KR101559685B1 - Caterpillar with clutch for moving cable - Google Patents

Abstract

The present invention relates to a caterpillar for a cable moving robot having a clutch. According to the present invention, the caterpillar for a cable moving robot having a clutch comprises: a wheel part having a first pulley and a second pulley separated from each other whereon a belt member is mounted to interlock each other; a rotation part to transmit a rotational force to the wheel part; and a clutch having a first gear installed in the rotation part and a second gear mounted on a driving motor, separated from the first gear at a predetermined interval, engaged with the first gear to rotate by the driving force received from a driving motor such that the rotation part can be driven, and released from the first gear when the driving motor stops. The caterpillar for a cable moving robot having a clutch transmits high torque by being engaged through a displacement, descends along a cable by its own weight by having the clutch released when power is not applied, and safely descends by reducing a descending speed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a caterpillar for a cable mobile robot having a clutch,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a caterpillar for a cable-moving robot having a clutch, and more particularly, to a caterpillar for a cable-moving robot having a clutch that can be safely lowered along a cable when a power supply is interrupted.

For large installations such as suspension bridges and cable-stayed bridges, each component is connected via a high-strength cable such as a steel wire rope, which supports most of the loads on suspension bridges and cable-stayed bridges.

In order to secure the stability of the facilities supported by the cable, it is necessary to inspect the cables. However, it is difficult to inspect and inspect the cables due to problems such as the place where the cables are installed.

Therefore, in recent years, researches and attempts have been made to develop a robot capable of moving cables to check cables.

A cable-moving robot that travels along cables to inspect and maintain these cables and tows various inspection and maintenance mechanisms needs high torque for traveling.

Such a cable moving robot is provided with a speed reducer in the motor for high torque. When the cable moving robot moves along the cable and the power supply to the motor is interrupted, such a reducer is difficult to passively rotate due to the gear ratio, so that the cable moving robot is suspended on the cable. That is, since the motor connected to the wheel does not rotate, the cable moving robot hangs without descending due to its own weight. The inspector must move to the corresponding position to retrieve the cable moving robot. However, in general, since the length of the cable is very long, it is difficult to collect the cable moving robot and there is a risk of safety accident of the inspector.

Accordingly, there has been proposed a cable moving robot including a clutch for releasing a coupling between a motor and a wheel so that when the power supply to the motor is interrupted, the wheel can be rotated to descend by its own weight.

A conventional cable moving robot equipped with a clutch is a medium / small-sized apparatus, and thus uses an electromagnetic clutch. 1 is a view schematically showing an electromagnetic clutch of a cable moving robot having a conventional clutch. In the case of a clutch using an electromagnet, the tooth clutch can transmit the greatest power, but the size and weight of the clutch increase depending on the size of the power.

In addition, when the allowable torque is limited and a torque larger than the allowable torque is applied, there is a problem that the torque is larger than the magnetic force between the clutches, so that the engagement is released or the teeth are worn or damaged.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a clutch capable of transmitting a high torque by forming a coupling through displacement and releasing engagement when power is not applied, and capable of descending along the cable by its own weight And a caterpillar for a cable-moving robot.

In addition, the present invention provides a caterpillar for a cable-moving robot that includes a decelerating portion, and is provided with a clutch that can descend safely while lowering the descending speed upon descent by its own weight.

According to an aspect of the present invention, there is provided a wheel according to the present invention, comprising: a wheel portion including a first pulley and a second pulley that are spaced apart from each other and have a belt member mounted on an outer circumferential surface thereof; A rotation part for transmitting a rotational force to the wheel part; A first gear mounted on the rotating portion, a second gear mounted on the driving motor and spaced apart from the first gear by a predetermined distance, a first gear engaged with the first gear, And a clutch including a second gear that drives the rotating portion and that is disengageable with the first gear when the drive motor is stopped. The crawler for a cable mobile robot includes a clutch.

The second gear is mounted on a drive shaft of the drive motor and is connected to the second gear to move the second gear to the first gear so that the clutch is engaged, And a moving unit that moves the second gear toward the driving motor so that the second gear is disengaged.

Here, the moving unit may include a ball screw arranged in parallel to be spaced apart from the drive shaft, the ball screw being provided with a screw and a nut; A pushing bar having one end connected to the second gear and the other end connected to the nut; And an auxiliary motor for rotating the screw to move the nut so that the pushing bar reciprocates.

Here, it is preferable to further include a battery unit for driving the auxiliary motor so that the clutch is disengaged when the drive motor is stopped.

Here, the power supply unit applies power to the driving motor and the auxiliary motor. And a relay for driving the battery unit when the power application unit is stopped.

