KR101488247B1 - Mobile Robot Using Movement Mechanism of Inchworm - Google Patents

Abstract

Disclosed is a mobile robot using an inchworm moving mechanism. According to an embodiment of the present invention, the mobile robot using an inchworm moving mechanism, comprises a first attachment unit (100) and a second attachment unit (200), which include a plate-shaped electrostatic pad; a first motion unit (310) and a second motion unit (320), which connect the first attachment unit (100) and the second attachment unit (200) and include shape memory alloys (311, 321) inside; and a power unit (400) which supplies electricity to the electrostatic pad and shape memory alloys.

Description

{Mobile Robot Using Movement Mechanism of Inchworm}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a mobile robot using a looper movement mechanism, and more particularly, to a mobile robot including an attachment part and a motion part of a specific structure so as to be attached to a vertical wall surface or a horizontal wall surface, .

Until recently, much research has been done on a robot that can move on a vertical wall. Conventional vertical wall-moving robots utilize an air compressor, an adhesive, a magnet, a sharp member, or an infinite-orbit electrostatic pad to attach to a vertical wall surface.

1 is a perspective view of a vertical wall-moving robot according to the related art.

Referring to FIG. 1, a vertical wall-moving robot 10 according to the related art requires a plurality of devices 11, 12, 13, and 14 to be attached to a vertical wall surface. Specifically, as shown in FIG. 1, the conventional vertical wall-moving robot 10 includes a plurality of driving units 11 and a heavy-weight frame structure 12. Such a structure causes the increase in the weight of the robot, and consequently, a large amount of electric power is required for stable operation of the robot.

2 and 3 are perspective views of a vertical wall-moving robot according to the related art.

Referring to these drawings, the robot 20 utilizing the adhesive 21 can leave a foreign matter 22 on the wall surface. In addition, the robot 30 utilizing the sharp member 31 can cause physical damage 32 to the wall surface.

Therefore, such robots 20 and 30 can not be applied to a building made of a building or a glass material wall surface in which the beauty of appearance is important. As a result, the application fields of such robots 20 and 30 are extremely limited.

FIG. 4 is a perspective view of a vertical wall-moving robot according to the prior art.

4, the vertical wall-surface-moving robot 40 utilizing the endless track electrostatic pad 42 attaches the electrostatic pad 42 to the endless track type vehicle 41 to show only one- Which shows only very limited movements.

Meanwhile, research on a mobile robot capable of moving on the surface of the ground in addition to the above-mentioned vertical wall-moving robots has also been progressing steadily. An example of one of the mobile robots moving on the ground surface is a mobile robot in the form of a looper which imitates movement of a looper.

FIG. 5 is a perspective view of a roving-type mobile robot according to the prior art.

Referring to FIG. 5, the roulette-type mobile robot 50 according to the related art realizes the constriction relaxation operation of the rope using the mechanical operation. 5A and 5B, the looper-type mobile robot 50 incorporates a shape memory alloy 51 inside a body 51 made of a flexible material, Operation can be implemented.

Such a looper-type mobile robot 50 can omit a plurality of driving parts and a frame structure having a high weight, thereby minimizing the total weight of the robot. However, the looper-type mobile robot 50 can only perform a simple linear movement on the ground surface by using the friction force, and it is impossible to change the direction and move the vertical wall.

As described above, the conventional vertical wall-moving robot requires a lot of power for stable driving of the robot due to a large number of driving parts and a heavy-weight frame structure. In the case of a robot utilizing an adhesive or a sharp member, It can leave foreign matter or cause physical damage. In the case of a robot using an endless electrostatic pad, it shows only a very limited movement in the direction change. In addition, the rope-type mobile robot according to the related art can only perform a simple linear movement on the ground surface, and can not change the direction and move the vertical wall.

Therefore, there is a high need for a mobile robot capable of omitting a large number of driving parts and a heavy-weight frame structure without leaving any foreign matter or physical damage on the wall surface, thereby minimizing the total weight of the robot.

Korean Patent Publication No. 10-2011-0069768 (published on June 23, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-described problems of the prior art and the technical problems required from the past.

