KR20100001438U - Clean Working Module for Wall-Climbing Mobile Robot - Google Patents

Abstract

The present invention is for the pretreatment work module that can be mounted on the front of the "lift work robot" (Registration No. 10-0776062) in place of the pretreatment manual work made in the narrow space or low height of the hull shell plate, uniform working surface Abrasives are constructed to cope with pre-treatment work for a variety of polishing targets, and the device is configured to adjust the pre-treatment height and the speed of the rotary tool rotating motor. The tool lowering function adds the advantages of operation, and the dust collector on the cover is installed to prevent dust scattering and recovery during dusting, and to install a hose inlet for dust collection on the upper part of the ground dust collector. Environment-friendly aerial work place capable of autonomous movement designed to recover dust generated through This is a work module.

Pretreatment, aerial work, work robot, work module

Description

Clean Working Module for Wall-Climbing Mobile Robot

The present invention relates to a pretreatment work module mounted on a hull shell aerial work robot, and more specifically, to perform a pretreatment work for a variety of polishing targets, and to adjust the height of the polishing and the rotation speed of the polishing tool and to prevent dust scattering And a pretreatment work module for an autonomous mobile hull shell plate aerial work robot capable of retrieval.

The pretreatment work performed in the aerial spaces of conventional hull shells and inclined structures is carried out by using a power grinder (for example, a 4 or 7 inch power air grinder) depending on the aerial platform (ladder or gondola, aerial vehicle, etc.). Will perform. This series of manual work is difficult to access due to the space constraint of the height space or the narrow space of low height, and the work efficiency decreases because the work platform has to be performed after each move or reinstallation of the aerial platform when it is out of the effective working radius of the worker. In addition, workers tend to avoid pretreatment of the aerial space because they are exposed to pneumoconiosis caused by falls or musculoskeletal diseases and dust generation.

1 is an exemplary view of an air grinder for pretreatment of a conventional hull shell plate. In the related art, an operator climbed on an aerial platform to perform pretreatment by using the air grinder by hand.

However, when using the conventional 4, 7 inch power air grinder, it is difficult to form a constant profile on the work result surface because the pretreatment work depth may be changed or a shock may be applied by the pressing force of the operator.

Conventionally, since the grinding machine is a manual work, the work efficiency is lowered, and there is a problem in that dust scattering occurs during polishing.

The present invention is to provide a pre-treatment work module of the hull shell plate aerial work robot to improve the work efficiency of the aerial work robot as described above, and to prevent the scattering of dust generated during polishing.

In addition, the present invention is configured to perform the pre-treatment work for a variety of polishing targets by configuring the abrasive to enable uniform working surface correspondence, and to enable the pre-treatment polishing height adjustment function and the speed of the polishing tool rotary motor.

In addition, the present invention is to enable the efficient operation of the operation operation by putting the tool rising, tool lowering function of the pre-processing work module.

In addition, a dust cover is installed to prevent dust scattering and recovery during grinding, and an inlet for dust collection is installed on the upper part of the cover so as to recover dust generated through the dust collector connected to the ground operation equipment. It is to provide an eco-friendly pretreatment work module for aerial work.

The purpose of the present invention,

A fastening bracket fastened to the aerial work robot;

An abrasive module coupled to an end of the coupling bracket and configured to rotate the abrasive by a motor to perform polishing;

A tool raising / lowering device mounted on an upper portion of the fastening bracket to adjust a pressing angle of the polishing module or to control raising / lowering of the polishing module;

A cover mounted on the polishing module to prevent scattering of dust and foreign substances generated during polishing;

It is characterized in that it comprises a dust recovery inlet for recovering dust and foreign matter through the ground dust collector is connected through the upper portion of the center.

The polishing module,

A tool support shaft rotatably coupled to an end of the fastening bracket and adjustablely coupled to the pressing angle and the tool lift / lower by the tool lift / lower device;

Side shafts fixed to both ends of the tool support shaft;

A polishing tool rotatably inserted and installed between the side shafts of the both ends;

A motor fixed to the tool support shaft side;

Characterized in that the power transmission device for transmitting the rotational force of the motor to the polishing tool.

