KR20210046315A - Multi-DOF lifting device for insulation panel of LNGC - Google Patents

Abstract

Disclosed is a multi-degree-of-freedom (DOF) lifting device for attaching an insulator of a ship hold which can improve the installation precision of an insulator. The lifting device comprises: a vertical frame; a first-axis horizontal frame wherein one end thereof is lifted in a vertical direction along a path formed by the vertical frame, and the length thereof is stretched in a first axis direction perpendicular to the vertical direction; a second-axis horizontal frame provided on the other end of the first-axis horizontal frame to be slid and moved in a second-axis direction perpendicular to the first axis direction and the vertical direction; a tilting unit provided between the second-axis horizontal frame and the fixing unit to rotate the fixing unit in a three-dimensional space; and a displacement providing part which provides displacement in which the fixing unit is relatively moved with respect to the second-axis horizontal frame.

Description

Multi-DOF lifting device for insulation panel of LNGC}

The present invention relates to a multi-degree of freedom (Multi Degree of Freedom) lifting device for attaching the insulation of a ship cargo hold.

LNG carriers that transport liquefied natural gas (LNG) are equipped with several cargo holds filled with cryogenic liquefied natural gas.

Insulation Panel (IP) is installed between the storage tank and the hull in order to keep the liquefied natural gas in a cryogenic state inside the cargo hold. The insulation can be, for example, polyurethane foam.

Attaching the insulation to the walls and corners of the cargo hold is not only done in a confined work space, but also the weight of the insulation material is about 150kg or more, which is a difficult task.

1 illustrates a lifting device according to the prior art.

The lifting device includes a first horizontal moving part 110, a vertical moving part 120, a second horizontal moving part 130, and a tilting part 140.

The first horizontal moving unit 110 includes a base horizontal frame 111 that is movable by installing a plurality of wheels on the bottom surface, and an extended horizontal frame 112 that is coupled to slide with the base horizontal frame 111 and extends in the X-axis direction. It consists of

The vertical moving part 120 is coupled to slide with the base vertical frame 121 fixed vertically to one end of the base horizontal frame 111 and the base vertical frame 121 in the Z-axis direction by a hydraulic drive source (A). It consists of an extended vertical frame 122 that extends.

The second horizontal moving part 130 is a moving horizontal frame 131 vertically coupled to the extended vertical frame 122 so as to be movable in the Z-axis direction in conjunction with the extended vertical frame 122, and a moving horizontal frame 131 It is coupled to be slid to and is composed of an extended moving horizontal frame 132 extending in the X-axis direction by a driving source (ie, a ball screw (S) and a motor driving unit (M)).

The tilting unit 140 is coupled to the end of the extended horizontal frame 132, and a side tilting unit 141 coupled to tilt and drive the gripper G in a lateral direction (on the ZX plane) by a motor type driving source, and a side surface A linear movement unit (not shown) installed below the tilting unit 141 and coupled to linearly move the gripper in the Y-axis direction, and a rotating unit installed on the upper side of the side tilting unit 141 to rotate the gripper (G) ( 144), it is installed on the upper portion of the rotating portion 440 and is composed of a front tilting portion 142 coupled to tilt the gripper (G) in the front direction (on the ZY plane).

The lifting device according to the prior art shown in FIG. 1 has the advantage of promoting the convenience of a worker who performs a work of attaching an insulation material to a cargo hold by lifting and moving the insulation material.

However, the lifting device according to the prior art is an equipment for installing the insulating material located at the corner, there is a problem that is not suitable to be used for the purpose of installing the insulating material at various installation angles such as vertical sidewalls.

In addition, after placing the insulating material on the upper portion of the gripper (G) using a forklift or the like, there is a problem that the workability is also poor because the operator must fix the insulating material and the gripper (G) with bolts.

Korean Patent Publication No. 10-2009-0050773 (Lift device for attaching a corner panel of a ship's cargo hold)

The present invention is a ship that can raise or lower the lifted insulation material (IP) to correspond to the installation position in the cargo hold or variously change the lifted posture, thereby not only promoting the working convenience of the operator, but also improving the installation precision of the insulation material It is to provide a multi-degree of freedom lifting device for attaching insulation of cargo hold.