SUMMARY OF THE INVENTION An object of the present invention is to provide a mobile robot having an attachment portion and a motion portion of a specific structure, which do not leave foreign matter or physical damage on the wall surface when attached to and moved to a vertical wall surface or a horizontal wall surface.

Yet another object of the present invention is to provide a robot which can omit a plurality of driving parts and a heavy-weight frame structure, thereby minimizing the total weight of the robot, and consequently achieving vertical wall or horizontal wall movement Thereby providing a wall-moving robot.

According to an aspect of the present invention, there is provided a mobile robot including:

As a mobile robot using a looper movement mechanism,

A first attaching portion and a second attaching portion including a plate-shaped electrostatic pad;

A first motion unit and a second motion unit that connect the first attachment unit and the second attachment unit and include a shape memory alloy therein; And

A power supply for supplying electricity to the electrostatic pad and the shape memory alloy;

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Further, the mobile robot includes:

A receiver for receiving an operation command of the controller; And

A control unit for transmitting a control signal to the power supply unit according to a signal received from the receiving unit;

As shown in Fig.

According to an aspect of the present invention, the plate-

A first electrode and a second electrode that form an electric field with each other by electric application;

An insulating part made of a flexible material and electrically insulated from the first electrode and the second electrode at a predetermined interval; And

A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;

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In this case, a fastening protrusion or a fastening groove may be formed on the outer surface of the support portion so that the external mounting member can be mounted or assembled with another member.

According to an aspect of the present invention, the first motion unit and the second motion unit may be formed of a flexible material.

On the other hand, the shape memory alloy is restored or deformed by supplying and blocking electricity,

By restoration or deformation of the shape memory alloy, the first motion part and the second motion part can be restored or modified.

According to an aspect of the present invention, a shape memory alloy is further mounted on the end portions of the first attachment portion and the second attachment portion, and a part of the end portions of the first attachment portion and the second attachment portion is deformed .

According to another aspect of the present invention, there is provided a wall moving apparatus comprising:

The mobile robot may include one or more mobile robots and another work performing member may be mounted on the mobile robot.

In this case,

Cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment.

As described above, the mobile robot according to the present invention is provided with the attachment part and the motion part having a specific structure, so that the mobile robot does not leave foreign matter or physical damage on the wall surface when attached to the wall surface.

In addition, the mobile robot according to the present invention can omit a plurality of driving parts and a frame structure having a high weight, thereby minimizing the total weight of the robot, and consequently, it is possible to perform vertical wall or horizontal wall movement using very little power .

In addition, the mobile robot according to the present invention can mount another work performing member and can be utilized in various fields.

1 to 4 are perspective views of a vertical wall-moving robot according to the related art.
Fig. 5 is a perspective view of a looper-type mobile robot according to the prior art.
6 and 7 are perspective views of a mobile robot according to an embodiment of the present invention.
8 is a plan view of the mobile robot of Fig.
9 is a cross-sectional view taken along the line AA of FIG.
Figs. 10 to 15 are schematic plan views showing the movement of the mobile robot shown in Fig. 8. Fig.
16 is a plan view of a mobile robot according to another embodiment of the present invention.
17 is a sectional view taken along line BB of Fig.
FIG. 18 is a perspective view showing a moving state of the mobile robot of FIG. 16;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. In the description of the present invention, a detailed description of known configurations will be omitted, and a detailed description of configurations that may unnecessarily obscure the gist of the present invention will be omitted.

FIGS. 6 and 7 are perspective views of a mobile robot according to an embodiment of the present invention, and FIG. 8 is a plan view of the mobile robot of FIG.

Referring to these drawings, the mobile robot 600 includes a first attachment portion 100, a second attachment portion 200, a first motion portion 310, a second motion portion 320, and a power source portion 400 .

Specifically, the first attachment portion 100 and the second attachment portion 200 include a plate-shaped electrostatic pad, so that the mobile robot 600 can be attached to the vertical wall surface. The shape memory alloys 311 and 321 are embedded in the first and second motion units 310 and 320 so that the first motion unit 310 And the second motion unit 320 can contract and relax. A linear actuator or a servo motor may be mounted in place of the shape memory alloy 311 and 321 so that the shrinkage and relaxation motions of the first and second motion parts 310 and 320 Can be implemented.

