KR100506753B1 - Underwater robot system for harbor construction - Google Patents

Abstract

The present invention relates to a robot system for underwater port construction that can work underwater. Underwater port construction robot system according to the present invention and the upper platform; Three outer legs disposed at an isometric angle at the edge of the upper platform and installed to pivot in an up-down direction, the outer legs being variable in length; A lower platform positioned below the upper platform; A parallel mechanism connected to pivot between the upper and lower platforms to pivot between the upper and lower platforms, while varying the position and attitude of the upper and lower platforms; Three inner legs installed on the edge of the lower platform so as to pivot in the vertical direction and having a variable length; A contact sensor installed at the bottom end of each outer leg to detect obstacles and control the operation of the members; A gripper provided on one of the platforms for gripping the heavy material; It is formed of a high-strength transparent material that can move along the perimeter of the upper platform and is waterproof to view the outside, and includes a cockpit that is supplied with air from the ground.

Description

Underwater robot system for harbor construction}

The present invention relates to a robot system for underwater port construction, and more particularly, to a robot system for underwater port construction using a parallel mechanism so that when there is an obstacle on the pedestrian path, the obstacle can be easily avoided and walking to a required place.

In general, a robot is used for work in a harsh environment that cannot be done by humans, or when a robot is repeatedly performed, such as in an automobile manufacturing plant, such work can be maximized by a robot. In addition, a walking means such as wheels or legs is provided as shown in FIGS. 1 and 2 so that the robot can easily move in a harsh environment.

Background Art A conventional walking robot provided with walking means as shown in Figs. 1 and 2 has mainly served as a transport vehicle for transporting things that are not easy to handle, such as radioactive materials, from one place to another. However, with the recent advances in technology, robots have expanded in scope, and robots are being used for purposes such as construction, civil works, and fire suppression, such as underwater port construction. Micro robots are used.

The walking robot may be equipped with a mechanism such as a gripper in a wheel drive vehicle as shown in FIG. 1 to move the gripper from one place to another, or as shown in FIG. 2, as shown in FIG. 2. Take a way to walk from one place to another using the same bridge.

On the other hand, robots used for port construction underwater, such as underwater harbor construction, can handle freely by picking up large weights with high stiffness and heavy weight of 2-3 tons or more, which can withstand wave and tidal waves that continue to fluctuate at sea. Sufficient freedom should be used to walk over ocean slopes and obstacles.

However, the wheel driving method as shown in FIG. 1 as described above is impossible to change the direction in a narrow space due to the limitation of the steering of the wheel, and also the obstacle is crossed where many obstacles are scattered such as a construction site. It cannot be used because of its limitations.

In addition, in the leg driving method as shown in FIG. 2, a joint is provided at each connection point of the linear members constituting each leg, so that a large number of actuators are required to perform joint movement of each linear member. By adopting such a joint method, the weight that can be transported is small compared to the size of the robot, and there is a problem that a separate mechanism is required to drive a tool such as a gripper installed on the platform.

As described above, in order to be applied to a field such as an underwater port construction site, while carrying a heavy weight having a weight of 2-3 tons or more, the heavy weight having a weight of 2-3 tons or more must be handled freely, and a heavy weight is transported. While the obstacles encountered must be easily overcome or avoided, the wheel-driven and leg-driven robots as described above have a problem in that obstacles cannot be easily avoided due to their structural limitations.

In addition, the gripper mounted on the robot of the wheel mechanism and the leg mechanism of the serial mechanism as described above is a cantilever type as shown in Fig. 1 due to its small weight and low rigidity, It cannot be used in the same place.

 Therefore, the object of the present invention has a great rigidity to transport heavy materials having a weight of 2-3 tons or more, and can easily avoid obstacles even in the places where obstacles are scattered, such as in an underwater harbor construction site. It is to provide an underwater port construction robot system that allows the driver to work while directly checking the position of heavy objects.

The object as described above comprises: an upper platform; Three outer legs disposed at an equal angle on the edge of the upper platform and installed to pivot in an up and down direction, the outer legs being variable in length; A lower platform positioned below the upper platform; A parallel mechanism connected pivotally between the upper and lower platforms, while varying the position and attitude of the upper and lower platforms; Three inner legs installed on the edge of the lower platform in a vertical direction and having a variable length; A contact sensor installed at the bottom end of each outer leg to detect an obstacle and control operation of the members; A gripper provided on one of the platforms for gripping the heavy material; Achieved by the underwater port construction robot system according to the present invention, characterized in that it is formed of a high-strength transparent waterproof to move along the circumference of the upper platform to see the outside, the cockpit supplied with air from the ground Can be.