In the present invention, even if there are obstacles in the insulation installation space, the insulation material to be installed can be approached to the installation location, avoiding the obstacles, so that it is possible to smooth installation work within the entire work space without a dead zone. To provide a device.

Objects other than the present invention will be easily understood through the following description.

According to an aspect of the present invention, there is provided a lifting device for fixing and lifting the insulating material in a cargo hold with a fixing unit, the vertical frame; A first axis horizontal frame having a structure in which one end is elevated in a vertical direction along a path formed by the vertical frame and extending and contracting in a first axis direction perpendicular to the vertical direction; A second axis horizontal frame provided at the other end side of the first axis horizontal frame to move the sliding position in a second axis direction perpendicular to the vertical direction and the first axis direction, respectively; A tilting unit provided between the second horizontal frame and the fixing unit to rotate the fixing unit in a three-dimensional space; And there is provided a multi-degree of freedom lifting device for attaching an insulation material of a ship cargo hold including a displacement amount providing unit that provides a displacement amount to allow the fixing unit to move relative to the second axis horizontal frame.

The displacement amount providing unit may include: a guide pad defining a moving path of the fixing unit; And a displacement fixing part for fixing a moving position of the fixing unit moved along the movement path. Here, the movement path defined as a straight line may have a movement angle determined according to a posture in which the rotation unit is rotated by the tilting unit.

The second axis horizontal frame may include: a guide rail formed in the second axis direction on the other end side of the first axis horizontal frame; And a traveling machine coupled to the tilting unit and sliding along the guide rail in the direction of the second axis.

The tilting unit may include: a first plane tilting part for tilting the fixing unit in a first plane direction by having a rotation axis in the second axis direction; A second plane tilting unit for tilting the fixing unit in a second plane direction by having a rotation axis in the first axial direction; And a third plane tilting part for tilting the fixing unit in a third plane direction with the rotation axis in the vertical direction, wherein the first to third plane tilting parts are serially coupled in a predetermined connection order, and the It is possible to form a tilting unit.

The fixing unit may include a unit body coupled to the tilting unit; Two accommodating housings each fixedly coupled to face opposite sides of the unit body; A plurality of rods disposed at each end of the receiving housing to be linearly moved in a direction accommodated in the receiving housing or drawn out from the receiving housing; And a gripper portion fixedly coupled to the exposed end side of each rod. Here, the gripper unit includes a gripper body fixedly coupled to the exposed end side of the rod, and a gripper head fixedly coupled to the gripper body, and the fixing unit is in a space between a plurality of fixing jigs installed on the insulating material. In the positioned state, each rod is drawn out from the receiving housing until the gripper head contacts the outer surface of the corresponding fixing jig, and the plurality of gripper heads maintain contact with the outer surface of the corresponding fixing jig. So that the heat insulator can be fixed.

The fixing unit may include a unit body coupled to the tilting unit; And a plurality of clamping portions respectively coupled to a plurality of positions of the unit body. Here, each clamping part includes a clamping body coupled to the unit body, and a plurality of clamping jaws arranged in a radial shape from a virtual reference axis positioned on the clamping body, and each clamping jaw includes the group in the body length direction. The clamping body is coupled to the clamping body so as to slide away from or close to the spring axis, and the fixing jig includes an inner circumferential surface corresponding to the shape of the clamping portion in an enlarged state in which the clamping jaw slides away from the reference axis up to a maximum movement distance. The branch can be formed with a concave groove.

Other aspects, features, and advantages other than those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to an embodiment of the present invention, the lifted insulating material (IP) can be raised or lowered to correspond to the installation position in the cargo hold or the lifted posture can be changed in various ways, so that not only the operator's working convenience but also the installation precision of the insulating material are improved. There is an effect of improving.

In addition, even if an obstacle exists in the space for installing the insulating material, the insulating material to be installed can be approached to the installation location, avoiding the obstacle, so that smooth installation work is possible within the entire work space without a dead zone.