The power transmission device is characterized in that the inclined cam is installed on the rotary shaft received the rotational force of the motor, the cam contact member is installed on the side shaft is configured to perform the left and right weaving function when rotating the polishing tool.

In addition, the polishing tool is configured to be separated into a plurality of polishing tools to facilitate the mounting.

In addition, the polishing tool, the abrasive (sandpaper) is configured to be separated radially attached to the tool drum, each abrasive is characterized in that it is mounted on a circular tool drum in a propeller manner overlapping each other with a step at the end of a plurality of abrasives. have.

In addition, the tool raising / lowering device,

A pneumatic cylinder connected to a vacuum pump mounted on the aerial work robot by an air hose and configured to perform pneumatic control by remote control of the ground;

A pneumatic shaft for performing forward / backward control by pneumatic control of the pneumatic cylinder;

A pressing angle adjusting knob installed at a rear side of the pneumatic cylinder to manually adjust the pneumatic shaft forward / backward to adjust the pressing angle of the polishing tool;

A rotating link rotatably coupled to one end of the pneumatic shaft such that the other end of the pneumatic shaft is pivoted up and down by forward and backward movement of the shaft;

It is characterized in that it comprises a clamp fixedly coupled to the tool support shaft of the polishing module and fixed to the other end of the rotary link is installed so that the pressing angle and the rising / falling of the polishing module by the rotation of the rotary link.

The present invention has a plurality of abrasives radially mounted on the tool drum to overlap each other with a certain step, the uniform working surface is possible and there is an effect that can perform a pre-treatment work for a variety of polishing targets. . In addition, the present invention by using the pneumatic cylinder to adjust the pressing angle and the rise / fall of the polishing module itself, it is possible to adjust the polishing height of the polishing tool, it is possible to adjust the speed of the polishing tool rotary motor, work efficiency And polishing performance can be improved. In addition, the present invention provides a dust scattering prevention cover to prevent dust scattering and recovery of dust generated during polishing, and has a suction inlet for dust collection on the top of the cover to recover the dust generated through the dust collector connected to the ground operating equipment By enabling it, it is possible to provide an environmentally friendly pretreatment work module capable of autonomous movement.

Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 is a perspective view showing the configuration of the hull shell plate aerial work robot for mounting the subject innovation.

Figure 2 is a configuration for the "robot work robot" (Registration Patent No. 10-0776062) (hereinafter referred to as "robot work robot") filed by the present applicant, the present invention is mounted to perform the work The configuration will be briefly described for explanation.

The robot for aerial work, generally by wire adjustment through a cable, is provided with a jig 11 for installing the work module M on the upper surface, and a main body 10 provided with a vacuum pad 12 on the bottom thereof. It is provided, and each of the transfer wheel 21 is provided on both sides of the main body 10, the servo motor 22 for driving the transfer wheel 21 is respectively installed correspondingly, the driving of each transfer wheel 21 In the aerial work robot 100 is composed of a lifting drive 20 is provided with a suspension 23 according to, the vacuum generating member 30 is installed on the main body 10 to apply a vacuum pressure directly from the vacuum pad 12 ), And the elevating drive table 20 is provided with one end of the transfer wheel 21 and the suspension 23 connected thereto, and a leg 24 having a bearing portion 24a formed on one side thereof, and an axis number of the legs 24. Both sides are connected from the part 24a, the side frame 25 having an installation recess 25a in the center, and It includes a height adjusting member 27 which is guided in the installation recess 25a and fixed to both sides of the main body 10 to adjust the distance of the vacuum pad 12 located at the bottom of the main body 10 from the bottom surface. It is composed.

The robot 100 for aerial work, which is configured as described above and put into the corresponding working place, is connected to the jig 11 of the main body 10 and the operation such as driving and positioning by a wired cable (not shown in the drawing). The installed work module (M) is driven to perform cleaning, painting, inspection (film thickness, welding defect), etc. according to the selected work. In the movement of the corresponding position, the elevating drive table 20 connected to both sides of the main body 10 is driven by driving the transfer wheel 21 of each corresponding leg, while being attached to the hull shell plate by a vacuum pad. Work can be performed.

