KR101198076B1 - Moving apparatus imitated with figure of pill bug - Google Patents

Abstract

The moving device that mimics the form of a coccyx includes a plurality of unit bodies arranged side by side in one direction, a body portion including wheels coupled to each of the unit bodies, disposed between the unit bodies, and other units adjacent to one unit body. A connecting member interconnecting the unit bodies adjacent to each other so as to be rotatable with respect to the body, and a power unit providing power to the wheels, wherein the unit bodies disposed at both ends of the unit body are mutually coupled so that the body portion has a circular shape. It features. When the unit bodies are wound in a similar form as a pill bug, they can cross the obstacle relatively easily when encountering an obstacle that cannot be overcome by the wheels coupled to the unit body.

Description

MOVING APPARATUS IMITATED WITH FIGURE OF PILL BUG}

The present invention relates to a mobile device, and more particularly, to a mobile device that mimics a coworm form that can move a rough terrain interspersed with a difficult obstacle.

Various robots perform work on behalf of humans, and robots can be classified into industrial, agricultural, welfare, exploration, extreme work, and transport, depending on the use.

In particular, the role of the robot is increasingly important as a means of transporting or exploring objects on behalf of a person in an environment where it is difficult for a person to directly enter. For example, a laboratory space having various toxic substances or a high temperature environment or a steel mill Work in spaces such as blast furnaces is carried out through robots as much as possible rather than directly inputting people.

In addition, check inside spaces such as space exploration with unpredictable dangers, urban structures that are at risk of collapse from disasters such as earthquakes, or underground structures such as sewers with toxic gases. Exploration is mainly done by robots.

However, when the place where the robot is placed is scattered with obstacles due to various foreign matters and structural characteristics, and the ground is not flat, there is a problem that the working robot cannot be accurately moved to the target point.

The present invention provides a moving device that mimics a coworm form that is easy to move in rough terrain.

The present invention provides a mobile device that mimics a coworm form that can perform exploration and transport in an environment in which it is difficult for a person to directly input.

According to one exemplary embodiment of the present invention for achieving the above object of the present invention, the moving device that mimics the form of the coccyx comprises a plurality of unit bodies arranged side by side in one direction, and is coupled to each of the unit bodies A body portion including wheels, disposed between the unit bodies, the connecting member interconnecting the unit bodies adjacent to each other such that one unit body is rotatable with respect to another adjacent unit body, and a power unit providing power to the wheels, Characterized in that the unit body disposed on both ends of the unit body so that the body portion has a circular shape can be mutually coupled. When the unit bodies are wound in a similar form as a pill bug, they can cross the obstacle relatively easily when encountering an obstacle that cannot be overcome by the wheels coupled to the unit body.

The unit bodies disposed at both ends of the body portion may each have magnets acting on each other so that the unit bodies disposed at both ends may be coupled to each other by coupling between the magnets. Such a magnet may use an electric magnet, and may selectively turn on or off the function of the magnet by using a power source of the power unit.

In addition, a plurality of unit bodies are in close contact with each other to change the body portion in a circular shape, each unit body may be provided with a solenoid portion for closely contacting or spaced apart other unit bodies. The solenoid portion may include a hollow cylindrical portion to which a current is supplied and a core portion linearly moving in a state where a portion is inserted into the cylindrical portion, and the ends of the cylindrical portion and the core portion exposed to the outside of the cylindrical portion rotate in adjacent unit bodies, respectively. Mounted as possible, the unit bodies adjacent to each other may be in close contact with or spaced apart from each other by the core part linearly moving. That is, when the moving device encounters an obstacle that is difficult to pass, the solenoid may be in close contact with the unit bodies adjacent to each other, and the body may be changed into a ball shape as a whole. This can be made to bind with each other by magnetic force. On the contrary, when the unit bodies of the body portion are changed to the unfolded state, when the power supply to the electric magnet is stopped and the power supply to the solenoid portion is stopped, the body portion may be switched back to the unfolded state by the weight of the unit body.

