WO2008075894A1

WO2008075894A1 - Rail-based transportation apparatus

Info

Publication number: WO2008075894A1
Application number: PCT/KR2007/006655
Authority: WO
Inventors: Seong-Jong Han; Jong-Ung Choi; Young-Jun Park; Dong Bae Lee
Original assignee: Samsung Heavy Ind. Co., Ltd.
Priority date: 2006-12-19
Filing date: 2007-12-18
Publication date: 2008-06-26
Also published as: JP2010513135A; JP5027247B2; CN101563271A; KR20080056928A; KR101302209B1; CN101563271B

Abstract

A rail-based transportation apparatus is used in transporting automated equipments for performing different tasks with respect to heat insulators attached to inner wall surfaces of a ship cargo compartment. The apparatus includes a pair of rails removably secured to the heat insulators, a carriage frame for carrying the automated equipments, the carriage frame detachably mountable to and movable along the rails, a driving unit fixed to the carriage frame, the driving unit including a travel wheel adapted to make rolling contact with the rails when the carriage frame is mounted to the rails, and a support wheel assembly attached to the carriage frame.

Description

RAIL-BASED TRANSPORTATION APPARATUS

Technical Field

[1] The present invention is directed to a rail-based transportation apparatus that transports various kinds of automated equipments for performing different tasks with respect to heat insulators attached to the inner wall surfaces of a ship cargo compartment.

[2]

Background Art

[3] In general, several thousands or several ten thousands of panel type heat insulators

(e.g., insulation panels) are attached to the inner wall surfaces of a ship cargo compartment in an effort to thermally insulate the internal space of the cargo compartment. It is the current situation that the task of attaching the heat insulators is performed manually for the most parts and partly performed by means of an automated machine. Particularly, the conventional automated machine for performing post-attachment tasks within a ship cargo compartment is designed and manufactured for use with a specified panel, thus posing a number of problems noted below.

[4] The term "specified panel" refers to a kind of panel formed into a generally rectangular parallelepiped shape and exclusively used in a specified cargo compartment. The panel includes a heat insulating layer and a plywood layer overlaid on the heat insulating layer. A slit is formed around the juncture between the plywood layer and the heat insulating layer. A plurality of the specified panels is arranged on the inner wall surfaces of the cargo compartment in conformity with the technical standards regarding the cargo compartment. Inter-insulator channels are formed between the neighboring panels to extend in lattice-like directions. In view of this, the conventional automated machine for performing tasks within the ship cargo compartment makes use of a driving method in which the machine is moved along the inter-insulator channels by using a frictional force generated when pressing the side surface of the plywood layer as a support base. In particular, the conventional automated machine includes a driving unit which moves in a state that a guide mechanism such as a ski or the like is inserted into and supported by the slit.

[5] Since the driving unit of the conventional automated machine needs to be moved while pressing the plywood layer of the panel, however, there is a fear that the side surface region of the plywood layer is broken by the excessive force applied thereto.

[6] Furthermore, a slit of specified shape must be left underneath the plywood layer of the panel and a guide mechanism inserted into the slit has to be mounted to the con- ventional automated machine, which entails a technical difficulty. In this regard, the guide mechanism inserted into the slit serves as a kind of safety device that prevents the driving unit from being dropped or removed from the inter- insulator channels during upward, downward, left and right movement of the driving unit.

[7] Particularly, due to the arrangement characteristics of the panel, regions where the plywood layer does not exist are created here and there in the inter-insulator channels. Thus, it is necessary to additionally employ a plurality of connectors for bridging the regions where the plywood layer is absent. Setting aside the inconvenience encountered in installing the connectors, it is difficult for the conventional automated machine to secure accurate moving performance in case the connectors are additionally installed in the plywood layer lacking regions.

[8] In addition, insulation panels are manually attached in the prior art. Therefore, gaps are left in the junctures between the plywood layers of the respective panels, even if a worker having a plenty of experience makes every effort to accurately arrange and attach the panels to the inner wall surfaces of the cargo compartment. The presence of gaps makes it difficult for the wheels of a machine to roll along an accurate way.

