KR20240021126A - automatic sealing apparatus for gas production facility and automatic sealing method for gas production facility using the same - Google Patents

Abstract

An automated sealing device for a gas production facility that seals a leaked portion in a gas production facility according to an aspect of the present invention, comprising an upper bogie moving along a rail installed at the top of the gas production facility and a rail installed at the bottom. It includes a lower bogie, a support frame connecting the upper bogie and the lower bogie, a sealing robot installed to be able to lift and lower along the support frame, and a lifting member that moves the sealing robot in an upward and downward direction, and the sealing robot is a sealing member. a nozzle for discharging, a first axis transfer member for moving the nozzle in the first direction, a second axis transfer member for moving the nozzle in a second direction intersecting the first direction, and a first axis transfer member for moving the nozzle in the first direction and It may include a third axis transfer member that moves in a direction intersecting the second direction.

Description

Automatic sealing apparatus for gas production facility and automatic sealing method for gas production facility using the same {automatic sealing apparatus for gas production facility and automatic sealing method for gas production facility using the same}

The present invention relates to an automobile sealing device and automated sealing method for sealing leaks in gas production facilities.

Generally, gas production facilities produce high-temperature, high-pressure gas by heating raw materials, and a plurality of doors are installed in the gas production facility. Leakage may occur between the frame and the door due to high temperature and pressure.

A gas production facility may have a plurality of combustion chambers into which fuel is charged, and a gas production chamber is installed between each combustion chamber. The gas produced in the gas production facility is purified and then reused as a combustion gas and a heat source. To prevent these gases from leaking to the outside, a sealing strip is attached between the frame and the door.

As the usage time of gas production equipment increases, the sealing strip is deformed or damaged, causing the problem that gas generated in the chamber is discharged from the door frame into the atmosphere. Accordingly, problems of environmental pollution and emission of hazardous substances are emerging, so it is required to seal the door and frame using a sealant to solve these problems.

If a leak occurs, the worker moves to the leak location and performs sealing work. However, if the gas production facility is large, work must be performed at a high altitude in a high area, and the risk of safety accidents is very high in a high-temperature work environment.

Korean Patent No. 10-0215200 (December 18, 2000)

Based on the technical background described above, the present invention provides an automated sealing device for gas production facilities and an automated sealing method for gas production facilities that can easily and quickly perform sealing work.

An automated sealing device for a gas production facility that seals a leaked portion in a gas production facility according to an aspect of the present invention, comprising an upper bogie moving along a rail installed at the top of the gas production facility and a rail installed at the bottom. It includes a lower bogie, a support frame connecting the upper bogie and the lower bogie, a sealing robot installed to be able to lift and lower along the support frame, and a lifting member that moves the sealing robot in an upward and downward direction, and the sealing robot is a sealing member. a nozzle for discharging, a first axis transfer member for moving the nozzle in the first direction, a second axis transfer member for moving the nozzle in a second direction intersecting the first direction, and a first axis transfer member for moving the nozzle in the first direction and It may include a third axis transfer member that moves in a direction intersecting the second direction.

The automated sealing device for gas production facilities according to one aspect of the present invention may further include a driver attached to the third axis transfer member for rolling and pitching the nozzle.

According to one aspect of the present invention, a force sensor is installed in the nozzle to measure the force acting on the nozzle, and the automated sealing device for gas production facilities includes a control unit that receives change information in the force acting on the nozzle and performs position correction. It may further include.

A scraper that pressurizes the sealing material discharged from the nozzle may be installed in the nozzle according to one aspect of the present invention.

The sealing robot according to one aspect of the present invention is installed with a marker recognition module that recognizes the marker installed in the gas production facility, and the gas production facility automated sealing device recognizes the nozzle based on the information transmitted from the marker recognition module. It may further include a control unit that corrects the position.

The sealing robot according to one aspect of the present invention includes a body part supporting the first axis transport member and the second axis transport member, and a guide that protrudes from the rear of the body part and rotates in contact with a lifting rail installed on the support frame. Additional rollers may be included.

The sealing robot according to one aspect of the present invention may include a plurality of magnetic supports attached to the door frame of the gas production facility by magnetic force.

A nozzle holder supporting the nozzle is installed in the nozzle according to one aspect of the present invention, and the nozzle holder may be made of a hyperelastic material.

The marker recognition module according to one aspect of the present invention may include a camera and a laser scanner.

