KR101304107B1 - Robot for stairs climbing - Google Patents

Abstract

PURPOSE: A robot for climbing stairs is provided to stably clime obstacles such as stairs by supporting a main platform in the rear side. CONSTITUTION: A robot (100) for climbing stairs comprises a main platform (110), a first transfer unit (120), a first driving unit, a first link (141), a second link (145), a second transfer unit (150), and a control unit. A sensing unit sensing the front is mounted in the main platform. The first transfer unit is rotatably installed in the main platform to transfer or steer the main platform forwards and backwards. The first driving unit drives the first transfer unit. One end of the first and second links is connected to both sides of the main platform. The other end of the first and second links is extended to the rear side of the main platform. The second transfer unit is rotatably installed at each end of the first and second links. The second transfer unit is arranged at the rear of the main platform to push or support the main platform connected to the first and second links. The control unit controls first, second, third driving units corresponding to the information sensed by the sensing unit.

Description

Robot for stairs climbing

The present invention relates to a stair climbing robot, and more particularly, to a stair climbing robot that can easily climb stairs when there is an obstacle such as a stairway on a travel path.

Recently, various field robots have been developed for the purpose of construction, rough field exploration, ship welding, etc. (see references 1, 2, 3). These field robots aim to do tasks that are impossible or difficult for humans to go and work. If existing industrial robots are focused on replacing human repetitive tasks, these field robots can perform various tasks that humans cannot. Can be done.

Various field robot platforms have been proposed so far, but there are many shortcomings in the use conditions in which various obstacles exist. Recently developed fire-fighting robots have a very poor ability to overcome obstacles, making it impossible to put them into various fire sites (see Ref. 4).

In addition, the climbing robots developed for the input of heavy industry sites have not yet overcome various obstacles and have limitations such that welding, painting, etc. can only be performed under flat working conditions (see Ref. 5).

In recent years, robots that have been deployed to Fukushima nuclear power plant in Japan have also been unable to fully perform the mission of inspecting nuclear leaks due to their limited ability to overcome obstacles (see Ref. 6).

In order to put the field robot on the actual site, the ability to climb obstacles such as stairs is essential. Overcoming various natural conditions, such as rocks and trees, is important, but if you can't climb stairs, one of the most difficult artificial structures, there is a big limitation to the field robot coverage. For this reason, the necessity of the field robot which stably climbs the various stairs is still emerging.

(references)

1. J.I. Lee, S.Y. Lee, S.J. Yu, S.H. Lee, and C.S. Han, "Intuitive Operator Control Unit (OCU) of field robot for installing construction materials," Korean Society of Precision Engineering, 2007 Spring Conference, pp. 81-82.

T. Seo and M. Sitti, "Tank-Like Module-Based Climbing Robot Using Passive Compliant Joints, '' IEEE / ASME Transaction on Mechatronics, In Press, 2012.

3. D. Lee, T. Seo and J. Kim, "Optimal Design and Workspace Analysis of a Mobile Welding Robot with 3P3R Serial Manipulator," Robotics and Autonomous Systems, Vol. 59, No 10, pp. 813-826, 2011.

4. http://news.kbs.co.kr/tvnews/news9/2011/12/29/2411945.html/, KBS News 9 (Dec. 29, 2011). (retrieved at Reb. 15, 2012)

5. G. Lee, K. Seo, H. Kim, S.H. Kim, D.S. Jeon, H.S. Kim, and H. Kim, "Design of a transformable track mechanism for wall climbing robots, 'Journal of Korean Society of Precision Engineering, Vol. 29, No. 2, pp. 129-244, 2012.

6. http://www.icra2011.org/show.asp?id=12, Special Forum: Preliminary Report on the Disaster and Robotics in Japan, 2011 IEEE Int'l Conf. on Rob. and Auto., Shanghai, China. (retrieved at Feb. 15, 2012)

The present invention has been created to meet the above needs, to provide a stair climbing robot that can be stably and easily climbing obstacles, such as stairs in order to be able to perform a variety of operations to the actual site. have.

According to the present invention for achieving the above object, the main platform equipped with a sensing means for sensing the front; First moving means rotatably installed on the main platform to enable forward and backward movement and steering of the main platform; A first driving part driving the first moving means; First and second links, one end of which is hinged to both sides of the main platform, and the other end of which extends to the rear of the main platform, respectively; Second moving means rotatably installed at each end of the first and second links to be spaced apart from the rear of the main platform so as to support or push the main platform connected to the first and second links; A second driving part for driving the second moving means; Pivoting means for pivoting in a travel direction of the main platform about the hinge axes of the first and second links; A third driving part for driving the pivoting means; A power supply unit supplying power to the first, second and third driving units; And a control unit for controlling the first, second and third driving units in response to the information sensed by the sensing unit, wherein the first and second links are hinged to both sides of the main platform, respectively. A robot for stairs climbing includes a first connector, a second connector rotatably installed by the second moving means, and an elastic body connecting the first connector and the second connector.