A control unit (not shown) for transmitting a control signal to the power supply unit 400 in response to a signal received from a receiving unit (not shown) that receives an operation command of the controller and a receiving unit Can be built in.

Fig. 9 is a sectional view taken along line A-A of Fig.

9, the first attaching portion 100 and the second attaching portion 200 are formed of a plate-like electrostatic force (hereinafter referred to as " plate-like electrostatic force ") composed of a first electrode 131, a second electrode 132, Pad. Specifically, the planar shape of the first attachment portion 100 and the second attachment portion 200 may be a polygonal shape, a circular shape, or an elliptic shape.

The first electrode 131 and the second electrode 132 may be spaced apart from each other by a predetermined distance d and electrically insulated from each other. have.

6, when the electricity is applied to the first electrode 131 and the second electrode 132, the surface of the vertical wall facing the first electrode 131 and the second electrode 132 An electrostatic force may be generated in which the opposite polarity is induced. The induced electrostatic force causes attraction between the attachment portions 100 and 200 and the vertical wall surface 60 so that the attachment portions 100 and 200 can be attached to the wall surface 60 by this attraction force. The wall surface 60 may be a vertical wall surface, a horizontal wall surface or an inclined wall surface, and most preferably a vertical wall surface.

Specifically, the insulating part 120 surrounding the first electrode 131 and the second electrode 132 has a high resistivity to prevent the discharge of the charged first electrode 131 and the second electrode 132, An electrostatic force can be generated by the dielectric polarization of the resulting dielectric. The thus generated electrostatic force can provide attraction force so that the first attachment portion 100 and the second attachment portion 200 can be attached to the wall surface 60. [

The first attachment portion 100 and the second attachment portion 200 may further include a support portion 110 attached to one side of the insulation portion 120. The supporting portion 110 is made of a material having predetermined rigidity and can provide mechanical rigidity to the first attaching portion 100 and the second attaching portion 200. [

A fastening protrusion 500 may be formed on the outer surface of the supporting portion 110 so as to mount an external mounting member (not shown) or to be assembled with another member.

For example, another member may be a cleaning tool for cleaning a vertical wall surface, a camera device capable of capturing an image for reconnaissance and surveillance purposes, and a firearm device capable of being armed for military purposes Lt; / RTI > Further, another member may be disaster relief equipment, weather measurement equipment, heat sensing equipment, or welding equipment. Accordingly, the vertical wall-moving robot 600 including the fastening protrusions 500 can be easily utilized by mounting suitable equipment for various purposes.

Figs. 10 and 11 are schematic plan views showing the movement of the mobile robot shown in Fig. 8. Fig.

Referring to FIGS. 10 and 11 together with FIG. 8, the mobile robot 600 can move upward by the contracting / relaxing action of the first and second motion parts 310 and 320.

Specifically, as shown in FIG. 10, the second attachment portion 200 can be moved upward by the contracting operation of the first motion portion 310 and the second motion portion 320. At this time, electricity is applied only to the first attachment part 100, so that the first attachment part 100 is in a fixed state, and the second attachment part 200 is in a state in which electricity is blocked and not fixed. Accordingly, the second attachment portion 200 can be moved upward by the contracting operation of the first motion portion 310 and the second motion portion 320.

10, the first motion part 310 and the second motion part 320 can be returned to the relaxed state again by the restoring force of the shape memory alloys 311 and 321. [ Specifically, the restoring force of the shape memory alloy 311, 321 exhibits a force equivalent to five times or more of the force required when deforming, and the restoring force causes the first attachment portion 100 to move upward Can be moved. At this time, electricity is applied only to the second attaching part 200, and the second attaching part 200 is in a fixed state, and the first attaching part 100 is in a state in which electricity is blocked and not fixed. Accordingly, the first attachment portion 100 can be moved upward by the first motion portion 310 and the second motion portion 320.

As a result, the mobile robot 600 can be moved upward by a predetermined distance D1. The moved mobile robot 600 can be firmly attached to the wall by applying electricity to all the attachment parts 100 and 200.