The camera according to one aspect of the present invention is comprised of a 3D depth camera, and the control unit may receive information from the 3D depth camera to derive the inclination angle of the door of the gas production facility and the sealing robot.

The laser scanner according to one aspect of the present invention measures the first side of the marker while moving, measures the second side of the marker while moving in a direction intersecting the first side at the vertex of the marker, and measures the second side of the marker at diagonal angles to each other. The vertex located in the direction is derived, the distance between the diagonal vertex and the laser scanner is measured, and the control unit determines the vertical angle between the door of the gas production facility and the laser scanner based on the information transmitted from the laser scanner. and the horizontal angle can be derived.

The automated sealing method of a gas production facility according to another aspect of the present invention includes a command receiving step of receiving leakage location information, moving the upper bogie and the lower bogie along the rail installed below the rail installed at the top of the gas production facility, and lifting and lowering the gas production facility. A moving step of moving the sealing robot in the up and down direction using a member, and a sealing material application process of discharging the sealing material while moving the nozzle using the first-axis transfer member, second-axis transfer member, and third-axis transfer member installed on the sealing robot. May include steps.

The sealing material application step according to another aspect of the present invention may be performed by tilting the nozzle using a driver attached to the third axis transfer member to roll and pitch the nozzle.

The sealing material application step according to another aspect of the present invention may be performed by tilting the nozzle using a driver attached to the third axis transfer member to roll and pitch the nozzle.

The sealing material application step according to another aspect of the present invention may perform position correction by receiving information on change in force transmitted from a force sensor installed in the nozzle.

In the step of applying the sealing material according to another aspect of the present invention, the discharged sealing material can be sealed by pressurizing it using a scraper attached to the nozzle. The automated sealing method of the gas production facility according to another aspect of the present invention includes the steps of: It may further include a marker recognition step of recognizing a marker installed in the facility, and a position correction step of correcting the position of the nozzle based on the information transmitted in the marker recognition step.

The marker recognition step according to another aspect of the present invention derives the vertices of the marker using a laser scanner, measures the distance between the vertices and the laser scanner, and derives the vertical and horizontal angles of the door and the sealing robot. can do.

The marker recognition step according to another aspect of the present invention may photograph the marker using a 3D depth camera, and the position correction step may derive the inclination angle of the door and the nozzle of the gas production facility.

The moving step according to another aspect of the present invention may fix the magnetic support unit installed on the sealing robot to the door frame of the gas production facility.

The sealing material application step according to another aspect of the present invention applies pressure to the pneumatic system inside the nozzle using a pressure regulator, recognizes the point in time at which the sealing material is discharged to the outside when detecting a pressure change in the pneumatic system through real-time pressure measurement, and , the nozzle can be moved.

As described above, according to one aspect of the present invention, the automated sealing device for gas production equipment and the automated sealing method for gas production equipment according to one aspect of the present invention use the upper bogie and the lower bogie to quickly prevent leaks from occurring. It can be moved to any position, and the sealing robot can rise or fall stably along the support frame.

In addition, sealing work can be performed quickly while the nozzle moves by the first and second axis transfer members.

In addition, it not only recognizes the marker installed in the gas production facility and corrects the position to move to the correct position, but also quickly pressurizes the sealing material using a scraper fixed to the nozzle and uses the force acting on the nozzle to determine force and position. Control and sealing can be carried out in precise positions.

In addition, by providing a guide roller and a magnetic support unit, the sealing robot can control the posture of the nozzle and perform sealing work while it is stably supported without shaking.

Figure 1 is a diagram showing a state in which an automated gas production facility sealing device according to an embodiment of the present invention is installed in a gas production facility.
Figure 2 is a diagram showing a part of an automated sealing device for gas production facilities according to an embodiment of the present invention.
Figure 3 is a perspective view showing a sealing robot of an automated sealing device for gas production facilities according to an embodiment of the present invention.
Figure 4 is a diagram showing a nozzle of an automated sealing device for gas production equipment according to an embodiment of the present invention.
Figure 5 is a diagram showing the sealing material supply unit of the automated sealing device for gas production facilities according to an embodiment of the present invention.
Figure 6 is a diagram showing a marker recognition module and a marker installed on a door according to an embodiment of the present invention.
Figure 7 is a flowchart for explaining an automated sealing method for gas production equipment according to an embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention 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 dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Hereinafter, an automated sealing device for gas production facilities according to an embodiment of the present invention will be described.

