KR20160033265A - Shackle device for underwater cleaning robot, and lunching and retrieval apparatus of underwater cleaning robot having the same - Google Patents

Abstract

An underwater cleaning robot fastening device and an apparatus for launching and recovering an underwater cleaning robot comprising the same are disclosed. According to an embodiment of the present invention, the underwater cleaning robot fastening device comprises: a body unit having a connection unit connected to a lifting device; a movement guide unit provided to the body unit and guiding the body unit to be moved along a tether cable connected to the underwater cleaning robot; a locking hook installed in the body unit and released or fastened by being locked by a lifting ring of the underwater cleaning robot; and an operating device installed in the body unit and operating the locking hook to be fastened or released. The present invention enables the underwater cleaning robot to be easily launched and recovered.

Description

TECHNICAL FIELD [0001] The present invention relates to an underwater cleaning robot binding apparatus and an underwater cleaning robot having the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a binding apparatus capable of binding or unbinding an underwater cleaning robot for launching and recovering an underwater cleaning robot, and a launching and collecting apparatus for the underwater cleaning robot having the binding apparatus.

Since the ship is operated with the lower side being immersed in water, aquatic organisms such as water moss, barnacle, etc. may be attached to the bottom or side of the water. Foreign matter adhering to the surface of the ship is required to be removed through periodic cleaning, as it acts as a resistance when the ship is operating, slowing down the speed and increasing fuel consumption.

Conventionally, in order to remove foreign matter adhered to the hull, the ship was moved to a dock on the land, and the operator then cleaned the hull by spraying high-pressure washing water on the outer surface of the hull. This method, however, not only took a long time due to the process of transferring the hull to the dock, but also had to mobilize a lot of personnel during the cleaning process.

Alternatively, the diver directly went into the water to operate the cleaning equipment and clean the hull. However, this method also requires a lot of work because the diver has to work in the water. Due to the foreign substances in the cleaning process, it is difficult to secure the watch in the work area, and there was a burden on the safety accident due to the poor sea environment.

In consideration of these points, recently, an underwater cleaning robot has been proposed which can perform cleaning of the outer surface of the hull while traveling along the outer surface of the hull in water. Such an underwater cleaning robot may refer to an example of Korean Patent Laid-Open Publication No. 10-2011-0062248 (published on Jun. 10, 2011).

However, since such an underwater cleaning robot is a device used in the water, it has been difficult to move it from the land to the underwater work area or to collect it after completing the work.

Korean Patent Publication No. 10-2011-0062248 (published on Jun. 10, 2011)

The embodiments of the present invention are directed to an underwater cleaning robot binding apparatus capable of easily binding and unbinding a cleaning robot operating in water and facilitating the launching and collecting operations of the cleaning robot and an underwater cleaning robot And to provide a launching and withdrawing device.

According to an aspect of the present invention, there is provided a washing machine comprising: a body having a connection portion connected to a lifting device; A movement guide unit provided on the body part and guiding the body part to move along a tether cable connected to the underwater cleaning robot; A hook provided on the body and capable of hooking and releasing the hook of the underwater cleaning robot; And an operation device installed on the body part and operating the hook to perform binding or unbinding.

The body portion may include a first body portion and a second body portion that are openably and closably connected to each other to allow the tether cable to pass therethrough and open at both sides to open the cable passage groove.

The body portion may include a hinge connection portion connecting one side of the first body portion and the second body portion, and a coupling portion provided on the opposite side of the hinge connection portion.

The hook has a first hook which is rotatably connected to the outside of the first body part and has a bent hook for hooking the pull ring at a lower position of the first body part, And a second hook that is rotatably connected to the second body portion and has a bent hook portion for hooking the pulling ring at a lower position of the second body portion.

The operating device includes a first operating device installed in the first body and configured to implement binding and disengagement by rotationally operating the first hook, and a second operating device installed in the second body, And a second operating device that implements binding and unbinding.

The body may include a tapered entry guide provided at a lower end thereof with an outer diameter smaller than the pulling ring so that the body can move along the tether cable and a part of the body can enter the inside of the pulling ring of the underwater cleaning robot.

The movement guide portion may include a plurality of guide rollers installed on the body portion and supporting an outer surface of the tether cable passing through the cable passage groove.