3 is a plan sectional view of a pretreatment work module of the hull shell plate aerial work robot according to the present invention, Figure 4 is a side cross-sectional view of a pretreatment work module of the hull shell plate working robot according to the present invention, Figure 5 is a hull according to the present invention 6 is a cross-sectional view illustrating a state in which the pretreatment work module of the outer shell aerial work robot is mounted on the robot, and FIG. 6 is a view for explaining a tool ascending and descending of the pretreatment work module of the hull outer shell aerial work robot according to the present invention.

As shown in the figure,

A fastening bracket 210 to which the fastening part 211 is fixed to the aerial work robot 100 by screwing;

A polishing module 220 rotatably coupled to the movable end 212 of the fastening bracket 210 so as to rotate the polishing tool 240 by a motor to perform polishing work;

A tool raising / lowering device (230) mounted on the fastening bracket (210) to adjust the pressing angle of the polishing module (220) or to control the raising / lowering of the polishing module (220);

A cover 250 mounted on the polishing module 230 to prevent scattering of dust and foreign substances generated during polishing;

It is characterized in that it comprises a dust recovery suction inlet 251 for penetrating the upper portion of the center of the cover 250 to collect dust and foreign matter with a ground dust collector (not shown in the figure).

The polishing module 220,

A tool support shaft (221) rotatably coupled to an end of the fastening bracket (210), and a pressing angle and a tool lift / lower coupled by the tool lift / lower device (230);

Side shafts (222) fixed to both ends of the tool support shaft (211);

A polishing tool 240 rotatably inserted and installed between the side shafts 222 of the both ends;

A motor 223 fixed to the motor clamp 221a installed on the tool support shaft 221;

The pulley 223a of the motor 223 and the rotary pulley 224 of the polishing tool 240 are connected by a belt 225 to the power transmission device configured to rotate the rotating shaft 226 of the polishing tool 240. It is composed.

The power transmission device, the inclined cam 227 is installed on the rotating shaft 226 receives the rotational force of the motor 223, the cam contact member 228 is fixed to the side shaft 222 fixed grinding tool 240 is configured to make the left and right weaving function during rotation.

In addition, the polishing tool 240 may be configured to be mounted and replaced as a whole by a single polishing tool, it is configured to facilitate the installation and replacement by separating the configuration into a plurality of polishing tools.

In addition, the tool lifting / lowering device 230,

A pneumatic cylinder 231 connected to a pneumatic device on the ground (not shown) by an air hose and controlled by pneumatic remote control on the ground;

A pneumatic shaft 232 for forward / backward control by pneumatic control of the pneumatic cylinder 231;

A pressing angle adjusting knob 233 installed at a rear surface of the pneumatic cylinder 231 to manually adjust the pneumatic shaft 232 forward / backward to adjust the pressing angle of the polishing tool 240;

A rotational link 234 having one end rotatably coupled to an end of the pneumatic shaft 232 such that the other end is lifted and lowered by forward and backward movement of the shaft 232;

Pressing angle and tool lift of the polishing module 220 by the rotation of the rotation link 234 is fixedly coupled to the tool support shaft 221 of the polishing module 220 and fixed to the other end of the rotation link 234 / It is configured to include a clamp 235 is installed so that the fall.

In addition, the lower portion of the cover 250 is configured by mounting a brush 252 to enable a response to the non-uniform working surface.

7 is a view for explaining the configuration of the abrasive material attached to the polishing tool according to the present invention.

The abrasive tool 240 is configured to be fixed radially fixed to the tool drum 241 (sandpaper) 242 radially, each abrasive 242 is a plurality of abrasives are stepped at the end overlapping each other in a circular propeller manner It is attached to the tool drum 241 of the structure.

The pretreatment work module 200 according to the present invention configured as described above is installed to be located in front of the robot by being fastened to the aerial work robot 100 as shown in FIG. 5.

The aerial work robot 100 is autonomously moved to the working position to perform a pre-processing polishing operation in a state attached to the hull shell plate by the operation of the vacuum pad. In the drawings, respective connecting cables, pneumatic hoses, dust suction hoses, and the like are omitted. The aerial work robot 100 has been described in detail as a prior art, so the detailed description is not given in the embodiments of the present invention.