Here, it is preferable that the auxiliary motor is a direct current motor, and the battery unit supplies power to the power applying unit as opposed to the power applying unit.

The control unit may further include a limit switch for controlling the driving of the auxiliary motor to control the position of the second gear.

Here, the pushing bar may further include a contact member, and the limit switch may include: a first limit switch for contacting the contact member when the clutch is engaged and stopping the driving of the auxiliary motor; And a second limit switch that is spaced apart from the first limit switch and stops contacting the contact member when the clutch is disengaged to stop driving the auxiliary motor.

Here, the rotating portion may include: a bevel gear including a first conversion gear disposed in parallel with the wheel portion, and a second conversion gear meshed with the first conversion gear and mounted with the first gear; A first transmission gear disposed coaxially with the first conversion gear and interlocking with the first conversion gear; And a second transmission gear disposed coaxially with the wheel portion and engaged with the first transmission gear to interlock with the wheel portion and the first transmission gear.

Here, the moving unit may include a pushing bar that is elongated in the longitudinal direction and has a central portion penetrating the driving shaft and engaged with the second gear; And a solenoid connected to an end of the pushing bar to closely contact the pushing bar with the first gear when the driving motor is driven.

And a deceleration unit connected to the second gear to rotate by receiving a rotational force and to reduce a rotational force or a rotational speed of the second gear when the driving motor is stopped.

Here, the deceleration unit includes: a damper that receives rotation force from the second gear and rotates; And an inverse brake connected to the damper and restricting the rotation of the second gear while maintaining the fixed state when the drive motor is stopped.

Here, the damper preferably includes a damping oil therein to reduce the rotational force of the second gear.

Here, the rotation axis of the second gear and the rotation axis of the damper are parallel, and the deceleration section includes a plurality of spur gears that connect between the rotation axis of the second gear and the center axis of the damper so that the second gear and the damper are interlocked, .

According to the present invention, there is provided a caterpillar for a cable-moving robot having a clutch capable of effectively moving along a cable and holding and checking a cable.

Further, by including the clutch that forms the engagement through the displacement, it is possible to prevent the clutch from being damaged and to transmit the high torque.

Further, after the clutch is engaged, the driving motor is driven and moved, thereby enabling stable running.

Further, when the power is not applied to the caterpillar for a cable-moving robot along the cable, the coupling of the clutch is released, so that the caterpillar descends due to its own weight and is easy to collect.

In addition, by stopping the operation of the auxiliary motor when the clutch is engaged and disengaged by the limit switch, it is possible to prevent the clutch from being damaged or the like.

In addition, the descent speed of the cable moving robot can be reduced through the decelerating portion and can be collected safely.

1 is a view schematically showing an electromagnet clutch of a cable moving robot having a conventional clutch,
2 is a schematic perspective view of a cable mobile robot to which a caterpillar for a cable moving robot having a clutch according to the present invention is applied,
Fig. 3 is a plan view of the cable moving robot of Fig. 2,
FIGS. 4 and 5 are views schematically showing a cushioning portion of the cable moving robot of FIG. 2,
6 to 9 are views schematically showing installation steps of the cable mobile robot of FIG. 2,
10 is an exploded perspective view of a caterpillar for a cable mobile robot having a clutch according to a first embodiment of the present invention,
11 is a schematic perspective view of a caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
Fig. 12 is a perspective view of a caterpillar for a cable mobile robot having the clutch of Fig. 10,
Fig. 13 is a front view of a caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
14 is a plan view of a caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
Fig. 15 is an exploded perspective view of a clutch of a caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
Fig. 16 is a view showing the operation of the caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
Fig. 17 is another view showing the operation of the caterpillar for a cable-moving robot provided with the clutch of Fig. 10,
18 is a schematic view of a caterpillar for a cable mobile robot having a clutch according to a second embodiment of the present invention,
Fig. 19 is a view showing a coupling state of a caterpillar for a cable mobile robot having the clutch of Fig. 18,
20 is a perspective view of a caterpillar for a cable mobile robot having a clutch according to a third embodiment of the present invention,
Fig. 21 is a plan view of a decelerating portion of a caterpillar for a cable-moving robot provided with the clutch of Fig. 20,
22 is a view showing the operation of the decelerator of the caterpillar for a cable-moving robot provided with the clutch of Fig.

Prior to the description, components having the same configuration are denoted by the same reference numerals as those in the first embodiment. In other embodiments, configurations different from those of the first embodiment will be described do.

Prior to the explanation, a cable moving robot to which a caterpillar for a cable moving robot equipped with a clutch is applied will be described.

