KR20210050826A - Multi-DOF lifting device having multi-joint arm - Google Patents

Abstract

A multiple degree of freedom lifting device having an articulated arm is disclosed. The lifting device comprises: a vertical frame vertically coupled to a base; an articulated arm part that is lifted along a path formed by the vertical frame and coupled to be rotatably coupled to a plurality of link members on a first plane via a rotation joint member; a fixing unit for fixing an insulator; and a tilting unit positioned between the fixing unit and the articulated arm part, and rotating the fixing unit on a second plane perpendicular to the first plane.

Description

Multi-DOF lifting device having multi-joint arm}

The present invention relates to a multi-degree of freedom lifting device having a multi-joint arm.

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)

In 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 variously changed, so that not only the operator's working convenience but also the installation precision of the insulating material can be improved. It is to provide a multi-degree of freedom lifting device having an articulated arm.

The present invention is to provide a multi-degree of freedom lifting device having an articulated arm that improves space utilization by implementing a weight balancer to provide both a weight balance function and an electric energy supply function.

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 insulation in a cargo hold by having a fixing unit, comprising: a vertical frame vertically coupled to a base portion; An articulated arm part which is lifted along a path formed by the vertical frame and coupled to each of the plurality of link members so as to be rotatable on a first plane through a rotation joint member; A fixing unit fixing the heat insulator; And a tilting part positioned between the fixing unit and the articulated arm part to rotate the fixing unit on a second plane perpendicular to the first plane.

One or more weight balancers that perform power supply and weight balance functions may be coupled to the base unit. Here, the weight balancer, a battery module for charging electrical energy to be supplied to the combined lifting device; A weight body formed including at least one of metal, wood, stone, and concrete to implement a weight balance; And a power supply for supplying the electric energy charged in the battery module to the lifting device electrically connected.

The link member may be formed in a telescopic structure that extends and contracts in the longitudinal direction of the body.

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. Each clamping portion may include 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 is the body lengthwise. 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 can be improved. There is an effect of improving.

In addition, there is an effect of improving space utilization by implementing a weight balancer to provide a weight balance function and an electric energy supply function together.

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.
Figure 4 is a view for explaining the lifting operation of the joint arm according to an embodiment of the present invention.
5 is a view for explaining the structure and operating state of the joint arm according to an embodiment of the present invention.
6 is a view showing an operation of a tilting unit according to an embodiment of the present invention.
7 is a view illustrating a state in which the lifting device according to an embodiment of the present invention lifts the insulating material.
8 is a view illustrating the shape of the fixing unit of the lifting device according to an embodiment of the present invention.
9 is a view for explaining a process of fixing an insulating material using a fixing unit of the lifting device according to an embodiment of the present invention.
10 is a diagram illustrating a configuration of a weight balancer according to another embodiment of the present invention.
11 is a diagram illustrating various configurations of a weight balancer 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 or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

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 6 is a detailed view of each component of the lifting device according to an embodiment of the present invention. 7 is a diagram illustrating an operating state of a lifting device according to an embodiment of the present invention, and FIGS. 10 to 11 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 may include a base portion 205, a vertical frame 210, an articulated arm portion 220, a tilting portion 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 wheel installed on the bottom of the base unit 205 is, for example, a mecanum wheel that facilitates front/rear/left/right/diagonal driving and rotation, or an omni wheel for facilitating this Etc.

One or more weight balancers 250 may be coupled to the base portion 205.

The weight balancer 250 may include a weight body 1012 to implement a weight balance. The weight body 1012 may be formed, for example, using metal, stone, or the like with a predetermined weight.

The weight balancer 250 may be implemented to perform not only a weight balance function, but also a function of supplying electric energy for driving the lifting device 200.

Referring to FIG. 10, the weight balancer 250 may include a balancer case 1010, a weight body 1012, a power supply unit 1014, and a plurality of battery modules 1020.

