KR20210045184A - Blockade robot for leaking hole of ship and blockade method using the same - Google Patents

Abstract

The present invention relates to a leak stopping robot and a leak stopping method using the same, which are able to firmly input an anchor into a leaking hole portion. According to an aspect of the present invention, the leak stopping robot comprises: an input portion which supports an anchor inputted into the leaking hole portion; a body portion which supports the input portion; and a driving portion installed on the body portion to move the body portion. The input portion includes: a supporter installed to stand; a holder portion which includes a moving frame which moves along the supporter, and a support frame fixed on the moving frame to support the anchor; a pressurizing portion which includes a pressurizing unit which is apart from the moving frame and moves along the supporter, and a pressurizing stick fixed on the pressurizing unit to pressurize and move the anchor; and an elevation/lowering driving member which moves the pressurizing portion in a longitudinal direction of the supporter.

Description

A breakthrough robot and a breakthrough method using the same {BLOCKADE ROBOT FOR LEAKING HOLE OF SHIP AND BLOCKADE METHOD USING THE SAME}

The present invention relates to a pore containment robot capable of reliably inserting an anchor and a method of using the same.

Ships under sail frequently have accidents such as crashing at sea due to bad weather or negligence of operation, or being stranded on a coastal reef. These ship accidents are accompanied by personal and material damage, and in particular, the breakdown of an oil tanker seriously pollutes the surrounding environment.

If the ship is broken and the inside of the hull is empty, emergency containment can be performed using wooden wedges, but if oil (or other cargo) is filled inside the hull such as an oil tanker, emergency containment must be performed outside the hull. It depends on the method of welding the steel plate.

The above-described conventional welding method takes a lot of work time, and there are problems such as the inability to operate a worker in case of bad weather.Therefore, a large amount of oil leaks into the sea or the case of a ship sinking occurs frequently. As described above, there is a need for a means for emergency personnel to block the rupture area in a short time without welding work during the hull rupture as described above.

In addition, in order to solve this problem, conventionally, a person is input, and a patch for blocking pores containing a permanent magnet is attached to the pore, or an anchor is inserted to minimize the amount of pollutants that are discharged. I'm doing it.

However, these conventional techniques have limited adhesion performance for blocking the pores to cope with the initial accident where the leaking pressure of the pores is strong, and furthermore, when the spilled material contains components harmful to the human body, a person is injected to block the pores. Alternatively, there are too many risk factors for attaching a shielding patch or inserting an anchor, and there is a problem that the work efficiency is greatly deteriorated.

Based on the technical background as described above, the present invention provides a pore containment robot capable of reliably inserting an anchor into a pore portion and a method of using the same.

A pore blocking robot according to an aspect of the present invention includes an input unit supporting an anchor inserted into the pore unit, a body unit supporting the input unit, and a traveling unit installed on the body unit to move the body unit, The input unit includes a supporter that is erected and installed, a moving frame that moves along the support, a holder unit that is fixed to the moving frame and includes a support frame that supports the anchor, and is spaced apart from the moving frame to move along the support. A pressing unit and a pressing unit fixed to the pressing unit and including a pressing rod for pressing and moving the anchor, and an elevating driving member for moving the pressing unit in the longitudinal direction of the support.

Here, the body portion includes a support plate that abuts and supports a lower surface of the support frame, and the anchor may be pressed by the pressure rod to be separated from the support frame while the support frame is supported by the support plate.

In addition, the elevating driving member may include a lead screw inserted into the holder part and the pressing part and screwed to the pressing part, and a motor rotating the lead screw.

In addition, the body portion may further include a tilting unit including the support plate, a tilting shaft connected to the support plate, and a tilting cylinder rotating the tilting shaft, and the support and the lead screw may be erected and installed on the support plate.

In addition, the body portion further includes a main frame supporting the driving unit, a sliding plate installed to be slidably movable with respect to the main frame, and a sliding unit including a sliding cylinder for moving the sliding plate, the tilting cylinder and the The tilting shaft may be fixed to the sliding plate.