Figure 1 is a diagram showing a state in which an automated sealing device for gas production facilities is installed in a gas production facility according to an embodiment of the present invention, and Figure 2 shows a part of an automated sealing device for gas production facilities according to an embodiment of the present invention. It is a drawing.

1 and 2, the automated sealing device 100 according to this embodiment is a device that seals the part where a leak occurs in the gas production facility 200, recognizes the occurrence of a leak in the situation room, and provides location information. When transmitted, it moves to the area where the leak occurred and automatically performs sealing.

To this end, the automated sealing device 100 according to this embodiment includes an upper bogie 112, a lower bogie 113, a support frame 121, a sealing robot 150, an elevating member 125, and a control unit 140. can do.

The gas production facility 200 may be comprised of a facility that produces gas at high temperature and high pressure, and a door frame 210 and a door 220 coupled to the door frame 210 are installed in the gas production facility 200.

Rails 235 are installed at the top and bottom of the gas production facility 200, and the upper bogie 112 and the lower bogie 113 can be coupled to the rail 235. The upper bogie 112 and the lower bogie 113 are spaced apart in the height direction of the gas production facility, and the upper bogie 112 moves along the rail 235 installed at the top and may be equipped with a plurality of wheels.

The lower bogie 113 moves along the rail 235 installed at the bottom and may be provided with a plurality of wheels. Electrical components are installed on the lower bogie 113, and a power supply device 127, a hydraulic device 126, a communication module 128, etc. may be installed on the lower bogie 113.

The lower bogie 113 may move autonomously by an electric motor, etc., and the upper bogie 112 may not have power. However, the present invention is not limited to this, and traveling motors may be installed on the upper bogie 112 and the lower bogie 113.

The support frame 121 connects and supports the upper bogie 112 and the lower bogie 113, and is formed along the height direction of the gas production facility 200. The support frame 121 can be moved with respect to the gas production facility 200 by the upper bogie 112 and the lower bogie 113. Two lifting rails 123 that guide the movement of the sealing robot 150 may be installed on the support frame 121, and the lifting rails 123 may extend in the height direction of the support frame 121.

A lifting member 125 is installed on the lower bogie 113 to elevate the sealing robot 150, and the lifting member 125 may be made of a multi-stage hydraulic cylinder. The sealing robot 150 can be easily moved to the received leak location by the lifting member 125, the upper cart 112, and the lower cart 113.

Figure 3 is a perspective view showing a sealing robot of an automated sealing device for gas production facilities according to an embodiment of the present invention, and Figure 4 is a diagram showing a nozzle of an automated sealing device for gas production facilities according to an embodiment of the present invention. , FIG. 5 is a diagram showing the sealing material supply unit of the automated sealing device for gas production facilities according to an embodiment of the present invention, and FIG. 6 is a diagram showing a marker recognition module and a marker installed on the door according to an embodiment of the present invention. .

3 to 6, the sealing robot 150 is coupled to the support frame 121 and is installed to be movable in the vertical direction with respect to the support frame 121 by the lifting member 125.

The sealing robot 150 includes a body part 151, a first axis transfer member 153, a second axis transfer member 156, a third axis transfer member 157, an actuator 155, a nozzle 171, and a scraper. (172), it may include a marker recognition module (MD), a guide roller 152, and a magnet support unit 154.

The body portion 151 has a rectangular frame shape, and a first axis conveyance member 153, a second axis conveyance member 156, and a third axis conveyance member 157 may be installed on the body portion 151. The first axis transfer member 153 is formed along the y-axis direction and transfers the nozzle 171 in the y-axis direction. The second axis transfer member 156 is formed along the z-axis direction intersecting the y-axis and transfers the nozzle 171 in the z-axis direction. Meanwhile, the third axis transfer member 157 transfers the nozzle 171 in the x-axis direction that intersects the y-axis and z-axis.

Meanwhile, the driver 155 may roll (rotate around the x-axis) and pitch (rotate around the y-axis) the nozzle 171. The driver 155 may be coupled to the third axis transfer member 157 and supports the nozzle 171. In this way, the nozzle 171 according to this embodiment is easily moved to a designated position by the first axis transfer member 153, the second axis transfer member 156, the third axis transfer member 157, and the driver 155. Not only can it move, but it can also perform sealing work in various postures.

