WO2010117161A2 - 자율이동장치 - Google Patents
자율이동장치 Download PDFInfo
- Publication number
- WO2010117161A2 WO2010117161A2 PCT/KR2010/002018 KR2010002018W WO2010117161A2 WO 2010117161 A2 WO2010117161 A2 WO 2010117161A2 KR 2010002018 W KR2010002018 W KR 2010002018W WO 2010117161 A2 WO2010117161 A2 WO 2010117161A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- winches
- main frame
- coupled
- winch
- work
- Prior art date
Links
- 238000000034 method Methods 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 description 7
- 238000005422 blasting Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000010422 painting Methods 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 3
- 239000012779 reinforcing material Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- -1 inspection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/30—Rope, cable, or chain drums or barrels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B25/00—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby
- B63B25/02—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods
- B63B25/08—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid
- B63B25/12—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed
- B63B25/14—Load-accommodating arrangements, e.g. stowing, trimming; Vessels characterised thereby for bulk goods fluid closed pressurised
Definitions
- the present invention relates to an autonomous mobile device, and more particularly to an autonomous mobile device for moving a work device in a work space defined by a structure such as a bulkhead of a ship block.
- the hull of a large ship is manufactured in a unit of blocks constituting a part of the hull, and then the blocks are assembled to each other. That is, rust or foreign matter on the surface of the raw material is removed by blasting, etc., and then coated to prevent corrosion, and then the raw material is manufactured into blocks by welding or the like.
- the inside of the block is surrounded by a structure such as a partition wall or a shell plate, and a plurality of reinforcements such as longi or stiffener are installed to reinforce the structural rigidity of the hull.
- This reinforcement is installed to protrude toward the inner surface of the block.
- the reinforcement acts as an obstacle to various operations inside the block as described above.
- FIG. 1 shows an example inside a block of a ship.
- a plurality of reinforcing materials 15 and 16 are provided to protrude inward.
- the inside of the block 10 may also be partitioned into a plurality of workspaces 11 by a structure such as a partition wall 13, and such a partition wall 13 is formed with a manhole 17 that can be used as a passage for an operator. Thus, the worker and the work equipment are moved through the manhole 17.
- the present invention has been made in accordance with the necessity as described above, it is possible to easily move the work device within the work space within the block, regardless of the reinforcing material installed in the block and to expand the work area.
- an autonomous mobile device that is moved within the workspace defined by the structure, the main frame, a plurality of upper winches coupled to the upper portion of the main frame, A plurality of lower winches coupled to the lower portion of the main frame, a moving platform located in the workspace, one end is respectively coupled to the lower side of the structure, the other end is connected to the upper winch, respectively, a plurality of first adjustable length A wire and one end are respectively coupled to the upper side of the structure, and the other end is provided with an autonomous platform including a plurality of second wires are connected to the lower winch, respectively, the length is adjusted.
- the plurality of upper winches and the plurality of lower winches may be disposed at positions spaced apart from each other when viewed in a vertical direction from a plane separating the upper and lower portions of the main frame.
- the number of upper winches and lower winches may be four, respectively.
- the four upper winches and the four lower winches are arranged to form a rectangle on a plane that separates the upper and lower portions of the main frame, respectively, and four lower winches are formed. Any one side of the rectangle may be shorter than any one side of the rectangle formed by the four upper winches.
- the autonomous mobile device may further include a guide rail coupled to the main frame to guide the work device.
- the guide rail may include a plurality of guide bars parallel to each other, and the plurality of guide bars may be supported by a plurality of supporters protruding from the main frame.
- the cross section of each of the plurality of guide bars may have a c shape, and each opening may be installed to face each other.
- Each of the plurality of guide bars may be arranged or formed with a rack gear along a longitudinal direction, and the work device may include a plurality of pinion gears engaged with the plurality of rack gears.
- the working device may further include a plurality of rollers in rolling contact with the guide rail.
- the autonomous mobile device can easily move the mobile platform equipped with the work device to a desired position in the work space, so that various tasks can be efficiently performed regardless of obstacles such as reinforcement installed inside the block. And the complete automation of the work is possible, which saves the cost and time required for the work.
- FIG. 1 is a perspective view of an example of a workspace within a block of a ship.
- Figure 2 is a perspective view schematically showing an autonomous mobile device according to an embodiment of the present invention.
- Figure 3 is a perspective view of a moving platform of the autonomous platform according to an embodiment of the present invention.