[9]

Disclosure of Invention Technical Problem

[10] In view of the above-noted problems, it is an object of the present invention to provide a rail-based transportation apparatus that transports various kinds of automated equipments for performing different tasks with respect to heat insulators attached to the inner wall surfaces of a ship cargo compartment, which apparatus is capable of increasing the efficiency of tasks performed with respect to the heat insulators and exhibiting accurate travel performance while protecting the heat insulators from damage.

[H]

Technical Solution

[12] With the above objects in view, the present invention provides a rail-based transportation apparatus for transporting various kinds of automated equipments for performing different tasks with respect to heat insulators attached to inner wall surfaces of a ship cargo compartment, including:

[13] a pair of rails removably secured to the heat insulators;

[14] a carriage frame for carrying the automated equipments, the carriage frame de- tachably mountable to and movable along the rails;

[15] a driving unit fixed to the carriage frame, the driving unit including a travel wheel adapted to make rolling contact with the rails when the carriage frame is mounted to the rails; and [16] a support wheel assembly attached to the carriage frame, the support wheel assembly having support wheels movable toward and away from the rails for engagement and disengagement with the rails.

[17] As used herein, the terms "different postures" assumed by the transportation apparatus while automatically moving along the inner wall surfaces of a ship cargo compartment are used to mean a flat posture, a horizontal posture, a vertical posture and an overhead posture.

[18]

Advantageous Effects

[19] The rail-based transportation apparatus of the present invention is of the type in which a carriage frame travels along rails. This provides an advantage in that there is no fear of breakage of heat insulators or plywood layers.

[20] Furthermore, the rail-based transportation apparatus of the present invention is of the type in which the carriage frame is supported on and moved along the inner lateral edges of the rails. This eliminates the need to form a slit below the plywood layer of each of the heat insulators. This also makes it possible for the carriage frame to travel in any one of different postures while exhibiting increased travel performance and assuring accurate travel control.

[21] Moreover, the rail-based transportation apparatus of the present invention makes use of rails. This eliminates the need to additionally install connectors for bridging the plywood lacking regions present in the inter-insulator channels.

[22] In addition, the rail-based transportation apparatus of the present invention employs a screw-tightened and spring-biased support wheel assembly in mounting the carriage frame to the rails. This makes it possible to mount and demount the carriage frame to and from the rails in a rapid and easy manner, thereby increasing the convenience of a worker.

[23]

Brief Description of the Drawings

[24] Fig. 1 is a perspective view showing a rail-based transportation apparatus in accordance with one embodiment of the present invention;

[25] Fig. 2 is a side elevational section view of the rail-based transportation apparatus shown in Fig. 1, with certain parts illustrated in a microscopically enlarged view;

[26] Fig. 3 is a section view showing a support wheel assembly employed in the rail- based transportation apparatus of the present invention; and

[27] Fig. 4 is a partially cut-away side view of the support wheel assembly shown in Fig.

3.

[28] Best Mode for Carrying Out the Invention

[29] A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[30] Fig. 1 is a perspective view showing a rail-based transportation apparatus in accordance with one embodiment of the present invention. Fig. 2 is a side elevational section view of the rail-based transportation apparatus shown in Fig. 1, with certain parts illustrated in a microscopically enlarged view. Fig. 3 is a section view showing a support wheel assembly employed in the rail-based transportation apparatus of the present invention. Fig. 4 is a partially cut-away side view of the support wheel assembly shown in Fig. 3.

[31] Referring first to Figs. 1 and 2, the rail-based transportation apparatus of the present invention includes a carriage frame 100 that carries various kinds of automated equipments for performing different tasks with respect to heat insulators 1, e.g., insulation panels, attached to the inner wall surfaces of a ship cargo compartment. Examples of the tasks performed by the automated equipments include bonding cover sheets to the heat insulators 1, pre-treating the surfaces of the cover sheet or the heat insulators 1 with plasma, filling foam plugs into bolt holes, and fixing flat joints to the neighboring heat insulators 1. Needless to say, the carriage frame 100 may transport other equipments or devices that need to be moved along the inner wall surfaces of the ship cargo compartment. In this regard, inter-insulator channels 9 are formed just above the gaps 8 between the neighboring heat insulators 1 in such a manner as to extend in lattice-like directions.