Meanwhile, a plurality of guide rollers 152 are installed on the outside of the body portion 151. The guide roller 152 rotates in contact with the lifting rail 123 and guides the lifting and lowering of the sealing robot 150. Six guide rollers 152 may be installed in the body portion 151, but the present invention is not limited thereto.

A plurality of magnet support parts 154 are installed in a portion of the body part 151 facing the door frame 210. The magnetic support part 154 includes an electromagnet and can be attached to the door frame by magnetic force. When the sealing robot 150 moves to the leakage position, the magnetic support part 154 is attached to the door frame 210 to prevent the body part 151 from moving, and only the nozzle 171 moves to perform stable sealing work. .

A nozzle 171 and a marker recognition module (MD) are installed in the actuator 155. The marker recognition module (MD) recognizes the marker 250 installed on the door 220 and transmits information to the control unit 140. The marker recognition module (MD) may include a camera 177 and a laser scanner 174. The camera 177 moves to the sealing position, photographs the marker 250, and transmits image information to the control unit. The camera 177 may be a vision camera or a 3D depth camera.

As shown in Figure 6, various types of markers 250 are installed on the door 220. The markers 250 can be made of various colors as well as 3X3 cells, and the color and shape of each cell changes. You can specify location coordinates through .

The control unit 140 corrects the position of the nozzle 171 based on information transmitted from the marker recognition module (MD). The control unit distinguishes the object from the background by preprocessing the image and extracting coordinates within the image from the image information transmitted from the camera 177, calculates the error between the center of the object and the center of the image, and moves the camera in a direction that reduces the error. , if the pixel value of the error after movement is greater than the preset standard, the robot is moved again in the direction of reducing the error, and if the pixel value of the error is less than the preset standard, the laser scanner 174 is moved in the direction of the marker to measure the precise depth value. move

The laser scanner 174 measures the first side of the marker 250 while moving, measures the second side of the marker 250 while moving in a direction intersecting the first side from the vertex of the marker 250, and measures the second side of the marker 250 while moving. Using the first and second sides, vertices located diagonally from each other are derived. Additionally, the laser scanner 174 measures the distance between the diagonal vertex and the laser scanner. The control unit 140 may derive the vertical and horizontal angles of the door 220 and the laser scanner 174 based on information transmitted from the laser scanner 174.

In addition, the camera 177 may be a 3D depth camera, and the control unit 140 receives information from the 3D depth camera 177 and controls the door 220 of the gas production facility 200 and the camera 177. The inclination angle can be derived.

The camera 177 and the laser scanner 174 are coupled to the tilting axis 142, and the tilting axis 142 can be rotated by the tilting motor 143. Accordingly, the camera 177 and the laser scanner 174 can rotate about the nozzle frame 158 about an axis parallel to the y-axis by the tilting motor 143.

The nozzle 171 is fixed to the nozzle frame 158 via a nozzle holder 178, and the nozzle holder 178 has a tubular shape to support the nozzle 171. The nozzle holder 178 may be formed so that its thickness gradually increases from the outer longitudinal direction to the center. The nozzle holder 178 may be made of a superelastic material. Accordingly, during the sealing operation, the nozzle 171 can be tilted by inducing a change in the elasticity of the nozzle holder 178, preventing shock from being applied to the nozzle 171. Not only can this be prevented, but precise positioning is also possible.

The nozzle 171 is formed in the shape of a long pipe, and a nozzle container 176 in which the sealing material is stored is formed in the nozzle 171, and the sealing material can be supplied to the nozzle container 176 in an amount to be ejected at one time. Different amounts of sealing material may be supplied to the nozzle container 176 depending on the length of the area to be sealed. The sealing material may be made of mortar, but the present invention is not limited thereto.

A pressure regulator is connected to the nozzle 171, and the control unit 140 uses the pressure regulator to apply pressure to the pneumatic system inside the nozzle 171, and when a pressure change in the pneumatic system is detected through real-time pressure measurement, the sealing material is applied. The point of discharge to the outside can be recognized and the nozzle 171 can be moved. The nozzle 171 can move along a preset path by the first axis transfer member and the second axis transfer member.

A scraper 172 that pressurizes the sealing material is installed in the nozzle 171. The scraper 172 is fixed to the nozzle 171 via a support 173 and may be shaped like a ball. The scraper 172 is located next to the nozzle 171 and pressurizes the discharged sealing material so that it is fixed to the leakage area.

A force sensor 179 is installed in the nozzle 171, and the force sensor 179 detects changes in force acting on the nozzle 171. The control unit 140 may receive change information in the force acting on the nozzle 171 and perform position coordinate correction.