FIG. 2 is a schematic perspective view of a cable mobile robot to which a caterpillar for a cable mobile robot having a clutch according to the present invention is applied, and FIG. 3 is a plan view of the cable mobile robot of FIG.

Referring to FIGS. 2 and 3, the cable moving robot R is provided with two pairs of caterpillars 100 for a cable-moving robot having a clutch, and is disposed at equal angular intervals along the outer circumference of the cable .

The body portion B is a frame for supporting the caterpillar 100 for a cable moving robot having a clutch and preventing the caterpillar 100 for a cable moving robot having a clutch at the time of driving from being detached from the cable.

A caterpillar 100 for a cable moving robot having a clutch for passing through the body portion B is disposed and fixed by interconnecting the caterpillar 100 for a cable moving robot having a body portion B and a clutch.

FIGS. 4 and 5 are views schematically showing a cushioning portion of the cable moving robot of FIG. 2. FIG. 4 and 5, the buffering part F is provided between the caterpillar 100 for a cable-moving robot having a clutch and the body part B so that even when the diameter of the cable is changed or the like, An elastic force is applied to the caterpillar 100 for a cable-moving robot having a clutch on the cable side so that contact between the caterpillar 100 for a mobile robot and the cable is maintained.

When the diameter of the cable decreases, the cushioning portion F is initially installed. When the diameter of the cable decreases, the caterpillar 100 for a cable-moving robot having the clutch is restored to the cable side while being restored.

Specifically, the buffering portion F includes a cylindrical member F1 having a groove formed along the central axis direction, a spring member F2 accommodated in the groove, one side connected to the body portion B, And a connecting portion F3 for moving the caterpillar 100 for a cable-moving robot equipped with the clutch by being in contact with the spring member F2 in the center direction or in the radial direction. With this configuration, the spacing between the caterpillar 100 for the cable-moving robot equipped with the clutch and the cable is adjusted.

Further, the cable mobile robot R includes a distance measuring section M for measuring the running distance of the caterpillar 100 for a cable mobile robot having a clutch, a photographing section C for measuring the state of the cable, (A) for the < / RTI > When the auxiliary caterpillar A is installed, it is preferable that the caterpillar 100 and the auxiliary caterpillar A for the cable-moving robot provided with the clutch are disposed at equal intervals along the outer circumference of the cable. Also, the auxiliary caterpillar A is provided so as to be in close contact with the cable regardless of the shape and diameter of the cable, like the caterpillar 100 for a cable mobile robot having a clutch.

FIGS. 6 to 9 are views schematically showing installation steps of the cable moving robot of FIG. 2. FIG. The cable moving robot R can be installed as shown in the drawing.

Hereinafter, a caterpillar for a cable mobile robot having a clutch according to a first embodiment of the present invention will be described in detail with reference to the accompanying drawings.

A caterpillar for a cable mobile robot having a clutch according to the present invention includes a clutch that can transmit a high torque by forming a coupling through displacement and release the coupling when power is not applied, The present invention relates to a caterpillar for a cable mobile robot having a clutch that can be used for a cable moving robot.

FIG. 10 is an exploded perspective view of a caterpillar for a cable mobile robot having a clutch according to the first embodiment of the present invention, FIG. 11 is a schematic perspective view of a caterpillar for a cable moving robot having the clutch of FIG. 10, Fig. 13 is a front view of a caterpillar for a cable moving robot having a clutch shown in Fig. 10, Fig. 14 is a front view of a caterpillar for a cable moving robot having a clutch shown in Fig. A plan view of the caterpillar. 10 to 14, a caterpillar 100 for a cable mobile robot having a clutch according to a first embodiment of the present invention includes a wheel unit 110, a rotation unit 120 connected to the wheel unit 110, A driving motor 140 for applying a driving force to the rotary part 120 and a second gear 132 for moving the second gear 132 of the clutch 130. The clutch 130 is mounted on the rotary part 120 and the driving motor 140, A battery unit 170 for applying power to the auxiliary motor 153 of the moving unit 150 and a relay 180 and a limit switch 190 ).

The wheel portion 110 includes a first pulley 111, a second pulley 112, and a belt member 113 that are spaced apart from each other. The first pulley 111 and the second pulley 112 are provided as timing pulleys and the belt member 113 is mounted on the outer circumferential surfaces of the first pulley 111 and the second pulley 112. At this time, the belt member 113 is formed with concavities and convexities on the inner surface thereof so as to be easily mounted on the first pulley 111 and the second pulley 112.