1 is a view showing a lift device for attaching a corner panel of a cargo hold of a ship according to the prior art.
2 is a view illustrating the shape of a lifting device according to an embodiment of the present invention.
3 is a view conceptually showing the coupling relationship of each component of the lifting device according to an embodiment of the present invention.
4 is a view for explaining the operation of a vertical frame according to an embodiment of the present invention.
5 is a view showing the configuration of a horizontal frame according to an embodiment of the present invention.
6 is a view showing the configuration of a first plane tilting unit according to an embodiment of the present invention.
7 is a view showing the configuration of a second plane tilting unit according to an embodiment of the present invention.
8 is a view showing the configuration of a third plane tilting unit according to an embodiment of the present invention.
9 and 10 are views for explaining the shape and operation of the displacement amount providing unit according to an embodiment of the present invention.
11 is a view illustrating an operating state of a lifting device according to an embodiment of the present invention.
12 is a view illustrating the shape of the fixing unit of the lifting device according to an embodiment of the present invention.
13 is a view for explaining a process of fixing an insulating material using a fixing unit of a lifting device according to an embodiment of the present invention.
14 is a view illustrating the shape of a fixing unit of a lifting device according to another embodiment of the present invention.
15 is a diagram illustrating a shape of a gripping jig according to another embodiment of the present invention.
16 is a diagram illustrating a configuration of a gripper unit according to another embodiment of the present invention.
17 is a view for explaining a process of fixing an insulating material using a fixing unit according to another embodiment of the present invention.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

The terms used in the present specification are only used 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 specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements, numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance the possibility of being excluded.

In addition, in the description with reference to the accompanying drawings, the same components are assigned the same or related reference numerals regardless of the reference numerals, and redundant descriptions thereof will be omitted. The accompanying drawings are somewhat exaggerated for convenience of description and understanding, and it is natural that the present invention is not limited to the size of each component shown in the accompanying drawings.

FIG. 2 is a diagram illustrating a shape of a lifting device according to an embodiment of the present invention, and FIG. 3 is a view conceptually showing a coupling relationship between components of a lifting device according to an embodiment of the present invention, and FIG. 4 To Figure 10 is a detailed diagram of each component of the lifting device according to an embodiment of the present invention. 11 is a view illustrating an operating state of a lifting device according to an embodiment of the present invention, and FIGS. 12 to 17 are views for explaining a fixing unit of the lifting device according to embodiments of the present invention.

2 and 3, the lifting device 200 includes a base portion 205, a vertical frame 210, a displacement amount providing portion 215, a horizontal frame unit 220, a tilting unit 230, and a fixing unit ( 240).

The base unit 205 is implemented so that a plurality of wheels are installed on the bottom surface, so that the lifting device 200 is movable.

The vertical frame 210 may be vertically coupled to the base portion 205. The vertical frame 210 may be manufactured to have a predetermined length, but may be configured to extend and contract in a vertical direction (Z-axis direction). The length extension can be adjusted manually by an operator or by using a driving force such as hydraulic pressure, and the extension length can be fixed using a stopper or the like.

As illustrated in FIG. 4, one end of the horizontal frame unit 220 is coupled to the vertical frame 210 so that the horizontal frame unit 220 can be lifted along the path formed by the vertical frame 210. Can be. For example, when one end of the horizontal frame unit 220 is coupled to a driving force providing means for extending and contracting the vertical frame 210, the horizontal frame unit 220 rises together when the vertical frame 210 is extended in length. May be (see Figs. 2 and 4).

That is, by raising and lowering the horizontal frame unit 220 along the path formed by the vertical frame 210, the insulating material 280 fixed to the fixing unit 240 may also be raised and lowered in the vertical direction (Z-axis direction) in connection therewith. I can.

3 and 5, the horizontal frame unit 220 may include a first axis horizontal frame 222 and a second axis horizontal frame 224.

The first axis horizontal frame 222 is formed in a structure that extends and contracts in the first axis direction (Y axis direction). The first axis horizontal frame 222 may have, for example, a telescopic structure, and the length expansion and contraction may be adjusted manually by an operator or using a driving force such as hydraulic pressure.

One end of the first axis horizontal frame 222 is coupled to the vertical frame 210 and the other end of the first axis horizontal frame 224 is coupled to the second axis horizontal frame 224 in order to be elevated along the path formed by the vertical frame 210.

The second axis horizontal frame 224 includes a guide rail 510 coupled to the other end side of the first axis horizontal frame 222 in a second axis direction (X axis direction) orthogonal to the first axis direction, and a guide rail It may include a traveling machine 520 that slides along the 510 in the second axis direction.