- Figure 4 is a perspective view of a state to transfer the work device to the adjacent work space using the autonomous mobile device according to an embodiment of the present invention.
- Figure 5 is a side view schematically showing a comparative example for explaining a wire connection method of the autonomous mobile device according to an embodiment of the present invention.
- Figure 6 is a side view schematically showing an autonomous mobile device according to an embodiment of the present invention.
- FIG. 7 is a front view of an example of a working device mounted on the mobile platform shown in FIG.
- FIG. 8 is an enlarged view of a portion indicated by A in FIG. 7.
- Figure 2 shows a state in which a work device is mounted on the autonomous mobile device according to an embodiment of the present invention.
- the autonomous platform which includes a moving platform 100, a first wire 510, and a second wire 520, has a work space 11 inside the block 10. ) Is installed, the work platform 300 is mounted on the mobile platform (100).
- the other ends of the plurality of first wires 510 one end of which is coupled to the lower side of the structure defining the work space 11, are respectively connected to the plurality of upper winches 111 installed on the moving platform 100.
- the other ends of the plurality of second wires 520 coupled to the upper side of the structure are connected to the plurality of lower winches 113, respectively.
- the structure is located at the edge of the work area (see 11 in FIG. 1) inside the block (see 10 in FIG. 1), such as a partition (see 13 in FIG. 1) or a reinforcement (see 15 and 16 in FIG. 1). Refers to a structure.
- the plurality of upper winches 111 adjusts the length of each of the plurality of first wires 510 by winding or unwinding, and the plurality of lower winches 113 winds or unwinds the plurality of second wires 520, respectively. Adjust When the length of each of the plurality of first wires 510 and the plurality of second wires 520 is adjusted, the position of the moving platform 100 in the workspace 11 is changed. Accordingly, by controlling the plurality of upper winches 111 and the plurality of lower winches 113, the moving platform 100 may be moved to a desired position in the work space 11.
- the moving platform 100 Since the moving platform 100 is moved to the shape floating in the air in the workspace 11, it is not limited to the movement by the reinforcing materials (15, 16). In particular, since the moving platform 100 can move to the shortest path to the point to be moved, the time required for the movement is also minimized.
- Work device 300 is a device for performing a variety of tasks required in the work space 11, such as welding, blasting, painting and surface inspection. Therefore, the autonomous mobile device according to an embodiment of the present invention can quickly and easily move the work device 300 to a part where the work in the work space 11 is to be performed.
- the mobile platform 100 will be described in more detail with reference to FIG. 3.
- FIG 3 shows a moving platform of the autonomous platform according to an embodiment of the present invention.
- the mobile platform 100 of the autonomous platform includes a main frame 101, a plurality of upper winches 111, and a plurality of lower winches 113.
- a plurality of upper winches 111 are coupled to an upper portion of the main frame 101, and a plurality of lower winches 113 are coupled to a lower portion of the main frame 101.
- the upper winch 111 and the lower winch 113 are disposed at the edge portion of the main frame 101.
- the upper winch 111 and the lower winch 113 are respectively a vertex of a rectangle It is arranged in a shape to form. At this time, the rectangle formed by the lower winch 113 is shorter than the length of the pair of sides facing the rectangle formed by the upper winch 111.
- the lower winch 113 is disposed at a position spaced apart in the central direction of the main frame 101 compared to the upper winch 111. This will be described in more detail with reference to FIGS. 5 and 6 below.
- the moving platform 100 further includes a guide rail 150 for supporting and guiding a work device (see 300 in FIG. 2) mounted on the moving platform 100.
- the guide rail 150 is supported by the main frame 101 by a plurality of supporters 131 formed or installed to protrude from the main frame 101.
- the guide rail 150 may be installed at both the upper side and the lower side of the main frame 101 as shown, so that the work device (see 300 in FIG. 3) may be mounted on the lower side as well as the upper side of the moving platform 100. Can be. In addition, although not shown, the guide rail 150 may be installed in the lateral direction of the main frame 101.
- the guide rails 150 are arranged in parallel to each other, the parallel of the present specification means the side by side considering the tolerances generated by processing and installation, for example, a pair of rails installed on the track of the train It refers to a state installed in substantially parallel, such as.
- the work device 300 may be mounted on the moving platform 100, and supported and guided by the guide rail 150 to guide the longitudinal direction of the guide rail 150. Can move along.