In addition, as a way to be able to switch the body portion in the unfolded state or ball shape, providing a traction rope that is coupled to both ends to the traction roller and the traction roller, respectively, on the unit body disposed at both ends, and by the rotation of the traction roller The unit bodies disposed at the ends may move adjacent to each other so that the body portions have a circular shape.

On the other hand, the cross-section of the unit body cut in the vertical direction of the one direction, which is a direction in which a plurality of unit bodies are connected may be provided as a triangle, when the unit body is in close contact with each other, the side of the adjacent unit bodies are in close contact with each other can do.

The mobile device mimicking the coworm form of the present invention can be changed to a ball shape in close contact with each other in the rough land can overcome the obstacle difficult to pass.

The mobile device mimicking the coworm form of the present invention can be put in place of a person in an environment that is difficult to put human directly to perform exploration and transport.

1 is a perspective view of a moving device that mimics the form of a coworm in accordance with one embodiment of the present invention.
Figure 2 is a perspective view of a moving device that mimics the shape of a coworm in accordance with an embodiment of the present invention changed to a circular shape.
3 and 4 are partial cross-sectional views for explaining a process of changing the moving device that mimics the coworm form according to an embodiment of the present invention in a circular shape.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments. For reference, in the present description, the same numbers may refer to substantially the same elements, and descriptions repeated or deemed apparent to those skilled in the art may be omitted.

1 is a perspective view of a mobile device according to an embodiment of the present invention, Figure 2 is a perspective view of the mobile device changed to a circular shape according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, the apparatus for moving insects 100 includes a body 110, a connection member 130, a power unit 140, and a solenoid unit 160.

Body portion 110 is a plurality of unit body 120 is connected to each other by the connecting member 130, either side by side, or adjacent side of the unit body 120 is in close contact with each other to change the shape in a circle Can be. In the present embodiment, eight unit bodies 120 are provided in all, and the number thereof is not determined, but the unit bodies 120 cut in the vertical direction of the one direction, which is a direction in which the plurality of unit bodies 120 are connected, are provided. The cross section of may be provided approximately trapezoidal or triangular. In this embodiment, the cross section of the unit body 120 is provided in a triangle, the sides of the adjacent unit body 120 is in close contact with each other so that the body portion 110 can be changed in a circular shape. In addition, each unit body 120, the wheel 122 is mounted on both sides, both wheels 122 are connected by the wheel rotation shaft 124 can be rotated together.

The connection member 130 is disposed between the above-described unit body 120, the adjacent unit body 120 can be connected to each other so as to be rotatable with each other, as the connection member 130 using a folding or simple as in the present embodiment For example, it is also possible to use a connecting line connecting both ends to the adjacent unit body. Therefore, the body 110 moving the rough terrain can be flexibly changed in shape according to the curvature of the terrain.

The power unit 140 may include a general electric motor 142 and a battery 146 for supplying power to the electric motor 142. The driving gear 152 connected to the motor rotation shaft of the electric motor 142 may include Is engaged with the driven gear 154 mounted on the wheel rotation shaft 124. The drive gear 152 or the driven gear 154 may use a bevel gear.

In addition, the unit body 120 is equipped with a solenoid portion 160, the moving device 100 is unfolded using the solenoid portion 160 when the body portion 110 in the unfolded state encounters an obstacle difficult to pass. Body portion 110 in the state can be changed to form like a ball.

3 and 4 are partial cross-sectional views illustrating a process of changing the moving device into a circular shape according to an embodiment of the present invention. Hereinafter, referring to FIGS. 3 and 4, first and second unit bodies adjacent to each other are illustrated. (120 ′, 120 ′) describes a process of closely contacting or spaced apart from each other, and the close contact or space between the other unit bodies 120 may include the first and second unit bodies 120 ′, 120 ′ shown in FIGS. 3 and 4. Can be understood to be the same as the close contact or separation process.