The first pulley 111 rotates about the rotating shaft 111a by the rotating part 120. [ The belt member 113 is rotated by the rotation of the first pulley 111 and the second pulley 112 is rotated so that the belt member 113 is rotated while forming an endless track in a state where the outer surface of the belt member 113 is in contact with the cable, .

The rotating part 120 includes a bevel gear 121 and a first transmission gear 122 and a second transmission gear 123 for rotating the wheel part 110. The rotating part 120 includes a bevel gear 121,

The bevel gear 121 is configured to transmit the driving force of the driving motor 140 to the first pulley 111. The drive shaft 141 of the drive motor 140 and the rotation shaft 111a of the first pulley 111 cross each other so that the driving force of the drive motor 140 can not be directly transmitted to the first pulley 111, And the axis is changed and transmitted through the gear 121. The bevel gear 121 includes a first conversion gear 121a and a second conversion gear 121b.

The first conversion gear 121a is disposed on a central axis parallel to the rotation axis 111a of the first pulley 111 and is disposed in parallel with the first pulley 111. [ The second conversion gear 121b rotates about the driving shaft 141, and one region is engaged with the first conversion gear 121a to change the rotation axis. The first gear 131 of the clutch 130 is mounted on the other surface of the second conversion gear 121b and the first gear 131 and the second gear 132 are engaged with each other.

The first transmission gear 122 and the second transmission gear 123 are configured to transmit the rotation of the bevel gear 121 to the first pulley 111. The first transmission gear 122 is installed coaxially with the first conversion gear 121a and interlocks with the first conversion gear 121a and the second transmission gear 123 is coaxial with the first pulley 111 And is engaged with the first transmission gear 122.

That is, the first transmission gear 122 is installed on the central shaft and the second transmission gear 122 is installed on the rotary shaft 111a. The bevel gear 121 is rotated by the rotation of the coupled clutch 130 and the first transmission gear 122 and the second transmission gear 123 interlocked with the bevel gear 121 rotate to rotate the first pulley 111 rotate, so that the caterpillar 100 for a cable-moving robot equipped with the clutch moves along the cable.

15 is an exploded perspective view of a clutch of a caterpillar for a cable-moving robot provided with the clutch of Fig. 15, the clutch 130 is engaged to transmit the driving force of the driving motor 140 to the rotation unit 120, and when the driving motor 140 is stopped, the connection between the driving motor 140 and the rotation unit 120 And the wheel unit 110 can be manually rotated. The clutch 130 includes a first gear 131 and a second gear 132. The first gear 131 and the second gear 132 are spaced apart from each other by a predetermined distance, and gear teeth are formed so that opposite surfaces are mutually coupled.

The first gear 131 is fixed to the bevel gear 121, specifically to the second conversion gear 121b. A protrusion column 131a extending toward the drive shaft 140 is formed at the center of the first gear 131 and a spring 131b is provided on the outer circumference surface of the protrusion column 131a. The spring 131b is compressed when the first gear 131 and the second gear 132 are engaged with each other and is restored when the driving of the driving motor 140 is stopped. The engagement of the clutch 130 is released more easily by the spring 131b.

The second gear 132 is spaced apart from the first gear 131 by a predetermined distance and is connected to the driving shaft 141 of the driving motor 140. And the second gear 132 is moved toward the first gear 131 side by the moving part 150 and is engaged.

When the driving motor 140 is stopped, the second gear 132 is disengaged from the first gear 131 while being retracted by the moving part 150. [ The drive motor 140 is provided with a speed reducer for high torque. If the power is not supplied by the gear ratio of the speed reducer, the drive motor 140 can not be manually rotated, and the first pulley 111 does not rotate. However, when the drive motor 140 is stopped, the second gear 132 is moved backward to disengage the engagement of the caterpillar 100 for the cable movement robot with the clutch, The connection between the drive motor 140 and the first pulley 111 is released and the first pulley 111 can be manually rotated.

In other words, the clutch 130 allows the first pulley 111 to be manually rotated (rotated) by causing the pair of gears to mesh with each other to transmit the rotational force to the first pulley 111, So that the caterpillar 100 for a cable-moving robot equipped with a clutch by its own weight on a cable can be lowered.

The clutch 130 forms a coupling through displacement, so that torque can be transmitted to the extent that the stiffness of the power and transmission shafts and gears, regardless of size and weight, allows. Also, since the first gear 131 and the second gear 132 can use prefabricated gears or simple toothed gears, there is an advantage in that the cost for processing can be reduced.