- FIG. 4 is a perspective view of a state in which a work device is transferred to an adjacent work space by using the autonomous mobile device according to an embodiment of the present invention. It will be described with reference to Figure 1 together.
- the work device 300 mounted on the mobile platform 100 of the autonomous mobile device according to an embodiment of the present invention is installed in another work space (not shown) adjacent through the manhole 17 It can be moved to the moving platform (100a). That is, after the work to be performed in the workspace 11 in the block 10 is completed, the work device 300 may be moved to another adjacent workspace to continue the work.
- the mobile platform 100 should be able to contact one side with the other mobile platform 100a which is located inside another block (not shown) adjacent through the manhole 17, the work device 300 is the mobile platform 100 It should be able to move from) to another moving platform (100a). To this end, since one end of the mobile platform 100 should be docked with another mobile platform 100a, the mobile platform 100 should be able to move up to the manhole 17, and the other mobile platform 100a may also be docked. It must be moved up to the manhole 17. The movement of the platform 100 to the edge of the workspace 11 will be described with reference to FIGS. 5 and 6 below.
- FIG. 5 is a comparative example for explaining a wire connection method of the autonomous mobile device according to an embodiment of the present invention
- Figure 6 is a side view schematically showing the autonomous mobile device according to an embodiment of the present invention have.
- a plurality of winches having one ends of the wires 500a and 500b coupled to the other ends to the structure defining the workspace 11 of the inside of the block 10, respectively, are provided on the moving platform 100b. 110a, 110b).
- each of the plurality of wires 500a and 500b may be each of the winches 110a and 100b of the plurality of winches 110a and 110b installed on the moving platform 100b to the nearest position from the position where the other end is coupled to the structure. Connected.
- the other end of the wire 500a having one end coupled to the upper side of one side of the structure is connected to the winch 110a installed on one side upper portion of the moving platform 100b, and one end coupled to the upper side of the other side of the structure.
- the other end of the wire 500b is connected to the winch 110b installed on the other side of the movable platform 100b.
- the remaining wires 500c and 500d are also connected to adjacent winches 100c and 100d in the same manner.
- the load applied to the moving platform 100b acts on the wires 500a and 500b connected to the upper side of the structure, and particularly to the wires 500a and 500b whose length is shortened to move the position of the moving platform 100b. Greater tension is at work. Therefore, as shown in the drawing, the maximum tension acts on the wire 500a coupled to the upper side of the structure.
- portions of the wires may be alternately connected to each other, which will be described with reference to FIG. 6.
- the first wire 510 and the second wire 520 are connected to the upper winch 111 and the lower winch 113 in a staggered shape.
- the other end of the second wire 520a having one end coupled to the upper side of one side of the structure defining the working space 11 of the inside of the block 10 and the first wire 510a coupled to the lower side is moved to the platform 100. It is connected to the lower winch (113a) and the upper winch (111a) respectively installed on one side. Then, the other end of the second wire 520b having one end coupled to the upper side of the structure and the other end of the first wire 510b coupled to the lower side, respectively, the lower winch 113b and the upper winch installed on the other side of the mobile platform 100. Respectively connected to 111b.
- the length of the first wire 510a on one side and the second wire 520a on the one side is shortened as much as possible.
- the second wire 520b on the other side should be applied to prevent the other side of the mobile platform 100 from descending by load.
- the moving platform 100 is the work space 11. Will hinder movement to one edge of the
- the movable platform 100 moves the horizontal force toward one edge of the work space 11 and the one side of the movable platform 100.
- the vertical force acting downward is to act.
- the vertical force lowering one side of the moving platform 100 downward is supported so that the lower winch 113a provided on one side is not moved downward by the second wire 520a on one side, and thus the lower side installed on one side of the movable platform 100.
- the winch 113a By acting as a moment (moment) to the winch 113a as a reference point, it acts as a force to lift the other side of the moving platform 100 in the upward direction.
- the tension applied to the second wire 520b on the other side can be reduced, the horizontal direction toward the other side of the work space 11 applied to the moving platform 100 by the second wire 520b on the other side can be reduced. Can reduce the force. Then, the moving platform 100 is directed toward one side of the work space 11 by a horizontal force directed to one side of the work space 11 applied to the moving platform 100 by the first wire 510a on one side. It becomes easy to move.
