obstacle sensing sensor (150) installed inside the first body (110) to sense the obstacle. The invention autonomously operates the invar tongue in a special environment of the LNGC cargo hold to execute works such as cleaning up, welding, and investigation. The invention can repeatedly execute cleaning-up, welding, and investigation works after being moved to the invar tongue through the left and right translation and rotation, or up and down movement and left and right translation. The invention can significantly reduce the work hours and increase productivity, and the invention can prevent safety accidents such as a worker falling or the worker obtaining wounds.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an autonomous traveling LNGC cargo hold robot system,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an LNGC cargo hold work robot system, and more particularly, to an autonomous travel LNGC cargo holds robot system that can perform various operations such as cleaning, welding, and inspection while traveling inside a LNGC cargo hold.

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

On the other hand, after installation of the LNGC cargo hold insulation box and installation of the INVAR, a large amount of dust generated during the operation due to the long time of air is accumulated in the cargo hold, and after the completion of the installation, Clean the bottom of the wall. However, at present, the operator is directly climbing on the Invar Tongue (2) to manually clean the inside of the LNGC cargo hold (1). In this case, since it is difficult to arrange the equipment to assist the operator inside the LNGC cargo hold and there is a restriction of the staffing, the worker must clean the section of the LNGC cargo by walking the Invar Tongue (2) Not only the sex is deteriorated but also the risk of a wound accident or other safety accidents is high.

BACKGROUND OF THE INVENTION [0002] Conventionally, as a patented technology in the related art, a wheel portion composed of a wheel and a caterpillar is often formed on both sides of a car body, and a camera head having a tilting means is installed on the front and rear of the car body. And a foreign matter removing means for removing foreign substances inside the new pipe is formed at the upper end of the main body of the car frequently, and a conduction detecting means for frequently detecting the car and the reflections is formed on the inner front upper side of the frequently- And a cable connection port for connecting the cable between the connector and the cable drum is formed at the rear of the car body frequently (refer to Patent Document 1).

Korean Patent Laid-Open No. 10-1999-0076145

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to improve the workability by performing an operation such as cleaning, welding and inspection while autonomously traveling using Invar Tongue as a guide rail in a special environment called LNGC cargo hold And to provide a self-propelled type LNGC cargo hold robot system capable of preventing safety accidents.

In order to achieve the above object, an autonomous travel type LNGC cargo hold work robot system according to a first embodiment of the present invention is a robot system for working inside an LNGC cargo hold, in which an Invar Tongue A first body installed at a front end so as to be used as a guide rail; A second body installed at the rear end so as to be able to travel using the Invar Tongue as a guide rail; A mechanical part having a rotation driving module and a left and right driving module for coupling the first and second bodies, respectively, so that the first and second bodies can be rotated and left and right translated; A work module installed on the first body or the second body; And an obstacle detection sensor installed to detect an obstacle in the first body.

In order to achieve the above object, an autonomous travel type LNGC cargo hold work robot system according to a second embodiment of the present invention is a robot system for cleaning the inside of an LNGC cargo hold, comprising an Invar Tongue A first body installed at a front end so as to be used as a guide rail; A second body installed at the rear end so as to be able to travel using the Invar Tongue as a guide rail; A mechanical unit having the first and second bodies coupled to each other so that the first and second bodies can move up and down and translate left and right respectively; A work module installed on the first body or the second body; And an obstacle detection sensor installed to detect an obstacle in the first body.

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

When the work module is a cleaning module, a dust collector installed in the first body; And a mop provided on the second body.

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

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

Also, when an obstacle is detected by the obstacle detection sensor, the traveling speed can be set in proportion to the distance.

The first body may further include a limit sensor for detecting an obstacle.

In addition, the first and second bodies may include a traveling motor and left and right travel guide rollers so as to be able to travel using two Invar Tongues as right and left guide rails, respectively.

In addition, the travel guide rollers may be configured to be paired with each other so as to be able to press the Invar Tongue while being fitted in the Invar Tongue.

The up-down driving module and the left and right driving modules may each include a driving motor, an LM guide, and a rack and pinion.