The cockpit is connected to the upper platform through a link member driven for a sprocket installed on the upper platform, the link member is a vertical axis formed of a cylinder member of variable length in the vertical direction, and from the top of the vertical axis to the upper platform It has a horizontal bar extending.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

3 is a view schematically showing a walking robot using a parallel mechanism according to the present invention.

As shown in FIG. 3, the robot system for underwater port construction using the parallel mechanism according to the present invention is largely divided into an upper platform 1 and a lower part of the upper platform 1, which are composed of a plate body, preferably a circular plate body. A lower platform 2 consisting of a circular plate body having a diameter smaller than the upper platform 1, three outer legs 3 arranged at an angle of approximately 120 ° at an angle to the edge of the upper platform 1 , Three inner legs 4 disposed at an angle at an angle of approximately 120 ° to the edge of the lower platform 2, a parallel mechanism 5 provided between the upper platform 1 and the lower platform 2, heavy weight One of the upper and lower platforms 1 and 2, preferably in the lower center of the lower platform 2 to grip the gripper 14 for gripping the weight, and the circumference of the upper platform 1 It includes a cockpit 15 to move along.

First, the cockpit 15 is formed of a high-strength transparent waterproofing so that the driver can work while looking at the outside, as shown in Figure 4, the high-pressure hose 11 for supplying air from the ground into the cockpit 15 Is provided and is driven by a sprocket 19 installed in the upper platform 1 and connected to the upper platform 1 via a predetermined link member connected to the gear portion 18 in the form of a chain. The sprocket 19 is rotationally driven by rotational drive means such as a motor provided on the upper platform 1, and the cockpit 15, which is connected to the gear 18 coupled with the sprocket 19, is connected to the sprocket 19. It can be rotated around the upper platform 1 and the lower platform 2 by rotational drive.

The link member has a vertical axis 16 formed of a cylinder member having a variable length in the vertical direction, and a horizontal bar 17 extending from the upper end of the vertical axis 16 to the upper platform 1. Since the vertical axis 16 has the form of a cylinder operated up and down, when the vertical axis 16 is operated, the cockpit 15 can be elevated up and down. In the cockpit 15, a joystick 20 capable of manipulating the gripper 14 is provided.

Therefore, the cockpit 15 can be moved to the position necessary for the work around the upper platform 1 and the lower platform 2 by the drive of the sprocket 19, while the work by the vertical drive of the vertical axis 16 Can be positioned at a suitable height.

The upper platform 1 is mainly supported from the ground by three outer legs 3, and the lower platform 2 is mainly supported from the ground by three inner legs 4. The outer leg 3 is installed to pivot up and down through the rotary joint 6 on the edge of the upper platform 1 and the inner leg 4 also pivots on the edge of the lower platform 2 through the rotary joint 7. It is installed so that the vertical turning of the outer leg 3 and the inner leg 4 is driven by a driving means 8 such as a rotary cylinder or a motor. The outer leg 3 and the inner leg 4 have a structure whose length is varied by the operation of the cylinders.

As described above, the three outer legs 3 and the three inner legs 4 are connected to the upper platform 1 and the lower platform 2 at an isometric angle of 120 °, respectively, and driven by a motor or a rotary cylinder. By means of means 8 it can be lifted up and down by pivoting upwards and downwards about the rotary joints 6, 7, and also the length of the outer leg 3 and the inner leg 4 is also driven by the drive means 8. Is controlled by The feet 3a and 4a provided at the bottom of each leg 3 and 4 are provided so that the legs 3 and 4 can be stably contacted with the ground by a contact sensor (not shown) provided at the feet 3a and 4a. A contact sensor (not shown) provided on the feet 3a and 4a generates a signal when in contact with the ground. Therefore, the outer and inner legs (3, 4) can be raised and lowered alternately with each other when walking to prevent interference.

The parallel mechanism 5 is located between the upper and lower platforms 1, 2 to change the position and posture of the upper and lower platforms 1, 2. As described above, in order to change the position and posture of the upper and lower platforms 1, 2, the parallel mechanism 5 comprises three pairs of linear actuators 9, each pair of actuators 9 being external On both sides of the leg 3 are pivotally connected to the bottom and top surfaces of the upper and lower platforms 1, 2 via universal joints 10a, 10b.

