WO2020180171A1

WO2020180171A1 - Thickness measuring apparatus

Info

Publication number: WO2020180171A1
Application number: PCT/KR2020/095018
Authority: WO
Inventors: 김동찬; 정광민
Original assignee: 에이치에스테크놀리지 주식회사
Priority date: 2019-03-06
Filing date: 2020-03-05
Publication date: 2020-09-10
Also published as: KR102087380B1

Abstract

A thickness measuring apparatus according to an embodiment of the present invention comprises: a main board on which a control module and a power supply module for supplying power are mounted; a magnet wheel which is mounted and protrudes from the main board planarly, and rotates in a first direction; a first robot arm which extends from a first edge of the main board and moves on a plane vertical to the first direction; a second robot arm which extends from a first edge of the main board and moves on a plane vertical to a second direction; a sub-board which is interposed between the first robot arm and second robot arm, is connected to the first robot arm and second robot arm, and rotates about the first direction as the rotation axis by means of the movement of the first robot arm and second robot arm; and a thickness measuring sensor which is mounted on the side of the sub-board and protrudes in the second direction vertical to the first direction.

Description

Thickness measuring device

The present invention relates to a thickness measurement apparatus, and more particularly, to a thickness measurement apparatus capable of measuring the thickness of a hull structure while moving a floor, a wall, and a ceiling through a magnetic wheel.

In order to conduct a ship's hull thickness inspection, inspectors and related persons approached the structure at a high place on the ship, and inspected and measured the thickness with the naked eye.For parts that are difficult to access, the thickness measurement was performed using a ladder or chieftain. As a result, there is a problem that safety accidents occur frequently and measurement costs are excessively used.

In addition, as another method of thickness measurement, there is a method of performing thickness measurement using a moving difference that moves the surface of the magnetic body, but it is impossible to move the angled part (for example, when moving from the wall to the ceiling) and protrude. There is a problem in that it is impossible to measure the thickness even in the old structure.

In the present specification, a thickness measurement apparatus that solves these problems is introduced.

The technical problem to be achieved by the technical idea of the present invention is that the first robot arm and the second robot arm extending from the main board, and the first robot arm and the second robot arm are interposed between the first robot arm and the second robot arm. It is to measure the thickness of the hull structure by using the sub-board that moves by the movement of the second robot arm.

A thickness measurement apparatus according to an embodiment of the present invention includes a main board on which a control module and a power supply module supplying power are mounted, a magnetic wheel protruding from the main board and rotating in a first direction, and of the main board. A first robot arm extending from a first corner and moving on a first plane perpendicular to the first direction, extending apart from the first robot arm from a first corner of the main board, and perpendicular to the first direction A second robot arm moving on a second plane, interposed between the first robot arm and the second robot arm, and connected to the first robot arm and the second robot arm, And a sub-board moving by the movement of a second robot arm, and a thickness measurement sensor mounted on a side surface of the sub-board and protruding in a second direction perpendicular to the first direction.

The apparatus for measuring thickness according to an embodiment of the present invention further includes an electromagnet mounted on a side surface of the sub-board and protruding in the second direction.

The thickness measurement apparatus according to an embodiment of the present invention further includes an electric brush for cleaning a thickness measurement object and a brush slider mounted on an upper surface of the sub-board, wherein the electric brush enters and exits the inside of the brush slider. It moves in two directions or in a direction opposite to the second direction.

The first robot arm includes a main body mounted on the upper surface of the main board, a first arm connected to the main body at one side, a second arm connected to the other side of the first arm, and a second arm at one side to the other side of the second arm. And a third arm to be connected, and the second robot arm includes a first arm having one side extending from a first edge of the main board, a second arm having one side connected to the other side of the first arm, and one side of the second robot arm. 2 It includes a third arm connected to the other side of the arm, and the sub-board is interposed between the third arm of the first robot arm and the third arm of the second robot arm. The first to third arms and the second robot of the first robot arm rotate based on a rotation axis parallel to the first direction by the movement of the third arm of the third arm and the second robot arm The first to third arms of the arm independently move on a plane perpendicular to the first direction.

