KR20160029886A - Apparatus for detecting cable used for underwater cleaning robot, and lifting apparatus including the same - Google Patents

Abstract

A cable sensing device for an underwater cleaning robot and a lifting device comprising the same are disclosed. According to an embodiment of the present invention, the cable sensing device comprises: a support roller wound around or unwound from a drum and supporting a cable connected to an underwater cleaning robot; a roller frame where the support roller is coupled to be rotated; a fixing plate disposed to be spaced from a lower side of the roller frame; a guide unit connecting the roller frame and the fixing plate and comprising a guide shaft pushed and moved toward a lower side by the roller frame when the cable is pressed; and a sensor unit fixated to the fixing plate and transmitting a sensing signal when the sensor unit comes in contact with the roller frame. The purpose of the present invention is to provide the lifting device comprising the cable sensing device and the cable sensing device for an underwater cleaning robot which effectively sensing that the cable connected to the underwater cleaning robot is hung by an underwater structure.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an underwater cleaning robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a cable sensing apparatus for an underwater cleaning robot and an elevating apparatus including the same.

The hull is operated with the lower side being immersed in water, so that aquatic organisms such as mosses, barnacles, etc. may be attached to the bottom or side of the hull. As such, the foreign matter attached to the hull acts as a resistance when the hull is operated, thereby lowering the speed and increasing the fuel consumption. Therefore, it is necessary to remove it through periodic cleaning.

In recent years, an underwater cleaning robot has been disclosed in which the outer wall of the hull can be cleaned while traveling along the bottom or side of the hull in water. For example, Korean Patent Laid-Open No. 10-2011-0062248 (published on June 10, 2011) discloses related technology.

In order to operate such an underwater cleaning robot, it is required to launch the underwater cleaning robot to the outside of the hull. A method of launching a submersible cleaning robot includes a method in which a submersible directly attaches an underwater cleaning robot to the outer surface of the hull, a method in which a submersible cleaning robot is dropped into water, and a submersible swimmer mounted on an underwater cleaning robot approaches the outer wall of the hull Method and the like are used.

After cleaning the underwater cleaning robot, the cable connected to the underwater cleaning robot is unwound or wound using a lift device such as a winch. Since the lifting device used in the underwater cleaning robots must constantly wind or unroll the cables, unlike a general winch, there is a need to stably and efficiently wind the cables.

At this time, the cable moves along various paths along water along the underwater cleaning robots, and can take an existing structure existing in the water, such as a ship's bill. If the underwater cleaning robot keeps moving while the cable is stuck in the structure, or if the cable is wound by the lifting device, the cable and the structure may be damaged.

Korean Patent Laid-Open No. 10-2011-0062248 (Published on June 10, 2011)

An embodiment of the present invention is to provide a cable sensing device for an underwater cleaning robot capable of effectively detecting whether a cable connected to an underwater cleaning robot is caught in an underwater structure, and a lift device including the same.

According to an aspect of the present invention, there is provided a support roller that is unwound or wound from a drum and supports a cable; A roller frame rotatably coupled to the support roller; A fixing plate spaced below the roller frame; A guide part connecting the roller frame and the fixing plate, the guide part including a guide shaft pushed downward by the roller frame when the cable is pressed; And a sensor unit that is fixed to the fixing plate and transmits a sensing signal upon contact with the roller frame.

The guide unit may further include a buffer member provided on the fixing plate to support the guide shaft.

According to a further aspect of the present invention there is provided an apparatus comprising an alignment unit coupled to a mainframe on which a drum for winding and unwrapping a cable is seated and for aligning and winding the cable around the drum, A support frame supported by a set frame fixed to a rear surface of a block portion movably coupled to the fixed shaft and disposed between the alignment support plates, And a pressure roller provided on an upper frame and a lower frame respectively coupled to the front surface of the block, wherein the lower frame in front of the pressure roller is provided with a cable sensing device according to claim 1 A lift value can be provided.

The block unit moves along the fixed axis according to the movement of the cable moving to the left or right of the drum and includes a first block unit coupled with an upper fixed shaft and a second block unit coupled with a lower fixed shaft And the pressing roller includes an upper pressure roller coupled to a vertical groove formed in the upper frame connected to the first block and coupled to the upper pressing roller so as to be vertically movable, And a lower pressing roller disposed in correspondence with the upper pressing roller for the cable movement.

