KR101871339B1

KR101871339B1 - Throw type reconnaissance robot

Info

Publication number: KR101871339B1
Application number: KR1020170107298A
Authority: KR
Inventors: 김은수; 이푸름; 박정수
Original assignee: 김은수; 이푸름; 박정수
Priority date: 2017-08-24
Filing date: 2017-08-24
Publication date: 2018-06-27

Abstract

The present invention provides a throwing type reconnaissance robot capable of not only absorbing an impact at the time of throwing but also having a running function.
A throwing type reconnaissance robot according to one aspect of the present invention includes a link assembly including a plurality of rods rotatably coupled to each other, a plurality of covers connected to the link assembly and formed of a curved surface, And a moving part disposed at a lower portion of the link assembly and including a plurality of wheels.

Description

{THROW TYPE RECONNAISSANCE ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a reconnaissance robot, and more particularly to a reconnaissance robot having a throwing type.

In recent years, robots have been developed that perform tasks that are difficult for human beings to replace, such as military robots, exploration robots, and industrial robots.

Military robots that can minimize human casualties, buildings that are filled with desert or debris, robots that reconnaissance and explore places where people can not move, such as radioactive contaminated areas, robots for exploring hunting or shooting dangerous animals, earthquakes or landslides Robots for rescue, which can supply oxygen and water to people who have been laid, and toy robots that provide convenience to people who are uncomfortable in the age of aging. Recently, Are produced in various ways.

Especially, in the case of a small robot, it is easy to avoid enemy vision and it is easy to move in a narrow space, so it is highly utilized as a reconnaissance robot penetrating into a building. Recently, researches on robots for reconnaissance have been actively carried out. Reconnaissance is a crucial factor in modern warfare so much that it takes the victory and defeat of war. Especially, UGVs are increasingly needed to reduce human casualties in internal reconnaissance, which requires direct infiltration into enemy territory in the case of street raids or terrorist abduction.

For successful reconnaissance in the UGV for internal reconnaissance, it is important that the secret, which is not detected by the enemy, quick infiltration, and quickness to quickly transmit the enemy information through internal movement. In order to reduce the size of the robot, it is necessary to have a fast running speed and a rough running performance for secrecy. However, as the robot is miniaturized, the maximum height over which the robot can overcome is reduced, and the movable distance is shortened.

Two-wheel type or ball type robots are widely used in conventional throwing robots. The most widely used two wheel type robot has a relatively light weight compared to the spherical type robot but has a disadvantage that it is difficult to implement a perfect shock absorbing mechanism.

In addition, spherical robots have the disadvantage that shock absorbing mechanism can be implemented, but there is no moving mechanism and stability of running is poor.

A conventional throwing-type launching robot is disclosed in Korean Patent Registration No. 0757013 (September 3, 2007), and a conventional traveling robot is disclosed in Korean Patent Publication No. 10-2011-0107717, Korean Patent Publication No. 10-2012-0053236 .

An object of the present invention is to provide a throwing type reconnaissance robot which not only can absorb an impact at the time of throwing but also has a running function.

A throwing type reconnaissance robot according to one aspect of the present invention includes a link assembly including a plurality of rods rotatably coupled to each other, a plurality of covers connected to the link assembly and formed of a curved surface, And a moving part disposed at a lower portion of the link assembly and including a plurality of wheels.

Here, the throwing type reconnaissance robot may further include a first plate and a second plate rotatably coupled to the link assembly.

The first plate and the second plate may be connected by a connecting bar, and the connecting bar may be connected to a conversion motor that rotates the connecting bar to change the inclination angle formed by the first plate and the second plate. have.

In addition, the throwing type reconnaissance robot may include a plurality of supports installed between the link assembly and the covers and connecting the link assembly and the covers.

The link assembly may further include a first support and a second support, and a third support disposed between the first support and the second support, wherein the third support is supported by the first support and the second support, So as to be rotatable.

The link assembly may include a first link portion coupled to one end of the first plate and the second plate, and a second link portion coupled to the other end of the first plate and the second plate .

The first link portion may include a first rod connected to a side of the first plate, a second rod connected to a side of the second plate, a third rod connected to the first rod and the second support, And a fourth rod connected to the first support, a fifth rod connecting the first rod and the third rod, and a sixth rod connecting the second rod and the fourth rod.

