KR101697618B1 - Small unmaned ground robot for surveillance security - Google Patents

Abstract

The tilting assembly includes a tilting assembly mounted on the upper side of the length expanding device and capable of tilting about one axis. The tilting assembly is disposed on the upper side of the tilting device, And a driving device connected to a lower end of the length expanding device and providing a driving force to the length expanding device to adjust the height of the length extending device, wherein the fan driving part rotates the assembly about an axis crossing the one axis, A small robot for a monitoring boundary is provided.

Description

{SMALL UNMANED GROUND ROBOT FOR SURVEILLANCE & SECURITY}

The present invention relates to a small-sized robot for a surveillance boundary capable of height-adjustable and low-centering by arranging armed positions as low as possible.

A vertical expansion device such as a telescoping mast is a device for mounting an application device, for example, a transmission / reception antenna of a broadcast relay vehicle, a camera for photographing, or an observing device at the uppermost stage and freely raising or lowering it.

In addition, the vertical expansion device is used for military purposes, and a surveillance sensor such as a video camera is mounted on the uppermost stage, and the vertical expansion device expands the required height vertically to expand the range of observation.

In recent years, the weight of firearms and surveillance equipment has increased, and in some cases, the weight of the surveillance device has increased by more than 10 kg. This problem can not be solved with a vertical expansion device related to the current monitoring device. Further, open documents related to the presently proposed vertical expansion device (Patent No. 10-1444430, etc.) fail to consider a solution to the above problem.

On the other hand, the conventional miniature robot for a monitoring boundary is disposed in a position where the armed position is high, which makes it difficult to design a low center of gravity.

An object of the present invention is to provide a small-sized robot for a surveillance boundary that enables a low-centered design and is capable of adjusting the vertical height.

In order to achieve the above object, according to one aspect of the present invention, there is provided a miniature robot for a surveillance system, comprising: a length extension device capable of height adjustment; A fan driving unit provided inside the upper side of the length expanding device and rotating the tilting assembly about an axis intersecting the one axis, and a fan connected to the lower end of the length expanding device, And a driving device for providing a driving force to the length expanding device to adjust the length of the length expanding device.

According to an embodiment of the present invention, the tilting assembly includes: a harmonic drive having an engaging portion and allowing the engaging portion to rotate about the one axis; and a decelerating portion connected to the harmonic drive to provide a driving force to the harmonic drive Motor.

According to another aspect of the present invention, the length expanding device includes a plurality of tubes connected to each other to be fitted to each other, the plurality of tubes include a length adjusting portion accommodated in one of the tubes adjacent to each other, An end stopper coupled to the lower end of each of the tubes and coupling the length extension device to the drive device, and a guide chamber coupled to an upper end of each of the plurality of tubes, the guide chamber being adapted to receive and guide the adjacent tubes .

According to another aspect of the present invention, the length expanding device includes an elastic portion disposed in one direction and adapted to receive an elastic force, a first member disposed at one end of the elastic portion, and a second member disposed at the other end of the elastic portion And a second member which is arranged to adjust a relative distance with respect to the first member in the one direction, wherein the elastic portion includes a first spring contacting the first member, And a second spring that is coupled to the second member, the other end of the spring being opposite to the one end of the first spring.

Wherein a guide tube is provided between the first spring and the second spring to contact one end of the first spring and the second spring and the guide tube is provided with one end And a second flange portion extending outward from an outer periphery of the other end of the guide tube so as to be in contact with an end portion of the second spring.

At least one guide tube may be provided between the first and second springs and the springs between the first and second springs, have.

According to another embodiment of the present invention, the drive device includes a pulley rotatable about one axis, a worm gear motor for providing a driving force to the pulley, And a steel band coupled to the inner circumference of the length expanding device so as to be adjustable.

According to another embodiment of the present invention, the small-sized robot for a surveillance boundary may include: an arming assembly coupled to the tilting assembly; a monitoring unit connected to the tilting assembly; and a controller connected to the fan driving unit, And further includes a searchlight.

The arming assembly may include a gun configured to be foamable, and a laser unit coupled to an upper side of the gun to fire a laser.

The firearm may be equipped with a shock absorber configured to absorb shock when foaming.

The monitoring unit may include a CCD camera capable of photographing in the daytime, and an IR camera capable of photographing at night.