A control unit for controlling the drum unit to stop the motor when the sensing time of the sensor unit exceeds the set value by comparing the sensed signal with a preset value, And a control unit for stopping the running operation of the robot.

The cable sensing device for an underwater cleaning robot according to an embodiment of the present invention and the lift device including the same can effectively detect whether a cable connected to the underwater cleaning robot is caught in an underwater structure.

In addition, the underwater cleaning robot can be launched stably and efficiently.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 is a perspective view illustrating an underwater cleaning robot launched on an outer wall of a ship by an underwater cleaning robot launching apparatus installed in a housing according to an embodiment of the present invention. FIG.
2 is a perspective view showing a state in which a horizontal frame of the launching apparatus shown in FIG. 1 is unfolded.
FIG. 3 is a perspective view showing a state in which a vertical frame is unfolded after the horizontal frame of FIG. 2 is unfolded.
FIG. 4 is an exploded perspective view of the holding part shown in FIG. 3 and the underwater cleaning robot coupled thereto.
FIG. 5 is a cross-sectional view illustrating a state in which the projecting portion of the underwater cleaning robot is engaged with the leg of the holding portion shown in FIG. 4 to be locked.
6 is a perspective view of a lift device installed in the housing shown in Fig.
FIG. 7 is an enlarged perspective view of the aligning unit of the elevating apparatus shown in FIG. 6; FIG.
FIG. 8 is a perspective view showing a state where the cable sensing device is installed in the elevating device shown in FIG.
FIG. 9 is a perspective view of the cable sensing apparatus shown in FIG. 8. FIG.
FIG. 10 is a block diagram illustrating a configuration of a landing gear for receiving and processing signals sensed by the sensing apparatus shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

Referring to FIG. 1, an underwater cleaning robot launching apparatus 100 according to an embodiment of the present invention launches an underwater cleaning robot 200 to a work area of an outer wall 2 of a ship. The launching apparatus 100 may be provided in a box-shaped housing 101, and the housing 101 may include a container or the like. That is, the conventional launching apparatus 100 can be installed by utilizing or improving the conventional container structure.

The housing 101 provided with the launching apparatus 100 is installed at a suitable place on the deck so that the cleaning operation by the underwater cleaning robot 200 can be performed. After the cleaning operation is completed, the housing 101 can be easily transported by land or the like by various transportation means. Accordingly, the space occupied by the housing 101 can be utilized as a space for container loading and the like. The launching apparatus 100 can be included in the housing 101 in the form of a package, and if the cleaning operation is not performed by the underwater cleaning robot 200, it is possible to eliminate a problem of aesthetics. It can also be easily moved to another location or structure.

Referring to FIGS. 1 and 2, the launching apparatus 100 includes a horizontal conveying unit 110, a vertical conveying unit 120, a holding unit 130, and a lifting unit 300. The launching apparatus 100 can be controlled, for example, by a control apparatus at a remote location, or can be controlled according to a preset control command. Description related to the lifting device 300 will be described with reference to Figs. 6 to 9. Fig.

The horizontal conveying unit 110 horizontally moves the underwater cleaning robot 200 from the housing 101 to the outside of the hull. To this end, the horizontal conveying unit 110 includes a plurality of horizontal frames 111 and 112, which are folded or unfolded in a horizontal direction, and a driving unit (not shown) and cable supporting units 143 and 145 for operating the horizontal frames 111 and 112. For example, the horizontal frames 111 and 112 include a first horizontal frame 111 fixed to the inner upper end of the housing 101, and a second horizontal frame 111 folded or unfolded inside the first horizontal frame 111 in a telescopic manner 112). That is, when the second horizontal frame 112 is folded, the second horizontal frame 112 is inserted and overlapped with the first horizontal frame 111.

In the embodiment of the present invention, the two-stage horizontal frames 111 and 112 are described as an example, but they may be provided in more than one multi-stage frame. In addition to the telescopic system, various known configurations for unfolding or folding can be applied. The driving unit (not shown) for operating the horizontal frames 111 and 112 to be folded or unfolded may include a motor, a hydraulic device, and the like.