The insulating material 280 fixed to the fixing unit 240 by the length extension of the first axis horizontal frame 222 of the horizontal frame unit 220 may be horizontally moved in the first axis direction perpendicular to the vertical direction. By sliding movement along the guide rail 510 of the traveler 520 of the 2-axis horizontal frame 224, it may be horizontally moved in a vertical direction and a second axis direction perpendicular to the first axis direction, respectively.

2 and 3, a tilting unit 230 for rotating the insulating material 280 may be coupled to the traveler 520 of the second horizontal frame 224.

The tilting unit 230 may include a first flat tilting portion 232, a second flat tilting portion 234, and a third flat tilting portion 236. The tilting operation of each of the first to third plane tilting units 232, 234, and 236 may be performed by a driving device such as a motor or may be manually operated by an operator. Here, the tilted angle may be fixed using a stopper or the like.

The first plane tilting part 232 may be coupled with the traveler 520 and may be moved in conjunction with the sliding movement of the traveler 520 along the guide rail 510. As illustrated in FIG. 6, the first plane tilting part 232 has a rotation axis in a second axis direction (X-axis direction), and a fixing unit ( 240) is tilted.

The second plane tilting part 234 is coupled to the first plane tilting part 232 and has a rotation axis in a first axis direction (Y-axis direction), and the second plane of the lifting device 200 is perpendicular to the first plane direction. The fixing unit 240 is tilted in the plane direction (ZX plane direction) (see FIG. 7 ).

The third plane tilting part 236 is coupled to the second plane tilting part 234 and the fixing unit 240, respectively, has a rotation axis in the vertical direction (Z-axis direction), and is perpendicular to the first and second plane directions. The fixing unit 240 is tilted in the third plane direction (XY plane direction) of the lifting device 200 (see FIG. 8 ).

The insulating material 280 fixed to the fixing unit 240 may be rotated in the first plane direction by a tilting operation of the first plane tilting part 232 of the tilting unit 230, and the second plane tilting part 234 The insulating material 280 fixed to the fixing unit 240 by the tilting operation of may be rotated in a second plane direction perpendicular to the first plane direction, and the fixing unit by the tilting operation of the third plane tilting part 236 The insulating material 280 fixed to the 240 may be rotated in a third plane direction perpendicular to the first and second plane directions, respectively.

In this way, the lifting device 200 according to the present embodiment freely moves the insulating material 280 fixed to the fixing unit 240 vertically/horizontally or rotated in a three-dimensional space, so that the height and inclination of the installation space in the cargo hold There is a feature that can be manipulated to lift the insulating material 280 to match the angle.

11 illustrates various operating states of the lifting device 200 according to the present embodiment.

That is, as illustrated in (a) of FIG. 11, in the case of attaching the insulating material 280 to the vertical wall surface in the cargo hold, the lifting device 200 uses the vertical frame 210 for the lifted insulating material 280 Thus, the height is adjusted, and the interval may be adjusted using the horizontal frame unit 220.

In addition, as illustrated in (b) and (c) of Figure 11, respectively, in the case of attaching the insulating material 280 to the upper slope or ceiling surface in the cargo hold, the lifting device 200 is attached to the lifted insulating material 280 The height is adjusted using the vertical frame 210, the distance is adjusted using the horizontal frame unit 220, and the rotation angle using the first plane tilting part 232 to match the angle of the target surface to be attached. Can be adjusted.

Of course, although not shown, it is natural that the lifted insulating material 280 using the second and/or third flat tilting portions 234 and 236 may be rotated and moved in the lateral direction if necessary. .

However, as illustrated in (a) of FIG. 10, when the obstacle 950 is present, the operation of raising the height of the lifted insulating material 280 to the installation height using the vertical frame 210 may be limited. .

In order to avoid such obstacles and approach the installation position of the insulating material to be installed, as illustrated in FIGS. 2 and 9 to 10, the lifting device 200 locally moves the position of the fixing unit 240. 215) may be further included.

Referring to FIG. 9, the displacement amount providing unit 215 includes a guide pad 910 defining a moving path of the fixing unit 240 and a displacement fixing unit 920 for fixing a moving displacement amount of the fixing unit 240. Can include.

The guide pad 910 may be positioned between the second flat tilting portion 234 and the third flat tilting portion 236, for example.