The first arm of the first robot arm is the same as the first arm of the second robot arm, and the second arm of the first robot arm is the same as the second arm of the second robot arm And the third arm of the first robot arm operates in the same manner as the third arm of the second robot arm, and the first arm of the first robot arm and the third arm of the second robot arm 1 arm operates simultaneously, the second arm of the first robot arm and the second arm of the second robot arm operate simultaneously, and the third arm of the first robot arm and the second robot arm The third arm operates simultaneously.

The thickness measurement apparatus according to an embodiment of the present invention includes a rotating body mounted on the upper surface of the main board and rotating in a clockwise or counterclockwise direction on a plane, a first arm having one side mounted on the rotating body and protruding upward, and one side The second arm connected to the other side of the first arm, a third arm connected to the other side of the second arm, and a camera module capable of photographing a thickness measurement object mounted on the other side of the third arm It further includes a third robotic arm that includes.

The control module receives a first signal from a user terminal to operate the magnetic wheel, receives a second signal from the user terminal to move the first to third robot arms, and measures from the thickness measurement sensor The value and the image captured from the camera module are transmitted to the user terminal.

In the thickness measurement apparatus of the present invention, the magnetic wheel is mounted to protrude from both edges of the main board on a plane, so that it can be freely moved from the floor to the wall and from the wall to the ceiling, and the first robot arm and the second robot arm are respectively Since it is composed of three or more arms (joints), it is possible to freely measure the thickness of the object to be measured having a floor, a wall, and a ceiling, as well as to measure the protruding part (the part where the stiffener is present) without difficulty. Through the thickness measurement device of the present invention, there is no need for a human to directly access a high or dangerous place to directly measure the thickness of the hull structure, and it is not necessary to install an access facility, which can occur while performing a thickness measurement operation. It is possible to reduce the cost required while performing safety accidents and thickness measurement work.

Brief description of each drawing is provided in order to more fully understand the drawings cited in the detailed description of the present invention.

1 is a block diagram of a thickness measurement system according to an embodiment of the present invention.

2 is a plan view of a thickness measuring apparatus according to an embodiment of the present invention.

3 is a view for explaining the operation of the thickness measuring apparatus according to an embodiment of the present invention.

4 is a block diagram of a user terminal according to an embodiment of the present invention.

5 is a diagram illustrating a user terminal according to an embodiment of the present invention.

A thickness measuring apparatus according to an embodiment of the present invention includes a main board on which a control module and a power supply module for supplying power are mounted, a magnetic wheel protruding from the main board on a plane and rotating in a first direction, and the main A first robot arm extending from a first edge of the board and moving on a plane perpendicular to the first direction, a second robot extending from a first edge of the main board and moving on a plane perpendicular to the second direction The arm, interposed between the first robot arm and the second robot arm, is connected to the first robot arm and the second robot arm, and the first robot arm and the second robot arm And a sub-board rotating in one direction as a rotation axis, and a thickness measurement sensor mounted on a side surface of the sub-board and protruding in a second direction perpendicular to the first direction.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. Refer to the accompanying drawings. Hereinafter, the present invention will be described in detail.

1 is a block diagram of a thickness measurement system 1000 according to an embodiment of the present invention, FIG. 2 is a plan view of a thickness measurement apparatus 100 according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. It is a diagram for explaining the operation of the thickness measuring apparatus 100 according to the embodiment, Figure 4 is a block diagram of the user terminal 200 according to an embodiment of the present invention, Figure 5 is an embodiment of the present invention. A diagram for explaining the user terminal 200 according to this.

1 to 3, the thickness measurement system 1000 includes a user terminal 200 and a thickness measurement apparatus 100.

The thickness measurement apparatus 100 may include a control unit 120 and an operation unit 110.

The control unit 120 may include a control module 121 and a power supply module 122.

The control module 121 may control the operation of components of the operation unit 110.

The power supply module 122 may supply power for the thickness measurement apparatus 100 to operate. The power supply module 122 may supply power through a DC motor. However, the present invention is not limited thereto, and the power supply module 122 may supply power to the thickness measurement apparatus 100 through various methods.