3 and 4, the solenoid portion 160 includes a cylindrical portion 162 and a core portion 164.

First, the cylindrical portion 162 is rotatably mounted to the first unit body 120 ′, and the core portion 164 is disposed to linearly move in the hollow inside the cylindrical portion 162 in the form of a rod. One end of the core portion 164 facing the second unit body 120 ′ is rotatably mounted to the second unit body 120 ′.

A wire is wound around the cylindrical portion 162 a plurality of times, and may receive current from the battery 146 described above. When a current is supplied to the wire, a magnetic field is formed in the cylindrical portion 162, and the core portion 164 disposed in the cylindrical portion 162 may move.

As shown in FIG. 3, the moving device 100 may maintain the first and second unit bodies 120 ′ and 120 ′ unfolded with each other. On the other hand, when the moving device 100 encounters an obstacle, when the current is supplied from the battery 146 described above with the wire wound around the cylindrical portion 162 from right to left on the drawing, the inside of the cylindrical portion 162 The magnetic field is formed from right to left. Therefore, the core portion 164 disposed inside the hollow cylindrical portion 162 may move to the left side in the drawing. As shown in FIG. 4, the opposite side surfaces of the first and second unit bodies 120 ′ and 120 ′ may be in close contact by the core part 164 moving to the left side.

That is, when the moving device 100 encounters an obstacle that is difficult to pass, the solenoid unit 160 may contact the adjacent unit bodies 120 to each other so that the body unit 110 may be changed into a ball shape as a whole. Power may be supplied to the magnet 114 of the unit body 120 disposed at both ends of the unit 110 so that both ends may be bound to each other by magnetic force. For reference, the electric magnet 114 may also be powered from the battery 146 mentioned above.

On the contrary, when the unit body 120 of the body unit 110 is changed to the unfolded state, the power supply to the electric magnet 114 is stopped, and when the power supply to the solenoid unit 160 is stopped, the unit body 120 is stopped. The body portion 110 may be switched to the unfolded state again by its own weight.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It can be understood that

100: mobile device 110: body part
120: unit body 122: wheel
124 ： wheel rotation shaft 130 ： connection member
140: power part 142: electric motor
146: Battery 152: Drive gear
154: Driven gear 160: Solenoid part
162 ： Cylindrical part 164 ： Core part

Claims (6)

A body part including a plurality of unit bodies disposed side by side in one direction and wheels coupled to each of the unit bodies;
A connection member disposed between the unit bodies and interconnecting the unit bodies adjacent to each other such that one unit body is rotatable with respect to another unit body adjacent thereto;
A power unit providing power to the wheel;
A hollow cylindrical portion rotatably mounted to the unit body, the hollow cylindrical portion to which current is supplied, and a core portion linearly moving inside the cylindrical portion, wherein an end portion of the core portion is adjacent to the unit body on which the cylindrical portion is mounted; A solenoid part rotatably coupled to a body to closely contact or space the unit bodies adjacent to each other; And
An electric magnet disposed in each of the unit bodies disposed at both ends of the body part, the electric magnet selectively having magnetic force by a power source of the power unit;
It includes, the unit body adjacent to each other by the solenoid portion is in close contact with each other, the body portion can be changed into a circular shape,
The solenoid and the electromagnet are supplied with power so that the body portion maintains a circular shape, and at the same time, the combined state of the unit body disposed on both ends of the body portion by the electromagnet is maintained. Patterned shifter. delete delete delete The method of claim 1,
A towing roller disposed at each of the unit bodies disposed at both ends and a towing rope at which both ends are coupled to the towing roller,
The unit body arranged at both ends by the rotation of the traction roller to move adjacent to each other so that the body portion has a circular shape mimics the form of a worm, characterized in that the moving device. The method of claim 1,
Cross section of the unit body cut in the vertical direction of the one direction is a moving device that mimics the shape of the coccyx, characterized in that the triangle.

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