KR100241143B1 - Moving robot for inspecting a narrow space - Google Patents

Abstract

The present invention relates to a mobile robot capable of precise exploration work in a narrow space, the purpose of which is to inspect the abnormal site in detail while moving in a narrow space inaccessible to humans, such as sewage pipes, power plant piping, etc. It is to provide a mobile robot for precise exploration of narrow space exploration that can perform maintenance work by checking remote visual inspection and improve work efficiency.

The present invention includes an 'T' shaped guide portion having an insertion hole formed at a lower center portion thereof, a fan unit operating motor being inserted into the insertion hole, and having one side inserted into the body portion of the probe robot; The guide portion and one side are bolted and coupled, rotated integrally with the guide portion by a fan-operated motor mounted to the guide portion, the side grooves are formed on both sides, and at the same time, the side grooves of both sides are connected to each other A hole having a hole formed at one side, and rotated in a direction perpendicular to the rotational direction of the pan part by a tilt part operated motor equipped with a tilt part operated motor in the connecting hole, and having a tilt part equipped with a camera and a moving light device. It is to provide a narrow space exploration mobile robot that can be attached to the front of the exploration robot to precisely explore the narrow space.

Description

Narrow Space Precision Exploration Mobile Robot

The present invention relates to a mobile robot for exploration of a narrow space capable of precise exploration. In particular, by using a rotatable observer, a narrow passage, such as a sewer pipe, is injected into a narrow space, and can precisely investigate the rupture, blockage, and crack of the pipe. The present invention relates to a narrow space exploration robot capable of precision exploration.

In general, a robot refers to a multifunctional work report designed to operate work parts, tools, etc. through various tasks, and can be used for industrial robots, non-manufacturing robots, agricultural robots, and medical welfare. There are robots for robots, micro robots, robots for extreme work, and space robots, and they are classified into robot arm mechanisms, direct driven robots, mobile robots, and pedestrian robots according to their shape.

Conventionally, when an abnormality occurs where it is difficult for a person to enter directly, an investigative robot is put in place of the person to check whether there is an abnormality. In particular, when an abnormality occurs in a narrow space buried in the ground such as a sewer pipe, for example, when a sewer pipe buried in the ground is partially ruptured or blocked, a camera is attached to the observation unit to inspect the narrow space such as a sewer pipe. The mobile robot is put into the sewer pipe.

However, as described above, the mobile robot introduced into the sewer pipe is fixedly mounted to the front of the mobile robot body front part, and is moved forward and backward only by the side mounted robot and the mobile belt part. Therefore, close inspection and close inspection of the rupture site were impossible in narrow spaces such as sewer pipes. Therefore, the exploration input into a narrow space, such as a sewer pipe, is fixed so that the camera faces forward, so the state of the sewer pipe should be inspected only by the front shape captured by the camera when moving the exploration robot. And cracks cannot be inspected accurately, which causes various problems such as delayed repair work.

The present invention has been made in consideration of the above problems, and its object is to close-up the abnormal part and close inspection by inserting an exploration robot in which an observation unit equipped with a camera and a moving lighting device is rotated in a narrow space that cannot be visually checked. In addition, it is to provide a narrow space exploration robot capable of precise exploration that can facilitate the maintenance work by checking the breakdown point and the blockage point, and improve the work efficiency.

The present invention is made by allowing the observation unit mounted on the front part of the robot to be rotatable, that is, moved forward and backward by the roller and the moving belt part mounted on the side part of the body, and the front lighting device is attached to the front part, A narrow space exploration mobile robot that is introduced into a narrow space such as a sewer pipe and inspects a rupture site and a blocked site; An 'T' shaped guide portion having a front end portion of the probe robot, an insertion hole formed at a lower center portion thereof, a fan part motor being mounted into the insertion hole, and one side of which is inserted into the body part of the probe robot; The guide part and one side are bolted, and are integrally rotated with the guide part by a fan part motor mounted to the guide part, and side grooves are formed on both sides, and connection holes for connecting the side grooves of both sides to each other. A 'c' shaped fan portion formed at one side and having a tilting operation motor mounted therein; It is connected to the pan part, and rotates in a direction perpendicular to the rotation direction of the pan part by a tilt part operating motor mounted in the connecting hole of the pan part, and mounts an observation part having a tilt part equipped with a camera and a moving lighting device to mount the inside of the narrow space. It is to provide a small space exploration robot that can be precisely explored.

1 is an operating state of the present invention.

2 is a cross-sectional view of the combination of the present invention.

Figure 3 is a side view showing the configuration according to the present invention.

4 is another side view showing a configuration according to the present invention.

5 is a cross-sectional view showing an operating state of the present invention tilt (TILT) portion.

Figure 6 is a state diagram showing the operating state of the fan (PAN) of the present invention.