The cable supporting units 143 and 145 are connected to the underwater cleaning robot 200 and include a supporting roller 143 for supporting a cable C wound or unwound by the elevating device 300, And a fixing frame 145 which fixes the lower frame 112 to the lower frame. The support units 143 and 145 may be provided at the bottom of the frame that is finally deployed among the horizontal frames 111 and 112.

2 to 4, the vertical conveying unit 120 moves the submersible cleaning robot 200 in the vertical direction to approach the hull outer wall 2. To this end, the vertical carrying section 120 includes a plurality of vertical frames 121, 122 arranged to be folded or unfolded in a vertical direction. Hereinafter, two vertical frames 121 and 122 will be used for the sake of understanding, but they may be provided in the same multi-stage frame as the horizontal frames 111 and 112 described above.

The vertical frames 121 and 122 include a first vertical frame 121 having one side connected to the bottom of the second horizontal frame 112 and a second vertical frame 122 folded or extended from the first vertical frame 121 ). The first vertical frame 121 may be connected to a lower portion of the last frame of the horizontal frames 111 and 112.

The first vertical frame 121 and the second vertical frame 122 form sliding grooves H1 and H2 in the longitudinal direction on both sides, respectively. The second vertical frame 122 is located inside the first vertical frame 121 and is arranged to have a width larger than the first vertical frame 121 so as to move in the vertical direction along the sliding groove H1 of the first vertical frame 121 . The second vertical frame 122 forms first engaging protrusions 122a on both upper surfaces and the first engaging protrusions 122a are engaged with both sliding grooves H1 of the first vertical frame 121. [ The first vertical frame 121 and the second vertical frame 122 may be overlapped or unfolded in a sliding manner. The sliding manner will be described in more detail with reference to the holding unit 130, which will be described later. However, in addition to the sliding method, in another example, an operation of folding or unfolding between the vertical frames 121 and 122 may be performed by a motor, a hydraulic device, or the like.

The holding part 130 moves in the vertical direction along the sliding groove H2 of the second vertical frame 122 in a state of being coupled with the underwater cleaning robot 200. [ The holding part 130 includes a coupling plate 133 covering the rear part 210b of the underwater cleaning robot 200 whose bottom surface 210a faces the hull outer wall 2, And legs 135 extending from both sides and engaged with protrusions 211 formed on both side surfaces 210c of the underwater cleaning robot body 210.

The coupling plate 133 forms an opening 130a through which the cable C wound or unwound by the lifting device 300 passes. The cable C is connected to the underwater cleaning robot 200 through the opening 130a. The opening 130a may be provided with a pair of guide rollers 137 for supporting the cable C from both sides.

The coupling plate 133 has a coupling portion 131 bent toward the upper end of the underwater cleaning robot 200 and is provided on both sides of the coupling portion 131 in the sliding groove H2 of the second vertical frame 122 A second engaging projection 131a is formed. When the cable C is wound by the lifting device 300 in a state in which the second vertical frame 122 is extended from the first vertical frame 121, the second engaging projection 131a is engaged with the second vertical frame 122 As shown in FIG. At this time, the underwater cleaning robot 200 coupled to the holding part 130 moves together. The second engaging projection 131a is caught at the upper end of the sliding groove H2 of the second vertical frame 122 so that when the cable C is continuously wound, the second vertical frame 122 itself moves upward . That is, until the first engaging projection 122a of the second vertical frame 122 is engaged with the upper end of the sliding groove H1 of the first vertical frame 121, the sliding groove H1 of the first vertical frame 121 And the second vertical frame 122 is overlapped inside the first vertical frame 121.

4 and 5, a concave groove H3 is formed at one end of the leg 135. The concave groove H3 is formed with protrusions formed on both side surfaces 210c of the body 210, (Not shown). The locking pin 139a of the locking device 139 provided on one side of the concave groove H3 of the leg 135 is engaged with the other side of the concave groove H3 formed on the concave groove H3, And inserted into the groove 135a to be locked. The coupling between the holding unit 130 and the underwater cleaning robot 200 is performed. The locking device 139 can be operated by a hydraulic device or the like.