The displacement fixing unit 920 is, for example, a coupling body that is coupled to the third flat tilting unit 236 coupled to the fixing unit 240 and the guide pad 910 to move along a path formed on the guide pad 910 And a displacement fixing member for fixing the displacement control bar fastened to the coupling body to fix the moved position of the coupling body on a designated path.

Therefore, as illustrated in (b) of FIG. 10, after moving the coupling body directly or indirectly fastened to the fixing unit 240 along the formation path of the guide pad 910, the coupling body is fastened to the coupling body at the corresponding position. By fixing the displacement control bar to the body using the displacement fixing member, the fixing unit 240 can be moved and fixed to match the installation position of the heat insulating material 280 by avoiding the obstacle 950 in the cargo hold.

As illustrated in FIGS. 2 and 10, if the guide pad 910 is in an upright state, the coupling member and the fixing unit 240 will move in the vertical direction. However, if the fixing unit 240 is inclined at an arbitrary angle by the manipulation of the tilting unit 230, the fixing unit 240 moves along the path formed on the guide pad 910 in accordance with the inclined angle. Will be.

The displacement amount providing unit 215 may be configured to move the coupling member to an arbitrary position using a driving force such as hydraulic pressure, or to be manually adjustable by an operator.

In FIG. 10 and the like, the displacement amount providing unit 215 is illustrated as being positioned between the second flat tilting unit 234 and the third flat tilting unit 236, but an arbitrary position of the tilting unit 230 or a tilting unit ( The displacement amount providing unit 215, such as between the 230 and the second axis horizontal frame 224, may be positioned without any limitation as long as the height of the fixing unit 240 is locally raised or lowered.

2 to 11 so far, in describing the configuration of the lifting device 200, the first axis horizontal frame 222, the second axis horizontal frame 224, the first plane tilting unit 232, and the second A case where the horizontal frame unit 220 and the tilting unit 230 are connected in the order of the plane tilting part 234, the displacement amount providing part 215, and the third plane tilting part 236 has been described as an example.

However, on the premise that each component is coupled to have a serial connection relationship so that the insulating material 280 fixed to the fixing unit 240 can be vertically and horizontally moved and also rotated in a three-dimensional space. The order of combining the components may be more diverse.

For example, in the case of the displacement amount providing unit 215, if it is possible to achieve the purpose of providing an additional lifting operation of the fixed unit 240 compared to the lifting height of the horizontal frame unit 220, the installation position is, for example, It may vary between the tilting unit and the fixing unit 240, between the second horizontal frame 224 and the tilting unit 230, between arbitrary components of the tilting unit 230, and the like.

As illustrated in FIG. 2, the fixing unit 240 positioned at the end of the lifting device 200 is formed in a structure that fixes the insulation material 280 using a fixing jig 290 previously installed on the insulation material 280. I can.

Referring to FIG. 12 showing an example of the fixing unit 240, the fixing unit 240 includes a unit body 1010, an accommodation housing 1020, a rod 1030, a gripper part 1040, and a guide bracket 1050. ) Can be included.

The unit body 1010 is coupled to the tilting unit 230, and in order to accommodate a plurality of rods 1030, which will be described later, on both sides of the front surface of the body, a receiving housing 1020 having a'C' shape or a rectangular parallelepiped shape is respectively It is fixedly combined.

In order to promote stability in the process of fixing the fixing jig 290 using a rod 1030 and a gripper part 1040 on one side of the unit body 1010 and to facilitate the positioning of the gripper part 1040, A guide bracket 1050 that hangs one side of the insulation material 280 and suppresses relative movement between the insulation material 280 and the fixing unit 240 may be fixedly coupled.

2, etc., the case where the guide bracket 1050 is fixedly coupled to the upper side of the fixing unit 240 is illustrated, but one or more guide brackets 1050 are fixed at various positions such as the upper side or the lower side of the fixing unit 240 It can also be combined. If, when the guide bracket 1050 is provided on the lower side of the fixing unit 240, the guide bracket 1050 supports the lower portion of the insulation material 280 fixed by the gripper portion 1040, and thus the insulation material 280 It could also function as a pedestal that allows the) to be stably supported and lifted.

Two rods 1030 are accommodated in each receiving housing 1020. Each of the two rods 1030 is drawn out of the receiving housing 1020 by using a driving force such as hydraulic pressure or pneumatic pressure from the first and second end sides of the receiving housing 1020 or in a direction received into the receiving housing 1020. It can be moved linearly (see Fig. 15). It is natural that a driving force providing means for moving each rod 1030 may be provided in the receiving housing.