The driving motor 140 is configured to provide a driving force for driving the first pulley 111. The driving motor 140 is provided as a BLDC motor, and the driving shaft 141 rotates at the time of driving. The second gear 132 provided on the driving shaft 141 is advanced by the moving part 150 to engage the clutch 130 and the driving motor 140 is driven after the clutch 130 is engaged. The driving force of the driving motor 140 is transmitted to the first pulley 111 and rotated by the rotation of the rotating portion 120 by the rotation of the coupled clutch 130 when the driving motor 140 is driven.

The moving unit 150 includes a ball screw 151, a pushing bar 152, and an auxiliary motor 153, which are configured to engage and disengage the clutch 130.

The ball screw 151 includes a screw 151a and a nut 151b and a nut 151b is provided with a pushing bar 152. [ The nut 151b moves on the screw 151a and the pushing bar 152 connected to the nut 151b moves. Specifically, power is applied from the power applying unit 160 to the auxiliary motor 153, so that the screw 151a rotates in the first direction, and the nut 151b moves toward the first gear 131 side. As a result, the pushing bar 152 moves toward the first gear 131 and the clutch 130 is engaged. The drive motor 140 drives the auxiliary motor 153 in a reverse direction to rotate the screw 151a in the second direction opposite to the first direction so that the nut 151b moves toward the drive motor 140 side. As a result, the pushing bar 152 is moved away from the first gear 131, whereby the clutch 130 is disengaged.

One end of the pushing bar 152 is connected to the nut 151b and the other end is connected to the second gear 152 to engage and disengage the clutch 130 according to the driving direction of the auxiliary motor 153. [ The pushing bar 152 is provided with a contact member 152a. The contact member 152a moves together with the movement of the pushing bar 152 and contacts the limit switch 190. [ Specifically, the contact member 152a is brought into contact with the first limit switch 191 when the clutch 130 is engaged and with the second limit switch 192 when the clutch 130 is disengaged.

The auxiliary motor 153 is for driving the ball screw 151 to engage and disengage the clutch 130. The auxiliary motor 153 receives power from the power applying unit 160. When the drive motor 140 is stopped, And receives power from the unit 170 and operates.

The power applying unit 160 is configured to supply power to the driving motor 140, the auxiliary motor 153, and the relay 180.

The battery unit 170 is an auxiliary power supply separately provided from the power applying unit 160. When the power supply is stopped due to a defect in the power applying unit 160 and the driving motor 140 is stopped, Power is supplied to the auxiliary motor 153 so that the caterpillar 100 for a cable-moving robot equipped with the clutch is disengaged by its own weight.

The relay 180 determines whether the battery unit 170 is operated according to driving of the power applying unit 160. [ The relay 180 may be operated by receiving power from the power applying unit 160. When the power applying unit 160 is normally operated, the auxiliary motor 153 is also powered by the power applying unit 160 to engage the clutch 130. Accordingly, the relay 180 is connected to the battery unit 170 Do not drive. When the power supply unit 160 is powered off due to a defect or the like, the relay 180 senses the power supply to operate the battery unit 170 so that the clutch 130 is disengaged.

The limit switch 190 is configured to control the position of the second gear 132 by controlling the driving of the auxiliary motor 153 and includes a first limit switch 191 and a second limit switch 192.

The first limit switch 191 and the second limit switch 192 are spaced apart from each other. When the power is applied from the power applying unit 160 to the auxiliary motor 153, the pushing bar 152 advances, and the contact member 152a is engaged with the first limit switch 191 . The first limit switch 191 stops the driving of the auxiliary motor 153 to stop the continuous advance of the pushing bar 152 to prevent the clutch 130 from being damaged.

The pushing bar 152 is retracted and the contact member 152a is engaged with the clutch 130. When the power is applied to the auxiliary motor 153 from the battery unit 170, / RTI > The first limit switch 191 stops the driving of the auxiliary motor 153 to stop the continuous backward movement of the pushing bar 152 to prevent the damage of the second gear 132 and the driving motor 140. [

Hereinafter, the operation of the first embodiment of the caterpillar for a cable mobile robot having the above-described clutch will be described. The operation of the power application portion of the caterpillar for a cable mobile robot having the clutch will be described separately.

1. When the power is applied from the power applying section

16 is a view showing the operation of the caterpillar for a cable-moving robot provided with the clutch of Fig.

When the power is applied from the power applying unit 160 to the driving motor 140, the relay 180 and the auxiliary motor 153, the relay 180 recognizes normal operation of the power applying unit 160, And the unit 170 is not driven.

The auxiliary motor 153 rotates the ball screw 151b in the first direction and moves the nut 151b in the direction of the first gear 131 when the power is applied from the power application unit 160 to the auxiliary motor 153. [ . That is, the second gear 132 is advanced and the second gear 132 is engaged with the first gear 131.