6 and 7, the lifting device 300 can be controlled so as to wind or loosen the above-described cable C, and to keep the cable C at a constant tension. The elevating device 300 is wound around a cable C connected to the underwater cleaning robot 200 and includes a drum 312 operated by the motor M1 and a main frame 314 on which the drum 312 is mounted And an alignment unit 320 connected to the drum unit 310 and the main frame 314 that includes the cable C and aligns and winds the cable C to and from the drum 312. The lifting device 300 is fixed to the inside of the housing 101 by a fixed support 313 and may be provided to be movable by a wheel 311 if necessary. That is, the elevating device 300 can be moved to the outside of the housing 101 as needed, and functions to wind or unwind the cable C in a state where the underwater cleaning robot 200 is attached to the outer shell 2 of the ship can do.

The alignment unit 320 includes a pair of alignment support plates 330 coupled to the drum support plate 315 disposed on both sides of the drum 312 and coupled by a plurality of fixing shafts 331 provided in the lateral direction, A pair of alignment rollers 360 which are supported by a setting frame 361 fixed to the back face of the block portion 335 coupled to the alignment plate 331 and disposed between the alignment support plates 330, And a pair of pressure rollers 370 provided on the upper and lower frames 341 and 342 coupled to the front surface of the block portion 335, respectively.

The block portion 335 described above is movably coupled to the fixed shaft 331 through the penetrated opening 335c. When the block portion 335 moves along the fixed shaft 331 along the left and right direction of the cable C, the aligning roller 360 moves and aligns the cable C. [ The block unit 335 is coupled to the fixed shaft 331 in a screw shape and is moved to the left or right by the motor device M2 according to the rotating direction of the fixed shaft 331. [ The rotational direction of the fixed shaft 331 can be controlled in accordance with the movement of the cable C moving to the left or right of the drum 312. The motor device M2 may be controlled in accordance with the rotational direction of the motor M1 for operating the drum 312. [ The block 335 is slidably coupled to the fixed shaft 331 so that the cable C is moved from the drum 312 to the left and right so that the fixed shaft 331 The block unit 335 may be moved along the predetermined direction. The block unit 335 includes a first block unit 335a coupled with one upper fixed axis 331 of the three fixed axes 331 arranged in a line and a second block unit 335b coupled to the lower two fixed axes 331 And a second block unit 335b coupled to the second block unit 335b.

The setting frame 361 provided with the aligning roller 360 may be provided with a cleaning unit 380 for removing moisture and foreign matter from the outer surface of the cable C. [ The setting frame 361 is provided on both sides of the first block portion 335a and the second block portion 335 and the cable C is inserted between the first block portion 335a and the second block portion 335 Thereby fixing the cleaning unit 380 to pass through the inside of the cleaning unit 380. The aligning roller 360, the setting frame 361 and the cleaning unit 380 may be fabricated in one package and used as a cleaning device for removing moisture and foreign matter from the outer surface of the cable C. The cleaning unit 380 may include a pad that contacts the outer surface of the cable C to remove moisture and foreign matter from the outer surface of the cable C. The pad may be formed of rubber and silicone It can be made of one or more materials.

The pressing roller 370 includes an upper pressing roller 371 which is coupled to the vertical groove of the upper frame 341 connected to the first block portion 335a and is movable up and down by a coupling protrusion 341a, And a lower pressing roller 372 rotatably coupled to the lower frame 342 connected to the lower pressing roller 335 and corresponding to the upper pressing roller 371 for cable C movement. The upper pressing roller 371 presses the cable C to increase the frictional force of the lower pressing roller 372. The lower pressing roller 372 is provided with a larger diameter than the upper pressing roller 371, and moves the cable C. Here, the lower frame 342 may be formed in an inclined shape and arranged on both sides of the lower pressing roller 372 in pairs, and a pair of conveying rollers 344 may be provided at the ends for stable and efficient conveyance of the cable C. Can be provided. The lower pressing roller 372 may be operated by a motor device M3 provided in the lower frame 342 and the motor device M3 may be controlled by the motor device M1 for operating the drum 312 .

Referring to FIGS. 8 and 9, a cable sensing device 400 may be provided between the conveying roller 344 and the pressure roller 370. FIG. The cable sensing device 400 senses a cable C that is caught in an existing structure existing in the water, such as a ship's bill. Since the underwater cleaning robot 200 continues to travel while the cable C is caught by the underwater structure or the cable C and the structure are damaged when the cable C is wound by the lifting device 300, This can be detected to prevent equipment and cable (C) damage in advance.