The balancer case 1010 may include a wall forming a space for accommodating the weight 1012 and the power supply unit 1014, and a cover sealing the upper portion of the wall. In the drawing, a state in which a plurality of battery modules 1020 are placed so as to be exposed to the top of the balancer case 1010 is illustrated, but the balancer case 1010 is formed in a size and shape that accommodates a plurality of battery modules 1020 in an internal space. Alternatively, a separate battery module case for accommodating the plurality of battery modules 1020 therein may be further provided. A plurality of wheels (eg, omni wheels) may be provided under the balancer case 1010 so as to be moved in conjunction with the movement of the lifting device 200.

The weight body 1012 is provided to implement a weight balance. The weight body 1012 is filled with metal (for example, cast iron, new iron, etc.) by casting molding in a part of the receiving space of the balancer case 1010 with a predetermined weight, or plate-shaped metal or stone is laminated. Can be configured.

The power supply unit 1014 supplies power charged to each battery module 1020 to the outside. Each component of the lifting device 200 may receive power from the battery module 1020 and perform operations such as length extension, sliding drive, and rotation. Of course, it is natural that the lifting device 200 may be driven by being directly connected to an external power source.

As illustrated in FIG. 11, at one side of the balancer case 1010, an outlet 1110 for drawing out a power line or a power terminal electrically connected to the power supply unit 1014 may be formed.

The outlet 1110 of the balancer case 1010 may be formed in the shape of a concave fastening groove so as to be not only electrically connected to the lifting device 200 to be powered, but also mechanically coupled at the same time.

A fastening bar having an outer circumferential surface having a shape corresponding to the shape of the inner circumferential surface of the outlet 1110 is provided on the base portion 205 of the lifting device 200.

The fastening bar provided on the base part 205 is formed in the shape of a hollow tube for drawing out a power line or a power terminal for supplying power to an operation panel (not shown) of the lifting device 200, for example. May be. The lifting device 200 and the weight balancer 250 are electrically and mechanically connected to each other by electrically connecting the power line or power terminal provided in the fastening bar and the outlet 1110 to each other, and then inserting and fastening the fastening bar into the outlet 1110. Can be combined with

As another example, power terminals corresponding to each other may be formed on the inner circumferential surface of the outlet 1110 and the outer circumferential surface of the fastening bar so that they are electrically connected to each other when the fastening bar is inserted and fastened to the outlet 1110.

The battery module 1020 is an electric component that charges and discharges electricity. Since the battery module is a known electric component, a detailed description thereof will be omitted. Although not shown, electrical components for charging the battery module 1020 may be further provided inside the balancer case 1010.

As described above, the weight balancer 250 according to the present embodiment is electrically connected to the lifting device 200 to supply power required for driving the lifting device 200 as well as mechanically Combined, the lifting device 200 can provide work stability when lifting and transporting the heavy insulating material 280.

In addition, since the weight balancer 250 provides power supply and weight balance functions together, space utilization can be increased and manufacturing cost can be reduced compared to a case where a battery and weight balance are separately provided.

The weight balancer 250 may be manufactured in various shapes according to the arrangement shape of the battery module, as illustrated in FIGS. 11A and 11B, respectively, and in FIGS. 11C and 11D, respectively. As illustrated, a plurality of weight balancers 250 may be used in combination to have a serial or parallel connection relationship.

As described above, the weight balancer 250 of various types may be coupled to the lifting device 200 at various angles to correspond to the direction or work direction of the load applied to the lifting device 200 for lifting and transporting the insulating material 280. . 2 illustrates a case in which the weight balancer 250 is respectively coupled to both sides of the lifting device 200, but the weight balancer 250 is coupled to the rear side and the side of the lifting device 200, respectively. It can be combined in various ways.

Referring back to FIGS. 2 and 3, 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.

The multi-joint arm 220 is coupled to one end of the elevating portion 410 that elevates along a path in the vertical direction (Z-axis direction) formed by the vertical frame 210, so as to move the elevating portion 410 in the vertical direction. It is raised and lowered in the vertical direction by interlocking (see Fig. 4). Driving force for the lifting unit 410 to move up and down in the vertical direction may be varied, for example, by hydraulic pressure or pneumatic pressure.