A gripper part 1040 for fixing the fixing jig 290 installed on the heat insulating material 280 is coupled to the exposed end side of each rod 1030. The fixing jig 290 may be formed in an hourglass shape having a concave portion in the center of the body, as illustrated in FIG. 13.

As illustrated in FIG. 14, the gripper unit 1040 may include a gripper body 1210 and a gripper head 1220.

The gripper body 1210 is fixedly coupled to the exposed end side of the rod 1030, and the gripper head 520 is fixedly coupled to the outer surface. That is, the gripper body 1210 is fixed by the rod 1030 at the first side side, and the gripper head 1220 to contact and fix the fixing jig 290 at the second side side is coupled.

The gripper head 1220 may be manufactured in various sizes, and a gripper head 1220 having a size corresponding to the diameter of the fixing jig 290 to be fixed may be used by being coupled to the gripper body 1210. At this time, the fixing jig 290 installed on the insulating material 280 may all have the same size, but if necessary, a fixing jig 290 having a different size may be installed, and a gripper head 1220 having a size corresponding to the fixing jig 290 may be installed. It may be coupled to the gripper body 1210.

The gripper head 1220 is shaped to have a concave area formed with an inner circumferential surface conforming to the outer surface shape of the fixing jig 290. That is, the gripper head 1220 has a convex portion fitted into the concave portion formed in the fixing jig 290, and the concave region of the gripper head 1220 has a shape in close contact with the outer surface of the fixing jig 290. It is shaped.

At this time, the gripper head 1220 may be formed in a tapered shape at both ends in order to accurately fix the fixing jig 290 even when the gripper head 1220 is not accurately aligned with the fixing jig 290.

Of course, the number and position of the concave portions formed in the fixing jig 290 may be variously set. It is natural that the shape of the gripper part 1040 may also vary according to the shape of the fixing jig 290 so that the fixing jig 290 can be stably fixed by being in close contact with the outer surface of the fixing jig 290. Do.

Referring to FIG. 15, a series of processes of fixing the heat insulating material 280 using the fixing unit 240 of the lifting device 200 will be briefly described.

First, a plurality of fixing jigs 290 are installed on the insulating material 280 to be lifted. At this time, in consideration of the number and arrangement of the gripper parts 1040, the fixing jigs 290 may be installed on the heat insulating material 280 (see FIG. 15(a)).

Subsequently, the fixing unit 240 is positioned between the plurality of fixing jigs 290 installed of the insulating material 280 (see FIG. 15(b)).

Subsequently, each rod 1030 with the gripper part 1040 mounted on the exposed end side is removed until the gripper head 1220 of the gripper part 1040 contacts the outer surface of the corresponding fixing jig 290. It is drawn out to the outside of the receiving housing 1020 using a predetermined driving force (see FIG. 15C).

Each of the rods 1030 is drawn out of the receiving housing 1020 until each of the plurality of gripper units 1040 contacts the outer surface of the corresponding fixing jig 290, so that the lifting device 200 is fixed to a plurality of It is possible to lift by fixing the insulator 280 on which the jig 290 is installed.

In this way, the fixing unit 240 provided in the lifting device 200 locates the fixing unit 240 between the plurality of fixing jigs 290 installed on the insulating material 280, and accommodates each rod 1030 in a housing Each of the gripper parts 1040 may be formed in a structure in which the side surfaces of the corresponding fixing jig 290 are brought into contact with each other to be fixed to the outside of the 1020.

Referring to FIG. 16 showing another example of the fixing unit 240, the fixing unit 240 includes a unit body 1010 coupled to the tilting unit 230, and clamping coupled to a plurality of positions of the unit body 1010. The unit 1420 and a pedestal 1430 fixed to the lower side of the unit body 1010 may be included.

The pedestal 1430 supports the lower portion of the insulating material 280 fixedly fastened by using the clamping part 1420, similar to the case where the guide bracket 1050 is installed at the bottom, so that the insulating material 280 is stably supported. Function to be lifted.