The moving part may include two first wheels facing each other with a first diameter and two second wheels facing each other with a second diameter, and the first diameter may be smaller than the second diameter have.

Also, the gap between the first wheels is formed larger than the gap between the second wheels, and the second wheels can be inserted between the first wheels when the protective shell is folded.

The throwing type reconnaissance robot may further include an impact sensor for determining whether the protective shell is deformed or a proximity sensor for determining whether an obstacle is present or absent.

According to an embodiment of the present invention, since the protective shell is folded or unfolded according to the rotation of the link assembly, the protective shell can be deformed depending on the situation and can be protected from the impact. Further, it is possible to move quickly and easily in a state in which the protective shell is provided with the wheels.

FIG. 1 is a perspective view of a throwing type reconnaissance robot according to an embodiment of the present invention. FIG.
FIG. 2 is a side view illustrating a folding type reconnaissance robot according to an embodiment of the present invention. FIG.
FIG. 3 is a perspective view illustrating a throwing type reconnaissance robot according to an embodiment of the present invention.
FIG. 4 is a perspective view showing a throwing type reconnaissance robot in which a protective shell is removed in FIG. 3. FIG.
5 is a perspective view illustrating a link assembly and a moving unit of a throwing type reconnaissance robot according to an embodiment of the present invention.
6 is a bottom view of a link assembly and a moving part of a throwing type reconnaissance robot according to an embodiment of the present invention.
7 is a side view showing a state in which a link assembly of a throwing type reconnaissance robot according to an embodiment of the present invention is deployed.
8 is a side view showing a folded state of a link assembly of a throwing type reconnaissance robot according to an embodiment of the present invention.
9 is a diagram for explaining a process in which a throwing type reconnaissance robot according to an embodiment of the present invention is modified according to circumstances.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

FIG. 1 is a perspective view of a throwing type reconnaissance robot according to an embodiment of the present invention, FIG. 2 is a side view of a throwing type reconnaissance robot according to an embodiment of the present invention, Is a perspective view illustrating a state in which a throwing type reconnaissance robot according to an embodiment of the present invention is deployed.

1, 2, and 3, the throwing type reconnaissance robot 101 according to the present embodiment includes a link assembly 10, a protective shell 20, a moving unit 30, a first plate 61 The second plate 62, the first support 41, the second support 42, the third support 43, the conversion motor 65, the drive motor 64, the impact detection sensor 68, A proximity sensor 69 may be included.

The throwing type reconnaissance robot 101 according to the present embodiment may be composed of a first mode for folding similarly to the ball and a second mode for deforming the second mode to expose the wheels. The first mode may be a spherical shape, but the present invention is not limited thereto, and the first mode may be a shape similar to an ellipsoid or spherical shape. The second mode may be in the form of a sphere with the bottom open and the side sideways. The second mode is a traveling mode in which the wheels are exposed downward and can be moved by power.

The protective shell 20 may include a plurality of curved surfaces connected to the link assembly 10. The cover may be formed of a curved surface that is a part of a spherical shape, and may be made of a material having elasticity to absorb an external impact.

The protective shell 20 may include a first cover 21, a second cover 22, and a third cover 23. The first cover 21 and the second cover 22 are disposed on both sides of the third cover 23 and the side surfaces of the third cover 23 are covered with the first cover 21 And the side surface of the second cover 22, as shown in Fig.

FIG. 4 is a perspective view showing a throwing type reconnaissance robot in which a protective shell is removed in FIG. 3. FIG.

3 and 4, the throwing reconnaissance robot 101 according to the present embodiment includes a plurality of supports, and the supports are disposed inside the cover to connect the cover and the link assemblies 10 . The throwing type reconnaissance robot 101 may include a first support body 41 and a second support body 42 and a third support body 43 disposed between the first support body 41 and the second support body 42 .

The first support body 41, the second support body 42 and the third support body 43 may be formed in a substantially fan-shaped column shape. The first support body 41, the second support body 42, 43 are hinged together and can rotate with respect to each other. Accordingly, the supports () can be pivoted and folded or unfolded according to the movement of the link assembly 10.

The first cover 21 is coupled to the first support body 41 and the second cover 22 is coupled to the second support body 42 and the third cover 23 is coupled to the third support body 43 . The cover can ensure structural stability by the supports and can fold or unfold according to the movement of the supports.