The first limit switch 191 comes into contact with the first limit switch 191 of the contact member 152a at the same time as the engagement of the clutch 130 is completed and the first limit switch 191 stops the drive of the auxiliary motor 153, prevent.

When the clutch 130 is engaged, power is supplied to the driving motor 140 to rotate the driving shaft 141, and the clutch 130 connected to the driving shaft 141 rotates. The bevel gear 121 rotates by the rotation of the clutch 130 and the first transmission gear 122 connected to the first conversion gear 121a coaxially rotates. The second transmission gear 123 meshed with the first transmission gear 122 rotates and the first pulley 111 coupled to the second transmission gear 123 coaxially rotates.

When the first pulley 111 rotates, one region of the belt member 113 moves, and accordingly, the second pulley 112 rotates to form an endless track, which rotates and moves along the cable.

2. When the power supply is interrupted from the power applying part

17 is another view showing the operation of the caterpillar for a cable-moving robot provided with the clutch of Fig.

When the power is not applied to the driving motor 140 due to a defect or a malfunction of the power applying unit 160, the caterpillar 100 for a cable-moving robot having a clutch moving along the cable hangs on a cable. The first pulley 111 does not rotate in the forward direction because the power is not applied from the driving motor 140 and the first pulley 111 does not rotate in the reverse direction due to the gear ratio of the speed reducer of the driving motor 140 It hangs.

When power is not applied from the power applying unit 160, the relay 180 recognizes that the power applying unit 160 is not powered on and drives the battery unit 170.

The battery unit 170 applies power to the auxiliary motor 153 which is a DC motor in a direction opposite to the power applying unit 160 and the auxiliary motor 153 rotates the ball screw 151b in the second direction, 151b in the direction of the driving motor 140.

The contact member 152a is brought into contact with the second limit switch 192 and the second limit switch 192 is brought into contact with the clutch 130 by stopping the driving of the auxiliary motor 153. [ Prevent damage.

As a result, the connection relationship between the first pulley 111 and the drive motor 140 is released, and the caterpillar 100 for the cable-moving robot equipped with the clutch descends along the cable by its own weight.

That is, as the first pulley 111 without the influence of the speed reducer of the drive motor 140 rotates, the belt member 113 forms an endless track and rotates and descends.

Next, a caterpillar for a cable mobile robot having a clutch according to a second embodiment of the present invention will be described.

FIG. 18 is a schematic view of a caterpillar for a cable mobile robot having a clutch according to a second embodiment of the present invention, and FIG. 19 is a view showing a coupling state of a caterpillar for a cable mobile robot having the clutch of FIG. 18 . 18 and 19, a caterpillar 200 for a cable mobile robot having a clutch according to a second embodiment of the present invention includes a wheel unit 110, a rotation unit 120 connected to the wheel unit 110, A driving motor 140 for applying driving force to the rotary part 120 and a moving part for guiding the movement of the second gear 132 of the clutch 130 250). Since the wheel unit 110, the rotation unit 120, the clutch 130, and the drive motor 140 are the same as those of the first embodiment, duplicate descriptions are omitted.

The shifting portion 250 includes a pushing bar 251 and a solenoid 252 to allow the coupling of the clutch 130 to be performed.

The pushing bar 251 is elongated in the longitudinal direction, and the center portion penetrates the drive shaft 141 and is coupled to the second gear 132. A solenoid 252 is mounted at both ends of the pushing bar 251 and the pushing bar 251 is advanced by the solenoid 252 to engage the clutch 130.

The solenoid 252 is configured to move the pushing bar 251 toward the first gear 131 so that the coupling of the clutch 230 is performed. Power is applied to the solenoid 252 from the power applied portion to drive the solenoid 252 so that the pushing bar 251 moves toward the first gear 131 to engage the clutch 130 and compress the spring 131b .

On the other hand, when power is not applied to the solenoid 252, the solenoid 252 is not driven, so that the spring 131b is restored. By this restoring force, the pushing bar 251 is retracted to disengage the clutch.

The power source can be selectively supplied to the driving motor 140 and the solenoid 252 from the power application unit. Thus, in this embodiment, power is applied to the solenoid 252 to form a coupling of the clutch 130, 140 to generate and transmit drive torque.

Next, a caterpillar for a cable mobile robot having a clutch according to a third embodiment of the present invention will be described.

The caterpillar for a cable mobile robot having the clutch according to the present embodiment is provided with a clutch that can transmit high torque by forming a coupling through displacement and release the coupling when power is not applied, And a clutch that can be lowered.