[32] The rail-based transportation apparatus of the present invention further includes a pair of parallel rails 200 fixedly secured to the neighboring heat insulators 1 extending along the inter-insulator channels 9. The rails 200 serve as a support base along which the carriage frame 100 travels.

[33] The rails 200 are removably secured to the heat insulators 1 using fasteners

(conventional fastener means) such as bolts, clamps or the like. For example, the rails 200 is fixed to the heat insulators 1 by tightening nuts to stud bolts projecting upwardly through fixture holes 99 of the heat insulators 1.

[34] The carriage frame 100 includes driving units 300 arranged on the opposite side portions of the carriage frame 100. The driving units 300 are operated by motive power, e.g., electric power, and adapted to drive the carriage frame 100 along the rails 200. Each of the driving units 300 is provided with a travel motor 320.

[35] The carriage frame 100 is a structural body for holding a controller of various devices or systems, an automation module, a portable power source, a safety device, other devices required in performing assigned tasks. The carriage frame 100 is made of an extremely lightweight structural material (e.g., aluminum) and is fabricated into a structure having an increased resistance to distortion or other deformation.

[36] The carriage frame 100 is formed of a pair of longitudinal girder members and a plurality of crossbeams attached to the girder members in a spaced-apart relationship. The girder members and the crossbeams are assembled together by means of suitable fasteners so that the carriage frame 100 thus fabricated can comply with the specified design requirements in terms of direction, size, specification and layout. Although not shown in the drawings, the carriage frame 100 is provided with support legs, handles and safety bars. Various kinds of equipments, devices, sensors and components, including the travel motor 320, can be freely attached to the carriage frame 100 by using bolts and nuts.

[37] The rails 200 are fixed to the top corner portions of the heat insulators 1 positioned on the opposite sides of the inter-insulator channels 9. The rails 200 may extend in the longitudinal direction of the inter-insulator channels 9 (e.g., in an X-axis direction).

[38] Each of the rails 200 is provided with a bottom step portion 211 that makes close contact with the top corner portion of the corresponding heat insulator 1. Furthermore, each of the rails 200 has an engaging surface 212 recessed from the upper surface of the corresponding rail 200 on the opposite side from the bottom step portion 211. Guide surfaces 213 and 214 inclined upwardly and downwardly are formed in the upper and lower regions of one lateral end portion of each of the rails 200. The lateral end portion of each of the rails 200 is formed into a five- angled shape so that the below-mentioned support wheels 351 can make contact therewith just like a cam follower. A tip end surface 216 is formed in the lateral end portion between the guide surfaces 213 and 214.

[39] An elongated rack gear 220 is fixed to the engaging surface 212 of each of the rails

200 by means of set screws in such a way that the below-mentioned pinion gear 310 of each of the driving units 300 can be meshed with the rack gear 220. Alternatively, the rack gear 220 may be integrally formed with each of the rails 200. Each of the rails 200 is temporarily and removably fixed to the corresponding heat insulator 1 by use of fasteners such as bolts or clamps and is detached from the heat insulator 1 once a desired task is completed.

[40] It is preferred that the rails 200 are made of a wood material such as a timber or the like, a high strength lightweight metal such as aluminum alloy or the like, a high strength synthetic resin material such as engineering plastic or the like, or a composite material such as glass reinforced plastic, carbon fiber reinforced plastic or the like. The rails 200 may be made of any material as long as it can bear a preset load or can exhibit a permissible strain great enough to bear the load.

[41] The engaging surface 212 of each of the rails 200 has a width W great enough to ensure that the below-mentioned pinion gear 310 of each of the driving units 300 can freely move along the engaging surface 212 with no interference with the rails 200. The driving units 300 are attached to the front, rear, left and right portions of the carriage frame 100 in pairs so that they can drive the carriage frame 100 along the rails 200.

