KR100577937B1 - Transportation Apparatus for Operation Unit - Google Patents

Abstract

The present invention relates to an apparatus for transporting various work units used in ship construction, and more specifically, is installed in a predetermined work space in which a plurality of rails are arranged in parallel, and with the longitudinal movement of moving on a rail, A conveying device for a work unit capable of transverse movement between rails.

According to the present invention, there is provided a conveying device for transporting a work unit vertically and horizontally between a plurality of rails arranged in parallel in a work space, wherein the work unit is mounted, and an expectation portion for moving in the longitudinal direction along the rail, Installed on both ends of the base in a stretchable manner, each pair of expansion arms supporting the base in contact with the pair of rails, and a driving unit for moving the base in the longitudinal direction, wherein the driving unit includes: Drive wheels rotatably installed at both ends of the base part, respectively, in contact with the rails and in contact with the rails; driven wheels spaced from the drive wheels and spaced in contact with the rails; A conveying apparatus of a work unit is provided that includes a drive source for driving a.

The apparatus according to the invention is capable of freely moving a work unit to a desired work position in a predetermined space in which several rails, in particular a rail having a flat top surface having a T-shaped cross section, are placed in parallel.

Conveyor, telescopic arm, double hull

Description

Transport Apparatus for Operation Unit             

1A is a perspective view of an open type inner bottom block constituting a double hull structure.

1B is an enlarged view of portion A of FIG. 1A.

2 is a perspective view of a double bottom block constituting a double hull structure;

3 is a perspective view of a conveying device of a work unit according to the present invention;

Figure 4 is a perspective view of the right expansion arm is separated in the device shown in FIG.

5A and 5B illustrate the principle of operation of the telescopic arm constituting the device shown in FIG.

6 shows an embodiment of a drive unit of the apparatus shown in FIG. 3.

7a to 7e illustrate the principle of transverse movement of the conveying device of a work unit according to the invention;

<Explanation of symbols for the main parts of the drawings>

1: inner bottom block 2, 2 ', 2 ": longage (or rail)

3: bottom four 4: web floor

5: girder 6: vertical weld

7: horizontal weld zone 8: double bottom block

9: opening 10: transfer unit of work unit

20: expectation part 21: flap

30: right extension arm 31: fixed arm

32: driving arm 33: moving arm

34: Drive Pinion 35: Drive Pinion

36: chain 37: flap

40: left extension arm 41: fixed arm

42: driving arm 43: moving arm

44: driven pinion 45: driven pinion

46: chain 47: flap

50: drive unit 51: drive wheel

52: driven wheel 53: guide roller

54: step motor

The present invention relates to an apparatus for transporting various work units used in ship construction, and specifically, installed in a predetermined work space in which a plurality of rails are installed in parallel, such as an inner bottom block constituting a double hull structure of a ship. The present invention relates to a conveying device for a work unit capable of moving in a longitudinal direction between rails and moving in a longitudinal direction.

In ships, the double hull structure can prevent flooding inside the inner bottom plate in case of failure of the bottom or side part, and can not only increase the strength of the bottom, but also make good use of space and the center of the ship. This lowers the advantage of increasing the hull stability.

This advantage of double hulls is increasing the volume of double hull construction, but the double hull's bottom structure has a complex frame structure supporting the inner bottom plate, which makes it difficult to automate the construction process.

1A is a perspective view of an inner bottom block constituting a double hull structure.

As shown in FIG. 1A, the inner bottom block 1 constituting the double hull structure has a plurality of longies 2 on each other at predetermined intervals on a bottom plate 3 made of a wide iron plate. It is fixed by being installed in parallel and welding. Here, a web floor 4 and a girder 5 made of iron plates are installed on the lower plate 3 to produce an inner bottom block 1 as shown in FIG. 1A. Here, the inner bottom block 1 is manufactured in a state where the space is divided by the web floor 4 and the girder 5. And, the lower plate 3, the longage 2, the web floor 4 and the girder 5 are all welded to each other to settle.

FIG. 1B shows a partial enlarged view of part A of FIG. 1A.

As shown in FIG. 1B, a vertical weld 6 between the longage 2 and the web floor 4 is provided at a joining portion of the web floor 4 of the inner bottom block 1 manufactured by welding. There is a horizontal weld 7 between the bottom plate 3 and the web floor 4, which parts must be re-welded to meet the required strength.

As shown in Fig. 1A, in the case of the inner bottom block 1, the upper surface is open. In this case, conventionally, a welding operation was performed after positioning the automatic welding device close to the welding position A using a crane. When one part of the welding work was finished, the crane was used again to move to another welding position beyond the longage (2), and then welding was performed.