The plurality of guide rollers may include a first guide roller and a second guide roller disposed to face each other at an upper portion of the first body portion and an upper portion of the second body portion, A third guide roller and a fourth guide roller,

According to another aspect of the present invention, there is provided a lifting device for lifting an underwater cleaning robot from the water or lifting the water from underwater; And an apparatus for launching and recovering an underwater cleaning robot including the above-described underwater cleaning robot binding apparatus connected to the lifting apparatus.

Since the underwater cleaning robot binding apparatus according to the embodiment of the present invention can be guided toward the pulling ring of the cleaning robot located in the water along the tether cable in a state where it is installed outside the tether cable, Even if it is difficult to judge by the naked eye, it is possible to bind the traction loop of the cleaning robot stably and easily. Therefore, it is possible to easily perform the launching and retrieval work of the cleaning robot.

Fig. 1 shows an example of cleaning foreign matters attached to the outer surface of a ship using an underwater cleaning robot.
Fig. 2 and Fig. 3 are perspective views showing the outline of an underwater cleaning robot, Fig. 2 is a top view, and Fig. 3 is a bottom view.
4 is a perspective view showing a connection state of a tether cable and a pulling ring installed at the rear of an underwater cleaning robot.
5 and 6 show a state in which the underwater cleaning robot is launched or recovered using the launching and collecting apparatus according to the embodiment of the present invention.
FIG. 7 is a perspective view of the underwater cleaning robot binding apparatus according to the embodiment of the present invention, in which the first body part and the second body part are opened. FIG.
8 is a side view of the underwater cleaning robot binding apparatus according to the embodiment of the present invention, showing the operation state of the hook.
FIGS. 9A, 9B and 9C illustrate a state in which the underwater cleaning robot binding apparatus according to the embodiment of the present invention approaches the pulling ring of the underwater cleaning robot at various angles and binds the pulling ring. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are provided to fully convey the spirit of the present invention to a person having ordinary skill in the art to which the present invention belongs. The present invention is not limited to the embodiments shown herein but may be embodied in other forms. For the sake of clarity, the drawings are not drawn to scale, and the size of the elements may be slightly exaggerated to facilitate understanding.

Fig. 1 shows an example of cleaning foreign substances (water moss, barnacle, etc.) attached to the outer surface of a ship using an underwater cleaning robot. As shown in the figure, the underwater cleaning robot 100 can clean the outer surface of the hull 10 while traveling on the outer surface of the hull 10 immersed in water. FIG. 1 illustrates a case where an underwater cleaning robot cleans the outer surface of the hull 10, but the use range of the underwater cleaning robot 100 is not limited thereto. It can also be used to clean the outer surfaces of various offshore plants and floating structures that float on the sea.

The underwater cleaning robot 100 is connected to a tether cable 20, which is not shown in the figure, but extends from another power supply unit and a separate steering equipment. Maneuvering equipment and power supplies may be operated on the ground or on the deck of a ship or on the deck of another ship which is being cleaned.

Referring to FIGS. 2 and 3, the underwater cleaning robot 100 may include an upper cover 101 and a lower cover 102 that cover the outer surface thereof. The upper cover 101 and the lower cover 102 are coupled to cover the outside of the underwater cleaning robot 100 at the upper part and the lower part, respectively, to thereby protect the built-in parts. The upper cover 101 and the lower cover 102 may be formed in a streamlined shape so that the resistance of the fluid can be minimized so as to stably travel in water as shown in the drawing.

The underwater cleaning robot 100 includes a frame (not shown) provided inside the upper cover 101 and the lower cover 102, two drive units 110 provided on both sides of the rear side of the bottom surface, A unit 120, a cleaning unit 130 for cleaning the upper surface of the workbench, a foreign body collecting device (not shown) for collecting and collecting foreign substances separated from the upper surface of the workbench during the cleaning process, and a control unit can do. Here, the expression " forward " means the direction in which the cleaning robot 100 travels, and the rear indicates the opposite side.

Since the underwater cleaning robot 100 is attached to the upper surface of the work table by the magnetic force of the magnet including the driving wheel 111 of the driving unit 110 and the steering wheel 121 of the steering unit 120, . ≪ / RTI > In addition, the cleaning robot 100 can clean the top surface of the workbench while the cleaning brush 131 of the cleaning unit 130 rotates in the traveling process.