The cable sensing device 400 includes a support roller 411 for supporting a cable C connected to the underwater cleaning robot 200, a roller frame 412 to which the support roller 411 is rotatably engaged, A roller frame 412 which connects the roller frame 412 and the fixing plate 413 and is lowered when the cable C is pressed against the support roller 411, And a cushioning member 416 provided on the fixing plate 413 and supporting the guide shaft 415. The guide portion 414 is provided on the fixing plate 413 so as to support the guide shaft 415, And a sensor unit 420 for sensing the contact with the roller frame 412.

Here, the fixing plate 413 can be fixed to both sides of the lower frame 342 by fastening a fastening member including a screw to the fastening hole 413a. The guide shaft 415 is inserted into the penetration portion of the fixing plate 413 in a state where the guide shaft 415 is fixed to the roller frame 412 and is provided in a shape in which a part of the stomach 415a is protruded and is supported by the buffer member 416 . In another example, the guide shaft 415 and the buffer member 416 may be integrally formed, and the guide shaft 415 may be mounted on the buffer member 416. In addition, the sensor unit 420 may attach the detection sensor 421 to an upper end of the sensor unit 420 that is in contact with the lower portion of the roller frame 412. The sensor unit 420 can transmit a detection signal by wire or wireless.

10, the receiving unit 392 of the elevating apparatus 300 is connected to the sensor unit 420 by wire or wireless, receives the detection signal from the sensor unit 420, and transmits the detection signal to the controller 394. [ The control unit 394 compares the detection signal with the set value and stops the motor devices M1 to M3 when the sensing time of the sensor unit 420 exceeds the set value, , Or may transmit a control command to the underwater cleaning robot 200 to stop the traveling operation of the underwater cleaning robot 200. [ It is assumed that the cable c is temporarily caught by the underwater structure, and only when the sensing time of the sensor unit 420 exceeds a predetermined time, the motor devices M1 to M3 and the underwater cleaning robot 200 So that the operation is interrupted. The receiving unit 392 and the control unit 394 may be manufactured in a module form and provided in the elevating apparatus 300 or may be provided in an external system at a remote place.

Hereinafter, a process of launching the underwater cleaning robot 200 to the outer shell 2 of the hull will be described on the basis of the above description.

The underwater cleaning robot 200 is horizontally moved from the housing 101 to the outside of the hull by the horizontal conveying unit 110 in a state where the housing 101 equipped with the launching apparatus 100 is installed at a suitable place on the deck . The vertical frames 121 and 122 of the vertical transport unit 120 are overlapped and the underwater cleaning robot 200 of the holding unit 130 coupled to the vertical frames 121 and 122 is connected to the cables C ). The underwater cleaning robot 200 can be horizontally moved from the housing 101 to the outside of the hull in such a manner that the second horizontal frame 112 is deployed from the inside of the first horizontal frame 111. At this time, the cable C wound around the lifting device 300 is released in a horizontal direction while maintaining a constant tension, and the vertical frames 121 and 122 connected to the second horizontal frame 112 are also moved in the horizontal direction . The second horizontal frame 112 may be moved a predetermined distance so that the underwater cleaning robot 200 is moved in the vertical direction while being separated from the outer shell 2 of the ship.

Next, the vertical conveying unit 120 expands the vertical frames 121 and 122 to move the underwater cleaning robot 200 in the vertical direction, and approaches the hull outer wall 2 to be cleaned. At this time, the cable C wound on the lifting device 300 is released, and the second vertical frame 122 moves downward from the first vertical frame 121. That is, the first engaging protrusion 122a of the second vertical frame 122 moves downward until it engages the lower end of the corresponding sliding groove H1 along the sliding groove H1 of the first vertical frame. The second engaging protrusion 131a of the holding part 130 coupled with the underwater cleaning robot 200 moves along the sliding groove H2 of the second vertical frame 122 as the cable C is continuously released. And is moved until it is caught by the lower end of the sliding groove H2.

Next, the underwater cleaning robot 200 is attached to the outer shell 2 of the ship, and the underwater cleaning robot 200 is moved along the cleaning work area to perform the cleaning work. At this time, the wheel 212 of the underwater cleaning robot 200 may be magnetically attached to the outer wall 2 of the ship, and the cleaning operation may be performed by the brush 214. When the underwater cleaning robot 200 is attached to the outer shell 2 of the ship body, the wheel 212 of the underwater cleaning robot 200 is horizontally moved by the horizontal conveying unit 110 to the second horizontal The unfolded length of the frame 112 can be adjusted. The cleaning operation can be performed by moving the underwater cleaning robot 200 connected to the cable C in a state where the lock state is released by the lock device 139 described above.