In the robot for climbing stairs, the sensing means may be a sensor or a camera for detecting an obstacle in front of the stairs.

The first moving unit may include a plurality of first driving wheels rotatably mounted on both sides of the main platform, and a plurality of first driving wheels spaced apart in the front and rear directions on each side of the main platform. As a whole it may include a plurality of caterpillar (Caterpillar) surrounding. Here, the first driving unit may transmit power by connecting at least one first driving motor to rotate the plurality of first driving wheels, the at least one first driving motor, and the plurality of first driving wheels, respectively. It may include a plurality of first driving shaft.

The second moving means may be a second driving wheel rotatably mounted between each end of the first and second links. The second driving unit may include a second driving motor for rotating the second driving wheel, and a second driving shaft for connecting power to the second driving motor and the second driving wheel.

The pivoting means may be hinge shafts in which the first and second links are hinged to both ends, respectively, and the main platform is fixedly coupled to a central portion thereof. The third driving unit may be a rotating motor for rotating the hinge shaft.

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According to the robot for stair climbing according to the present invention, when the main platform to run meets obstacles such as stairs, the main platform is rotated by driving the rotating means for rotating the main platform and the second moving means for supporting or pushing the main platform. At the same time, by supporting the main platform from the rear, it has the advantage that it is possible to reliably easily climb obstacles such as stairs.

1 is a perspective view showing a stair climbing robot according to an embodiment of the present invention.
FIG. 2 is a plan view showing an internal configuration of the stair climbing robot shown in FIG. 1. FIG.
3 is a side view showing a state in which the main platform shown in Figure 1 is in close contact with the lower step.
FIG. 4 is a side view illustrating a state in which the main platform shown in FIG. 3 is rotated by the pivoting means and grounded to the step of the lower step.
Figure 5 is a side view showing a state in which the main platform shown in Figure 4 is rotated by the rotation means to climb the lower stairs.
6 is a side view illustrating a state in which the main platform shown in FIG. 5 is in close contact with the upper stairs after climbing the lower stairs.
FIG. 7 is a side view illustrating a state in which the main platform shown in FIG. 6 is rotated and grounded to a step of an upper step.
FIG. 8 is a side view illustrating a state in which the main platform shown in FIG. 7 rotates by the rotation means and climbs the upper stairs.
FIG. 9 is a side view illustrating a state in which the main platform shown in FIG. 8 proceeds after climbing the upper stairs.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

1 is a perspective view showing a stair climbing robot according to an embodiment of the present invention, Figure 2 is a plan view showing the internal configuration of the stair climbing robot shown in FIG.

Referring to the drawings, the stairs climbing robot 100 according to an embodiment of the present invention, when there is an obstacle such as a stairway on the travel path refers to that can easily climb the stairs. To this end, the stair climbing robot 100, the main platform 110, the first moving means 120, the first driving unit 130, the first link 141 and the second link 145 and And a second moving unit 150, a second driving unit 160, a rotating unit 170, a third driving unit 180, a power supply unit 192, and a control unit 194.

The main platform 110 is equipped with a sensing means 112 for detecting the front. The sensing means 112 may be mounted on one side of the main platform 110, preferably may be mounted in the front. As the detection means 112, it is preferable to use a sensor or a camera for detecting an obstacle in front of the information, the information detected by the detection means 112 is transmitted to the controller 194 to be described later (後 述).

On both sides of the main platform 110, the first moving means 120 to enable forward and backward movement and steering of the main platform 110 is rotatably installed. The first moving means 120 may include a plurality of first driving wheels 122 and a plurality of caterpillars 124. Here, each of the first driving wheels 122 is rotatably mounted on both sides of the main platform 110, and each of the caterpillars 124 is spaced in the front and rear directions on each side of the main platform 110. The first plurality of driving wheels 122 are wrapped as a whole.

As shown in FIG. 2, the first moving unit 120 including the plurality of first driving wheels 122 and the caterpillar 124 is driven by the first driving unit 130. In this case, the first driving unit 130 may include at least one first driving motor 132 and a plurality of first driving shafts 134. The first driving motor 132 rotates the first driving wheels 122, and the first driving shaft 134 is the first driving wheel 122 and the first driving motor 132. ) Are connected to each other to transfer the power of the first driving motor 132 to the first driving wheel 122.