Referring to FIG. 4, a ring-shaped pulling ring 140 for launching and recovering the cleaning robot 100 is installed on the rear side of the cleaning robot 100. The pulling ring 140 may be fixed to the extension 141 extending rearward from the frame inside the cleaning robot 100. The tether cable 20 connected to the rear side of the cleaning robot 100 is installed to extend rearward in a state of passing through the pulling ring 140. This configuration will be described later so that the binding apparatus 300 binding the pulling ring 140 for launching and collecting the cleaning robot 100 moves along the tether cable 20 to bind the pulling ring 140 .

5 and 6 illustrate a launching and collecting apparatus according to an embodiment of the present invention for launching or recovering underwater cleaning robot 100 from the water.

The launching and collecting apparatus includes a lifting device 200 for lifting or lifting the cleaning robot 100 from the water and a lifting device 200 for lifting the cleaning robot 100 when the lifting device 200 launches or retrieves the cleaning robot 100 And a cleaning robot binding apparatus 300 connected to the lifting apparatus 200 so that the cleaning robot binding apparatus 300 can be connected to the lifting apparatus 200.

5, the lifting apparatus 200 includes a lifting head 210 having a length and an adjustable angle and a lifting head 230 whose height is changed by adjusting the length of the rope 220 extending from the lifting platform 210 And a hook 240 provided on the lifting head 230 for lifting the heavy object. That is, it is in the same form as a normal crane. Although not shown in the drawing, the lifting device 200 includes a winding device for winding or releasing the tether cable 20 of the underwater cleaning robot 100, a power supply device for supplying power to the underwater cleaning robot 100, And may include a control device for controlling the operation of the underwater cleaning robot 100 by a user. The boom table 210 constituting the lifting device 200, the winding device, the power supply device, the control device, and the like may be mounted on a vehicle such as a truck or a trailer. Of course, such a transportation means may include a space for mounting the underwater cleaning robot 100, so that the underwater cleaning robot 100 may be carried and transported.

 The cleaning robot binding apparatus 300 may be connected to the lifting head 230 of the lifting apparatus 200 by a wire rope 250 or the like. The cleaning robot binding device 300 is connected to the outside of the tether cable 20 in such a manner that the tether cable 20 passes through the center portion of the tether cable 20 vertically. Thus, when the cleaning robot 100 is recovered from the water, And can approach the pulling ring 140 of the cleaning robot 100.

7 and 8, the cleaning robot binding apparatus 300 includes a body 310 having a cable passage groove 313 connected to the lifting device 200 and vertically passing through the center, A moving guide unit for guiding the movement of the body part 310 so as to move along the tether cable 20 and a moving guide unit for moving the pulling hook 140 of the underwater cleaning robot 100, 321 and 322 and hooking hooks 321 and 322 provided on the upper and lower portions 310 and 310. The hooking hooks 321 and 322 are engaged with hooking hooks 321 and 322, . ≪ / RTI >

The body portion 310 may be formed in a cylindrical shape by coupling the first body portion 311 and the second body portion 312 having a hemispherical cross-sectional structure. An upper portion of the first body portion 311 and an upper portion of the second body portion 312 may be provided with an eye bolt connection portion 314 to which a wire rope 250 connected to the lifting device 200 is coupled have.

A semicircular cable (not shown) is formed in the center of the first body 311 and the second body 312 to form a cylindrical hole through which the tether cable 20 passes while the first body 311 and the second body 312 are coupled to each other. A through groove 313 is formed.

The first body portion 311 and the second body portion 312 may be connected to each other to be openable and closable so that the cable passage groove 313 can be opened to both sides as shown in FIG. The first body 311 and the second body 312 are rotatably connected to each other by a hinge connection part 315 and a coupling part 316 is provided on the opposite side of the hinge connection part 315 have. The fastening portion 316 includes hook portions 316a and 316b provided to correspond to the first body portion 311 and the second body portion 312 respectively and fastening bolts 316a and 316b fastened to the hook portions 316a and 316b 316c. ≪ / RTI >

The body portion 310 can be engaged by the fastening bolt 316c in a state where the first body portion 311 and the second body portion 312 are engaged and by separating the fastening bolt 316c, The body portion 311 and the second body portion 312 can be opened to open the cable passage groove 313 inside. 7, the tether cable 20 is inserted into the cable passage groove 313 after the first body portion 311 and the second body portion 312 are opened and the outer side of the tether cable 20 .