20 is a principal perspective view of a caterpillar for a cable mobile robot having a clutch according to a third embodiment of the present invention, and Fig. 21 is a plan view of a decelerating portion of a caterpillar for a cable moving robot having the clutch of Fig. 20 and 21, a caterpillar for a cable mobile robot having a clutch according to the present embodiment further includes a decelerator in addition to a caterpillar for a cable moving robot having a clutch according to the first or second embodiment do. That is, the caterpillar for a cable mobile robot having the clutch according to the present embodiment is provided with a clutch which is disengaged when power is not applied, so that the caterpillar descends along the cable by its own weight, and descends safely by lowering the descending speed.

The description of the configuration of the caterpillar for a cable mobile robot having the clutch according to the first and second embodiments will be omitted.

The deceleration unit 300 is connected to the second pulley 112 and configured to reduce the rotational force or rotational speed of the second pulley 112 when the drive motor 140 is stopped. That is, the deceleration unit 300 reduces the rotational force or rotational speed of the first pulley 111 interlocked with the second pulley 112 by decreasing the rotational force or the rotational speed of the second pulley 112. The deceleration section 300 includes a damper 301, an inverse operation brake 302, and a spur gear 303.

The damper 301 is provided as a disk damper in a configuration to rotate by receiving the rotational force from the second pulley 112. The damper 301 is mounted on the reverse operation brake 302 and a transmission shaft 301a connected to the spur gear 303 is inserted.

The transmission shaft 301a rotates together with the second pulley 112 when the second pulley 112 rotates, regardless of whether the driving motor 140 is driven or not. The damper 301 selectively rotates according to whether the driving motor 140 is driven Rotate. Specifically, when the driving motor 140 is driven, the damper 301 rotates together with the transmission shaft 301a and does not affect the second pulley 112. However, when the driving motor 140 is not driven And is fixed by the reverse operation brake 302 to limit the rotation of the transmission shaft 301a.

On the other hand, a damping oil 301b is provided inside the damper 301 to reduce the rotational force by applying frictional force during rotation of the transmission shaft 301a. Here, the damping oil may be provided with silicone oil.

The inverse brake 302 is connected to the damper 301 and is not operated when the drive motor 140 is driven and the drive motor 140 is stopped and the caterpillar for a cable- (100) is lowered by its own weight. Specifically, the reverse operation brake 302 does not affect the rotational force or the rotational speed of the second pulley 112 by driving the drive motor 140 together with the damper 301, And is fixed when stopped to reduce the rotational force or rotational speed of the second pulley 112.

The spur gear 303 is configured to connect the second pulley 112 and the damper 301. The rotary shaft 112a of the second pulley 112 and the rotary shaft of the damper 301 are arranged in parallel to each other and then the respective central axes are connected through the spur gear 303. [

Hereinafter, the operation of the caterpillar for a cable mobile robot having the clutch according to the third embodiment will be described.

22 is a view showing the operation of the decelerator of the caterpillar for a cable-moving robot provided with the clutch of Fig.

1. When the drive motor is driven

When the driving motor 140 is driven, the controller 304 senses the driving of the driving motor 140 so that the reverse operation brake 302 is not operated and does not interfere with the rotation of the damper 301.

The driving force of the driving motor 140 rotates the first pulley 111 and rotates the belt member 113 engaged with the first pulley 111. [

The rotational force of the second pulley 112 is transmitted to the damper 301 through the spur gear 303. At this time, since the reverse operation brake 302 is not operated, the transmission shaft 301a and the damper 301 rotate in the same direction, and the deceleration unit 300 does not affect the second pulley 112. [

2. When drive motor is stopped

When the driving of the driving motor 140 is stopped, the control unit 304 senses the driving stoppage of the driving motor 140 and operates the reverse operation brake 302.

The second pulley 112 receives rotational force from the belt member 113, and rotational force is transmitted to the damper 301 through the spur gear 133. Since the reverse operation brake 302 is operated, the damper 301 maintains the fixed state, and rotation of the transmission shaft 301a on the damper 301 is reduced. The rotational force is gradually reduced by the damping oil 301b and the reduction of the rotational force is transmitted to the belt member 113 through the spur gear 303 and the second pulley 112 again. Through this operation, the rotational speed of the belt member 113 can be gradually reduced.