Figs. 12 and 13 are schematic plan views showing the movement of the mobile robot shown in Fig. 8. Fig.

Referring to FIGS. 12 and 13 together with FIG. 8, the mobile robot 600 can move downward by the contracting / relaxing action of the first motion unit 310 and the second motion unit 320.

Specifically, as shown in FIG. 11, the first attachment portion 100 can be moved in the downward direction by the contracting operation of the first motion portion 310 and the second motion portion 320. At this time, electricity is applied only to the second attaching part 200, and the second attaching part 200 is in a fixed state, and the first attaching part 100 is in a state in which electricity is blocked and not fixed. Therefore, the first attachment portion 100 can be moved in the upward direction by the contracting operation of the first motion portion 310 and the second motion portion 320.

The first and second motion units 310 and 320 can be returned to the relaxed state again by the restoring force of the shape memory alloys 311 and 321 as shown in Fig. Specifically, the restoring force of the shape memory alloy 311, 321 exerts a force equivalent to five times or more of the force that is generally required when deformed. With this restoring force, the second attaching portion 200 moves downward Can be moved. At this time, electricity is applied only to the first attachment part 100, so that the first attachment part 100 is in a fixed state, and the second attachment part 200 is in a state in which electricity is blocked and not fixed. Accordingly, the second attachment portion 200 can be moved downward by the first motion portion 310 and the second motion portion 320.

As a result, the mobile robot 600 can be moved downward by a predetermined distance D2. The moved mobile robot 600 can be firmly attached to the wall by applying electricity to all the attachment parts 100 and 200.

Fig. 14 is a plan view schematically showing the movement of the mobile robot shown in Fig.

Referring to FIG. 14 together with FIG. 8, the mobile robot 600 can be shifted to the left direction by the contraction / relaxation operation of the first motion unit 310 and the second motion unit 320.

14, when the contraction movement of the first motion unit 310 and the relaxation movement of the second motion unit 320 are combined, the mobile robot 600 changes direction to the left direction and moves . At this time, electricity is applied only to the second attaching portion 100, and the second attaching portion 200 is in a fixed state, and the first attaching portion 100 is in a state where the electricity is blocked and is not fixed. Therefore, the first attachment portion 100 can be moved in the leftward direction by the operation of the first motion portion 310 and the second motion portion.

In the direction switching operation of the mobile robot 600, the direction switching angle may be appropriately changed by adjusting the degree of contraction / relaxation of the first and second motion units 310 and 320.

Fig. 15 is a plan view schematically showing the movement of the mobile robot shown in Fig.

Referring to FIG. 15 with reference to FIG. 8, the mobile robot 600 can move in the right direction by moving in the contraction / relaxation motion of the first and second motion units 310 and 320.

14, when the contraction operation of the second motion unit 320 and the relaxation operation of the first motion unit 310 are combined, the mobile robot 600 changes direction to the right and moves . At this time, electricity is applied only to the second attaching portion 100, and the second attaching portion 200 is in a fixed state, and the first attaching portion 100 is in a state where the electricity is blocked and is not fixed. Therefore, the first attachment part 100 can be moved in the right direction by the operation of the first motion part 310 and the second motion part, and can be moved.

The direction switching method may be applied to a case of moving in the upward direction as well as a case of moving in the downward direction. Specifically, although not shown in the drawing, when moving in the downward direction, in the direction switching method, the order of applying and cutting off the first attachment portion 100 and the second attachment portion 200 is changed so that the lower left direction and the lower direction It is possible to implement the direction switching movement in the right direction.

FIG. 16 is a plan view of a mobile robot according to another embodiment of the present invention, and FIG. 17 is a sectional view taken along line B-B of FIG.

Referring to these drawings, the mobile robot 600A can further mount shape memory alloys 101 and 201 at the end portions of the first attachment portion 100 and the second attachment portion 200. [ Therefore, a part of the end portions of the first attachment portion 100 and the second attachment portion 200 can be deformed, as shown in Fig.

Fig. 18 is a perspective view showing a moving state of the mobile robot shown in Fig.

