WO2010117161A3 - 자율이동장치 - Google Patents

자율이동장치 Download PDF

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Publication number
WO2010117161A3
WO2010117161A3 PCT/KR2010/002018 KR2010002018W WO2010117161A3 WO 2010117161 A3 WO2010117161 A3 WO 2010117161A3 KR 2010002018 W KR2010002018 W KR 2010002018W WO 2010117161 A3 WO2010117161 A3 WO 2010117161A3
Authority
WO
WIPO (PCT)
Prior art keywords
autonomous mobile
mobile apparatus
wires
main frame
coupled
Prior art date
Application number
PCT/KR2010/002018
Other languages
English (en)
French (fr)
Other versions
WO2010117161A2 (ko
Inventor
김상휘
최윤서
박영준
김재훈
Original Assignee
삼성중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성중공업 주식회사 filed Critical 삼성중공업 주식회사
Priority to JP2012504568A priority Critical patent/JP5390695B2/ja
Priority to US13/263,231 priority patent/US20120043162A1/en
Priority to CN201080016896.2A priority patent/CN102387959B/zh
Publication of WO2010117161A2 publication Critical patent/WO2010117161A2/ko
Publication of WO2010117161A3 publication Critical patent/WO2010117161A3/ko

Links

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

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)
  • Transmission Devices (AREA)
  • Laying Of Electric Cables Or Lines Outside (AREA)
  • Movable Scaffolding (AREA)

Abstract

본 발명은 자율이동장치에 관한 것으로, 구조체에 의해 한정되는 작업공간 내에서 이동되는 자율이동장치로서, 메인 프레임과, 메인 프레임의 상부에 결합되는 복수의 상부윈치와, 메인 프레임의 하부에 결합되는 복수의 하부윈치를 포함하고, 작업공간 내에 위치하는 이동플랫폼 및 일단부는 구조체의 하측에 각각 결합되고, 타단부는 상부윈치에 각각 연결되어 길이가 조절되는 복수의 제1 와이어와, 일단부는 구조체의 상측에 각각 결합되고, 타단부는 하부윈치에 각각 연결되어 길이가 조절되는 복수의 제2 와이어를 포함하는 자율이동장치가 제공함으로써, 자율이동장치의 이동 가능한 영역이 확대되어 작업영역이 확대되고, 인접한 작업영역으로 작업장치를 용이하게 이동시킬 수 있다.
PCT/KR2010/002018 2009-04-06 2010-04-01 자율이동장치 WO2010117161A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2012504568A JP5390695B2 (ja) 2009-04-06 2010-04-01 自律移動装置
US13/263,231 US20120043162A1 (en) 2009-04-06 2010-04-01 Tendon controlled mobile platform
CN201080016896.2A CN102387959B (zh) 2009-04-06 2010-04-01 锚索受控的移动平台

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0029627 2009-04-06
KR1020090029627A KR101024554B1 (ko) 2009-04-06 2009-04-06 자율이동장치

Publications (2)

Publication Number Publication Date
WO2010117161A2 WO2010117161A2 (ko) 2010-10-14
WO2010117161A3 true 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)

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* Cited by examiner, † Cited by third party
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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
KR101215605B1 (ko) 2011-04-15 2012-12-26 삼성중공업 주식회사 롤러 위치 조절 장치, 이를 포함하는 선박용 작업 로봇 및 이동 시스템
KR101259141B1 (ko) 2011-04-15 2013-04-30 삼성중공업 주식회사 도킹장치, 도킹장치를 구비하는 자율이동장치 및 자율이동장치의 도킹방법
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
KR200485344Y1 (ko) * 2012-10-23 2017-12-26 대우조선해양 주식회사 자성체분진 집진장치
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

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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
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Patent Citations (4)

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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

Also Published As

Publication number Publication date
KR20100111184A (ko) 2010-10-14
JP5390695B2 (ja) 2014-01-15
CN102387959A (zh) 2012-03-21
CN102387959B (zh) 2014-07-30
KR101024554B1 (ko) 2011-03-31
US20120043162A1 (en) 2012-02-23
JP2012523056A (ja) 2012-09-27
WO2010117161A2 (ko) 2010-10-14

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