In addition, the support frame is a side plate connected from the moving frame toward the floor and a support block that is coupled to a lower portion of the side plate to insert an upper portion of the anchor, and a plurality of support blocks installed on the support block and protruding to support the side of the anchor And a holding unit having a protrusion of, and a hole through which the pressure rod passes may be formed in the holding unit.

In addition, the anchor includes a connector and two anchor sticks rotatably coupled to the connector, the connector includes a base plate and two side plates protruding from the side of the base plate and facing each other, and the anchor stick The first outer surface curved in an arc shape and a second outer surface formed in a flat surface may be provided, and a center rod to which a rope is fixed may be installed in the connector.

According to another aspect of the present invention, a method for blocking pores includes a robot moving step of moving the pore blocking robot to a pore portion, an anchor transport step of pressing the anchor with a pressing portion to transfer the anchor and a holder portion supporting the anchor downward, the An anchor input step of removing the anchor from the holder by pressing the anchor with the pressing part while the support frame of the holder part is moved to the lowermost part and supported and the anchor is inserted into the perforated part, and the rope connected to the anchor is winch And a rope winding step of winding up using a perforation block, and a perforation portion blocking step of blocking the perforations by intimate contact with the blocking pad installed in the perforation blocking robot.

Here, in the anchor transfer step and the anchor input step, the movement of the pressing part may be performed by rotation of a lead screw installed in the wave hole blocking robot.

In addition, the pore blocking method is carried out after the robot movement step, further comprising a sliding step of moving the holder part in a lateral direction with respect to the body part of the hole blocking robot and a tilting step of rotating the holder part with respect to the body part. Can include.

As described above, in the pore blocking robot according to an aspect of the present invention, the movement of the anchor and the insertion of the anchor may be performed by the pressing unit. In addition, since the anchor is inserted after moving into the perforated portion while being supported by the holder, the anchor can be reliably inserted even under strong pressure.

1 is a perspective view as viewed from the front of a pore blocking robot according to an embodiment of the present invention.
Figure 2 is a perspective view of the pore blocking robot according to an embodiment of the present invention viewed from the rear.
3 is a side view showing a pore blocking robot according to an embodiment of the present invention.
4 is a perspective view showing a sliding part according to an embodiment of the present invention.
5 is a perspective view showing a tilting unit and an input unit according to an embodiment of the present invention.
6 is a perspective view showing an input unit according to an embodiment of the present invention.
7 is a view showing a state in which the pressing unit and the holder unit are moved downward in the pore blocking robot according to an embodiment of the present invention.
8 is a view showing a state in which the anchor is separated from the holder part by pressing the anchor by the pressing unit in the crush blocking robot according to an embodiment of the present invention.
9 is a view showing a state in which the pore blocking robot according to an embodiment of the present invention has blocked the pore.
10 is a perspective view showing an anchor according to an embodiment of the present invention.
11 is a perspective view showing an unfolded state of an anchor according to an embodiment of the present invention.
12 is a flow chart for explaining a method for blocking pores according to an embodiment of the present invention.

The present invention is intended to illustrate specific embodiments and to be described in detail in the detailed description, since various transformations may be applied and various embodiments may be provided. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all conversions, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present invention are used only to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as'include' or'have' are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this case, it should be noted that in the accompanying drawings, the same components are indicated by the same reference numerals as possible. In addition, detailed descriptions of known functions and configurations that may obscure the subject matter of the present invention will be omitted. For the same reason, some components in the accompanying drawings are exaggerated, omitted, or schematically illustrated.

Hereinafter, a pore blocking robot according to a first embodiment of the present invention will be described.

1 is a perspective view as viewed from the front of the pore blocking robot according to an embodiment of the present invention, Figure 2 is a perspective view as viewed from the front of the pore blocking robot according to an embodiment of the present invention, and Figure 3 is an embodiment of the present invention It is a side view showing a pore blocking robot according to an example.