Referring to FIG. 18 together with FIG. 16, the mobile robot 600A can move over the obstacle 70 protruding from the vertical wall surface.

Specifically, as shown in Fig. 18, a part of the end portion of the first attachment portion 100 can be deformed by the deformation operation of the shape memory alloy 101. Fig. When the first motion unit 310 and the second motion unit 320 are released in a state where the end of the first attachment unit 100 is deformed, the mobile robot 600A overcomes the obstacle 70 Can be moved. At this time, electricity is applied only to the second attaching part 200, and the second attaching part 200 is in a fixed state, and the first attaching part 100 is in a state in which electricity is blocked and not fixed. Accordingly, the mobile robot 600A can move over the obstacle 70 protruding from the wall surface.

Accordingly, the mobile robot according to the present embodiment has a specific structure of the attachment portion and the motion portion, so that the mobile robot may not leave foreign matter or physical damage on the wall surface when attached to the wall surface. In addition, the mobile robot according to the present embodiment can omit a plurality of driving parts and a frame structure having a high weight, thereby minimizing the total weight of the robot, and consequently having a technical advantage of using a very small amount of electric power to move the wall do.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

10: Vertical wall moving robot 11:
12: frame structure 13, 14:
20: Vertical wall moving robot 21: Adhesive
22: Foreign matter 30: Vertical wall moving robot
31: sharp member 32: physical damage
40: Vertical wall surface moving robot 41:
42: Electrostatic pad 50: Robot type mobile robot
51: body 52: shape memory alloy
60: vertical wall surface 70: obstacle
100: first attachment portion 101: third shape memory alloy
110: Support part 120: Insulation part
131: first electrode 132: second electrode
200: second attachment portion 201: fourth shape memory alloy
310: first motion unit 311: first shape memory alloy
320: second motion unit 321: second shape memory alloy
400: power supply unit 500: fastening projection
600: Mobile robot 600A: Mobile robot

Claims (9)

As a mobile robot using a looper movement mechanism,
A first attaching portion 100 and a second attaching portion 200 including a plate-shaped electrostatic pad;
A first motion unit 310 and a second motion unit 320 connected to the first attachment unit 100 and the second attachment unit 200 and including shape memory alloys 311 and 321, (320); And
And a power supply unit 400 for supplying electric power to the electrostatic pad and the shape memory alloy, wherein the first motion unit 310 and the second motion unit 320 can adjust the shrinkage and relaxation of the first motion unit 310 and the second motion unit 320, Wherein the mobile robot is a mobile robot.
The method according to claim 1,
The mobile robot includes:
A receiver for receiving an operation command of the controller; And
A control unit for transmitting a control signal to the power supply unit in response to a signal received from the normal reception unit;
The mobile robot further comprising:
The method according to claim 1,
The plate-
A first electrode 131 and a second electrode 132 which form an electric field with each other by electric application;
An insulation part 120 composed of a flexible material and electrically insulated from the first electrode 131 and the second electrode 132 at a predetermined interval; And
A supporting part 110 attached to one side of the insulating part 120 and made of a material having predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;
And a controller for controlling the robot.
The method of claim 3,
Wherein a fastening protrusion (500) or a fastening groove is formed on the outer surface of the support part (110) so that the external mounting member can be mounted or assembled with another member.
The method according to claim 1,
Wherein the first motion part (310) and the second motion part (320) are made of a flexible material.
The method according to claim 1,
The shape memory alloy is restored or deformed by supplying and blocking electricity,
Wherein the first motion part (310) and the second motion part (320) are restored or deformed by restoration or deformation of the shape memory alloy.
The method according to claim 1,
Shape memory alloys 101 and 201 are further attached to the ends of the first and second attachment parts 100 and 200 and the first attachment part 100 is electrically connected to the power supply part 400. [ And a part of an end of the second attachment part (200) can be deformed.
8. The wall movement apparatus according to any one of claims 1 to 7, further comprising one or more mobile robots, wherein another work performing member is mounted on the vertical wall moving robot.
9. The method of claim 8,
Wherein the work performing member comprises:
Wherein at least one member selected from the group consisting of cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment is selected.

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