- the movable platform 100 since the horizontal force toward one side of the work space 11 also acts on the movable platform 100 by the second platform 520a on one side, the movable platform 100 has one edge of the work space 11. It can be moved up to.
- the tension for maintaining the horizontal of the mobile platform 100 is distributed to the first wire 510a and the second wire 520b on the other side, thereby increasing the movable range of the mobile platform 100.
- the movable platform 100 in order to move the movable platform 100 to one side edge of the work space 11, the movable platform 100 based on the lower winch 113a of one side by the first wire 510a of one side.
- the moment applied to must be used.
- the upper winch 111 and the lower winch 113 as described with reference to Figure 3, the upper and lower portions of the main frame (see 101 in Figure 3) of the mobile platform 100. They shall be spaced apart from each other when viewed in a direction perpendicular to the plane of the separation.
- the optimum distance that the upper winch 111 and the lower winch 113 is spaced apart from the plane separating the upper and lower portions of the main frame 101 in the vertical direction may be obtained through experiments or simulations.
- the optimum distance between the upper winch 111 and the lower winch 113 is also changed, so that the shape of the moving platform Accordingly, the spaced distance may vary.
- the second wire 520a is maximum. It shall be used to select one with the allowable tensile strength greater than the applied tension.
- the upper winch 111 and the lower winch 113 are spaced apart from each other when viewed in a vertical direction from a plane separating the upper and lower portions of the main frame (see 101 in FIG. 3) of the moving platform 100.
- the range in which the moving platform 100 can move is enlarged.
- the work device 300 since the work device 300 can be easily moved to the adjacent moving platform 100a, the work performed by the work device 300 can be fully automated.
- FIG. 7 is a front view of an example of a work device mounted on the mobile platform shown in FIG. 3, and FIG. 8 is an enlarged view of a portion indicated by A in FIG. 7. This will be described with reference to FIGS. 7 and 8.
- the work device 300 is supported and guided by a pair of guide rails 150.
- the work device 300 may include a base 301 that is movably coupled to the guide rail 150 as shown, and a work robot 310 for various tasks as described above.
- the guide rail 150 includes a guide bar 151, and the guide bar 151 includes a plurality of flanges 153 supporting and guiding the base 301 of the work device 300 in a vertical direction. , 155 is installed or integrally formed. Accordingly, the guide rail 150 has a c-shaped cross section perpendicular to the longitudinal direction, and the open side 157 is arranged to face each other to support and guide both sides of the base 301.
- the base 301 may be moved along the longitudinal direction of the guide rail 150, friction may occur between the base 301 and the flanges 153 and 155. Alternatively, vibration generated while the work device 300 performs various operations may be transmitted to the guide rail 150 and may cause noise.
- rollers 350 and 351 support the base 200 while being in rolling contact with the flanges 153 and 155.
- the rack gear 159 is installed or formed along the longitudinal direction of the guide bar 151
- the base 301 may be provided with a pinion gear 330 meshed with the rack gear 159 and rotated by a driving device (not shown).
- sprocket wheels are respectively installed at both ends of the guide rails 150, the sprocket wheels are connected to each other by a chain, and then a part of both sides of the base 301 is coupled to a part of the chain.
- the working device 300 may be moved along the longitudinal direction of the guide rail 150.
- the device 300 can be moved along the longitudinal direction of the guide rail 150.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Movable Scaffolding (AREA)
- Transmission Devices (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
Description
Claims (8)
- 구조체에 의해 한정되는 작업공간 내에서 이동되는 자율이동장치로서,메인 프레임과, 상기 메인 프레임의 상부에 결합되는 복수의 상부윈치와, 상기 메인 프레임의 하부에 결합되는 복수의 하부윈치를 포함하고, 상기 작업공간 내에 위치하는 이동플랫폼;일단부는 상기 구조체의 하측에 각각 결합되고, 타단부는 상기 상부윈치에 각각 연결되어 길이가 조절되는 복수의 제1 와이어; 및일단부는 상기 구조체의 상측에 각각 결합되고, 타단부는 상기 하부윈치에 각각 연결되어 길이가 조절되는 복수의 제2 와이어를 포함하는 자율이동장치.
- 제1항에 있어서,상기 복수의 상부윈치 및 상기 복수의 하부윈치는, 상기 메인 프레임의 상부와 하부를 구분하는 평면으로부터 수직한 방향에서 보았을 때 서로 이격 된 위치에 배치된 것을 특징으로 하는 자율이동장치.