[42] As best shown in Fig. 2, each of the driving units 300 includes a pinion gear 310 meshed with the rack gear 220 of each of the rails 200 and a travel motor 320 mounted to the carriage frame 100 for rotating the pinion gear 310. A transversely extending mounting bracket 330 is fixedly secured to a motor casing of the travel motor 320. A support wheel assembly 340 is attached to the mounting bracket 330 and selectively interlocked with one lateral edge portion of each of the rails 200 for preventing derailment of the carriage frame 100. The support wheel assembly 340 includes an axially movable shaft 341 fitted to the mounting bracket 330, a wheel support block 350 attached to the tip end of the movable shaft 341, a pair of support wheels 351 rotatably attached to the wheel support block 350 and arranged in such a fashion as to interlock with one lateral edge portion of each of the rails 200, and a lever- like handle 342 attached to the other end of the movable shaft 341 for, when rotated in a forward or reverse direction, moving the movable shaft 341, the wheel support block 350 and the wheel support block 350 toward and away from the lateral end portion of each of the rails 200.

[43] The carriage frame 100 travels along the rails 200 in a state that the pinion gear 310 of each of the driving units 300 is meshed with the rack gear 220 of each of the rails 200 and further that the support wheels 351 of the support wheel assembly 340 are brought into rolling contact with the guide surfaces 213 and 214 of each of the rails 200.

[44] Although not shown in the drawings, the torque of the travel motor 320 may be transmitted to the support wheels 351 of the support wheel assembly 340 or separate drive wheels that make rolling contact with the guide surfaces 213 and 214 of each of the rails 200. In this case, the carriage frame 100 is driven by the frictional force generated between the support wheels 351 or the separate drive wheels and the rails 200.

[45] The support wheels 351 are kept inclined at an upward wheel arrangement angle of

+45 degrees and at a downward wheel arrangement angle of -45 degrees with respect to an imaginary plane (in which the axis of the movable shaft 341 lies). Consequently, the support wheels 351 can make close contact with the guide surfaces 213 and 214 of each of the rails 200, thereby preventing derailment of the carriage frame 100.

[46] In the present embodiment, the travel motor 320 may be either a DC motor or a servo motor and are composed of a reduction gear, a bearing, a motor encoder and a built-in type brake. In this regard, the built-in type brake serves as a travel brake (not shown).

[47] The travel brake is built in the travel motor 320 and is adapted to hold the travel motor 320 against rotation. The travel brake includes an electromagnetic restraint means which is normally kept out of engagement the shaft of the travel motor 320. Under an emergency situation or when there is a need to stop movement of the carriage frame 100 during a normal operation process, the electric power (of an emergency power source such as a battery or a condenser or a commercial power source) is supplied to the electromagnetic restraint means. In response, the electromagnetic restraint means holds the shaft of the travel motor 320 against rotation, thereby stopping movement of the carriage frame 100.

[48] For the purpose of lubrication and removal of foreign materials, a guide bush 360 is fitted between the mounting bracket 330 and the movable shaft 341. The lever-like handle 342 of the support wheel assembly 340 is combined with a screw type tightening mechanism used in a well-known tailstock so that, when manually rotated in a specified direction, the lever- like handle 342 can generate a tightening force.

[49] For example, if the lever- like handle 342 of the support wheel assembly 340 is rotated in a forward or reverse direction, the movable shaft 341 moves forward or backward as indicated by a double-headed arrow S. In other words, if a tightening force is generated by rotating the handle 342 in a forward direction, the movable shaft 341 is moved toward the rails 200 so that the support wheels 351 can make rolling contact with the guide surfaces 213 and 214. Consequently, the carriage frame 100 is interlocked with the rails 200 and is prevented from any inadvertent derailment. In contrast, if a loosening force is generated by rotating the handle 342 in a reverse direction, the movable shaft 341 is moved away from the rails 200 so that the support wheels 351 can be separated from the guide surfaces 213 and 214. As a result, it becomes possible to detach the carriage frame 100 from the rails 200.