As illustrated in FIG. 5, the articulated arm 220 includes first to third link members 510, 520 and 530 each formed with a predetermined length, and a first rotatably coupling end portions of each link member. To third rotation joint members 540, 550, and 560.

Here, each of the first to third rotation joint members 540, 550, and 560 may have a vertical rotation axis (Z axis) and may be coupled to the first to third link members 510, 520, 530, and the like. Each of the first to third link members 510, 520, and 530 may be formed in a telescopic structure so as to be able to extend and contract in length.

That is, one end of the first link member 510 is fixedly coupled to the lifting unit 410, the other end is rotatably coupled to one side of the first rotating joint member, and both ends of the second link member 520 Is rotatably coupled to the other side of the first rotation joint member 540 and one side of the second rotation joint member 550, respectively, and both ends of the third link member 530 are of the second rotation joint member 550. It is rotatably coupled to the other side and one side of the third rotation joint member 560, respectively. The tilting part 230 is coupled to the other side of the third rotation joint member 560 so as to be rotatable on the first plane (XY plane) with a rotation axis (Z axis) in the vertical direction. Rotation operation of each link member using the first to third rotation joint members 540, 550, 560 may be performed by a driving device such as a motor or manually performed by an operator. Here, the rotated angle may be fixed using a stopper or the like.

By the plurality of rotation joint members 540, 550, 560 provided in the articulated arm 220, the tilting part 230 fastened with the fixing unit 240 is at various rotation angles on the first plane (XY plane). Can be rotated. Through this, the lifting device 200 can be formed with front and left moving radii that can carry the insulating material 280 fixed to the fixing unit 240.

Referring back to FIGS. 2 and 3, the tilting part 230 is coupled to the other end of the articulated arm 220 so as to be rotatable on the first plane.

As illustrated in FIG. 6, the tilting unit 230 is coupled to the fixing unit 240 so as to have a rotation axis in the first axis direction (X axis direction), and the fixing unit 240 is made of the lifting device 200. 2 Tilt in the plane direction (ZY plane direction). That is, the tilting unit 230 allows the lifting device 200 to tilt the insulating material 280 fixed to the fixing unit 240 at an angle corresponding to the shape of the position to be installed in the cargo hold.

As described above, the lifting device 200 according to the present embodiment uses the vertical frame 210, the articulated arm 220, and the tilting part 230 for the insulating material 280 fixed to the fixing unit 240. There is a feature that the insulation material 280 can be lifted and transported in accordance with the height and tilt angle of the installation space in the cargo hold by freely vertical/horizontal movement or rotation movement in the three-dimensional space.

7 shows an operating state in which the insulating material 280 is fixed and lifted using a fixing unit 240 coupled to the tilting unit 230 of the lifting device 200 and a fixing jig 290 pre-installed on the insulation material 280. It is illustrated.

Referring to FIG. 8 in which the shape of the fixing unit 240 is illustrated in detail, the fixing unit 240 is coupled to a unit body 810 coupled to the tilting unit 230 and a plurality of positions of the unit body 810. It may include a clamping portion 820 that is, and a pedestal 830 fixed to the lower side of the unit body 810.

The pedestal 830 may function so that the insulating material 280 is stably supported and lifted by supporting the lower portion of the insulating material 280 fixedly fastened using the clamping part 820.

형상으로 형성된 경우가 예시되고, 유닛 바디(810)의 돌출 영역들에 4개의 클램핑부(820)가 결합된 형태가 예시되었으나, 유닛 바디(810)의 형상과 결합되는 클램핑부(820)의 수가 예시된 바에 제한되지 않음은 당연하다.In FIG. 8, a unit body 810 is provided 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 parts 820 are coupled to the protruding regions of the unit body 810 is illustrated, but the number of clamping parts 820 coupled to the shape of the unit body 810 is illustrated. It is natural that not limited to what is illustrated.

In addition, a fastening groove 840 for inserting and fastening an extension bar 710 (see FIG. 7) to which an additional clamping part 820 is coupled may be formed in the unit body 810 of the fixing unit 240. As illustrated in FIG. 7, by inserting the extension bar 710 into the fastening groove 840, the unit body 810 is expanded in the lateral direction, and the heat insulating material 280 is removed by using more clamping parts 820. By fixing, it is possible to more stably lift and transport the heat insulating material 280.