Referring to FIGS. 1 to 3, the pore blocking robot 100 according to the first embodiment includes a body part 200, a driving part 300, and an input part 400. The pore blocking robot 100 is a robot that blocks the pore by moving to the pore along the outer surface of the vessel when a hole occurs in the vessel. The pore blocking robot 100 may be controlled by a wireless or wired remote controller.

The driving part 300 is connected to both side ends of the body part 200 and drives the body part 200 to travel. The driving unit 300 may be formed in the form of a caterpillar including a plurality of pulleys 310 and a belt 320 wound around the pulleys 310. In addition, a plurality of permanent magnets 330 attached to the ship may be installed on the belt 320. Travel motors 340 for driving may be installed on the pulley 310, respectively.

The body part 200 may include a main frame 210, a blocking pad 220, an out trigger 230, a sliding part 240, a tilting part 250, a winch 260, and a support bar 270. have. The body part 200 supports the driving part 300 and the input part 400, and various parts may be installed in the body part 200. The main frame 210 has a plate shape or a square frame shape to support the driving part 300, and the driving part 300 is fixedly installed under the main frame 210. In addition, the main frame 210 may include a plurality of brackets for supporting parts.

The containment pad 220 is installed to cover the lower portion of the main frame 210, and may have a structure in which a material having elasticity such as silicon is combined with a material having rigidity. In addition, the containment pad 220 may be installed on the main frame 210 via a cylinder so as to be elevated in the vertical direction (z-axis direction).

The out triggers 230 are respectively installed in the four-side corner regions of the body part 200 and may be fixed on a ship made of metal by magnetic force including an electromagnet. When the pore blocking robot 100 is moved to the pore portion, a current is applied to the electromagnet of the out trigger 230 so that the pore blocking robot 100 may be supported so that it does not move.

The winch 260 is installed under the main frame 210 and includes a motor. A rope 590 connected to the anchor 500 is wound on the winch 260, and when the winch 260 winds the rope 590 after the anchor 500 is inserted into the perforated portion, the blocking pad 220 is broken. Study (600) can be in close contact.

The support bar 270 is formed to be curved in a round shape and protrudes in the lateral direction (-y-axis direction) of the main frame 210. A wire or the like may be installed on the support bar 270 to support the pore blocking robot 100. The rupture containment robot 100 is mainly active underwater, and a rope may be installed on the support bar 270 in order to prevent the crush containment robot 100 from being lost due to a current or the like.

4 is a perspective view showing a sliding part according to an embodiment of the present invention.

Referring to FIGS. 1 and 4, the sliding unit 240 moves the input unit 400 in the lateral direction (y-axis direction) to adjust the input unit 400 to be located at the center of the perforation unit. The sliding unit 240 includes a sliding plate 241 installed to be slidably moved, a sliding cylinder 242 for moving the sliding plate 241, and a linear motion guide 243 for guiding the sliding plate 241.

The sliding plate 241 may be formed of a flat plate, and is installed to be movable in a lateral direction (y-axis direction) with respect to the main frame 210. Here, the lateral direction may be a direction parallel to the direction in which the pore blocking robot 100 travels. A support bracket 246 and a tilting shaft 252 rotatable to the support bracket 246 may be installed on the sliding plate 241.

The sliding cylinder 242 moves the sliding plate 241 by pneumatic or hydraulic pressure, and one end of the sliding cylinder 242 is fixed to the main frame 210 via a bracket 245, and the sliding cylinder 242 The other end of the is fixed to the sliding plate (241).

The linear motion guide 243 is disposed under the sliding plate 241 to guide the movement of the sliding plate 241, and includes a rail and a slider running along the rail. The rail may be fixed to the main frame 210 and the slider may be fixed to the sliding plate 241.

5 is a perspective view showing a tilting unit and an input unit according to an embodiment of the present invention.

Referring to FIGS. 1 and 5, the tilting unit 250 rotates the input unit 400 to adjust the anchor 500 to enter in a direction perpendicular to the surface of the perforation unit. The tilting unit 250 includes a support plate 251 supporting the input unit 400, a tilting shaft 252 connected to the support plate 251, and a connecting rod 253 and a connecting rod 253 coupled to the tilting shaft 252. It includes a tilting cylinder 254 to rotate.