- 제2항에 있어서,상기 상부윈치 및 상기 하부윈치의 수는 각각 네 개이고,네 개의 상기 상부윈치 및 네 개의 상기 하부윈치는 각각 상기 메인 프레임의 상부와 하부를 구분하는 평면상에 직사각형을 형성하며 배치되며,네 개의 상기 하부윈치가 형성하는 직사각형의 마주보는 어느 한 쌍의 변은 네 개의 상기 상부윈치가 형성하는 직사각형의 마주보는 어느 한 쌍의 변 보다 짧은 것을 특징으로 하는 자율이동장치.
- 제1항에 있어서,상기 메인 프레임에 결합되어 작업장치를 가이드 하는 가이드 레일이 더 포함되는 자율이동장치.
- 제4항에 있어서,상기 가이드 레일은 서로 평행한 복수의 가이드 바를 포함하고,상기 복수의 가이드 바는 상기 메인 프레임으로부터 돌출되는 복수의 서포터에 의해 지지되는 것을 특징으로 하는 자율이동장치.
- 제5항에 있어서,상기 복수의 가이드 바 각각의 단면은 ㄷ 형상이며, 각각의 개방부가 서로 마주보는 것을 특징으로 하는 자율이동장치.
- 제4항에 있어서,상기 복수의 가이드 바 각각에는 길이방향을 따라 랙 기어가 배치 또는 형성되고,상기 작업장치에는 상기 복수의 랙 기어에 치합되는 복수의 피니언 기어가 포함되는 것을 특징으로 하는 자율이동장치.
- 제7항에 있어서,상기 작업장치에는 상기 가이드 레일과 구름접촉 되는 복수의 롤러가 더 포함되는 것을 특징으로 하는 자율이동장치.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201080016896.2A CN102387959B (zh) | 2009-04-06 | 2010-04-01 | 锚索受控的移动平台 |
US13/263,231 US20120043162A1 (en) | 2009-04-06 | 2010-04-01 | Tendon controlled mobile platform |
JP2012504568A JP5390695B2 (ja) | 2009-04-06 | 2010-04-01 | 自律移動装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090029627A KR101024554B1 (ko) | 2009-04-06 | 2009-04-06 | 자율이동장치 |
KR10-2009-0029627 | 2009-04-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010117161A2 true WO2010117161A2 (ko) | 2010-10-14 |
WO2010117161A3 WO2010117161A3 (ko) | 2011-01-06 |
Family
ID=42936685
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2010/002018 WO2010117161A2 (ko) | 2009-04-06 | 2010-04-01 | 자율이동장치 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20120043162A1 (ko) |
JP (1) | JP5390695B2 (ko) |
KR (1) | KR101024554B1 (ko) |
CN (1) | CN102387959B (ko) |
WO (1) | WO2010117161A2 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20140002537U (ko) * | 2012-10-23 | 2014-05-02 | 대우조선해양 주식회사 | 자성체분진 집진장치 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101069840B1 (ko) * | 2009-04-06 | 2011-10-04 | 삼성중공업 주식회사 | 윈치 및 이를 포함하는 자율이동장치 |
KR101259822B1 (ko) * | 2010-11-12 | 2013-04-30 | 삼성중공업 주식회사 | 선체 블록 내부 작업용 이동 장치 및 선체 블록의 내부 작업 방법 |
KR101259141B1 (ko) | 2011-04-15 | 2013-04-30 | 삼성중공업 주식회사 | 도킹장치, 도킹장치를 구비하는 자율이동장치 및 자율이동장치의 도킹방법 |
KR101215605B1 (ko) | 2011-04-15 | 2012-12-26 | 삼성중공업 주식회사 | 롤러 위치 조절 장치, 이를 포함하는 선박용 작업 로봇 및 이동 시스템 |
KR101236826B1 (ko) | 2011-10-13 | 2013-02-26 | 삼성중공업 주식회사 | 이동 로봇 탑재 장치 |
KR101358315B1 (ko) * | 2011-10-26 | 2014-02-06 | 삼성중공업 주식회사 | 자율 이동 시스템 |
JP5976407B2 (ja) * | 2012-06-14 | 2016-08-23 | 関電プラント株式会社 | 付着物除去装置 |
KR101422174B1 (ko) * | 2012-07-13 | 2014-07-22 | 삼성중공업 주식회사 | 자율 건조 시스템 |
NL2009478C2 (en) | 2012-09-17 | 2014-03-18 | Spanjer Stefan | System for moving a mobile tendon controlled platform robot. |
EP2711120A1 (de) * | 2012-09-19 | 2014-03-26 | Richter Maschinenfabrik AG | Verfahren und Vorrichtungen zum im Wesentlichen automatischen Bearbeiten, insbesondere Schweißen sehr großer Werkstücke |
KR101627766B1 (ko) * | 2014-02-04 | 2016-06-07 | 전남대학교산학협력단 | 케이블 기반 병렬형 로봇을 위한 케이블 연결 위치 변경장치 |