Each of the clamping parts 820 may include a clamping body 822 and a plurality of clamping jaws 824.

Here, the plurality of clamping jaws 824 may be disposed in a radial shape from the virtual reference axis C positioned on the clamping body 822.

The clamping jaw 824 may be coupled with the clamping body 822 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 824 by a predetermined driving force providing means. I can.

Here, when each clamping jaw 824 is moved to a maximum distance that can be slidably moved, the gap between the clamping jaws 824 is opened to a maximum size. At this time, as illustrated in (b) and (c) of FIG. 8, depending on the shape of the clamping portion 820, the end of each clamping jaw 824 is a clamping body positioned below the clamping jaw 824 ( 822).

Hereinafter, the state in which the clamping jaw 824 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 824 is 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. 9, in order to fix the insulating material 280 to be lifted using the lifting device 200, first, at least one fixing jig 290 is installed on the insulating material 280, and each of the installed fixing jigs 290 Align each clamping part 820 of the fixing unit 240 to correspond to the position of (see FIG. 9A). 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 820.

Subsequently, the length of the articulated arm 220 is elongated, and the clamping portion 820 in a reduced state is inserted to the end of the concave groove 910 formed in the fixing jig 290 (Fig. 9(b) and (c)). ) Reference).

Subsequently, the clamping jaw 824 of the clamping unit 820 in the reduced state is moved away from the reference axis C to the maximum sliding movement distance, and the clamping unit 820 is switched to an enlarged state, thereby The fixing jig 290 is fastened to each other (see (d) of FIG. 9).

The inner circumferential surface of the concave groove 910 formed in the fixing jig 290 may be formed to correspond to the shape of the clamping part 820 in the enlarged state in order to be fastened with the clamping part 820 in the enlarged state. .

That is, the concave groove 910 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 910 is relatively larger than the inner diameter of the groove entry part. I can.

Accordingly, the clamping portion 820 in an enlarged state in which the clamping jaw 824 of the clamping portion 820 inserted into the concave groove 910 of the fixing jig 290 slides out of the clamping body 822. When converted to, the end of each clamping jaw 824 is in contact with the inner circumferential surface of the stepped region of the concave groove 910 so that the clamping portion 820 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 820 into the concave groove 910 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 820 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.

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 220: multi-joint arm
230: tilting part 240: fixed unit
410: lifting part 510, 520, 530: link member
540, 550, 560: rotating joint member 710: expansion bar
810: unit body 820: clamping part
822: clamping body 824: clamping jaw
830: pedestal 840: fastening groove
910: recessed groove 1010: balancer case
1012: weight 1014: power supply
1020: battery module 1110: outlet

Claims (4)

A lifting device for fixing and lifting an insulation material in a cargo hold by having a fixing unit,
A vertical frame vertically coupled to the base portion;
An articulated arm part which is lifted along a path formed by the vertical frame and coupled to each of the plurality of link members so as to be rotatable on a first plane through a rotation joint member;
A fixing unit fixing the heat insulator; And
A multi-degree of freedom lifting device comprising a tilting part positioned between the fixing unit and the articulated arm part and rotating the fixing unit on a second plane perpendicular to the first plane. The method of claim 1,
One or more weight balancers that perform power supply and weight balance functions are coupled to the base unit,
The weight balancer,
A battery module for charging electrical energy to be supplied to the combined lifting device;
A weight body formed including at least one of metal, wood, stone, and concrete to implement a weight balance; And
Multi-degree of freedom lifting device comprising a power supply for supplying the electric energy charged in the battery module to the lifting device electrically connected. The method of claim 1,
The link member is formed in a telescopic structure that extends and contracts in the longitudinal direction of the body, a multi-degree of freedom lifting device. The method of claim 1,
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 arranged radially from a virtual reference axis positioned on the clamping body,
Each clamping jaw is coupled with 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 a shape of a clamping portion in an enlarged state in which the clamping jaw slides away from the reference axis to a maximum movement distance is formed.

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