The support plate 251 is made of a flat plate and is rotatably installed with respect to the sliding plate 241. A support bracket 246 for supporting the tilting shaft 252 is erected and installed on the sliding plate 241, and the tilting shaft 252 is rotatably installed on the sliding plate 241 via the support bracket 246. In addition, the tilting shaft 252 is fixedly installed on the support plate 251 via a fixing bracket 256, and the tilting shaft 252 does not rotate with respect to the fixing bracket 256 and the support plate 251, and the fixing bracket 256 ) And the support plate 251 is fixed to rotate.

The connecting rod 253 is connected to the tilting shaft 252 and protrudes upward. The tilting cylinder 254 is fixed to the connecting rod 253 and the sliding plate 241, and rotates the tilting shaft 252 via the connecting rod 253. The tilting cylinder 254 is installed obliquely to the sliding plate, but is rotatably installed with respect to the sliding plate. The tilting cylinder 254 may be expanded or contracted by hydraulic or pneumatic.

As described above, according to the present embodiment, since the sliding part 240 and the tilting part 250 are installed in the body part 200, the input part 400 can be more easily located in the center of the perforation part, as well as input. The portion 400 may enter in a direction perpendicular to the surface of the perforated portion.

6 is a perspective view showing an input unit according to an embodiment of the present invention.

Referring to FIGS. 1 and 6, the input unit 400 supports the anchor 500 injected into the perforated portion, and enters the anchor 500 into the perforated portion. The input unit 400 may include a support 410, a holder unit 420, a pressing unit 430, and an elevating driving member 450. The support 410 is installed vertically on the support plate 251 and may be formed of a circular rod. A fixing plate 412 for supporting the support 410 is installed at the upper end of the support 410. The holder 420 and the pressing unit 430 are coupled to the support 410, and the holder 420 and the pressing unit 430 can be moved up and down (z-axis direction) under the guidance of the support 410. .

The elevating driving member 450 includes a lead screw 451 and a motor 452 that rotates the lead screw 451. The motor 452 may be coupled to the lead screw 451 via a gearbox, and the lead screw 451 is coupled to the pressing unit 430 to move the pressing unit 430 in the vertical direction. The lower end of the lead screw 451 is rotatably installed on the support plate 251, and the upper end of the lead screw 451 is coupled to the fixing plate 412 via a bearing.

The pressing unit 430 moves in the vertical direction by the elevating driving member 450 and moves by pressing the anchor 500. The pressing unit 430 includes a pressing unit 431 moving along the support 410 and the lead screw 451 and a pressing rod 432 fixed to the pressing unit 431 and moving by pressing the anchor 500 do.

The pressing unit 431 is formed in a plate shape and is fitted to the support 410 and the lead screw 451. The pressing unit 431 may include a nut coupled with the lead screw 451, and accordingly, when the lead screw 451 rotates, the pressing unit 431 is moved in the longitudinal direction (z-axis direction) of the lead screw 451. You can move. The pressure rod 432 is formed by connecting in a direction from the pressure unit 431 toward the floor where the driving unit 300 is located (-z-axis direction), and the lower end of the pressure bar 432 is formed with the upper end of the anchor 500 Touches.

The holder part 420 supports the anchor 500 and may move in the vertical direction (z-axis direction) by the pressing part 430. The holder part 420 may move vertically together with the anchor 500 when the anchor 500 is pressed by the pressing part 430.

The holder part 420 may include a moving frame 421 moving along the support 410 and a support frame 423 fixed to the moving frame 421 and supporting the anchor 500. The moving frame 421 is fitted to the support 410 and the lead screw 451, and is not screwed with the lead screw 451. That is, the holder unit 420 is moved only by the pressing unit 430 and is not moved by the rotation of the lead screw 451.