The operation unit 110 includes a first robot arm 111, a second robot arm 112, a third robot arm 119, a magnetic wheel 113, a thickness measurement sensor 114, an electric brush 115, and a brush. A slider 116, an electromagnet 117, and a camera module 118 may be included.

Hereinafter, components included in each of the control unit 120 and the operation unit 110 will be described in detail with reference to FIGS. 3 and 4.

The thickness measurement apparatus 100 may include a main board MB on which the control module 121 and the power supply module 122 are mounted. The main board MB may be a square plate made of plastic. The main board MB may be the main body of the thickness measuring apparatus 100.

The magnetic wheel 113 may be mounted to protrude from the main board MB.

The magnetic wheel 113 may be mounted on the lower surface of the main board MB. As an example of the present invention, four magnetic wheels 113 may be mounted on a lower surface of the main board MB, and two magnetic wheels 113 on a plane are at the first corner S1 of the main board MB. It may be protruded and mounted, and the remaining two magnet wheels 113 may be mounted to protrude from an edge positioned opposite to the first edge S1.

The magnetic wheel 113 has magnetism. It is made of a magnetic material with magnetism. The magnetic wheel 113 may rotate by driving a DC motor through the control module 121. In more detail, the control module 121 may adjust the moving speed and direction of the thickness measuring apparatus 100 by adjusting the amount of power supplied to the DC motor.

The magnetic wheel 113 has magnetism, and the thickness measurement device 100 moves the wall or ceiling of the thickness measurement object 500 by adjusting the rotational force of the magnetic wheel 113 through a DC motor and a speed reducer. The measuring device 100 may not fall due to gravity.

The control module 121 may be driven through a user terminal 200 to be described later.

The first robot arm 111 may extend from the first edge S1 of the main board MB. The first robot arm 111 includes a servo motor and includes a body SB1 mounted on the upper surface of the main board MB, a first arm A1_1 connected to one side of the body SB1, and a first arm A1_1 at one side. ) And a third arm A1_3 connected to the other side of the second arm A1_2, and one side connected to the other side of the second arm A1_2. Each arm is equipped with a servo motor so that the first arm (A1_1), the second arm (A1_2), and the third arm (A1_3) of the first robot arm 111 are in the first direction by the control module 121. They may move independently of each other on a first plane (not shown) perpendicular to (DR1). That is, the first robot arm 111 may move on a first plane perpendicular to the first direction DR1.

The servo motor included in the main body SB1 drives the first arm A1_1, the servo motor included in the first arm A1_1 drives the second arm A1_2, and includes the second arm A1_2. The servo motor to drive the third arm (A1_3), and the servo motor included in the third arm (A1_3) moves the sub-board (SB) to be described later.

In the present invention, the first robot arm 111 has been described as being composed of three arms A1_1, A1_2, and A1_3, but is not limited thereto and may be composed of four or more arms.

The second robot arm 112 includes a servo motor and includes a body SB2 mounted on the upper surface of the main board MB, a first arm A2_1 connected to one side of the body SB2, and a first arm A2_1 at one side. ) And a third arm A2_3 connected to the other side of the second arm A2_2, and one side connected to the other side of the second arm A2_2. Each arm is equipped with a servo motor so that the first arm (A2_1), the second arm (A2_2), and the third arm (A2_3) of the second robot arm 112 are in the first direction by the control module 121. They may move independently of each other on a second plane (not shown) perpendicular to (DR1). That is, the second robot arm 112 may move on a second plane perpendicular to the first direction DR1. In the present invention, the second plane is spaced apart from the first plane, and the first plane and the second plane may be parallel to each other.

The servo motor included in the main body SB2 drives the first arm A2_1, the servo motor included in the first arm A2_1 drives the second arm A2_2, and the second arm A2_2 is included. The servo motor to drive the third arm (A2_3), and the servo motor included in the third arm (A2_3) moves the sub-board (SB) to be described later.