Since the lower platform 2 is formed of a circular plate with a smaller diameter than the upper platform 1, when the actuators 9 are radially installed between the upper platform 1 and the lower platform 2, the actuator ( 9) can be made more stable by taking the shape of the bottom facing inwards. Each actuator 9 has a cylinder structure in which the length of each of the upper and lower platforms 1 and 2 is varied so as to change the position and posture, and the upper end of the inner leg 4 has a pair of linear actuators 9. It is pivotally connected to the universal joint 7 in a vertical direction as described above on the lower platform 2 between them.

The linear actuators 9 are alternately installed on the upper platform 1 at an angle of 30 ° and 90 °, and on the lower platform 2 at intervals of 60 ° between 30 ° and 90 °. By varying the length of the linear actuators 9, the positions (X, Y, Z directions) and postures (yaw, pitch, roll) of the upper platform 1 and the lower platform 2 change, and thus the linear actuator 9 ) Position and posture will also change.

The position and attitude of the upper platform 1 and the lower platform 2 according to the variable length of the linear actuators 9 can be obtained by the forward kinematic analysis of the parallel mechanism 5, and conversely the upper platform 1. And the length of the linear actuator 9 which can produce the position / posture of the lower platform 2 can be obtained by inverse kinematic analysis.

This interpretation may be interpreted by complex geometric constraints, but since it is well known, the description thereof is omitted herein. From the kinematic analysis of the parallel instrument 5 it is possible to find the length of the linear actuators 9 which generate the position and pose of the lower platform 2 with respect to the upper platform 1 and vice versa. The length to generate the position and posture of the upper platform 1 can also be obtained.

On the other hand, the linear actuator 9 may preferably be connected at its upper and lower ends by a universal joint 10a, 10b and an offset link (not shown) to the lower surface of the upper platform 1 and the upper surface of the lower platform 2. have. The two universal joints 10a, 10b and the four-way pivoting motion and the rotational motion between the piston 13 and the cylinder 12 can provide a total of five degrees of freedom, which is linear according to the restraint motion of the parallel mechanism 5. The actuators 9 may have free positions and postures.

If the moving distance of the upper platform 1 and the lower platform 2 is far or the rotation angle is large, the rotation angles of the universal joints 10a and 10b of the parallel mechanism 5 must also be large. However, if the rotation angles of the universal joints 10a and 10b are large, the yokes of the two universal joints 10a and 10b may interfere, so the present invention provides offset links to the two universal joints 10a and 10b. By reducing the interference of the yokes, the range of rotational motion of the universal joints 10a and 10b can be made wider.

In the conventional parallel mechanism, the rotational movement of the cylinder and the piston is restrained, and the universal joint and the ball socket joint are provided at the upper and lower ends of the linear actuator. Since this conventional method has a small range of rotation of the ball-socket joint, the working space of the platform is small. Therefore, in the present invention, the combination of the rotary motion of the piston 13 and the cylinder 12 and the universal joints 10a and 10b serves to function as a ball-socket joint. Each of the linear actuators 9 may be adjusted in length by oil, pneumatic or servo motors. Since the mechanism for adjusting the length of the linear actuator by the pneumatic device or the servo motor is well known, its detailed description is omitted here.

Therefore, as described above, the operator in the cockpit 15 is moved to the position necessary for the work around the upper platform 1 and the lower platform 2 by the driving of the sprocket 19 while the vertical axis 16 After taking the position (X, Y, Z) and posture (yawing, pitch, roll-rotation movement) necessary for walking, heavy load transportation and port construction of the robotic system at the height suitable for the work by the vertical driving, the working scene visually You can do it by looking at it.

5a to 5c is a view showing a state that the robot of the present invention walking. As shown in FIGS. 5A to 5C, first, the gripper 14 is loaded with a heavy object with the inner legs 4 pivoting up about the rotary joint 7 by the driving means 8. The parallel mechanism 5 is actuated to move the lower platform 2 to the desired position. In this case, the kinematic analysis is the length of the linear actuators 9 for generating the position and posture of the lower platform 2 relative to the upper platform 1, and the length adjustment of the linear actuators 9 is carried out by a hydraulic, pneumatic device, By a driving means such as a servo motor or the like.

Then, when the gripper 14 grips the heavy object, the lower platform 2 makes a trajectory for moving while avoiding obstacles in the required direction and position, and generates a motion in the same manner as the above method.