Therefore, according to the present invention, there is provided a clutch which is capable of transmitting a high torque by forming a coupling through displacement and releasing engagement when power is not applied, descends along a cable by its own weight, There is provided a caterpillar for a cable-moving robot having a clutch that can be safely lowered.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

100, 200: caterpillar for a cable mobile robot having a clutch
110: wheel part 120: rotating part
130: clutch 140: drive motor
150, 250: moving part 160:
170: Battery part 180: Relay
190: Limit switch 300:

Claims (15)

A wheel unit including a first pulley and a second pulley which are spaced apart from each other and which are interlocked with each other by a belt member mounted on an outer circumferential surface thereof;
A rotation part for transmitting a rotational force to the wheel part;
A first gear disposed on the rotating portion; a second gear disposed on the driving shaft of the driving motor and spaced apart from the first gear by a predetermined distance, the first gear being engaged with the first gear, A second gear that drives the rotating portion and is disengageable from the first gear when the drive motor is stopped; And
A second gear connected to the second gear to move the second gear toward the first gear so as to engage with the clutch and move the second gear toward the drive motor so that the clutch is disengaged when the drive motor is stopped, Comprising:
The moving unit includes: a ball screw disposed in parallel to the driving shaft, the ball screw being provided with a screw and a nut; A pushing bar having one end connected to the second gear and the other end connected to the nut; And an auxiliary motor that rotates the screw to move the nut so that the pushing bar reciprocates. [3] The caterpillar of claim 1, delete delete The method according to claim 1,
And a battery unit for driving the auxiliary motor so that the clutch is disengaged when the drive motor is stopped. 5. The method of claim 4,
A power applying unit for applying power to the driving motor and the auxiliary motor;
And a relay for driving the battery unit when the power application unit is stopped. The crawler crawler cable traveling robot according to claim 1, 6. The method of claim 5,
The auxiliary motor is a DC motor,
Wherein the battery unit supplies power to the power applying unit in the opposite direction to the power applying unit. 5. The method of claim 4,
And a limit switch for controlling the driving of the auxiliary motor to control the position of the second gear. 8. The method of claim 7,
Wherein the pushing bar further comprises a contact member,
The limit switch includes:
A first limit switch for contacting the contact member when the clutch is engaged and stopping the driving of the auxiliary motor; And a second limit switch which is spaced apart from the first limit switch and stops the driving of the auxiliary motor when the clutch is disengaged when the contact member is brought into contact with the clutch, Caterpillar. 9. The method of claim 8,
The rotation unit includes:
A bevel gear including a first conversion gear disposed in parallel with the wheel portion, and a second conversion gear engaged with the first conversion gear and mounted with the first gear; A first transmission gear disposed coaxially with the first conversion gear and interlocking with the first conversion gear; And a second transmission gear disposed coaxially with the wheel section and meshed with the first transmission gear to interlock with the wheel section and the first transmission gear. . A wheel unit including a first pulley and a second pulley which are spaced apart from each other and which are interlocked with each other by a belt member mounted on an outer circumferential surface thereof;
A rotation part for transmitting a rotational force to the wheel part;
A first gear disposed on the rotating portion; a second gear disposed on the driving shaft of the driving motor and spaced apart from the first gear by a predetermined distance, the first gear being engaged with the first gear, A second gear that drives the rotating portion and is disengageable from the first gear when the drive motor is stopped; And
A second gear connected to the second gear to move the second gear toward the first gear so as to engage with the clutch and move the second gear toward the drive motor so that the clutch is disengaged when the drive motor is stopped, Comprising:
Wherein the moving unit includes a pushing bar that is elongated in the longitudinal direction and has a center portion penetrating the driving shaft and engaged with the second gear; And a solenoid connected to an end of the pushing bar to closely contact the pushing bar to the first gear when the driving motor is driven. 11. The method of claim 10,
The rotation unit includes:
A bevel gear including a first conversion gear disposed in parallel with the wheel portion, and a second conversion gear engaged with the first conversion gear and mounted with the first gear; A first transmission gear disposed coaxially with the first conversion gear and interlocking with the first conversion gear; And a second transmission gear disposed coaxially with the wheel section and meshed with the first transmission gear to interlock with the wheel section and the first transmission gear. . 12. The method according to any one of claims 10 to 11,
And a deceleration portion connected to the second pulley to receive a rotation force to rotate and to reduce a rotation force or a rotation speed of the second pulley when the drive motor is stopped. Caterpillar. 13. The method of claim 12,
Wherein,
A damper rotatably receiving the rotational force from the second pulley; And an inverse brake connected to the damper and restricting the rotation of the second pulley while keeping the driving motor in a fixed state when the driving motor is stopped. . 14. The method of claim 13,
Wherein the damper has a damping oil therein to reduce a rotational force of the second pulley. 14. The method of claim 13,
The rotation axis of the second pulley and the rotation axis of the damper are parallel,
Wherein the decelerator further comprises a plurality of spur gears connecting the rotation axis of the second pulley and the center axis of the damper so that the second pulley and the damper are interlocked with each other. .

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