Conventional apparatuses or methods for launching underwater cleaning robots require the assistance of a diver or a separate underwater swimmer must be mounted on a submersible cleaning robot, which results in unnecessary workforce being consumed and manufacturing cost of the apparatus being increased, resulting in inefficiency .

Since the load of the underwater cleaning robot is considerable when the underwater cleaning robot directly launches the underwater cleaning robot from the deck of the hull such as the outer wall of the hull, until the underwater cleaning robot enters the water and receives buoyancy, It is difficult to cover the weight of the cleaning robot and the outer surface of the hull is mostly curved so that the underwater cleaning robot deviates from the hull outer wall.

However, the underwater cleaning robot 200 can be stably operated while minimizing the shaking or vibration generated in the underwater cleaning robot 200 when the underwater cleaning robot 200 is launched through the launching apparatus 100 according to the embodiment of the present invention described above. And can be launched efficiently.

In addition, the housing 101 provided with the launching apparatus 100 can be installed on the deck of a necessary hull so that the underwater cleaning robot 200 can be launched immediately to a place requiring a cleaning operation.

The underwater cleaning robot 200 is lowered in a state of being separated from the outer wall 2 of the hull during the launching work of the underwater cleaning robot 200. After the underwater cleaning robot 200 reaches the cleaning work position, It is possible to prevent damage such as peeling of the coating film of the outer shell wall 2 due to collision with the underwater cleaning robot 200 and friction.

The foregoing has shown and described specific embodiments. However, it is to be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the scope of the technical idea of the present invention described in the following claims It will be possible.

111, 112: horizontal frame 121, 122: vertical frame
122a: first coupling protrusion 130: holding part
131a: second engaging projection 133: engaging plate
135: Leg 139: Locking device
200: underwater cleaning robot 210:
212: Wheel 214: Brush
211: protrusion 300: elevating device
310: drum unit 320: alignment unit
330: alignment support plate 360: alignment roller
370: pressure roller 380: cleaning unit
392: Receiver 394:
400: sensing device 411: support roller
412: roller frame 413: fixing plate
414: guide portion 415: guide shaft
420:

Claims (5)

A support roller that is unwound or wound from the drum and supports the cable;
A roller frame rotatably coupled to the support roller;
A fixing plate spaced below the roller frame;
A guide part connecting the roller frame and the fixing plate, the guide part including a guide shaft pushed downward by the roller frame when the cable is pressed; And
And a sensor unit fixed to the fixing plate and transmitting a sensing signal upon contact with the roller frame. The method according to claim 1,
Wherein the guide portion further comprises a buffer member provided on the fixing plate to support the guide shaft. And an alignment unit connected to the main frame on which the drum for winding and uncoiling the cable is seated and for aligning and winding the cable on the drum,
The alignment unit includes: a pair of alignment supporting plates coupled to the main frame and coupled by a plurality of fixing shafts provided in a lateral direction;
An aligning roller which is supported by a setting frame fixed to a rear surface of a block portion movably coupled to the fixed shaft and disposed between the alignment support plates and arranged to face the drum,
And a pressure roller provided on the upper frame and the lower frame respectively coupled to the front surface of the block,
And the cable sensing device according to claim 1 is provided on the lower frame in front of the pressure roller. The method of claim 3,
The block unit moves along the fixed axis according to the movement of the cable moving to the left or right of the drum and includes a first block unit coupled with an upper fixed shaft and a second block unit coupled with a lower fixed shaft and,
The pressure roller includes an upper pressure roller coupled to a vertical groove formed in the upper frame connected to the first block,
And a lower pressing roller rotatably coupled to the lower frame connected to the second block portion and arranged to correspond to the upper pressing roller for moving the cable. The method of claim 3,
A receiving unit for receiving the sensing signal from the sensor unit,
Further comprising a control unit for stopping the motor device for operating the drum when the sensing time of the sensor unit exceeds the set value by stopping the running operation of the underwater cleaning robot by comparing the detection signal with the set value, .

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