The movement guide may include a plurality of guide rollers 341, 342, 343, 344 installed on the body 310 to support the outer surface of the tether cable 20 passing through the cable passage groove 313. A first guide roller 341 and a second guide roller 342 provided to face each other on the upper part of the first body part 311 and the upper part of the second body part 312 and the lower part of the first body part 311, And a third guide roller 343 and a fourth guide roller 344 disposed to face each other at a lower portion of the second body portion 312. These rollers are installed at the upper and lower portions of the cable passage groove 313 so that the body portion 310 can smoothly move along the tether cable 20 in a state where the friction between the tether cable 20 and the body portion 310 is minimized .

7 and 8, the hook includes a first hooking hook 321 provided on the first body portion 311 and a second hooking hook 322 provided on the second body portion 312 can do.

The first hooking hook 321 extends downwardly in a state where the upper portion of the hooking hook 321 is rotatably connected to the outer side of the first body 311. The hooking hook 321 extends downward from the lower end of the first body 311, And a hook portion 321a bent inward so as to be able to engage with each other. The second hooking hook 322 also extends downward in a state in which the upper portion of the second hooking portion 322 is rotatably connected to the outside of the second body portion 312. The second hooking hook 322 extends downward from the lower end of the second body portion 312, And a hook portion 322a bent inward so as to be able to engage with each other.

That is, as shown in FIG. 8, the first hooking hook 321 and the second hooking hook 322 are symmetrically arranged on both sides of the body 310. The first hooking hook 321 and the second hooking hook 322 are opened outward by rotation to release the pulling of the pulling hook 140. The hooking hooks 321a, 322a can be engaged by hooking the pulling ring 140. [

The actuating device includes a first actuating device 331 mounted on the first body 311 to realize binding and unbinding by rotating the first hooking hook 321 and a second actuating device 331 mounted on the second body 332 And a second actuating device 332 that implements binding and unlatching by rotating the second hooking hook 322.

The first actuating device 331 has one end rotatably connected to the inside of the first body 311 and the other end of the first actuating device 331 capable of being retracted and extended is rotatably connected to an intermediate portion of the first hooking hook 321, The first hooking hook 321 can be actuated by the operation of expanding and contracting. The same is true for the second actuating device 332 mounted on the second body portion 312.

The first actuating device 331 and the second actuating device 332 may be constituted by an electric actuator which is operated to expand and contract in length by the operation of the electric motor. Here, an electric actuator is shown as an example, but the form of the operating device is not limited thereto. The actuating device can be constructed of various types of devices capable of rotating the hooking hook to implement binding and unbinding. For example, the decelerator-mounted motor having a large reduction ratio may be a method of directly rotating the connecting part shaft of the first and second hooking hooks 321 and 322. [

The first hooking hook 321 and the second hooking hook 322 are respectively installed on both sides of the body 310. However, .

The body 310 moves along the tether cable 20 as shown in FIGS. 9A to 9C and a part of the lower end thereof enters the inside of the pulling ring 140 of the underwater cleaning robot 100, have. For this purpose, a tapered entry guide 318 is provided at the lower end of the body portion 310 with an outer diameter smaller than the inner diameter of the pulling ring 140.

Meanwhile, when the binding apparatus 300 approaches the pulling collar 140 to bind the pulling collar 140 of the underwater cleaning robot 100, the pulling collar 140 may approach the upper portion of the pulling collar 140 as shown in FIG. 9A 9B and 9C, the body portion may be approached sideways at a predetermined angle?

However, the binding apparatus 300 of the present embodiment is a mode in which the entrance guide portion 318 at the lower end of the body portion 310 enters the inside of the pulling collar 140 in the binding process, and the first hooking hook 321 and the Since the engaging portions 321a and 322a at the lower end of the second engaging hook 322 are positioned below the lower end of the entry guide portion 318 as shown in Figures 9B and 9C, the first hooking hook 321 and the second hooking hook 322 can easily connect the pulling hook 140 to each other.

The following describes the operation of moving the cleaning robot 100 to an underwater working area (such as an outer surface of the ship) or recovering the cleaning robot 100 from an underwater working area using the launching and collecting device according to the present embodiment.