FIG. 5 is a perspective view illustrating a link assembly and a moving unit of a throwing type reconnaissance robot according to an embodiment of the present invention. FIG. 6 is a perspective view of a link assembly and a moving unit of a throwing type reconnaissance robot according to an embodiment of the present invention, It is the bottom surface.

Referring to FIGS. 5 and 6, the first plate 61 and the second plate 62 may be pivotally coupled to the link assembly 10. The first plate 61 and the second plate 62 are in the form of a flat plate and can be disposed parallel to the ground when the throwing reconnaissance module is deployed. The first plate 61 may be provided with a conversion motor 65, a drive motor 64 and a power source 67. The second plate 62 may be provided with a proximity sensor 69, an impact detection sensor 68, Various circuit elements and the like can be installed. The power source 67 may be a rechargeable battery.

The first plate (61) and the second plate (62) are spaced apart and connected by a connecting bar (63). The connecting bar 63 is connected to the first plate 61 via a conversion motor 65 and can be rotated by the conversion motor 65.

When the connecting bar 63 is rotated by the conversion motor 65, the inclination angle formed between the first plate 61 and the second plate 62 changes. That is, when the connecting bar 63 is rotated in a state where the first plate 61 and the second plate 62 are arranged in parallel, the inclination angle of the first plate 61 and the second plate 62 decreases, The plate 61 and the second plate 62 may be folded.

The link assembly 10 includes a first link portion 11 coupled to one end of a first plate 61 and a second plate 62 and a second link portion 11 coupled to one end of the first plate 61 and the second plate 62 And a second link portion 12 coupled to the side end. The first link portion 11 and the second link portion 12 are arranged to face each other and are each made up of six rods.

FIG. 7 is a side view showing a state in which a link assembly of a throwing type reconnaissance robot according to an embodiment of the present invention is opened, and FIG. 8 is a view showing a state in which a link assembly of a throwing type reconnaissance robot according to an embodiment of the present invention is folded FIG.

Hereinafter, the first link portion 11 will be described with reference to Figs. 7 and 8. Fig. Since the first link portion 11 has the same structure as that of the second link portion 12, it replaces the description of the second link portion 12 in the description of the first link portion 11. [

The first link part 11 includes a first rod 112 connected to the side of the first plate 61, a second rod 113 connected to the side of the second plate 62, a first rod 112, A second bar 113 and a fourth bar 115 connected to the first support 41 and a first bar 112 and a third bar 114 connected to the second support 42, And a sixth rod 117 connecting the second rod 113 and the fourth rod 115. The fourth rod 115 may be connected to the fifth rod 116,

The third rod 114 and the fourth rod 115 may have a structure bent in approximately two portions and may include a first rod 112, a second rod 113, a fifth rod 116, The rod 117 may be in the shape of a straight line. The lower side of the second support body 42 may be coupled to the lower end of the third rod 114 and the lower side of the first support body 41 may be coupled to the lower end of the fourth rod 115.

7, when the first plate 61 and the second plate 62 are parallel to each other, the lower ends of the third rod 114 and the fourth rod 115 are spaced apart from each other by a large distance to form the protective shell 20 May be a second mode in which a lower portion of the display device is opened.

6, when the first plate 61 and the second plate 62 are folded, the first rod 112 and the second rod 113 are erected so as to have a larger inclination angle with respect to the paper surface, The spacing between the third rod 114 and the lower end of the fourth rod 115 may be reduced to a first mode in which the lower portion of the protective shell 20 is closed to some extent.

2 and 5, the moving part 30 may be composed of four wheels. The moving part 30 includes two first wheels 31 having a first diameter and facing each other, And two second wheels 32 facing each other with two diameters. The first wheel 31 may be connected to the first plate 61 via a driving motor 64 and the second wheel 32 may be connected to the second plate 62.

The first diameter may be smaller than the second diameter, wherein the first diameter may be comprised between 50% and 90% of the second diameter. When the first diameter is smaller than the second diameter, the center of gravity of the first plate 61 can be shifted toward the first plate 61 when the first mode is changed to the first mode.