[50] When the carriage frame 100 is mounted to the rails 200, the pinion gear 310 of each of the driving units 300 comes into meshing engagement with the rack gear 220 of each of the rails 200. If the travel motor 320 is operated in this state, the torque of the travel motor 320 is transmitted to the pinion gear 310 so that the pinion gear 310 can be rotated and moved along the rack gear 220. This allows the carriage frame 100 to travel toward destination along the inter-insulator channels 9.

[51] As described above, in the rail-based transportation apparatus of the present invention, the carriage frame 100 is adapted to move along the rails 200 attached to the heat insulators 1. Therefore, there is no fear of breakage of the plywood layers of the heat insulators 1.

[52] Furthermore, the rail-based transportation apparatus of the present invention is of the type in which the carriage frame 100 is supported on and moved along the rails 200. This eliminates the need to form a slit below the plywood layer of each of the heat insulators 1. This also eliminates the need to additionally install connectors for bridging the plywood lacking regions present in the inter-insulator channels 9.

[53] Although the interlocking handle assemblies 340 are attached to the opposite side portions of the carriage frame 100 in the present embodiment, a single support wheel assembly may be attached to only one side portion of the carriage frame 100.

[54] Moreover, although the carriage frame 100 is moved by the driving force of a rack- and-pinion mechanism in the present embodiment, other driving mechanisms may be used if they can move the carriage frame 100 along the rails 200.

[55] Referring now to Figs. 3 and 4, the support wheel assembly 340 includes a cylinder housing 343 fixedly secured to the mounting bracket 330 of each of the driving units 300. The cylinder housing 343 has a spiral guide groove 344 into which the lever- like handle 342 is fitted in a quick-coupling manner so that, when rotated, it can move along a moving path defined by the spiral guide groove 344. The spiral guide groove 344 serves as a mechanical guide for guiding movement of the handle 342.

[56] The support wheel assembly 340 further includes a hollow rotating cylinder 345 rotatably fitted into the cylinder housing 343. The handle 342 is fixed at its inner end to the rotating cylinder 345. If the handle 342 is spirally moved along the spiral guide groove 344 in a forward or backward direction, the rotating cylinder 345 is also moved forward or backward while making rotational movement.

[57] An extension shaft member 341a integrally formed with the movable shaft 341 but having a diameter smaller than that of the movable shaft 341 is inserted into the rotating cylinder 345. A stopper space having a diameter greater than that of the extension shaft member 341a is formed at one longitudinal end of the rotating cylinder 345. A washer 374 is received within the stopper space and fixed to one end of the extension shaft member 341a by means of a set screw. The washer 374 serves as a stopper that allows the movable shaft 341 and the extension shaft member 341a to move only within a stroke permitted by the stopper space.

[58] A guide slot 341b extending in an axial direction of the movable shaft 341 is formed on the outer circumference of the movable shaft 341. A key portion protruding inwardly from the inner circumference of the cylinder housing 343 is slidably engaged with the guide slot 341b. This ensures that the movable shaft 341 and the extension shaft member 341a are moved rectilinearly without making rotational movement.

[59] A compression spring 346 for generating resilient reaction force required in quickly coupling and releasing the support wheel assembly 340 is retained around the extension shaft member 341a. One end of the compression spring 346 makes contact with a stopper ring fitted to the intermediate portion of the rotating cylinder 345 and the other end of the compression spring 346 remains in contact with a step surface 341c of the movable shaft 341. [60] Using the resilient reaction force of the compression spring 346, the support wheel assembly 340 is capable of performing a relatively rapid locking operation, a pressure regulating operation and a relatively rapid releasing operation. [61] In the locking operation, if an operator rotates the handle 342 in a forward direction, the handle 342 spirally moves along a spiral path defined by the spiral guide groove

344 and then stops at an end point of a rectilinear path of the spiral guide groove 344.

At this time, the direction in which the resilient reaction force of the compression spring 346 acts is perpendicular to the rectilinear path of the spiral guide groove 344.