The moving frame 421 is spaced apart from the pressing unit 431 and installed under the pressing unit 431. A plurality of guide holes 426 may be formed in the moving frame 421, and a guide protrusion 435 protruding through the guide hole 426 may be formed in the pressing unit 431. The support frame 423 includes a side plate 423a connected from the moving frame 421 toward the floor, and a support block 423c and a holding unit 425 that are coupled to the lower side of the side plate 423a and insert the upper part of the anchor 500. ) Can be included. The side plate 423a is formed to be connected in the longitudinal direction (z-axis direction) of the lead screw 451, and a plurality of guide brackets 423b may be installed on the side plate 423a. A pressure rod 432 is inserted into the guide bracket 423b, and the guide bracket 423b supports the pressure rod 432.

The support block 423c is supported by inserting the upper portion of the anchor 500, and a plurality of ball plungers may be installed inside the support block 423c. The ball plunger may include a housing, a spring for supporting the pressure ball and the pressure ball inserted into the housing, and an adjustment nut for adjusting the length of the spring by contacting the spring. While the adjustment nut rotates, it moves in the longitudinal direction of the inner space of the housing, and the pressing force of the ball may be adjusted by the movement of the adjustment nut.

Meanwhile, as shown in FIG. 9, the holding unit 425 supports the anchor 500 from being unfolded from the top of the anchor 500, and protrudes from the top plate 425a and the top plate 425a, so that the anchor 500 It includes two protrusions (425b) supporting the side of the. The anchor 500 is inserted between the protrusions 425b so that the anchor 500 is not unfolded. The upper plate 425a may be fixed to the support block 423c, and a hole 425c through which the pressure rod 432 passes may be formed in the upper plate 425a. Accordingly, even if the holding unit 425 supports the anchor 500, the pressure rod 432 may directly press the anchor 500. In addition, two holes 513 into which the protrusions 425b are respectively inserted are formed in the connector 510 of the anchor 500.

As in this embodiment, when the anchor 500 is supported by the ball plunger, even if the upper portion of the anchor 500 is pressed by the pressing portion 430, the anchor 500 until the moving frame 421 contacts the support plate 251. ) Is not separated from the support frame 423.

7 to 9, when the support frame 423 is moved downward by the pressing part 430 and the lower surface of the support frame 423 abuts the support plate 251, the anchor 500 is supported. The frame 423 may be pressed by the pressing rod 432 while being supported by the support plate 251 to be separated from the support frame 423. The support frame 423 moves downward and the anchor 500 is separated from the support frame 423 in a state in which the lower end of the support frame 423 and the anchor 500 are inserted into the perforations 600.

When the pressing unit 430 removes the anchor 500 from the holder unit 420 while the holder unit 420 is supported, the gap between the pressing unit 430 and the holder unit 420 decreases while the guide protrusion ( 435 may be moved downward by receiving the guidance of the guide hole 426. Accordingly, the pressing part 430 may stably move with respect to the holder part 420.

10 is a perspective view showing an anchor according to an embodiment of the present invention, and FIG. 11 is a perspective view showing an unfolded state of the anchor according to an embodiment of the present invention.

Referring to FIGS. 10 and 11, the anchor 500 may include a connector 510 and an anchor stick 520 rotatably coupled to the connector 510. Two anchor sticks 520 are coupled to the connector 510, and a torsion spring for rotating the anchor stick 520 may be installed inside the connector 510. The torsion spring may be installed to press the anchor stick 520 so that the gap between the anchor sticks 520 is widened.

The anchor stick 520 includes a first outer surface 521 curved in an arc shape and a second outer surface 523 formed of a flat surface. A groove 524 extending in the longitudinal direction may be formed on the second outer surface 523. When the second outer surfaces 523 of the anchor stick 520 are coupled to face each other, the anchor 500 has a substantially circular rod shape.

The connector 510 includes a base plate 511 and two side plates 512 protruding from the side surfaces of the base plate 511 and facing each other, and the connector 510 supports the anchor stick 520 in a rotatable manner. Support rods can be installed. In addition, a center rod 515 supporting the rope 590 is installed in the connector 510, and the center rod 515 is positioned between the anchor sticks 520 when the anchor sticks 520 are coupled.