The first driving motor 132 and the first driving wheel 122 may be directly connected by the first driving shaft 134, but may be connected using separate reduction gears 136 and 138 as shown in FIG. It may be. In other words, a first reduction gear 136 is connected to the first driving shaft 134, a second reduction gear 138 is connected to the first driving wheel 122, and the first reduction gear 136 is connected. As the second reduction gear 138 is meshed with each other, the rotational force of the first driving motor 132 is transmitted to the first driving wheel 122.

As described above, the traveling speed is slower than the method using the wheel due to the application of the Caterpillar method as the first moving means 120, but the area in contact with the ground is wide and freely on the ground or the mud floor with severe unevenness. It is possible to travel, to travel forward and backward, and to freely change the running direction by adjusting the left and right rotational speeds (Skid steering).

The first link 141 and the second link 145 are provided at both sides of the main platform 110. One end of the first link 141 and the second link 145 are hinged to both sides of the main platform 110, respectively, and the other ends of the first link 141 and the second link 145 are Each extends to the rear of the main platform 110.

As shown in FIG. 2, the first link 141 and the second link 145 include first connection members 142 and 146, second connection members 143 and 147, and elastic bodies 144 and 148, respectively. Each of the first connection members 142 and 146 is provided at one end of the first link 141 and the second link 145 to be hinged by the main platform 110 and the hinge shafts 142a and 146a. Each of the second connecting members 143 and 147 is provided at the other end of the first link 141 and the second link 145 and connected to the second moving means 150 which will be described later. It serves to connect the first connection member (142,146) and the second connection member (143,147).

Second moving means 150 is installed at the ends of the first link 141 and the second link 145. Here, the second moving means 150 is rotatably installed at the ends of the first link 141 and the second link 145 to support or push the first link 141 and the second link 145. It is preferably spaced apart from the rear of the main platform 110 so as to give, it is preferable to use a second driving wheel as the second moving means (150).

The second moving means 150 is driven by the second driving part 160. The second driving unit 160 includes a second driving motor 162 and a second driving shaft 164, and the second driving motor 162 rotates the second driving wheel which is the second moving means 150. The second driving shaft 164 connects the second driving motor 162 and the second driving wheel, which is the second moving means 150, to apply power to the second driving motor 162. It serves to transfer to the second driving wheel which is the two moving means (150).

The main platform 110 is provided with a rotation means (170). The pivoting means 170 rotates the main platform 110 in a traveling direction about the hinge shafts 142a and 146a of the first link 141 and the second link 145. As the means 170, a hinge axis is preferably used. The first shaft 141 and the second link 145 are hinged to the hinge shaft, which is the pivoting means 170, and the main platform 110 is fixedly coupled to the central portion.

The rotation means 170 is driven by the third driving unit 180, the third driving unit 180 is a rotation motor for rotating the hinge shaft, which is the rotation means (170).

The power supply unit 192 and the control unit 194 are provided inside the main platform 110. The power supply unit 192 serves to supply power to the first driving unit 130, the second driving unit 160, and the third driving unit 180, and the control unit 194 is the sensing unit 112. The first driver 130, the second driver 160, and the third driver 180 are controlled in response to the information detected by the controller.

Hereinafter, a process of sensing and climbing a stairway, which is an obstacle, by a climbing robot 100 according to an embodiment of the present invention will be described with reference to the accompanying drawings.

Figure 3 is a side view showing a state in which the main platform shown in Figure 1 in close contact with the lower step, Figure 4 is a side view showing a state in which the main platform shown in Figure 3 is rotated by the rotation means to the ground of the lower step, FIG. 5 is a side view illustrating a state in which the main platform shown in FIG. 4 rotates by a pivoting means and climbs a lower step, and FIG. 6 illustrates a state in which the main platform shown in FIG. 5 adheres to an upper step after climbing a lower step. FIG. 7 is a side view showing a state in which the main platform shown in FIG. 6 is rotated and grounded at the step of the upper stairs, and FIG. 8 is a view showing the main platform shown in FIG. Figure 9 is a side view showing a state, Figure 9 is a side view showing a state in which the main platform shown in Figure 8 proceeds after climbing the upper stairs.

2 and 3, the step climbing robot 100 according to an embodiment of the present invention while the first moving means 120 is rotatably installed on both sides of the main platform 110, When the detecting means 112 detects an obstacle such as a staircase, the information is transmitted to the controller 194, and the controller 194 responds to the detected information by the second driver 160 and the third driver 180. Drive the second moving means 150 and the rotation means 170.