형상으로 형성된 경우가 예시되고, 유닛 바디(1010)의 돌출 영역들에 4개의 클램핑부(1420)가 결합된 형태가 예시되었으나, 유닛 바디(1010)의 형상과 결합되는 클램핑부(1420)의 수가 예시된 바에 제한되지 않음은 당연하다.16, the unit body 1010 is shown in order to minimize the weight of the fixing unit 240

A case formed in a shape is illustrated, and a form in which four clamping portions 1420 are coupled to the protruding regions of the unit body 1010 is illustrated, but the number of clamping portions 1420 coupled to the shape of the unit body 1010 It goes without saying that it is not limited to what is illustrated.

Each of the clamping parts 1420 may include a clamping body 1422 and a plurality of clamping jaws 1424.

Here, the plurality of clamping jaws 1424 may be disposed in a radial shape from an imaginary reference axis C positioned on the clamping body 1422.

The clamping jaw 1424 may be coupled with the clamping body 1422 so as to be slidable in a direction close to or away from the reference axis C in the body length direction of the clamping jaw 1424 by a predetermined driving force providing means. I can.

Here, when each clamping jaw 1424 is moved to a maximum distance that can be slidable, the gap between the clamping jaws 324 is in a state that is widened to a maximum size. At this time, as illustrated in (b) of FIG. 16, depending on the shape of the clamping part 1420, the end of each clamping jaw 1424 is outside of the clamping body 1422 located under the clamping jaw 1424. It could be positioned so that it deviates from the side.

Hereinafter, the state in which the clamping jaw 1424 has been slid relatively close in the direction of the reference axis C is referred to as a reduced state, and the state in which the clamping jaw 1424 has moved away from the reference axis C to the maximum sliding distance is enlarged. It will be referred to as the state.

Referring to FIG. 17, in order to fix the insulating material 280 to be leafed using the lifting device 200, one or more fixing jigs 290 are first installed on the insulating material 280, and each of the installed fixing jigs 290 Align each clamping part 1420 of the fixing unit 240 to correspond to the position of (see FIG. 15A). In this case, the fixing jig 290 may be installed on the insulating material 280 in consideration of the number and arrangement of the clamping parts 1420.

Subsequently, the horizontal frame unit 220 is elongated, and the clamping portion 1420 in a reduced state is inserted to the end of the concave groove 1510 formed in the fixing jig 290 (Figs. 15(b) and (c)). Reference).

Subsequently, the clamping jaw 1424 of the clamping unit 1420 in the reduced state is moved away from the reference axis C to the maximum sliding movement distance, and the clamping unit 1420 is switched to an enlarged state, thereby the clamping unit 1420 and the clamping unit 1420 The fixing jig 290 is fastened to each other (see Fig. 5(d)).

The inner circumferential surface of the concave groove 1510 formed in the fixing jig 290 may be formed to correspond to the shape of the clamping part 1420 in the enlarged state in order to be fastened with the clamping part 1420 in the enlarged state. .

That is, the concave groove 1510 of the fixing jig 290 installed on the insulation material 280 is formed to have an inner circumferential surface having a step so that the inner diameter of the concave groove 510 is relatively larger than the inner diameter of the groove entry part. I can.

Accordingly, the clamping portion 1420 in an enlarged state in which the clamping jaw 1424 of the clamping portion 1420 inserted into the concave groove 1510 of the fixing jig 290 slides out of the clamping body 1422. When converted to, the end of each clamping jaw 1424 is in contact with the inner circumferential surface of the stepped region of the concave groove 510 so that the clamping portion 1420 and the fixing jig 290 are fastened and fixed to each other.

In this way, the fixing unit 240 provided in the lifting device 200 aligns and inserts each clamping part 1420 into the concave groove 1510 of the corresponding fixing jig 290 installed on the insulating material 280 in a reduced state. After that, it may be formed in a structure that is fixedly fastened to the fixing jig 290 by simply switching each clamping part 1420 to an enlarged state.

As described above, the lifting device 200 according to the present embodiment can fix the insulating material 280 to be lifted in a simple procedure, and move or lift the fixed insulating material 280 to correspond to the installation position in the cargo hold. Since the posture can be changed in various ways, there is an advantage of not only promoting the work convenience of the operator, but also improving the installation precision of the insulation material.

In addition, even if an obstacle exists in the space for installing the insulating material, the insulating material to be installed can be approached to the installation location, avoiding the obstacle, so that smooth installation work is possible within the entire work space without a dead zone.