The control unit 140 sets the sealing path based on the received command and the information transmitted from the marker recognition module (MD), receives force change information, corrects the position of the nozzle 171, and moves the nozzle along the sealing path. (171) can be moved.

When the nozzle 171 comes into contact with a corner, protrusion, etc., a change in the force acting on the nozzle 171 occurs. If the position information measured by this change in force does not match the preset path information, the change in force occurs. The position information of the nozzle 171 can be corrected using the measured position information.

Meanwhile, a sealing material supply unit 180 may be installed in the sealing robot 150 as shown in FIG. 5 . The sealing material supply unit 180 supplies the sealing material to the nozzle 171 by electronic scanning. The sealing material supply unit 180 is connected to a pressurized tank 181 in which the sealing material is stored, a piston 182 movably installed in the pressurized tank 181, and a lead connected to the piston 182 in the longitudinal direction of the pressurized tank 181. A transfer nut 186 coupled to the screw 185 and the lead screw 185 and fixed to the upper part of the pressurized tank 181, a drive belt 184 coupled to the transfer nut 186, and connected to the drive belt 184. It may include an injection motor 183.

As the injection motor 183 rotates, the lead screw rotates and moves with respect to the transfer nut 186, thereby lowering the piston 182 to supply the sealing material to the nozzle. The sealing material supply unit 180 may supply the discharged amount of sealing material to the nozzle 171. The sealing material may not be stored in the nozzle 171 but may be pressurized by the sealing material supply unit and discharged through the nozzle. When the sealing material is stored in the nozzle 171, a negative pressure is formed inside the nozzle 171 to supply the sealing material to the nozzle 171, and the sealing material can be temporarily accommodated in the nozzle container 176.

As described above, according to this embodiment, the gas production facility automated sealing device 100 can be easily and quickly moved to the leakage point using the rails 235 disposed above and below the gas production facility, and the support frame 121 ), the sealing robot 150 moves up and down and can rise or fall stably.

In addition, not only can the marker 250 installed in the gas production facility 200 be recognized and its position corrected to move to the correct position, but the sealing material can be quickly pressed using the scraper 172 fixed to the nozzle 171. , force-position control can be performed using the force acting on the nozzle 171 and sealing work can be performed at an accurate location.

In addition, by providing a guide roller 152 and a magnet support part 154, the sealing robot 150 can control the posture of the nozzle and perform sealing work while being stably supported without shaking.

Hereinafter, a method for automating gas production equipment according to an embodiment of the present invention will be described.

Figure 7 is a flowchart for explaining an automated sealing method for gas production equipment according to an embodiment of the present invention.

3 to 7, the automated sealing method for gas production facilities according to this embodiment includes a command reception step (S101), a movement step (S102), a sealing material filling step (S103), a marker recognition step (S104), It may include a position correction step (S105) and a sealing material application step (S106).

In the command reception step (S101), leakage location information is received using the communication module 128. In the situation room, leak information generated from the gas production facility 200 is collected, and if it is determined that a leak has occurred, the leak location information is transmitted to the automated sealing device 100, and the communication module 128 receives the leak information. .

In the moving step (S102), the upper bogie 112 and the lower bogie 113 are moved along the rail 235 installed below the rail 235 installed at the top of the gas production facility 200. The upper bogie 112 and the lower bogie 113 move while connected by the support frame 121 and can move to the received position coordinates.

In the moving step (S102), the sealing robot 150 can be moved in the vertical direction using the lifting member 125 and moved to the location coordinates where the leak occurred. In the moving step (S102), the sealing robot 150 can be moved using a lifting member 125 made of a multi-stage hydraulic cylinder.

In the moving step (S102), the magnet support unit 154 installed on the sealing robot 150 may be fixed to the door frame 210 of the gas production facility 200 by magnetic force. In the moving step (S102), after the sealing robot 150 moves to a preset height, a magnetic force may be formed on the magnet support 154 including an electromagnet to secure the magnet support 154 to the door frame 210.

In the sealing material filling step (S103), the sealing material is supplied to the nozzle container 176 formed in the nozzle 171 using the sealing material supply unit 180. In the sealing material filling step (S103), the amount of sealing material to be discharged once can be supplied considering the length of the leakage area. If the sealing material is not stored in the nozzle container 176 but is directly discharged by the sealing material supply unit 180, the sealing material filling step may be omitted.