2 and 4, when the third driving unit 180 is driven, the main platform 110 is rotated by the rotating unit 170 to be in close contact with the step of the lower step, and the second driving unit 160 is performed. The second moving means 150 driven by the support the main platform 110 from the bottom.

2 and 5, the main platform 110 is operated in a state in which the second moving means 150 driven by the second driving unit 160 supports the main platform 110 from below. While rotating by the rotation means 170 driven by the third driving unit 180 to climb the lower stairs.

2 and 6, when the main platform 110 climbs the lower stairs and grounds the upper stairs, the sensing means 112 mounted at the front of the main platform 110 detects an obstacle and the information. To the control unit 194. The control unit 194 drives the second moving unit 150 and the rotating unit 170 by driving the second driving unit 160 and the third driving unit 180 in response to the detected information.

The second moving unit 150 driven by the second driving unit 160 supports the main platform 110 from below, and the main platform 110 is driven by the third driving unit 180. It rotates in the advancing direction by the rotating means 170.

2 and 7, the main platform 110 is rotated in the advancing direction by the pivoting means 170 driven by the third driving unit 180 to be in close contact with the step of the upper staircase, and the main platform. The lower portion of the 110 is supported by the first link 141 and the second link 145.

2 and 8, in a state in which the first link 141 and the second link 145 support the main platform 110 from below, the main platform 110 is connected to the third driving unit 180. Rotating by the rotating means 170 is driven by the) to climb the upper stairs.

2 and 9, the main platform 110 climbing the upper stairs by using the rotation means 170 driven by the third driving unit 180 may move the first movement means 120. The main platform 110 is grounded to the ground by the rotation means 170 which is moved in the advancing direction by using the third driving unit 180.

Therefore, when the main platform 110 traveling forward detects an obstacle such as a staircase, the controller 194 drives the pivoting means 170 and the second moving means 150 to thereby operate the first link 141 and the second link. The main platform 110 is moved to the second moving means 150, the first link 141, and the second link 145 while rotating the main platform 110 in the advancing direction about the rotation shafts 142a and 146a of the 145. The main platform 110 can be easily climbed the stairs by supporting the lower portion by using).

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

100: stair climbing robot 110: main platform
120: first moving means 130: first driving part
141: first link 145: second link
150: second moving means 160: second driving part
170: rotation means 180: third drive part
192: power supply unit 194: control unit

Claims (9)

A main platform equipped with sensing means for sensing the front;
First moving means rotatably installed on the main platform to enable forward and backward movement and steering of the main platform;
A first driving part driving the first moving means;
First and second links, one end of which is hinged to both sides of the main platform, and the other end of which extends to the rear of the main platform, respectively;
Second moving means rotatably installed at each end of the first and second links to be spaced apart from the rear of the main platform so as to support or push the main platform connected to the first and second links;
A second driving part for driving the second moving means;
Pivoting means for pivoting in a travel direction of the main platform about the hinge axes of the first and second links;
A third driving part for driving the pivoting means;
A power supply unit supplying power to the first, second and third driving units; And
A control unit for controlling the first, second and third driving unit in response to the information detected by the sensing means,
The first and second links, respectively
First connection parts hinged to both sides of the main platform;
A second connection part to which the second moving means is rotatably installed;
A robot for climbing a staircase including an elastic body connecting the first connector and the second connector.
The method according to claim 1,
Wherein the sensing means comprises:
Stair climbing robot, characterized in that the sensor or camera for detecting obstacles in front of.
The method according to claim 1,
The first moving means,
A plurality of first driving wheels rotatably mounted on both sides of the main platform,
And a plurality of caterpillars (Caterpillar) wrapped around the unit by a plurality of the first driving wheels spaced in the front and rear direction on each side of the main platform as a unit.
The method according to claim 3,
The first driving unit,
At least one first driving motor for rotating the plurality of first driving wheels;
And a plurality of first driving shafts connecting power to the at least one first driving motor and the plurality of first driving wheels, respectively, to transmit power.
The method according to claim 1,
And said second moving means is a second driving wheel rotatably mounted between each end of said first and second links.
The method according to claim 5,
The second driving unit,
A second driving motor for rotating the second driving wheel;
Stair climbing robot comprising a second drive shaft for transmitting power by connecting the second drive motor and the second drive wheel.
The method according to any one of claims 1 to 6,
The rotating means
The first and second links are hinge-coupled to both ends, respectively, and the main axis is a hinge axis fixedly coupled to the central platform, characterized in that the stair climbing robot.
The method of claim 7,
The third driving unit,
Stair climbing robot, characterized in that the rotating motor for rotating the hinge axis.
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