However, in order to perform the welding of the inner bottom shell 1 in this manner, there is a disadvantage that a separate crane is required and a lot of worker's hands are required.

FIG. 2A illustrates a perspective view of a double bottom block having a top plate coupled to the inner bottom block shown in FIG. 1A.

As shown in FIG. 2A, the top, bottom, left and right sides of the double bottom block 8 are closed. Operation with a crane is not possible for the double bottom block 8 with the top closed as shown in FIG. 2A. Therefore, in the related art, an operator directly enters the double bottom block 8 and carries out welding work manually.

However, the space inside the double bottom block 8 is very dark, and because the welding work is performed in the enclosed space, the welding heat and the gas generated during the welding process are poor for the worker to work with.

Accordingly, there is a need for developing a transfer device of a work unit that allows the automatic welding robot to navigate to the welding position by itself, as well as the inner bottom block 1 and the double bottom block 8.

Meanwhile, in the process of manufacturing the double hull structure, in addition to welding, operations such as grinding, blasting, or painting should be performed on the inner bottom block 1 and the double bottom block 8.

Even in this case, there have been inconveniences in that the necessary various equipments have to be introduced into the inner bottom block 1 using a crane. In addition, since the equipment cannot be introduced into the double bottom block 8 by using a crane, the worker directly inputs the equipment through the opening, and the worker has to enter the job to perform various tasks by hand. . However, due to various dusts, gases, odors, etc. generated during grinding, blasting, and painting work, the working space inside is very poor, and thus there is a problem that it is easy to damage the health of the worker.

Therefore, the necessity of developing a transfer device capable of transferring not only welding work but also various equipment for grinding, blasting, and painting work to the required position in the double bottom block 8 as well as the inner bottom block 1. This is a big rise.

The present invention was developed in order to solve the above-mentioned conventional problems, an object of the present invention is to move to the vertical and horizontal space automatically installed obstacles parallel to the inside, such as a double hull structure to find a working position It is to provide a transfer device of the unit.

An object of the present invention as described above is a transfer device for transporting a work unit vertically and horizontally moved between a plurality of rails arranged in parallel in the working space, the work unit is mounted, which is moved longitudinally along the rail A base unit, a pair of telescopic arms installed at both ends of the base unit, the pair of telescopic arms supporting the base unit in contact with the pair of rails, and a driving unit for moving the base unit in the longitudinal direction; Driving parts are respectively rotatably installed at both ends of the base portion and the driving wheel to be in rolling contact with the rail, the driving wheel is installed in the state spaced apart from the driving wheel at the distal end of each of the expansion arm, And a drive source for driving the drive wheel.

Here, both ends of the base portion and the end of the expansion arm is provided with a flap that is rotatably coupled to each other, the flap is in contact with the rail on the surface opposite the contact surface of the driven wheel of the rail in contact with the longitudinal end of the base portion Preferably, a guide roller for guiding the direction movement is provided.

Here, each of the expansion arms, fixed arm fixed in the base portion, the drive arm is installed to be linearly movable on the fixed arm, and the drive arm is installed to be linearly movable, the movement of the drive arm It is preferable to include a moving arm moving in conjunction with.

Here, on the upper surface of the fixed arm and the lower surface of the movable arm, a pair of racks formed along each longitudinal direction, rotatably installed at both ends of the driving arm to match the rack of the fixed arm and the movable arm, respectively The pinch pin further includes a pair of pinions, a chain connecting the pinions, and a rotation drive source connected to at least one of the pinions, wherein the expansion arm includes the driving arm and the moving arm fixed by the rotational force of the rotation drive source. It is desirable to stretch as it moves relative to the arm.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention. The embodiment of the present invention described below assumes and describes an inner bottom block or a double bottom block internal working environment in the manufacturing process of the double hull structure mentioned in the prior art, but the scope of the present invention is not limited thereto. Any space with a similar steel plate welding structure can be applied. Thus, the term longage used in a double hull structure is generically referred to as a rail and the same reference numerals are used for the same members as those described in the prior art description.

3 shows a perspective view of a conveying device of a work unit according to the invention.

As shown in FIG. 3, the conveying apparatus 10 of the work unit according to the present invention includes a base 20, on which the work unit can be mounted, and the base 20, which extends to both sides in the lateral direction. It can be composed of two expansion arms 30, 40, and the drive unit 50 is provided at the ends of the expansion arms (30, 40) to move longitudinally along a rail of a predetermined shape.

The base 20 may be equipped with various work units as necessary, such as a welding unit, a painting unit, an inspection unit, and the like.