In addition, the up-down driving module and the left and right driving modules may each include an LM guide and a linear actuator.

The linear actuator may be equipped with a linear actuator scale and a linear scale head so as to control the linear actuator.

In addition, the linear actuator may be provided with a linear actuator groove sensor for aligning the initial position.

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

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

An absolute encoder may be installed in the tilting motor so that the position can be confirmed.

The first and second bodies may further include an auxiliary guide roller.

Further, the robot system may include a remote control terminal and a robot controller so as to be remotely controllable.

According to the present invention, the Invar Tongue is used as a guide rail in a special environment called a LNGC cargo hold to carry out operations such as cleaning, welding, and inspection while traveling autonomously, and also to perform right and left translational motion, After passing the Invar Tongue, it can be repeatedly cleaned, welded and inspected. Therefore, it is possible to greatly reduce the number of work hours and to improve the productivity, and prevent safety accidents such as falls and wounds.

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

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

The autonomous travel type LNGC cargo hold robot system according to the present invention greatly improves workability by carrying out automatic cleaning, welding and inspection operations by using Invar Tongue as a guide rail in a special environment called LNGC cargo window And to prevent safety accidents. In other words, by attaching the robot to the side part as well as the bottom part of the cargo hold with the autonomous running type work robot minimizing human manipulation, it is possible to automatically perform work such as cleaning, welding and inspection .

FIG. 3 is a conceptual diagram of an autonomous travel type LNGC cargo hold work robot system according to the first embodiment of the present invention, FIG. 4 is a conceptual view of an autonomous travel LNGC cargo hold work robot system according to a second embodiment of the present invention, FIG. 7 is a view showing a rack and pinion according to the present invention. FIG. 8 is a plan view of a linear guide roller according to the present invention. Fig. 10 is an explanatory view showing the state of use of the self-running LNGC cargo hold work robot system according to the present invention. Figs. 11 and 12 are views showing the operation of the autonomous travel LNGC cargo hold robot system according to the present invention, FIG. 13 is a view showing a cleaning operation process using a robot system for working an LNGC cargo hold window according to a first embodiment of the present invention. FIG. Clean the work process diagram using.

3, the autonomous travel type LNGC cargo hold work robot system 100 according to the first embodiment of the present invention is a robot system for working in the LNGC cargo hold 1, A second body 120 installed at a rear end of the body 110, a mechanism 130 for coupling the first and second bodies 110 and 120, a first body 110 installed at the first body 110, A module 140, an obstacle detection sensor 150, and a 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, when viewed from the front,

Two Invar Tongues (2) are used as the left and right guide rails (1), and two Invar Tongues (2) are used as the left and right guide rails And a traveling motor and left and right traveling guide rollers 111 so as to be able to travel.

" 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 front like the first body 110,

To be able to run using the Invar Tongue 2 as a guide rail. Specifically, the two Invar Tongues (2) are used as left and right guide rails so that the traveling motor and the left and right travel guide rollers (121).

The mechanism unit 130 couples the first and second bodies 110 and 120 with the rotation drive module 131 and the left and right drive modules 132 so that the first and second bodies 110 and 120 can be rotated, Respectively. That is, the first and second bodies 110 and 120 are allowed to pass through the Invar Tongue 2 through the Pictch-Surge movement.

Specifically, the rotation driving module 131 may include a tilting motor for rotational movement and a harmonic driver for generating a rotational torque by a driving force of the tilting motor. At this time, the tilting motor may be provided with a brake to prevent the tilting motor from rotating suddenly when an emergency occurs, that is, when a problem occurs during rotation, and even when a separate home sensor is not attached, Absolute encoders can be installed to verify.

The left and right driving modules 132 may include a driving motor, an LM guide, a rack and pinion 133, or an LM guide and a linear actuator 134 for translating left and right. At this time, a linear actuator scale and a linear scale head may be attached to the linear actuator 134 for precise control of the linear actuator. The linear actuator 134 may be provided with a linear actuator groove sensor for aligning the initial position.

The work module 140 may be a module capable of performing tasks such as cleaning, welding, and inspection. In this case, when the work module 140 is a cleaning module, a dust collector is installed in the first body 110 so that dust can be sucked by using a vacuum suction motor, and a mop is installed in the second body 120 . It is preferable that a pump is attached to the mop periodically to supply water.