As an example of the present invention, as shown in FIG. 2, the first robotic arm 111 may extend from one edge of the first edge S1, and the second robotic arm 112 may have a first edge S1 It can extend from the edge opposite the side.

A sub-board SB may be interposed between the first robot arm 111 and the second robot arm 112. The sub-board SB is connected to the first robot arm 111 and the second robot arm 112 and may be moved by the movement of the first robot arm 111 and the second robot arm 112.

More specifically, the sub-board SB is interposed between the third arm A1_3 of the first robot arm 111 and the third arm A2_3 of the second robot arm 112 to provide a first robot arm. It can be moved by the movement of the third arm (A1_3) of (111) and the third arm (A2_3) of the second robot arm 112, and at this time, the sub-board (SB) is parallel to the first direction (DR1). It can rotate based on one rotation axis (not shown).

Movement of the first robot arm 111 and the second robot arm 112 may be restricted due to the presence of the sub-board SB. More specifically, the sub-board (SB) is connected to each of the first robot arm 111 and the second robot arm 112 to be interposed between the first robot arm 111 and the second robot arm 112 Therefore, the first arm A1_1 of the first robot arm 111 operates in the same manner as the first arm A2_1 of the second robot arm 112, and the second arm A1_2 of the first robot arm 111 Is the same as the second arm (A2_2) of the second robot arm 112, and the third arm (A1_3) of the first robot arm 111 is the third arm (A2_3) of the second robot arm 112 It can be operated in the same way. Furthermore, the first arm (A1_1) of the first robot arm 111 and the first arm (A2_1) of the second robot arm 112 operate simultaneously, and the second arm (A1_2) of the first robot arm 111 and The second arm (A2_2) of the second robot arm 112 operates simultaneously, and the third arm (A1_3) of the first robot arm 111 and the third arm (A2_3) of the second robot arm 112 operate simultaneously. It can work.

The sub-board SB may be a square plate made of a plastic material.

The thickness measurement sensor 114 may be mounted on the side of the sub-board SB. The thickness measurement sensor 114 may protrude in a second direction DR2 perpendicular to the first direction DR1 and may be mounted on a side surface of the sub-board SB. The thickness measurement sensor 114 may measure the thickness of the structure through contact with a measurement object such as a hull structure. A method of measuring the thickness measurement sensor 114 may be various, and various types of thickness measurement sensors may be mounted on the side of the sub-board SB.

An electromagnet 117 may be mounted on the side of the sub-board SB on which the thickness measurement sensor 114 is mounted. The electromagnet 117 may protrude in the second direction DR2 and may be mounted on the side of the sub-board SB. The strength of the electromagnet 117 may be adjusted by adjusting the amount of power supplied through the control module 121. The electromagnet 117 may support the thickness measurement apparatus 100 so that the thickness measurement apparatus 100 can measure the thickness of the thickness measurement object 500 without shaking by contacting a portion adjacent to the thickness measurement object 500 . Although it is shown that there are two electromagnets 117 in FIG. 2, the number of electromagnets 117 is not limited thereto, and three or more electromagnets 117 may be mounted on the sub-board SB as necessary.

The electric brush 115 may clean the thickness measurement object 500. In more detail, when the area of the thickness measurement object 500 is rusted, the electric brush 115 may clean the area of the thickness measurement object 500 using a material capable of removing the rust.

The brush slider 116 may be mounted on the upper surface of the sub-board SB, and the electric brush 115 enters and exits the inside of the brush slider 116 in a direction opposite to the second direction DR2 or DR2. Can be moved to. A servo motor SB4 for operating the brush slider 116 may be mounted on the upper surface of the sub-board SB. The server motor SB4 drives the brush slider 116 so that the brush slider 116 can move as mentioned above.

The third robot arm 119 may include a rotating body SB3, a first arm A3_1, a second arm A3_2, a third arm A1_3, and a camera module 118.

The rotating body SB3 may be mounted on the upper surface of the main board MB. The rotating body SB3 can be rotated. In more detail, the rotating body SB3 may rotate clockwise or counterclockwise on a plane.