The extension arms 30 and 40 are fixed arms 31 and 41 fixed inside the base 20, drive arms 32 and 42 installed on the fixed arms 31 and 41, and the drive. Drive source (not shown) provided on the movable arm (33, 43) and the drive arm (32, 42) provided on the arm (32, 42) to implement the lateral extension and contraction movement of the expansion arm (30, 40) It is composed of It is preferable that the two extension arms are provided in parallel so as to occupy the smallest space in the base 20 and are configured symmetrically with each other. Both ends of the two telescopic arms 30, 40 are formed as wide as possible to correspond to the widths of both ends of the conveying device 10 of the work unit according to the invention. By constructing the end portion in this way, it is possible to prevent the front-backward distortion that may occur when the expansion arms 30 and 40 are extended.

4 is a perspective view of a state in which the expansion arm of one side is separated from the transfer device of the work unit of FIG. 3.

As shown in FIG. 4, the fixed arms 31 and 41 fixed to the base 20 are preferably racks having gears formed on an upper surface thereof. In this case, the drive pins 32 and 42 are rotatably provided with drive pinions 34 and 44 and driven pinions 35 and 45, and the drive pinions 34 and 44 and driven pinions 35 and 45 are rotatable. Are each connected to each other by a chain 36. The movable arms 33 and 43 have a rack formed on the lower surface thereof. The drive source is operated in connection with the drive pinions 34 and 44.

5A and 5B are diagrams illustrating the operation principle of the expansion arm.

As shown in FIG. 5A, the drive pinions 34 and 44 and the driven pinions 35 and 45 act as sprockets that mesh with the chain 36, together with the fixed arm 31 and the movable arm ( 33) and acts as an interlocking pinion gear.

As shown in FIG. 5B, when the extension arms 30 and 40 are extended, the drive pinions 34 and 44 connected to the drive source rotate, and the drive along the rack on the fixed arms 31 and 41. Arms 32 and 42 are moved in the lateral direction, and at the same time, the movable arms 33 and 43 are moved in the transverse direction with respect to the drive arms 32 and 42. By operating in this manner, the extension arms 30, 40 can have a stroke close to three times the reduced length.

The driving unit 50 may have a specific structure according to the cross-sectional shape of the rail 2. In the present invention, only the case of the transfer device moving in the longitudinal direction and the transverse direction along the rail (2) having a T-shaped cross section will be described. However, this is for the purpose of description only and is not intended to limit the scope of the present invention.

FIG. 6 is a perspective view showing an embodiment of a drive unit constituting a transport device of a work unit according to the present invention shown in FIG. 3.

As shown in FIG. 6, the driving unit 50 includes a predetermined number of driving wheels 51 provided at the end of the base 20, the ends of the base 20, and the extension arms 30 and 40. A predetermined number of driven wheels 52 and guide rollers 53 provided below each of the driving wheels 51 and driven wheels 51 are provided at the end of the wheel. And the drive unit 50 is provided with a pair at both ends symmetrically with respect to the base (20).

The driving wheel 51 and the driven wheel 52 are positioned to roll along the upper surface of the T-shaped rail 2, and the guide rollers 53 are rolled along the upper lower surface of the T-shaped rail 2. Is located.

As shown in FIG. 3, flaps 37 and 47 are rotatably provided at the ends of the base 20 and the ends of the extension arms 30 and 40, respectively. The guide rollers 53 are provided on the flaps 37 and 47, respectively.

Preferably, a plurality of driving wheels 51, driven wheels 52, and guide rollers 53 are disposed along the longitudinal width of the base 20 in the driving unit 50. 6, two driving wheels 51 provided at the end of the base 20, two driven wheels 52 disposed therebetween, and the driving wheels 52 and driven wheels ( 53 and four driven wheels 53 provided at the ends of the extension arms 30 and 40 at positions facing the 53, and four guide rollers 53 provided to the flaps 37 and 47. . A driving source is connected to the driving wheel 51, and the step motor 54 may be used as the driving source. The step motor 54 may be installed to be directly connected to the rotation shafts of the plurality of driving wheels, respectively. By controlling the forward and reverse rotation of the step motor it is possible to control the longitudinal movement along the rail of the transfer device.

Hereinafter, a method in which the transfer device of the work unit having the configuration as described above moves in the longitudinal direction and the transverse direction in a space provided with a plurality of T-shaped rails in parallel.

7A to 7E show the second rail 2 'and the third rail in a state in which the transfer device 10 of the work unit according to the present invention is supported on the first rail 2 and the second rail 2'. The principle of moving in a state supported by 2 " is shown step by step.