NL2013877B1 (en) * | 2014-11-26 | 2016-10-11 | Metiss B V | Cleaning system for a façade of a building structure. |
DE102015005471B4 (de) * | 2015-04-29 | 2018-10-18 | Messring Systembau Msg Gmbh | Vorrichtung zum Bewegen einer Verkehrsteilnehmer-Attrappe |
NO20161312A1 (en) * | 2016-08-17 | 2018-02-19 | Hd Solution As | System for inspecting a tank in a ship |
JP6277535B1 (ja) * | 2017-03-22 | 2018-02-14 | 有限会社渥美文治商店 | 搬送装置 |
US11446812B2 (en) * | 2017-12-22 | 2022-09-20 | Marchesini Group S.P.A. | Cable-driven robot |
GR1009903B (el) * | 2020-01-28 | 2021-01-12 | Ευαγγελος Γεωργιου Δουσης | Συστημα καθαρισμου και επιθεωρησης κυτων και δεξαμενων εμπορικων πλοιων με χρηση ρομποτ συρματοσχοινων |
CN113550559A (zh) * | 2021-07-10 | 2021-10-26 | 海通建设集团有限公司 | 装配式建筑物外立面集成升降平台 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040025498A (ko) * | 2002-09-19 | 2004-03-24 | 홍예선 | 3차원 운반 견인 장치 |
KR20050001271A (ko) * | 2003-06-24 | 2005-01-06 | 정재룡 | 선박내부 작업용 이동대차. |
JP2006501115A (ja) * | 2002-09-30 | 2006-01-12 | シーメンス アクチエンゲゼルシヤフト | 貨物の位置決め方法と装置 |
US20070152141A1 (en) * | 2003-07-28 | 2007-07-05 | Jim Rodnunsky | Line and rope system and method for movement of an object through three-dimensional space |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS54140532U (ko) * | 1978-03-23 | 1979-09-29 | ||
US4353457A (en) * | 1979-04-24 | 1982-10-12 | Lerco Corporation | Airlift |
US4882881A (en) * | 1987-02-24 | 1989-11-28 | Progressive Blasting Systems, Inc. | Robot positioner and seal arrangement for a closed chamber |
US5301770A (en) * | 1992-07-06 | 1994-04-12 | Regan Timothy J | Adjustable work platform assembly |
JP3089129B2 (ja) * | 1993-03-15 | 2000-09-18 | 三菱重工業株式会社 | 水上浮動体の自動転船装置 |
US5585707A (en) * | 1994-02-28 | 1996-12-17 | Mcdonnell Douglas Corporation | Tendon suspended platform robot |
JP3848433B2 (ja) | 1997-04-30 | 2006-11-22 | 東急建設株式会社 | 移動制御装置 |
US6648102B2 (en) * | 2000-10-05 | 2003-11-18 | The United States Of America As Represented By The Secretary Of Commerce | Suspended dry dock platform |
CN100535463C (zh) * | 2004-09-08 | 2009-09-02 | Thk株式会社 | 线性导向装置及其轨道的制造方法 |
KR101302209B1 (ko) * | 2006-12-19 | 2013-08-30 | 삼성중공업 주식회사 | 레일을 이용한 주행장치 |
KR101302208B1 (ko) * | 2006-12-19 | 2013-09-10 | 삼성중공업 주식회사 | 레일방식의 주행장치 |
EP2008764B1 (de) * | 2007-06-29 | 2009-09-23 | WAFIOS Aktiengesellschaft | Linearführung |
US7753642B2 (en) * | 2007-09-06 | 2010-07-13 | Ohio University | Apparatus and method associated with cable robot system |
JP2009150056A (ja) * | 2007-12-18 | 2009-07-09 | Chugoku Electric Power Co Inc:The | ゴンドラ移動装置 |
-
2009
- 2009-04-06 KR KR1020090029627A patent/KR101024554B1/ko active IP Right Grant
-
2010
- 2010-04-01 US US13/263,231 patent/US20120043162A1/en not_active Abandoned
- 2010-04-01 JP JP2012504568A patent/JP5390695B2/ja active Active
- 2010-04-01 WO PCT/KR2010/002018 patent/WO2010117161A2/ko active Application Filing