The pretreatment work module 200 is mounted on the robot 100 as described above to perform the pretreatment work. The present invention controls the polishing tool raising / lowering device 230 by remote control, and the pneumatic cylinder 231. Pneumatic control of the pneumatic shaft 232 is forward / backward operation, the rotary link 234 connected to the pneumatic shaft 232 is rotated to rotate the angle of the clamp 235. Therefore, the polishing module 220 itself fixed to the clamp 235 is raised or lowered as shown in FIG. 6 to become a work waiting state or a work loading state.

When the motor 223 is operated, the rotational force of the motor fleece 223a rotates the polishing tool fleece 224 through the belt 225 to rotate the polishing tool rotation shaft 226, and the rotation of the rotation shaft 226. When the polishing tool 240 is rotated by the control to the tool lowered state to perform the polishing operation.

At this time, the present invention by placing the abrasive (sandpaper) 242 inclined at regular intervals inclined to rotate while pressing a tool produced by stacking a number of sheets on the work target surface to perform the polishing operation of the height. That is, the abrasive 242 is overlapped with a plurality of steps, and the step is overlapped, and the radially, that is, mounted on the tool drum 241 in the form of a propeller, the abrasive 242 is pressed on the work surface during rotation to form a scratch pattern, so It is possible to work on the object to be polished.

In addition, the present invention devised an apparatus to replace the abrasive because it is consumable and has a structure that can replace the propeller type abrasive 242 individually or replace the cylindrical abrasive tool 240 itself. Here, the replacement of the abrasive 242 may include a coupling structure in the form of a clamp on the tool drum 241, and may be configured to be fixed by tightening with a screw, and to replace and replace it.

In addition, the present invention can adjust the pretreatment polishing operation pattern, which is a controller (ground controller; not shown in the drawing) because the pretreatment operation pattern and the operation results are changed by the tool rotation speed and the pressing force of the polishing tool 240. In the tool rotational speed control is possible, the pretreatment work module 200 is configured to enable the operator to adjust the degree of pressing. The degree of depression is controlled by adjusting the pneumatic pressure through the tool raising / lowering device 230 to adjust the general degree of pressing by adjusting the angle to the whole of the polishing module 220, the fine adjustment is a knob ( When the 233 is adjusted by tightening or loosening, the pneumatic shaft 232 is finely adjusted forward / backward according to the degree of tightening or loosening, so that the degree of pressing can be adjusted, thereby enabling the working pattern to be adjusted. It is also possible to form a constant work pattern even when the pretreated abrasive is consumed by the work through the knob adjustment.

The raising / lowering device 230 of the polishing module 220 is configured to have a tool raising / lowering function of the polishing module 220 so as to selectively use a work module when moving to a pretreatment work and a corresponding work site. This is as shown in Figure 6, to control the rising / falling of the polishing module 220 by pneumatic control.

In addition, the present invention is provided with a dust scattering prevention and recovery device, and cover 250 for preventing the scattering of dust and foreign matter generated during the pre-treatment polishing operation. There is an inlet 251 for dust collection on the cover 250 is configured to recover the dust generated through the ground dust collector and the recovery hose.

On the other hand, the brush 252 is attached to the lower portion of the cover 250 so as to correspond to the non-uniform working surface.

Since there is no need for aerial platform to perform work in aerial or narrow space, it can protect workers from musculoskeletal diseases and pneumoconiosis caused by falling safety accidents and manual operation of workers, and it is operated by remotely controlled robots Because it is accessible from a long distance. In addition, the productivity is increased compared to the existing manual work, and the standardization of the pretreatment work quality is possible.

1 is an exemplary view of an air grinder for pretreatment of a conventional hull shell plate.

Figure 2 is a perspective view showing the configuration of the hull shell plate aerial work robot for mounting the present invention.

Figure 3 is a plan sectional view of the pre-treatment work module of the hull shell plate aerial work robot according to the present invention.

Figure 4 is a side cross-sectional view of the pre-treatment work module of the hull shell plate aerial work robot according to the present invention.

Figure 5 is a cross-sectional view showing a state in which the pre-treatment work module of the hull shell plate aerial work robot according to the present invention mounted on the robot.

Figure 6 is a view for explaining the tool rising and falling of the pre-treatment work module of the hull shell plate aerial work robot according to the present invention.