* Explanation of symbols for main parts of the drawings

1: Guide part 2: Fan part

3: Tilt part 4: Coupling

5: fixed rod 10: observation unit

11: Fan part operating motor 12: Guide part insertion hole

21: Tilt part operating motor 22: Pan part groove

23,23 ': Side groove 24: Connection hole

25: first gear 26: second gear

27: tilt part moving gear 28: support plate

29,29 ': Side cover 31: Camera

32: moving lighting device 33: connecting shaft

34: protection plate 111: fan motor operating shaft

112: fan unit motor body 231: protrusion

331: hall

1 is a view showing the operating state of the present invention, the present invention is moved to the front and rear by the roller 102 and the moving belt unit 103 mounted on the side portion, the front lighting device 104 is attached to the front portion It is inserted into a narrow space, such as sewer pipes to the front surface 101 of the exploration robot 100 for exploring the rupture and clogged areas of the sewer pipe, the fan-shaped motor 11 of the 'T' shape is inserted The guide part 1 is mounted, and the 'c' type fan part 2 is bolted to the guide part 1, and is connected to the fan part 2 to insert the camera 31 and the moving lighting device 32. . The observation part 10 provided with the attached tilt part 3 is mounted.

2 is a cross-sectional view of the present invention, one side is inserted into the body portion 20 of the robot to be probed, the guide portion 1 and the fan unit operating motor 11 is mounted therein, the guide It is bolted to the part (1), and the tilt part operating motor 21 and a plurality of gears are mounted therein, and are integrally rotated with the guide part (1) by the fan part operating motor (11) in the guide part (1). A tilt portion mounted in the fan portion 2 and the fan portion 2 and the insertion groove 22 of the fan portion 2, the camera 31 and the moving lighting device 32, are mounted in the pan portion 2. It consists of the tilt part 3 rotated by the operating motor 21. As shown in FIG.

The guide part 1 has an insertion hole 12 formed at the center portion in a 'T' shape, and the fan part operating motor 11 is mounted into the insertion hole 12, and one side part is inserted into the body part 20. . At this time, the fan portion operating motor 11 is bolted to the body portion 112 in the insertion hole 12 of the guide portion 1 so that the rotating shaft 111 is projected to the guide portion 1, the guide portion (1) The rotating shaft 111 protruding to the outside is fixed to the body portion 20 by the coupling 4 and the fixing rod 5 penetrating one side of the coupling 4. That is, the fan groove is mounted in the guide part 1 in the coupling part 4 in which the fixing groove 21 is formed on one side of the body part 20 of the robot 100 for exploration, and the fixing bar 5 is mounted. The rotary shaft 111 of the motor 11 is inserted / mounted, and a fixed rod 5 penetrating one side of the coupling 4 into the fixing groove 21 to rotate the shaft 111 of the fan operating motor 11. ) Is fixed.

When the fan unit operating motor 11 operates by fixing the rotation shaft 111 of the fan unit operating motor 11 to the body portion 20 of the probe robot 100 using the coupling 4 as described above. By the fixed rotating shaft 111, the body portion 112 and the guide portion 1 coupled to the body portion 112 of the fan operation motor 11 is rotated about the rotation shaft 111.

One side of the fan 2 is bolted to the guide 1, and side grooves 23 and 23 ′ are formed on both sides, respectively, and the side grooves 23 and 23 ′ are connected to each other. A connecting hole 24 is formed at one side, and the tilt part operating motor 21 is mounted into the connecting hole 24.

Among the side grooves 23 and 23 ′ formed on both sides of the fan part 2, the first gear 25, the second gear 26, and the tilt part movement gear 27 are disposed in one side groove 23. It is equipped with the same center line, and it is mounted so that it may be engaged, and the support plate 28 is mounted in the other side groove 23 '. In addition, the teeth 25, 26, 27 and the support plate 28 mounted in the side grooves 23, 23 'are protected by the side covers 29, 29'.

The first gear 25 is connected to the tilt part operating motor 21 mounted in the connection hole 24, and is operated by the tilt part operating motor 21 to operate the second gear 25.

The second gear 26 is inserted into the protrusion 231 protruding from the side groove 23 to be operated in a direction opposite to the operating direction of the first gear 25 with respect to the protrusion 231. It is meshed with the first gear 25 and another side is meshed with the tilt part shifting gear 27.

The tilt part movement gear 27 rotates in the same direction as the first gear 25 by the operation of the second gear 26 and is connected to the connecting shaft 33.

The tilt part 3 is equipped with a camera 31 at the upper end, a moving lighting device 32 is mounted at the lower end, and a protective plate 34 on the front to protect the camera 31 and the moving lighting device 32. ) And a connecting shaft 33 penetrating both sides of the tilt portion 3 via the camera 31 and the moving lighting device 32 at the center.

The connecting shaft 33 penetrates the center part of the tilt part 3, and an electric wire is inserted into the inside, and a hole 33 1 connected to the camera 31 and the moving lighting device 32 at an upper end and a lower end of one side thereof. Are each formed, one end is connected to the tilt portion shift gear 27 and the other end is connected to the support plate 28.