7a shows a perspective view of a conveying device 10 of a work unit according to the invention in a state lying on a rail having a T-shaped cross section.

From the state laid as shown in FIG. 7A, first, the flap 37 provided on the right elastic arm 30 is folded upward, and the right elastic arm 30 is extended to support the third rail 2 ″ (FIG. 7B). Then, the flaps 21 provided on the base 20 are folded toward the bottom of the base 20. And with the flaps 21 folded, the length of the right telescopic arm 30 is folded. At the same time, while extending the left extension arm 40, the base 20 is moved toward the third rail 2 "(FIG. 7C). When the shortening of the right telescopic arm 30 is completed, the base 20 supports the second rail 2 ′ and the third rail 2 ″ with the driving wheel and the driven wheel provided at the end thereof. At this time, the flaps 21 return to their original positions (FIG. 7D) In this state, the flap 47 provided on the left telescopic arm 40 is folded and the left telescopic arm 40 is shortened (FIG. 7E). Lower the flap 47 to complete transverse movement.

In this way, the conveying apparatus 10 of the work unit according to the present invention can continue to move to the right or back to the left in the same manner as described above. The drive unit may also move along the rail in the longitudinal direction. And you can attach an optical sensor that measures the distance you travel so that you know where you are and how far you traveled. When working in a predetermined working space, the touch sensor is attached to the outer portion in four directions so as to determine whether the boundary point of a predetermined section has been reached.

In the above, only the contents related to the movement of the transfer unit of the work unit according to the present invention has been described. However, the device according to the present invention performs a predetermined work according to the action of the work unit installed in the expectation unit after moving to a specific work position. Can be done. And, if the content of the work requires fixing at a specific position of the work unit, it is possible to fix it, and if it is necessary to work while the whole work unit moves, it is possible to implement the necessary movement.

As an example requiring fixing in one place, one can consider the case of welding work in the vicinity of the wall formed by the girder 5, in the working space as shown in Figs. 1A and 2A. In this case, by attaching a magnet to the sides of the expansion arm (30, 40), respectively, one side of the base is supported on the rail and the other side is fixed to the steel wall using the magnet provided at the end of the expansion arm to work Can be done.

The conveying apparatus of the work unit according to the present invention can perform a work while installing a welding robot, a welding wire carrying robot, a painting robot, or an inspection robot on a base and freely moving to a required position in a predetermined working space. To this end, although not mentioned above, a method of remotely controlling by wire or wireless communication or a method of pre-programming a predetermined work pattern to perform repetitive work may be applied.

As described above, according to the present invention, a work unit can be freely moved to a desired work position even in a space where several obstacles are placed in parallel, such as a double bottom block of a double hull structure. This saves the manpower and time required to perform various tasks such as welding, painting, and inspection work, and places where work space is dark, or bad smell such as paint used for painting is difficult or difficult for workers to access. The work at is also possible to be automated via the transfer device of the work unit according to the invention.

In the above, certain preferred embodiments of the present invention have been illustrated and described. However, the present invention is not limited to the above-described embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. will be.

Claims (4)

A conveying device for transporting a work unit vertically and horizontally between a plurality of rails arranged in parallel in the working space, An expectation unit on which the work unit is mounted and which moves longitudinally along the rail; A pair of telescopic arms which are installed at both ends of the base so as to be extensible, and which are in contact with the pair of rails respectively to support the base; And It includes a drive for moving the base in the longitudinal direction, The driving unit, Driving wheels rotatably installed at both ends of the base, respectively, for driving in contact with the rail; Driven wheels installed spaced apart from the driving wheel at the distal end of each of the expansion arms, and rolling contact with the rails; And It includes a drive source for driving the drive wheels, Each of the expansion arms, A fixed arm fixed in the base; A driving arm installed on the fixed arm to be linearly movable; And And a moving arm installed on the driving arm so as to be linearly movable and moving in association with the movement of the driving arm. The method of claim 1, At both ends of the base portion and the ends of the expansion arm, flaps are rotatably coupled to each other, And the flap is provided with a guide roller for guiding the longitudinal movement of the base by rolling contact with the rail at a surface opposite to a surface where the driven wheels of the rail come into contact with each other. delete The method of claim 1, A pair of racks formed on an upper surface of the fixed arm and a lower surface of the movable arm along each longitudinal direction; A pair of pinions rotatably installed at both ends of the driving arm and engaged with the racks of the fixed arm and the movable arm, respectively; A chain connecting the pinions; And Further comprising a rotary drive source connected to at least one of the pinions, And said telescopic arm is extended and contracted as said drive arm and movable arm move relative to said stationary arm by the rotational force of said rotary drive source.

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