When the cleaning robot 100 is moved to a work area underwater, the binding apparatus 300 is first connected to the lifting apparatus 200 on the land (such as a quay wall), the binding apparatus 300 is connected to the tether cable 20, And binds the pulling ring 140 of the cleaning robot 100 to be launched to the binding apparatus 300 in a state where it is installed outside.

In this state, the lifting device 200 is operated to lower the cleaning robot 100 to the work area underwater, as in the example of Fig. After the cleaning robot 100 is attached to the outer surface of the ship 10 in the water, the binding apparatus 300 is released from the binding apparatus 300 to pull up only the binding apparatus 300. At this time, the binding apparatus 300 moves upward along the tether cable 20 and is pulled up to the water surface, and the cleaning robot 100 travels while being attached to the outer surface of the hull 10 and can perform cleaning work.

When the cleaning robot 100 that has completed the cleaning work is recovered from the working area, the binding apparatus 300 connected to the lifting apparatus 200 is lowered to the water through the operation of the lifting apparatus 200. At this time, the binding apparatus 300 is guided along the tether cable 20 toward the pulling ring 140 of the cleaning robot 100 located in the water. Therefore, the binding apparatus 300 can be easily guided toward the pulling ring 140 of the cleaning robot even in a situation where it is difficult to visually determine the pulling ring 140 of the cleaning robot 100 located in the water.

When the binding apparatus 300 reaches the underwater cleaning robot 100, the binding apparatus 300 binds the pulling ring 140 of the cleaning robot and then lifts the underwater cleaning robot 100 to the lifting apparatus 200 . 9A, when the binding apparatus 300 binds the pulling ring 140, when the entering guide portion 318 of the binding apparatus 300 enters the inside of the pulling ring 140, 1 and the second hooking hooks 321, 322 are engaged with the pulling ring 140 so that the cleaning robot 100 can be stably bound.

20: tether cable, 100: underwater cleaning robot,
140: pulling ring, 200: lifting device,
300: binding apparatus, 310: body portion,
311: a first body part, 312: a second body part,
313: cable passage groove, 318: entry guide portion,
321: first hooking hook, 322: second hooking hook,
331: first operating device, 332: second operating device,
341 to 344: first to fourth guide rollers.

Claims (9)

A body portion having a connection portion connected to the lifting device;
A movement guide unit provided on the body part and guiding the body part to move along a tether cable connected to the underwater cleaning robot;
A hook provided on the body and capable of hooking and releasing the hook of the underwater cleaning robot; And
And an operating device installed on the body part and operating the hook so as to realize binding or unbinding. The method according to claim 1,
Wherein the body portion has a cable passage groove through which the tether cable penetrates the body portion, and a first body portion and a second body portion that are openably and closably connected to each other to open the cable passage groove, Device. 3. The method of claim 2,
Wherein the body part includes a hinge connection part connecting one side of the first body part and the second body part, and a coupling part provided on the opposite side of the hinge connection part. 3. The method of claim 2,
The hook
A first hook that is rotatably connected to the outside of the first body portion and has a bent portion for hooking the pulling ring at a lower position of the first body portion,
And a second hook which is rotatably connected to the outside of the second body portion and has a hook portion bent so as to be able to hook the pull ring at a lower position of the second body portion. 5. The method of claim 4,
The operating device
A first operating device installed in the first body part and rotating the first hook to implement binding and unbinding;
And a second actuating device mounted on the second body part and rotating the second hooking hook to implement binding and unbinding. 3. The method of claim 2,
Wherein the body portion includes a tapered entrance guide portion provided at a lower end portion of the body portion with an outer diameter smaller than the pulling ring so that the body portion can move along the tether cable and a portion thereof can enter the inside of the pulling ring of the underwater cleaning robot. 3. The method of claim 2,
Wherein the movement guide portion includes a plurality of guide rollers installed on the body portion and supporting the outer surface of the tether cable passing through the cable passage groove. 8. The method of claim 7,
The plurality of guide rollers may include a first guide roller and a second guide roller disposed to face each other at an upper portion of the first body portion and an upper portion of the second body portion, A third guide roller and a fourth guide roller provided so as to be movable in the vertical direction. A lifting device for lifting or lifting the underwater cleaning robot from the water; And
And an underwater cleaning robot binding device connected to the lifting device and connected to the underwater cleaning robot binding device according to any one of claims 1 to 8.

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