- 2010-04-01 CN CN201080016896.2A patent/CN102387959B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20040025498A (ko) * | 2002-09-19 | 2004-03-24 | 홍예선 | 3차원 운반 견인 장치 |
JP2006501115A (ja) * | 2002-09-30 | 2006-01-12 | シーメンス アクチエンゲゼルシヤフト | 貨物の位置決め方法と装置 |
KR20050001271A (ko) * | 2003-06-24 | 2005-01-06 | 정재룡 | 선박내부 작업용 이동대차. |
US20070152141A1 (en) * | 2003-07-28 | 2007-07-05 | Jim Rodnunsky | Line and rope system and method for movement of an object through three-dimensional space |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20140002537U (ko) * | 2012-10-23 | 2014-05-02 | 대우조선해양 주식회사 | 자성체분진 집진장치 |
KR200485344Y1 (ko) * | 2012-10-23 | 2017-12-26 | 대우조선해양 주식회사 | 자성체분진 집진장치 |
Also Published As
Publication number | Publication date |
---|---|
WO2010117161A3 (ko) | 2011-01-06 |
CN102387959B (zh) | 2014-07-30 |
CN102387959A (zh) | 2012-03-21 |
KR20100111184A (ko) | 2010-10-14 |
US20120043162A1 (en) | 2012-02-23 |
JP5390695B2 (ja) | 2014-01-15 |
JP2012523056A (ja) | 2012-09-27 |
KR101024554B1 (ko) | 2011-03-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2010117161A2 (ko) | 자율이동장치 | |
CN1187254C (zh) | 无机器间的升降机 | |
US4664873A (en) | System for performing remotely-controlled manual-like operations in large-area cell of a nuclear facility | |
KR101130831B1 (ko) | 천장이동장치용 텔레스코픽 튜브 | |
WO2018016850A1 (ko) | 교량 거더 위를 주행하는 프리캐스트 바닥판 운반용 레일카 및 이를 이용한 교량 프리캐스트 바닥판의 시공 방법 | |
AU760670B2 (en) | Tool holder module for extracting and transferring anodesin an aluminium production works and installation employing such a module | |
EP0372577B1 (en) | Sheave array arrangement for elevator | |
KR880000177B1 (ko) | 기중 기용 지지 추진장치 | |
SU1052151A3 (ru) | Подвесна цепна конвейерна установка | |
CN109339529B (zh) | 一种带载车板码分功能的汽车升降一体机 | |
WO2016175339A1 (ko) | 풍력발전기의 유지보수용 작업대 | |
JP2003020176A (ja) | エレベータ装置 | |
CN111086845B (zh) | 角隅导轨架移位装置和角隅导轨架移位安装方法 | |
CN103228567A (zh) | 升降设备 | |
JP2003182954A (ja) | ケーブルの案内装置 | |
EP2692965B1 (en) | Module structure and module construction method | |
JP2581008Y2 (ja) | タンカー貨油槽内自走式自動検査装置の移動用案内装置 | |
FI78431B (fi) | Vaeggkonstruktion foer boningsutrymme och motsvarande pao fartyg eller offshorekonstruktioner. | |
KR100530351B1 (ko) | 신축가능한 교량점검용 차량 | |
JP2948706B2 (ja) | 遠隔操作用走行ブリッジ | |
JPS5841106A (ja) | トラス橋点検作業用架台の移設方法 | |
JPH05202360A (ja) | コークス炉における装炭車の入替え方法及びその装置 | |
CN215160398U (zh) | 一种单梁桥式起重机 | |
RU2117623C1 (ru) | Способ погрузки сборочно-монтажной единицы в объект | |
JP2675514B2 (ja) | 建築資材の揚重方法および揚重装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080016896.2 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10761822 Country of ref document: EP Kind code of ref document: A2 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012504568 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13263231 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 10761822 Country of ref document: EP Kind code of ref document: A2 |