As shown in FIG. 9, when the anchor 500 is inserted into the perforated portion 600, the anchor stick 520 is opened in the perforated portion and is supported on the inner surface of the ship. In addition, after the anchor 500 is inserted, when the connector 510 is pulled by the rope 590, the flat surface of the anchor stick 520 abuts against the inner portion of the perforated portion 600, so that the rope 590 is wound. When losing, the anchor 500 may stably support the rope 590 inside the perforated portion 600.

As described above, according to the present embodiment, since the movement of the anchor 500 and the input of the anchor 500 are performed by the lifting driving member 450, the structure can be simplified and the stability of the operation can be improved. In the case of inserting the anchor by using elasticity such as a spring, if the spring does not operate properly due to water pressure or the like, there may be a problem in that the anchor cannot be properly inserted. However, when the anchor 500 and the holder unit 420 are moved together by the lifting drive member 450 and the pressing unit 430 and the anchor 500 is pressed and inserted while the holder unit 420 is supported, the anchor ( 500) can be easily separated from the holder portion 420.

In addition, according to the present embodiment, since the holder part 420 moves downward and the anchor 500 is separated from the holder part 420 in a state where it is inserted into the perforation part 600, the anchor 500 is It can be stably positioned within the perforated part 600.

Hereinafter, a method for blocking pores according to the present embodiment will be described. 12 is a flow chart for explaining a method for blocking pores according to an embodiment of the present invention.

7, 8, 9, and 12, the method for blocking pores according to the present embodiment includes a robot moving step (S101), a sliding step (S102), a tilting step (S103), and an anchor transport step ( S104), the anchor input step (S105), the rope winding step (S106), it may include a pore blocking step (S107).

The robot movement step (S101) moves the pore blocking robot 100 to the pore portion 600. The pore blocking robot 100 may move to the pore portion by remote control of a user. A camera may be mounted on the wave hole blocking robot 100, and an operator may move the wave hole blocking robot 100 to the wave hole 600 while checking the condition of the ship using the camera.

In the sliding step (S102), the holder part 420 supporting the anchor 500 is moved laterally with respect to the body part 200. In the sliding step (S102), the anchor 500 is moved laterally with respect to the body portion 200 by the sliding portion 240, and the anchor 500 is controlled to be located at the center of the perforated portion. In the sliding step (S102), the sliding cylinder 242 is connected to the sliding plate 241 by pushing or pulling the sliding plate 241 and moving the holder part 420 supporting the anchor 500.

In the tilting step (S103), the holder part 420 is rotated with respect to the body part 200. In the tilting step S103, the anchor is rotated with respect to the body part 200 by the tilting part 250, and accordingly, the anchor 500 may be positioned vertically with respect to the corrugated surface. In the tilting step (S103), the tilting cylinder 254 rotates the support plate 251 on which the input unit 400 is installed, and the tilting cylinder 254 is a support plate 251 via a tilting shaft 252 connected to the support plate 251. ) Can be rotated.

In the anchor transfer step (S104), the anchor 500 and the holder unit 420 are transferred downward by pressing the anchor 500 while lowering the pressing unit 430. As the lead screw 451 rotates in the anchor transfer step (S104), the pressing portion 430 coupled with the lead screw 451 moves downward, and the pressing rod 432 of the pressing portion 430 moves to the anchor 500 ) By pressing the anchor 500 and the holder portion 420 supporting the anchor 500 move to the lower side together.

In the anchor input step (S105), the holder part 420 supporting the anchor 500 moves to the lowest end and presses the anchor with a pressing part while being supported by the support plate 251 to press the anchor 500 in the holder part 420. Break away. In the anchor transfer step (S104) and the anchor input step (S105), the movement of the pressing unit is performed by moving the pressing unit by rotation of the lead screw 451.