One side of the first arm A3_1 is mounted on the rotating body SB3 and may protrude upward. One side of the second arm A3_2 may be connected to the other side of the first arm A3_1. One side of the third arm A3_3 may be connected to the other side of the second arm A3_2. The first to third arms (A3_1, A3_2, A3_3) of the third robot arm 119 are the same as those of the first to third arms (A1_1, A1_2, A1_3) of the first robot arm 111. It should be omitted.

However, since the third robot arm 119 includes the rotating body SB3, the third robot arm 119 may move in all directions different from the first robot arm 111 and the second robot arm 112.

The other side of the third arm A3_3 of the third robot arm 119 may include a camera module 118 capable of photographing the thickness measurement object 500. As mentioned above, since the third robotic arm 119 can move freely, the camera module 118 can photograph the thickness measurement object 500 in proximity to the thickness measurement object 500 without restriction on movement.

In this way, the thickness measurement device 100 is mounted by protruding from both corners of the main board MB on a plane, as shown in FIG. 3, so that it can freely move from the floor to the wall and from the wall to the ceiling. It is possible, and since the first robot arm 111 and the second robot arm 112 are each composed of three or more arms (joints), the first robot arm 111 and the second robot arm 112 shown in FIG. ), it is possible to freely measure the thickness of an object to be measured having a floor, a wall, and a ceiling, as in the two operating states, and furthermore, it is possible to measure the protruding part (the part where the stiffener is present) without difficulty. There is no need for a human to directly access a high or dangerous place through the thickness measurement device 100 to directly measure the thickness of the hull structure, and there is no need to install access facilities, which can be generated while performing the thickness measurement work. It is possible to reduce the cost required while performing safety accidents and thickness measurement work, and it is possible to reduce the time required to measure the thickness of the hull structure.

In addition, a gel pump JPP may be mounted on the main board MB. The gel pump (JPP) may supply a lubricating gel so that the servo motors operating respective components can operate normally.

Hereinafter, the user terminal 200 will be described with reference to FIGS. 4 and 5.

Referring to FIG. 4, the user terminal 200 may include a location receiver 201, a controller 202, an image receiver 203, and a data receiver 204.

The user terminal 200 may be a terminal having a function of controlling and driving the thickness measuring apparatus 100, receiving measured data from the thickness measuring apparatus 100, and outputting the data so that the user can check it.

The user terminal 200 may be a terminal used by a person who wants to measure the thickness of the thickness measurement object 500 by using the thickness measurement apparatus 100.

The user terminal 200 may be a smartphone. However, the present invention is not limited thereto, and the requestor terminal may include an electronic device such as a general desktop computer, a navigation system, a notebook computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), and a tablet PC. An electronic device may have one or more general or special purpose processors, memory, storage, and/or networking components (wired or wireless). Accordingly, the user terminal 200 may drive the thickness measurement apparatus 100 through the thickness measurement apparatus 100 and a network, and receive a value measured by the thickness measurement apparatus 100.

In the present invention, the terminal may be provided with two display units DP1 and DP2 as shown in FIG. 5, and will be described below with reference to the user terminal 200 shown in FIG. 5.

The user may generate a first signal through the first manipulation unit CT1 of the user terminal 200 to operate the magnetic wheel 113 to move the thickness measurement apparatus 100. The control module 121 operates the magnetic wheel 113 by receiving a first signal from the user terminal 200.

The user can drive the first robot arm 111, the second robot arm 112, and the third robot arm 119 by generating a second signal through the second manipulation unit CT2 of the user terminal 200. have. The control module 121 may receive a second signal from the user terminal 200 to drive the first robot arm 111, the second robot arm 112, and the third robot arm 119.

The process of generating the first signal and the second signal and transmitting the generated signal to the thickness measuring apparatus 100 is performed through the controller 202.

The position receiver 201 may receive position information including information on the position of the thickness measuring apparatus 100 driven through the controller 202 and the position of the

robot arms

111, 112, 119. The received location information may be displayed through the first display unit DP1 through the controller 202.