Although the above has been described with reference to the embodiments of the present invention, those of ordinary skill in the relevant technical field variously modify the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. And it will be appreciated that it can be changed.

200: lifting device 205: base portion
210: vertical frame 215: displacement amount providing unit
220: horizontal frame unit 222: first axis horizontal frame
224: second axis horizontal frame 230: tilting unit
232: first plane tilting part 234: second plane tilting part
236: third flat tilting unit 240: fixing unit
280: insulation 290: fixing jig
910: guide pad 920: displacement fixing part
950: obstacle 1010: unit body
1020: accommodation housing 1030: rod
1040: gripper part 1050: guide bracket
1420: clamping part 1430: pedestal

Claims (6)

A lifting device for fixing and lifting an insulation material in a cargo hold by having a fixing unit,
Vertical frame;
A first axis horizontal frame having a structure in which one end is elevated in a vertical direction along a path formed by the vertical frame, and extending and contracting in a first axis direction perpendicular to the vertical direction;
A second axis horizontal frame provided at the other end side of the first axis horizontal frame to move the sliding position in a second axis direction perpendicular to the vertical direction and the first axis direction, respectively;
A tilting unit provided between the second horizontal frame and the fixing unit to rotate the fixing unit in a three-dimensional space; And
A multi-degree of freedom lifting device for attaching an insulating material to a ship cargo hold, including a displacement amount providing unit that provides a displacement amount to allow the fixing unit to move relative to the second axis horizontal frame. The method of claim 1,
The displacement amount providing unit,
A guide pad defining a moving path of the fixed unit; And
Including a displacement fixing part for fixing the moving position of the fixed unit moved along the movement path,
The moving path defined in a straight line is a multi-degree of freedom lifting device for attaching an insulation material of a ship cargo hold, in which a moving angle is determined according to a posture in which the rotating unit is rotated by the tilting unit. The method of claim 1,
The second axis horizontal frame,
A guide rail formed in the second axis direction on the other end side of the first axis horizontal frame; And
A multi-degree of freedom lifting device for attaching an insulation material of a ship cargo hold, including a traveling machine coupled with the tilting unit and sliding in the direction of the second axis along the guide rail. The method of claim 1,
The tilting unit,
A first plane tilting unit for tilting the fixing unit in a first plane direction by having a rotation axis in the second axial direction;
A second plane tilting unit for tilting the fixing unit in a second plane direction by having a rotation axis in the first axial direction; And
A third plane tilting part for tilting the fixing unit in a third plane direction with the rotation axis in the vertical direction,
The first to third plane tilting units are serially coupled in a predetermined connection order to form the tilting unit, a multi-degree of freedom lifting device for attaching insulation of a ship cargo hold. The method of claim 4,
The fixing unit,
A unit body coupled to the tilting unit;
Two receiving housings each fixedly coupled to face opposite sides of the unit body;
A plurality of rods disposed at each end of the receiving housing to be linearly moved in a direction accommodated in the receiving housing or in a direction drawn out of the receiving housing; And
Including a gripper portion fixedly coupled to the exposed end side of each rod,
The gripper unit includes a gripper body fixedly coupled to the exposed end side of the rod, and a gripper head fixedly coupled to the gripper body,
In a state in which the fixing unit is located in a space between a plurality of fixing jigs installed on the insulating material, each rod is drawn out from the receiving housing until the gripper head contacts the outer surface of the corresponding fixing jig. A multi-degree of freedom lifting device for attaching the insulation material of a ship cargo hold to fix the insulation material by keeping the gripper head in contact with the outer surface of each corresponding fixing jig. The method of claim 4,
The fixing unit,
A unit body coupled to the tilting unit; And
Including a plurality of clamping portions respectively coupled to a plurality of positions of the unit body,
Each clamping portion includes a clamping body coupled to the unit body, and a plurality of clamping jaws disposed in a radial shape from a virtual reference axis positioned on the clamping body,
Each clamping jaw is coupled to the clamping body so as to slide and move closer to or away from the girdle shaft in the longitudinal direction of the body,
In the fixed jig, a concave groove having an inner circumferential surface corresponding to the shape of the clamping portion in an enlarged state in which the clamping jaw is slid away from the reference axis to a maximum movement distance is formed. Road lifting device.

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