On the other hand, the interval between the first wheels 31 may be larger than the interval between the second wheels 32. The difference between the distance between the first wheels 31 and the distance between the second wheels 32 is made larger than the sum of the thicknesses of the at least two second wheels 32. [ Accordingly, when the protective shell 20 is folded as shown in FIG. 2, the second wheels 32 can be inserted between the first wheels 31.

The proximity sensor 69 may be an ultrasonic sensor or an infrared sensor installed on the first plate 61 and determines whether or not an obstacle is present in front of the throwing type reconnaissance robot 101. The impact detection sensor 68 is installed on the first plate 61, detects the amount of impact applied to the throwing type reconnaissance robot 101, and determines whether the protective shell 20 is deformed.

9 is a diagram for explaining a process in which a throwing type reconnaissance robot according to an embodiment of the present invention is modified according to circumstances.

9, when the obstacle such as a step is detected by the proximity sensor 69 while the throwing type reconnaissance robot 101 according to the present embodiment is traveling using the wheel in the second mode, the conversion motor 65 The first plate 61 and the second plate 62 are moved.

As a result, the link assembly 10 pivots, the supports and covers move, and the protective shell is folded so that it can be transformed into the first mode. On the other hand, when the mode is changed to the first mode, the throwing type reconnaissance robot 101, which is deformed into a spherical shape due to the center of gravity being moved forward due to the difference in wheel size, can roll down the stairs.

When the shock detection sensor 68 detects that the impact has disappeared after the step down, the throwing-type reconnaissance robot 101 moves the first plate 61 and the second plate 62 using the conversion motor 65, Mode.

As described above, according to the present embodiment, not only can the throwing-type reconnaissance robot 101 be easily deformed by using the link assembly 10, but also the protective shell 20 can protect the inside from the impact.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

101: Reconnaissance robot
10: Link assembly
11: first link portion
112: First rod
113: second rod
114: Third bar
115: fourth bar
116: Fifth bar
117: sixth rod
12: second link portion
20: Protective shell
21: first cover
22: second cover
23: third cover
30:
31: 1st wheel
32: 2nd wheel
41: first support
42: second support
43: third support
61: first plate
62: second plate
65: Conversion motor
64: drive motor
68: Shock sensor
69: Proximity sensor

Claims

A link assembly including a plurality of rods rotatably coupled;
A protective shell connected to the link assembly and including a plurality of curved covers, the protective shell being folded or unfolded according to a rotation of the link assembly; And
A moving unit disposed at a lower portion of the link assembly and including a plurality of wheels;
A first plate and a second plate rotatably coupled to the link assembly;
And a plurality of supports installed between the link assembly and the covers and connecting the link assembly and the covers,
The link assembly is coupled to a first support and a second support, and a third support disposed between the first support and the second support, and the third support is rotatable with respect to the first support and the second support Lt; / RTI >
Wherein the link assembly includes a first link portion coupled to one end of the first plate and the second plate, and a second link portion coupled to the other end of the first plate and the second plate, .

delete

The method according to claim 1,
The first plate and the second plate are connected to each other by a connecting bar, and the connecting bar is pivoted to a throwing type reconnaissance robot to which a converting motor for changing the inclination angle formed between the first plate and the second plate is connected, .

delete

The method according to claim 1,
Wherein the first link portion includes a first rod connected to a side of the first plate, a second rod connected to a side of the second plate, a third rod connected to the first rod and the second support, A fourth rod connected to the first support, a fifth rod connecting the first rod and the third rod, and a sixth rod connecting the second rod and the fourth rod.

A link assembly including a plurality of rods rotatably coupled;
A protective shell connected to the link assembly and including a plurality of curved covers, the protective shell being folded or unfolded according to a rotation of the link assembly; And
A moving unit disposed at a lower portion of the link assembly and including a plurality of wheels;
/ RTI >
Wherein the moving part includes two first wheels facing each other with a first diameter and two second wheels facing each other with a second diameter, wherein the first diameter is smaller than the second diameter, .

9. The method of claim 8,
Wherein the gap between the first wheels is larger than the gap between the second wheels and the second wheels are inserted between the first wheels when the protective shell is folded.

9. The method of claim 8,
Wherein the throwing type reconnaissance robot further comprises an impact sensor for determining whether the protective shell is deformed or not, and a proximity sensor for determining whether an obstacle is present.