The obstacle detection sensor 150 may be an ultrasonic sensor, an infrared sensor, a laser sensor, or the like.

At this time, if an obstacle is detected by the obstacle detecting sensor 150, it is preferable that the current traveling speed can be reset in proportion to the distance.

The limit sensor 160 is installed in the first body 110 for detecting 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 can be stably positioned on the bottom without being inclined eccentrically.

As shown in FIG. 6, the traveling guide rollers 111 and 121 are formed of a pair of the guide rollers 111 and 121 so as to enable the traveling guide rollers 111 and 121 to run without falling down. It is preferable to be capable of being pressed by an elastic force by a means such as a spring or the like.

The autonomous travel type LNGC cargo hold robot system 100A according to the first embodiment of the present invention may include a remote control terminal 170 and a robot controller 180 so as to be remotely controllable. At this time, the robot controller 180 is connected to the operation processing unit 182, the motion control unit 183, the drive modules 131 and 132, and the work module 140 as well as the receiving unit 181 that receives signals from the remote control terminal 170 And a transmitting unit 184 for transmitting a control signal.

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

First, the robot system 100 travels by using two Invar Tongues (2) installed at regular intervals in the LNGC cargo hold (1) as guide rails, and carries out cleaning, welding and inspection operations.

The first body 110 or the second body 120 is rotated to move from the floor to the neighboring compartment and then to rotate in the opposite direction to rotate the neighboring compartment, Land on Invar Tongue (2).

Then, the remaining second body 120 or the first body 110 rotates in the same manner and moves from the floor to the neighboring compartment in the reverse direction, .

Then, the robot system 100 travels by using two Invar Tongues (2) of the neighboring chambers as guide rails, and carries out operations such as cleaning, welding, and inspection.

4, the autonomous travel type LNGC cargo hold work robot system 100A according to the second embodiment of the present invention is a robot system for working in the LNGC cargo hold 1, A second body 120 installed at a rear end of the body 110, a mechanism 130A for coupling the first and second bodies 110 and 120 and a second body 120 installed at the first body 110 or the second body 120, A module 140, an obstacle detection sensor 150, and a limit sensor 160. [

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

The mechanism unit 130A connects the first and second bodies 110 and 120. The first and second bodies 110 and 120 are coupled to the upper and lower drive modules 131A and the left and right drive modules 132A so that the first and second bodies 110 and 120 can move up and down, Respectively. That is, the first and second bodies 110 and 120 are allowed to pass the Invar Tongue 2 through the Heave-Surge movement.

Specifically, the vertical drive module 131A and the left and right drive modules 132A are provided with a drive motor, an LM guide, and a rack and pinion 133 in the same manner as the left and right drive modules 132 , Or an LM guide and a linear actuator 134. At this time, a linear actuator scale and a linear scale head may be attached to the linear actuator 134 for precise control of the linear actuator. The linear actuator 134 may be provided with a linear actuator groove sensor for aligning the initial position.

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

First, the robot system 100A travels by using two Invar Tongues (2) installed at regular intervals in the LNGC cargo hold (1) as guide rails, and carries out cleaning, welding and inspection operations.

The first body 110 or the second body 120 is moved upwards to move to the neighboring compartment while being separated from the floor, and then moved downward to move to the neighboring compartment. 2).

Then, the remaining second body 120 or the first body 110 is moved upwardly and separated from the floor, translationally moved to a neighboring compartment, and then descended to land on the Invar Tongue 2.

Then, the robot system 100A travels by using two Invar Tongues (2) in the neighboring chambers as guide rails, and carries out operations such as cleaning, welding and inspection.

As described above, according to the present invention, the Invar Tongue (2) is used as a guide rail in a special environment called a LNGC cargo window to carry out operations such as cleaning, welding and inspection while traveling automatically, After moving over the Invar Tongue (2) through the exercise or lift-motion and left-right translational motion, it is possible to carry out tasks such as cleaning, welding and inspection repeatedly, thereby greatly improving workability and preventing safety accidents.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, And various alternatives, modifications, and alterations can be made within a range.

Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

1: LNGC Cargo Hold 2: Invar Tongue
100, 100A: work robot system 110: first body
111, 121: travel guide roller 112, 122:
120: second body 130:
131: rotation drive module 132, 132A: left and right drive module
133: Rack & Pinion 134: Linear Actuator
140: Working module 150: Obstacle detection sensor
160: Limit sensor 170: Operation input unit (remote control terminal)
180: Robot controller 131A: Up and down drive module

Claims (19)

A robot 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 able to travel using an Invar Tongue 2 installed as a guide rail at regular intervals;
A second body (120) installed at the rear end so as to be able to travel using the Invar Tongue (2) as a guide rail;
A mechanical part 130 having a rotation drive module 131 and a left and right drive module 132 for coupling the first and second bodies 110 and 120 and rotating the first and second bodies 110 and 120, respectively, Wow;
A work module 140 installed in the first body 110 or the second body 120;
And an obstacle detection sensor (150) installed in the first body (110) for detecting obstacles. A robot system (100A) for cleaning the inside of an LNGC cargo hold (1)
A first body 110 installed at a front end of the LNGC cargo hold 1 so as to be able to travel using an Invar Tongue 2 installed as a guide rail at regular intervals;
A second body (120) installed at the rear end so as to be able to travel using the Invar Tongue (2) as a guide rail;
A mechanical part 130A having an up / down drive module 131A and a left / right drive module 132A for coupling the first and second bodies 110 and 120 and moving the first and second bodies 110 and 120, respectively, Wow;
A work module 140 installed in the first body 110 or the second body 120;
And an obstacle detection sensor (150) installed in the first body (110) for detecting obstacles. The method according to claim 1 or 2,
Wherein the work module (140) is a module capable of performing any one of cleaning, welding, and inspection. The method of claim 3,
If the work module 140 is a cleaning module,
A dust collector installed in the first body 110;
And the second body (120) is provided with a mop installed in the second body (120). The method of claim 4,
And a pump is attached to the mop periodically for water supply. The method according to claim 1 or 2,
Wherein the obstacle detection sensor (150) comprises any one of an ultrasonic sensor, an infrared sensor, and a laser sensor. The method of claim 6,
Wherein when the obstacle is detected by the obstacle detection sensor (150), the traveling speed is set in proportion to the distance. The method according to claim 1 or 2,
Further comprising a limit sensor (160) installed to detect an obstacle in the first body (110). The method according to claim 1 or 2,
Wherein the first and second bodies (110, 120) are provided with traveling motors and left and right travel guide rollers (111, 121) so as to travel using two Invar Tongues (2) as left and right guide rails, respectively. Cargo hold robot system. The method of claim 9,
Wherein the travel guide rollers (111, 121) are each formed of a pair and are capable of pressing the Invar Tongue (2) while being fitted in the Invar Tongue (2). The method according to claim 1 or 2,
Wherein the up-down driving module (131A) and the left and right driving modules (132, 132A) each include a driving motor, an LM guide, and a rack and pinion (133). The method according to claim 1 or 2,
Wherein the up-down driving module (131A) and the left and right driving modules (132, 132A) each include an LM guide and a linear actuator (134). The method of claim 12,
Wherein the linear actuator (134) is provided with a linear actuator scale and a linear scale head so as to control the linear actuator. The method of claim 12,
Wherein the linear actuator (134) is provided with a linear actuator groove sensor for aligning the initial position. The method according to claim 1,
Wherein the rotation driving module (131) comprises a tilting motor for rotational motion and a harmonic driver for generating a rotational torque by a driving force of the tilting motor. 16. The method of claim 15,
Wherein the tilting motor is provided with a brake for braking the tilting motor. 16. The method of claim 15,
Wherein the tilting motor is provided with an absolute encoder for confirming the position thereof. The method according to claim 1 or 2,
The first and second bodies (110, 120) further include auxiliary guide rollers (112, 122). The method according to claim 1 or 2,
Wherein the robot system comprises a remote control terminal (170) and a robot controller (180) so as to be remotely controllable.

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