In the rope winding step (S106), the rope connected to the anchor 500 is wound using a winch 260, and in this process, the anchor 500 is hung on the ship and supported. In the step of blocking the pores (S107), the pores 600 are sealed by bringing the blocking pad 220 into close contact with the pores 600.

As described above, one embodiment of the present invention has been described, but those of ordinary skill in the relevant technical field add, change, delete or add components within the scope not departing from the spirit of the present invention described in the claims. Various modifications and changes can be made to the present invention by means of the like, and it will be said that this is also included within the scope of the present invention.

100: blast blockade robot
200: body part
210: main frame
220: containment pad
230: out trigger
240: sliding part
250: tilting part
260: winch
270: support bar
300: driving unit
310: pulley
320: belt
400: input
410: support
420: holder part
430: pressurization part
450: lifting drive member
500: anchor
510: connector
520: anchor stick

Claims (10)

In the cavitation containment robot for blocking the cavities of the ship,
An input part for supporting an anchor inserted into the hole;
A body portion supporting the input portion; And
Includes; a driving unit installed on the body portion to move the body portion,
The input unit,
An erected and installed support,
A holder part including a moving frame moving along the support and a support frame fixed to the moving frame and supporting the anchor,
A pressing unit spaced apart from the moving frame and moving along the support, and a pressing unit fixed to the pressing unit and including a pressing rod for pressing and moving the anchor,
And a lifting drive member for moving the pressing part in the longitudinal direction of the support. The method of claim 1,
The body portion includes a support plate that contacts and supports a lower surface of the support frame, and when the support frame is supported by the support plate, the anchor is pressurized by the pressure rod and separated from the support frame. Containment robot. The method of claim 2,
The elevating driving member is inserted into the holder part and the pressing part, and a lead screw screwed to the pressing part and a motor for rotating the lead screw. The method of claim 2,
The body part,
Further comprising a tilting unit including the support plate and a tilting shaft connected to the support plate and a tilting cylinder for rotating the tilting shaft,
The support and the lead screw is installed on the support plate, characterized in that the pore blocking robot. The method of claim 4,
The body part,
A main frame supporting the driving part,
Further comprising a sliding plate installed to be slidably movable with respect to the main frame, and a sliding unit including a sliding cylinder for moving the sliding plate,
The tilting cylinder and the tilting shaft are fixed to the sliding plate. The method of claim 1,
The support frame is a side plate connected from the moving frame toward the floor and a support block that is coupled to a lower portion of the side plate to insert an upper portion of the anchor, and a plurality of protrusions protruding and protruding above the support block. Including a holding unit having,
A hole blocking robot, characterized in that a hole through which the pressure rod passes is formed in the holding unit. The method of claim 1,
The anchor includes a connector and two anchor sticks rotatably coupled to the connector,
The connector includes a base plate and two side plates protruding from the side of the base plate and facing each other, the anchor stick includes a first outer surface curved in an arc shape and a second outer surface formed of a flat surface, and the connector includes a rope Cavity containment robot, characterized in that the fixed center rod is installed. In the pore containment method using a pore containment robot having an anchor,
A robot movement step of moving the pore blocking robot to the pore portion;
Anchor transfer step of pressing the anchor with a pressing unit to transfer the anchor and the holder supporting the anchor to a lower portion;
An anchor input step of pressing the anchor with the pressing part while the support frame of the holder part is moved to the lowermost part and supported and the anchor is inserted into the perforated part to remove the anchor from the holder part;
A rope winding step of winding the rope connected to the anchor using a winch; And
A pore-blocking step of blocking the pores by bringing the containment pad installed in the pore-blocking robot into close contact with the pores;
Cavity containment method comprising a. The method of claim 8,
In the step of transferring the anchor and the step of inserting the anchor, the movement of the pressing unit is performed by rotation of a lead screw installed in the hole blocking robot. The method of claim 8,
It is carried out after the robot movement step,
And a sliding step of moving the holder part in a lateral direction with respect to the body part of the hole blocking robot and a tilting step of rotating the holder part with respect to the body part.

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