 When the lower platform 2 reaches the required position, the inner legs 4 are sequentially pushed down one by one until the foot 4a of the inner leg 4 touches the ground. The three inner legs 4 are supported on the ground to fold up the outer leg 3 with the lower platform 2 supporting the parallel mechanism 5, and the parallel mechanism 5 is operated to operate the upper platform 1. ) Is moved to the required position. At this time, the kinematic analysis is for generating the position and posture of the upper platform 1 with respect to the lower platform 2, which is the opposite concept to when the outer leg 3 supports the parallel mechanism 5.

When the upper platform 1 reaches the desired position, the outer leg 3 is pushed down in the same way as the inner legs 4. By repeating the above process, the moving direction of the robot can be quickly changed in a relatively narrow space, and can move regardless of slopes or obstacles. By repeating the above process can be transported to the desired position, regardless of the slope or obstacle.

When the working position is reached, the inner leg 4 is raised and the outer leg 3 is lowered so that the robotic system is supported by the outer leg 3. Thereafter, the parallel mechanism 5 is operated so that the weight grasped by the gripper 14 is positioned at the required working position, so that the lower platform 2 is changed in posture and position. Therefore, the weight grasped by the gripper 14 can be positioned in the working position in the required position and in the necessary posture. Conversely, with the outer leg 3 being raised and the inner leg 4 being lowered to support the robotic system, the work required for the port construction is carried out using a separate tool that can perform the above work or can be provided. May be performed.

As described above, when the robot reaches the desired position, the gripper / tool installed on the upper and lower platforms 1, 2 is positioned by the parallel mechanism 5 used for walking the robot (X, Y, Z). And posture (yaw, pitch, roll) can be adjusted to perform precise work.

Underwater port construction robot system according to the present invention configured as described above has the following unique effects.

1) With a parallel mechanism consisting of six linear actuators, any platform position and posture can be created. Therefore, it is possible to walk in any direction, while free trajectory can be generated to avoid the debris encountered during walking.

2) The six linear actuators support the gripper stably in a large space, so that even when handling heavy weights, the carrying weight is distributed to each actuator, so that the rigidity capable of withstanding wave power and tidal force during port construction can be secured.

3) The operator can perform underwater port work while checking the work site with the naked eye in the cockpit, which is safer and more efficient, and prevents exposure to dangers such as diving bottles.

4) When combined with underwater image processing technology and mobile communication technology, it is possible to perform high value-added work even in deep seabed where humans cannot go.

5) Three external legs and three internal legs are walking and supporting functions, and the overall movement is made by parallel mechanism, so the driving method is more stable.

6) By adjusting the height and angle of the bridge, it can solve the small work space, which is a disadvantage of the parallel mechanism, and can be widely used in civil engineering and construction work.

7) The gripper or tool can be mounted on the upper platform and the lower platform to perform the upper and lower work properly.

1 is a view showing a conventional walking robot equipped with wheels for driving;

2 is a view showing another conventional walking robot walking using a leg.

3 is a view schematically showing a walking robot using a parallel mechanism according to the present invention.

4 schematically illustrates the coupling relationship between the cockpit and the upper platform.

5a to 5c is a view showing a walking state of the robot system of the present invention.

(Explanation of symbols for the main parts of the drawing)

1: upper platform 2: lower platform

3: outer leg 4: inner leg

5: parallel mechanism 6, 7: rotary joint

8 drive means 9 linear actuator

10a, 10b: universal joint 11: high pressure hose

12 cylinder 13 piston

14 Gripper 15 Cockpit

16: vertical axis 17: horizontal bar

18: gear portion 19: sprocket

20: joystick

Claims (2)

An upper platform; Three outer legs disposed at an equal angle on the edge of the upper platform and installed to pivot in an up and down direction, the outer legs being variable in length; A lower platform positioned below the upper platform; A parallel mechanism connected pivotally between the upper and lower platforms, while varying the position and attitude of the upper and lower platforms; Three inner legs installed on the edge of the lower platform in a vertical direction and having a variable length; A contact sensor installed at the bottom end of each outer leg to detect an obstacle and control operation of the members; A gripper provided on one of the platforms for gripping the heavy material; Underwater port construction robot system that is formed of a high-strength transparent waterproof to move along the circumference of the upper platform to the outside, the air supply from the ground. According to claim 1, wherein the cockpit is connected to the upper platform through a link member connected to the gear unit driven for the sprocket installed on the upper platform, the link member is formed of a cylinder member of variable length in the vertical direction And a vertical bar and a horizontal bar extending from an upper end of the vertical axis to the upper platform.