7 is a view for explaining the configuration of an abrasive mounted on an abrasive tool according to the present invention.

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

100: aerial work robot 200: pre-processing work module

210: fastening bracket 211: fastening portion

212: fastening bracket movable end 220: polishing module

221 tool support shaft 222 side shaft

223: motor 223a, 224: pulley

225 belt 226 rotating shaft

227; Cam 228: cam contact member

230: tool raising and lowering device 231: pneumatic cylinder

232: pneumatic shaft 233: pressing angle adjustment knob

234: rotating link 235: clamp

240: polishing tool 241: tool drum

242: abrasive 250: cover

251 dust collection suction port 252 brush

Claims (7)

In the pretreatment work module which is mounted on the aerial work robot capable of autonomous movement, attached to the hull shell and autonomous movement, for pretreatment work, A fastening bracket 210 fixedly installed on the work module installation jig of the aerial work robot 100; A polishing module 220 rotatably coupled to the movable end 212 of the fastening bracket 210 so as to rotate the polishing tool 240 by a motor to perform polishing work; A tool raising / lowering device (230) mounted on the fastening bracket (210) to adjust the pressing angle of the polishing module (220) or to control the raising / lowering of the polishing module (220); A cover 250 mounted on the polishing module 230 to prevent scattering of dust and foreign substances generated during polishing; Pre-processing work module of the hull shell plate aerial work robot, characterized in that it comprises a dust recovery suction port 251 for penetrating through the central upper portion of the cover 250 for collecting dust and foreign matter with a ground dust collector. The method of claim 1, wherein the polishing module 220, A tool support shaft (221) rotatably coupled to an end of the fastening bracket (210), and a pressing angle and a tool lift / lower coupled by the tool lift / lower device (230); Side shafts (222) fixed to both ends of the tool support shaft (211); A polishing tool 240 rotatably inserted and installed between the side shafts 222 of the both ends; A motor 223 fixed to the motor clamp 221a installed on the tool support shaft 221; The pulley 223a of the motor 223 and the rotary pulley 224 of the polishing tool 240 are connected by a belt 225 to the power transmission device configured to rotate the rotating shaft 226 of the polishing tool 240. Pre-treatment work module of the hull shell plate aerial work robot, characterized in that configured. According to claim 2, The power transmission device, An inclined cam 227 is installed on the rotating shaft 226 that receives the rotational force of the motor 223, and a cam contact member 228 is fixedly installed on the side shaft 222 to rotate the grinding tool 240 left and right. Pre-treatment work module of the hull shell plate aerial work robot, characterized in that configured for the weaving function. The method of claim 1, wherein the polishing tool 240, A pretreatment work module for a hull shell plate aerial work robot, which is configured to be separated into a plurality of polishing tools to facilitate installation and replacement. The method of claim 1, wherein the tool raising / lowering device 230, A pneumatic cylinder 231 connected to a vacuum pump mounted on the aerial work robot by an air hose and configured to perform pneumatic control by remote control of the ground; A pneumatic shaft 232 for forward / backward control by pneumatic control of the pneumatic cylinder 231; A pressing angle adjusting knob 233 installed at a rear surface of the pneumatic cylinder 231 to manually adjust the pneumatic shaft 232 forward / backward to adjust the pressing angle of the polishing tool 240; A rotational link 234 having one end rotatably coupled to an end of the pneumatic shaft 232 such that the other end is lifted and lowered by forward and backward movement of the shaft 232; Pressing angle and tool lift of the polishing module 220 by the rotation of the rotation link 234 is fixedly coupled to the tool support shaft 221 of the polishing module 220 and fixed to the other end of the rotation link 234 / Pre-treatment work module of the hull shell plate aerial work robot, characterized in that it comprises a clamp 235 is installed to be made to descend. The pretreatment work module according to claim 1, wherein a brush (252) is attached to a lower portion of the cover (250) so as to correspond to an uneven working surface. The method of claim 1, wherein the polishing tool 240, The abrasive 242 is fixedly attached radially to the tool drum 241, each abrasive 242 is a plurality of abrasives are mounted on the circular tool drum 241 in a propeller manner overlapping each other with a step at the end. A pretreatment work module for a hull shell plate aerial work robot.

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