In the marker recognition step (S104), the marker 250 installed in the gas production facility 200 is recognized using a marker recognition module (MD). In the marker recognition step (S104), the marker 250 installed on the door of the gas production facility 200 is photographed using the camera 177 and the laser scanner 174.

The position correction step (S105) corrects the position of the nozzle 171 based on the information transmitted in the marker recognition step (S104). The position correction step (S105) determines the current position of the nozzle 171 through the marker 250 recognized in the marker recognition step (S104), determines whether it matches the preset position, and matches the preset position and marker ( If the positions derived through 250) do not match, move the nozzle to correct the position.

In the position correction step (S105), the object is distinguished from the background through image preprocessing and coordinate extraction in the image from the image information transmitted from the camera 177, and the error between the center of the object and the image center is calculated to reduce the error. moves the camera 177, and if the pixel value of the error after movement is more than a preset value, the robot is moved again in the direction of reducing the error, and if the error pixel value is less than the preset value, a laser scanner is used to measure the precise depth. Move (174) in the direction of marker (250).

In addition, in the position correction step (S105), one side of the marker 250 is measured by moving the laser scanner 174, the other side is measured by lowering it again from the vertex, and the laser scanner 174 is connected to the vertex at a diagonal position. ) Measure the distance. In the position correction step (S105), the vertical and horizontal angles of the door 220 and the laser scanner 174 can be derived based on the information transmitted from the laser scanner 174.

In addition, the marker recognition step (S104) photographs the marker using a 3D depth camera, and the position correction step (S105) can derive the inclination angle of the door 220 and the nozzle 171 of the gas production facility 200. there is.

In the sealing material application step (S106), the nozzle 171 is moved using the first axis transfer member 153, the second axis transfer member 156, and the third axis transfer member 157 installed on the sealing robot 150. Dispense sealing material. Additionally, in the sealing material application step (S106), the sealing material may be applied while rolling (rotating around the x-axis) and pitching (rotating around the y-axis) the nozzle 171 using a driver.

In the sealing material application step (S106), sealing can be performed by pressurizing the discharged sealing material using the scraper 172 attached to the nozzle 171, and information on the change in force transmitted from the force sensor installed in the nozzle 171 is used. By receiving the information, position correction can be performed. When the nozzle 171 comes into contact with a corner, protrusion, etc., a change in the force acting on the nozzle 171 occurs. If the position information measured by this change in force does not match the preset path information, the change in force occurs. The position information of the nozzle 171 can be corrected using the measured position information.

In the sealing material application step (S106), pressure is applied to the pneumatic system inside the nozzle 171 using a pressure regulator, and when a pressure change in the pneumatic system is detected through real-time pressure measurement, the time when the sealing material is discharged to the outside is recognized, and the nozzle 171 is applied. (171) can be moved.

Above, an embodiment of the present invention has been described, but those skilled in the art can add, change, delete or add components without departing from the spirit of the present invention as set forth in the patent claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of rights of the present invention.

100: Automated sealing device
112: Upper bogie
113: Lower bogie
121: support frame
123: Elevating rail
125: Elevating member
126: Hydraulic device
127: power supply
128: communication module
140: control unit
142: Tilting axis
143: Tilting motor
150: Sealing robot
151: Body part
152: Guide roller
153: 1st axis transfer member
154: Magnetic support
155: actuator
156: 2nd axis transfer member
157: Third axis transfer member
171: nozzle
172: scraper
173: support
174: Laser scanner
176: nozzle container
177: Camera
178: nozzle holder
179: Force sensor
180: Sealing material supply unit
181: Pressurized tank
182: Piston
183: injection motor
184: Drive belt
185: lead screw
186: transfer nut
200: Gas production equipment
210: door frame
220: door
235: rail
250: marker

Claims (20)