When the thickness measurement sensor 114 approaches the thickness measurement object 500 through the first signal and the second signal, the user touches the thickness measurement button TMB displayed on the first display unit DP1, which is a touch display module. The lower surface thickness measurement sensor 114 may measure the thickness of a portion of the thickness measurement object 500 and transmit the measured thickness value to the data receiver 204. The measured thickness value may be displayed on the first display unit DP1 through the controller 202.

Through the first signal and the second signal, the camera module 118 photographs the thickness measurement object 500 in proximity to the thickness measurement object 500, and the image captured by the camera module 118 is the image receiver 203 Can be sent to. The captured image may be output to the second display unit DP2 through the controller 202, and the user may check the captured image and efficiently measure the thickness.

The above-described embodiments are for illustrative purposes only, and those of ordinary skill in the art to which the above-described embodiments belong can easily transform into other specific forms without changing the technical idea or essential features of the above-described embodiments. You can understand. Therefore, it should be understood that the above-described embodiments are illustrative and non-limiting in all respects. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope to be protected through the present specification is indicated by the claims to be described later rather than by the detailed description, and should be interpreted as including all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts.

Claims

A main board on which a control module and a power supply module supplying power are mounted;

A magnetic wheel protruding from the main board and mounted, rotating in a first direction;

A first robot arm extending from a first edge of the main board and moving on a first plane perpendicular to the first direction;

A second robot arm extending from a first edge of the main board to be spaced apart from the first robot arm and moving on a second plane perpendicular to the first direction;

A sub-board interposed between the first robot arm and the second robot arm, connected to the first robot arm and the second robot arm, and moved by the movement of the first robot arm and the second robot arm ; And

A thickness measurement device including a thickness measurement sensor mounted on a side surface of the sub-board and protruding in a second direction perpendicular to the first direction.
The method of claim 1,

The thickness measuring apparatus further comprises an electromagnet mounted on a side surface of the sub-board and protruding in the second direction.
The method of claim 1,

An electric brush for cleaning a thickness measurement object; And

Further comprising a brush slider mounted on the upper surface of the sub-board,

Wherein the electric brush moves in the second direction or in a direction opposite to the second direction while entering and leaving the inside of the brush slider.
The method of claim 1,

The first robot arm includes a main body mounted on the upper surface of the main board, a first arm connected to the main body at one side, a second arm connected to the other side of the first arm, and a second arm at one side to the other side of the second arm. Comprising a connected third arm,

The second robot arm includes a first arm having one side extending from the first edge of the main board, a second arm having one side connected to the other side of the first arm, and a third arm having one side connected to the other side of the second arm. Including cancer,

The sub-board is interposed between the third arm of the first robot arm and the third arm of the second robot arm, and the third arm of the first robot arm and the third arm of the second robot arm Rotates based on a rotation axis parallel to the first direction by the movement of,

The first to third arms of the first robot arm and the first to third arms of the second robot arm independently move on a plane perpendicular to the first direction.
The method of claim 4,

The first arm of the first robot arm is the same as the first arm of the second robot arm, and the second arm of the first robot arm is the same as the second arm of the second robot arm And the third arm of the first robot arm operates in the same manner as the third arm of the second robot arm,

The first arm of the first robot arm and the first arm of the second robot arm operate simultaneously, and the second arm of the first robot arm and the second arm of the second robot arm operate simultaneously And the third arm of the first robot arm and the third arm of the second robot arm operate at the same time.
The method of claim 1,

A rotating body mounted on the upper surface of the main board and rotating in a clockwise or counterclockwise direction on a plane, a first arm having one side mounted on the rotating body and protruding upward, and the first arm connected to the other side of the first arm Thickness measurement further comprising a third robot arm including a 2 arm, a third arm connected to the other side of the second arm, and a camera module capable of photographing a thickness measurement object mounted on the other side of the third arm Device.
The method of claim 6,

The control module receives a first signal from a user terminal to operate the magnetic wheel, receives a second signal from the user terminal to move the first to third robot arms, and measures from the thickness measurement sensor The thickness measurement apparatus, characterized in that transmitting the value and the image captured from the camera module to the user terminal.