That is, the tilting unit 3 on which the camera 31 and the moving lighting device 32 are mounted is mounted in the 'c' shaped fan part insertion groove 22 by the connecting shaft 33 penetrating both sides.

Figure 3 shows one side view showing a configuration according to the invention, Figure 4 shows another one side view showing a configuration according to the present invention, the first gear 25 and the tilting unit operating motor 21, The second gear 26, one side of which is fitted to the first gear 25 and one side of the second gear 26, and the tilt part movement gear that is engaged with one side of the second gear 26 and connected to one end of the connecting shaft 33 ( 27 is provided with the same center line in one side groove 23 of the fan part 2, and one end of the connecting shaft 33 connected to the tilt part shift gear 27 in the other side groove 23 '. The support plate 28 connected to the other end is mounted.

5 is a cross-sectional view showing the operating state of the tilt portion of the present invention, the first gear 25 is rotated by the tilt portion operating motor 21 mounted in the connection hole 24 of the fan portion 2, The second gear 26 rotates by the rotational force of the first gear 25, and the tilt part movement gear 27 connected to one end of the connecting shaft 33 rotates by the rotation of the second gear 26. As the tilt part movement gear 27 rotates, the connecting shaft 33 rotates and the tilt part 3 rotates.

6 is a state diagram showing the operating state of the fan unit of the present invention, the coupling shaft 4 and the fixed rod 5 of the rotary shaft 111 of the fan unit operating motor 11 is bolted to the guide unit 1 After fixing by using the fan unit operating motor 11 is inserted into the insertion hole 12 in the guide unit 1 by the fixed rotating shaft 111. The mounted fan unit operating body body 112 is rotated Done. As the body portion 112 of the fan unit operating motor 11 bolted to the guide unit 1 as described above, the tilt unit 3 is mounted and the fan unit 2 bolted to the guide unit 1 is Rotate integrally with the guide 1.

That is, the fan part 2 to which the tilt part 3 is mounted is rotated by the fan part operating motor 11 which is bolted to the guide part 1, and the tilt part mounted in the connection hole 24 of the fan part 2 is rotated. The tilting unit 3 is rotated by the non-operational motor 21 in the direction perpendicular to the rotational direction of the fan unit 2 about the connecting shaft 33. At this time, the rotation angle of the fan 2 is not to exceed 360 ° to prevent the twist of the wire, the rotation angle of the tilt portion 3 maintains about 90 °.

As shown in FIGS. 5 and 6, the tilt unit 3 and the pan unit 2 are rotated by the tilt unit operating motor 21 and the fan unit operating motor 11, respectively, so that the camera mounted to the tilt unit 3 is mounted. An angle between the 31 and the moving lighting device 32 is changed so that the specific point in the narrow space can be photographed and inspected in close proximity.

Reference numeral 6 is a plate for fixing the tilting motor.

As described above, the present invention allows the observation part of the exploration equipped with the camera and the moving lighting device to be rotated in multiple stages to remove the blind spot in the narrow space buried in the ground, such as a place where a person cannot enter directly, or a sewer pipe, and to perform precise exploration. It is possible to easily explore the rupture and clogging, etc. There are many effects such as to improve the speed of repair work.

Claims (3)

Narrow space search to move back and forth by the roller and moving belt part mounted on the side of the body part, camera attached to the front part, and into the narrow space such as the sewer pipe to explore the rupture area and the blocked part of the sewer pipe. In use robots; An 'T' shaped guide portion having a front end portion of the probe robot, an insertion hole formed at a lower center portion thereof, a fan part motor being mounted into the insertion hole, and one side of which is inserted into the body part of the probe robot; The guide part and one side are bolted together, and are integrally rotated with the guide part by a fan part operating motor mounted to the guide part, and side grooves are formed on both sides, and a connection hole for connecting the side grooves of both sides to each other. A 'c' shaped fan portion formed at one side and having a tilting operation motor mounted therein; It is connected to the pan, and rotates in a direction perpendicular to the rotation direction of the pan by a tilt unit operating motor mounted in the connecting hole of the pan, and equipped with an observation unit having a tilting unit equipped with a camera and a moving lighting device in a narrow space Narrow space exploration mobile robot capable of precise exploration, characterized in that the precise exploration. According to claim 1, wherein the rotating shaft of the fan operation motor is mounted to the outside of the guide portion is inserted into the coupling with the fixed rod is mounted to the rotating shaft of the fan unit motor, the fixing groove on one side of the body portion of the narrow space exploration mobile robot. Forming, by inserting the end of the fixed rod penetrating one side of the coupling into the fixing groove to fix the rotation axis of the fan operating motor, the body portion of the fan unit operating motor coupled to the bolt and guide portion to rotate Narrow space exploration mobile robot. According to claim 1, wherein the fan operation motor is mounted to the body portion of the exploration movement robot, and the rotational axis of the fan operation motor is inserted into the insertion hole of the guide portion. Narrow space exploration mobile robot for exploration.

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