Therefore, the handle 342 is kept stopped in the rectilinear path of the spiral guide groove 344. [62] Simultaneously with the spiral movement of the handle 342, the rotating cylinder 345 also makes spiral movement and then stops. At this moment, the compression spring

346 is compressed by the stopper ring of the rotating cylinder 345 and, consequently, the resilient reaction force of the compression spring 346 acts against the step surface 341c of the movable shaft 341. As a result, the movable shaft 341, the wheel support block 350 and the support wheels 351 are moved toward the guide surfaces 213 and 214 of each of the rails 200. The support wheels 351 are interlocked with the guide surfaces 213 and 214 of each of the rails 200, thereby preventing the carriage frame 100 from being detached from the rails 200.

[63] In the releasing operation, if an operator rotates the handle 342 in a reverse direction, the handle 342 moves out of the rectilinear path and comes into the spiral path of the spiral guide groove 344, at which time the handle 342 is rapidly returned back to the original position by the resilient reaction force of the compression spring 346. The rotating cylinder 345 is simultaneously moved backward, thereby pushing the washer

347 of the extension shaft member 341a. Consequently, the movable shaft 341, the wheel support block 350 and the support wheels 351 are rapidly returned back to their original positions. This makes it possible to detach the carriage frame 100 from the rails 200.

[64] While a preferred embodiment of the invention has been described hereinabove, the present invention is not limited to this embodiment. It is to be understood that various changes and modifications may be made without departing from the scope of the invention defined in the claims.

[65]

Industrial Applicability

[66] The rail-based transportation apparatus of the present invention can be advantageously used in the field of transporting various kinds of automated equipments for performing different tasks with respect to heat insulators attached to the inner wall surfaces of a ship cargo compartment.

Claims

[1] A rail-based transportation apparatus for transporting automated equipments for performing different tasks with respect to heat insulators attached to inner wall surfaces of a ship cargo compartment, comprising: a pair of rails removably secured to the heat insulators; a carriage frame for carrying the automated equipments, the carriage frame de- tachably mountable to and movable along the rails; a driving unit fixed to the carriage frame, the driving unit including a travel wheel adapted to make rolling contact with the rails when the carriage frame is mounted to the rails; and a support wheel assembly attached to the carriage frame, the support wheel assembly having support wheels movable toward and away from the rails for engagement and disengagement with the rails.

[2] The rail-based transportation apparatus of claim 1, wherein the support wheel assembly includes a cylinder housing with a spiral groove, a hollow rotating cylinder rotatably fitted into the cylinder housing, a movable shaft carrying the support wheels at a tip end, the movable shaft slidably inserted into the cylinder housing for movement toward and away from the rails, an extension shaft member fixed to the movable shaft and slidably inserted into the cylinder housing, a compression spring retained around the extension shaft member, and a handle fitted through the spiral groove of the cylinder housing and fixed at an inner end to the hollow rotating cylinder.

[3] The rail-based transportation apparatus of claim 1 or 2, wherein each of the rails has an upwardly inclined guide surface and a downwardly inclined guide surface at one lateral edge portion, the support wheels adapted to make rolling contact with the upwardly inclined guide surface and the downwardly inclined guide surface.

[4] The rail-based transportation apparatus of claim 3, wherein each of the rails has a bottom step portion formed on a lower surface of one lateral edge of each of the rails for making contact with a top corner portion of each of the heat insulators.

[5] The rail-based transportation apparatus of claim 3, wherein the rails are made of one member selected from the group consisting of a wood material, a high strength lightweight metal, a high strength synthetic resin material and a composite material.

[6] The rail-based transportation apparatus of claim 5, wherein the high strength lightweight metal includes aluminum alloy

[7] The rail-based transportation apparatus of claim 5, wherein the high strength synthetic resin material includes engineering plastic. [8] The rail-based transportation apparatus of claim 5, wherein the composite material includes glass reinforced plastic and carbon fiber reinforced plastic. [9] The rail-based transportation apparatus of claim 1, wherein each of the rails has an elongated rack gear extending in a longitudinal direction and wherein the travel wheel is a pinion gear engageable with the rack gear when the carriage frame is mounted to the rails.