In the gas production facility automated sealing device that seals the leaked portion of the gas production facility,
An upper bogie moving along a rail installed at the top of the gas production facility and a lower bogie moving along a rail installed at the bottom of the gas production facility;
a support frame connecting the upper bogie and the lower bogie;
A sealing robot installed to be able to ascend and descend along the support frame; and
a lifting member that moves the sealing robot in an upward and downward direction;
Including,
The sealing robot includes a nozzle that discharges a sealing member, a first axis transfer member that moves the nozzle in a first direction, a second axis transfer member that moves the nozzle in a second direction intersecting the first direction, and the nozzle. An automated sealing device for gas production facilities, comprising a third axis transfer member that moves in a direction intersecting the first direction and the second direction. According to claim 1,
An automated sealing device for gas production facilities, further comprising a driver attached to the third axis transfer member to roll and pitch the nozzle. According to clause 2,
A force sensor is installed in the nozzle to measure the force acting on the nozzle,
The automated sealing device for gas production facilities further includes a control unit that receives information on changes in force acting on the nozzle and performs position correction. According to clause 3,
An automated sealing device for gas production facilities, characterized in that a scraper is installed in the nozzle to pressurize the sealing material discharged from the nozzle. According to claim 1,
The sealing robot is installed with a marker recognition module that recognizes the marker installed in the gas production facility, and the gas production facility automated sealing device further includes a control unit that corrects the position of the nozzle based on the information transmitted from the marker recognition module. An automated sealing device for gas production facilities, comprising:
According to claim 1,
The sealing robot includes a body part supporting the first axis transport member, the second axis transport member, and the third axis transport member, and a guide that protrudes from the rear of the body part and rotates in contact with a lifting rail installed on the support frame. An automated sealing device for gas production facilities, further comprising a roller. According to claim 1,
The sealing robot is an automated sealing device for gas production facilities, characterized in that it includes a plurality of magnetic supports attached to the door frame of the gas production facility by magnetic force. According to claim 1,
An automated sealing device for gas production facilities, wherein a nozzle holder supporting the nozzle is installed on the nozzle, and the nozzle holder is made of a hyperelastic material. According to clause 5,
The marker recognition module is an automated sealing device for gas production facilities, characterized in that it includes a camera and a laser scanner. According to clause 9,
The camera is comprised of a 3D depth camera, and the control unit receives information from the 3D depth camera to derive an inclination angle of the door of the gas production facility and the sealing robot. An automated sealing device for gas production facilities. According to clause 9,
The laser scanner measures the first side of the marker while moving, and measures the second side of the marker while moving in a direction that intersects the first side at the vertex of the marker, thereby deriving vertices located diagonally from each other. and measure the distance between the diagonal vertex and the laser scanner,
An automated sealing device for a gas production facility, wherein the control unit derives vertical angles and horizontal angles of the door of the gas production facility and the laser scanner based on information transmitted from the laser scanner. A command receiving step of receiving leakage location information;
A moving step of moving the upper bogie and the lower bogie along the rail installed below the rail installed at the top of the gas production facility, and moving the sealing robot in the vertical direction using a lifting member; and
A sealing material application step of discharging the sealing material while moving the nozzle using a first-axis transfer member, a second-axis transfer member, and a third-axis transfer member installed on the sealing robot;
An automated sealing method for gas production equipment, comprising: According to claim 12,
The sealing material application step is an automated sealing method for gas production equipment, characterized in that the nozzle is tilted using a driver attached to the third axis transfer member to roll and pitch the nozzle. According to claim 12,
The sealing material application step is an automated sealing method for gas production facilities, characterized in that position correction is performed by receiving information on change in force transmitted from a force sensor installed in the nozzle. According to claim 14,
The sealing material application step is an automated sealing method for gas production equipment, characterized in that the discharged sealing material is pressed and sealed using a scraper attached to the nozzle. According to claim 12,
An automated sealing method for a gas production facility, further comprising a marker recognition step of recognizing a marker installed in the gas production facility, and a position correction step of correcting the position of the nozzle based on the information transmitted in the marker recognition step. . According to claim 16,
In the marker recognition step, the vertices of the marker are derived using a laser scanner, and the distance between the vertices and the laser scanner is measured to derive the vertical and horizontal angles of the door and the sealing robot. Gas production Automated sealing method for equipment. According to claim 16,
The marker recognition step is to photograph the marker using a 3D depth camera, and the position correction step is to derive the inclination angle of the door of the gas production facility and the nozzle. An automated sealing method for a gas production facility, characterized in that.
According to claim 12,
The moving step is an automated sealing method of a gas production facility, characterized in that the magnet support installed on the sealing robot is fixed to the door frame of the gas production facility. According to claim 12,
The sealing material application step applies pressure to the pneumatic system inside the nozzle using a pressure regulator, recognizes the point in time when the sealing material is discharged to the outside when a pressure change in the pneumatic system is detected through real-time pressure measurement, and moves the nozzle. An automated sealing method for gas production facilities.

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