Wherein the tilting assembly rotates about the one axis to tilt the arming assembly and the monitoring unit vertically, and the fan driving unit rotates the arming assembly, the monitoring unit, and the searchlight to another rotation It is possible to rotate about the axis.

According to the present invention having the above-described structure, the small-sized robot for the monitoring boundary exposes the tilt driving unit to the outside and the fan driving unit is disposed inside the length expanding apparatus, thereby enabling a low centering design.

In addition, the small-sized robot for a monitoring boundary according to the present invention can be provided with a length expanding device to adjust the height and reduce the driving torque load of the driving motor for raising the length extending device. In addition, the length extending device reduces the load of the driving device such as the speed reducer, thereby reducing the overall power consumption, improving the reliability and durability of the equipment, and making the equipment lighter.

Brief Description of the Drawings Fig. 1 is a perspective view of a miniature robot for a monitoring boundary according to the present invention. Fig.
Figure 2 is a perspective view of the tilting assembly of Figure 1;
3 is a perspective view of the fan drive unit of the present invention;
Fig. 4 is a perspective view showing an example of the length expanding device of Fig. 1; Fig.
Fig. 5 is a perspective view showing the driving apparatus of Fig. 1; Fig.
FIG. 6 is a perspective view illustrating the arming assembly, the monitor, and the searchlight of FIG. 1;
7 is a conceptual view showing a shock absorber of the arming assembly of FIG.
8 is a conceptual view showing another example of the length extending device of FIG.
9 is a conceptual view showing still another example of the length-extending device of FIG.
10 is a conceptual view showing still another example of the length-extending device of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In the present specification, the same or similar reference numerals are given to different embodiments in the same or similar configurations. As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Fig. 1 is a perspective view of a small-sized guard robot 1000 for a monitoring boundary according to the present invention. 2 is a perspective view of the tilting assembly 10 of FIG. 3 is a perspective view of the fan drive unit 20 of the present invention.

Referring to FIG. 1, the small-sized guard robot 1000 includes a length-extending device 100, 200, 300 and 400, a tilting assembly 10, a fan driving part 20 and a driving device 30.

The length-extending device 100 is made adjustable in height. A tilting assembly 10 is attached to the upper side of the length-extending device 100, and a driving device 30 is coupled to the lower side of the length-extending device 100. The detailed structure of the length-extending device 100 will be described later.

Referring to FIG. 2, the tilting assembly 10 is provided on the upper side of the length-extending device 100, and can be tilted about a shaft 13. The tilting assembly 10 may include a coupling portion 16 that is configured to tilt the coupling portion 16 about a shaft 13 and to engage the coupling portion 16 40 and the monitoring unit 50 can be tilted. The tilting assembly 10 may be disposed in the left and right directions in FIG. 1 and the tilting assembly 10 may be rotated as the tilting assembly 10 is rotated about the one axis 13. [ It is possible to adjust the forward and downward angles of the arming assembly 40 and the monitoring unit 50, which are coupled to each other.

The fan drive unit 20 will be described with reference to Figs. 2 and 3. Fig. The fan driving unit 20 is provided inside the upper side of the length extending device 100 and is connected to the tilting assembly 10. [ The fan driving unit 20 rotates the rotary plate 23 coupled with the bracket 25 around the other axis 29 intersecting with the one axis 13, The arm assembly 59, the arm assembly 40, and the monitoring unit 50 are rotated.

The other one axis 29 intersecting the one axis 13 may be arranged in a direction parallel to the extending direction of the length expanding device 100. The fan driving unit 20 may be disposed on one axis 13 The armature assembly 40, the monitoring unit 50, and the searchlight 59, which are coupled to the bracket 25 by rotating the rotary plate 23 coupled with the bracket 25 about the other axis 29, It is possible to adjust the left and right rotation angles of the motor.

The structure in which the tilting assembly 10 is disposed outside the inside of the lengthwise expansion device 100 but not inside and the fan driving part 20 is disposed inside the lengthwise expansion device 100 is a structure in which the tilting assembly 10 1000). ≪ / RTI >

The driving device 30 is connected to the lower end of the length extending device 100 to adjust the height of the length extending device 100 by providing a driving force to the length extending device 100. The detailed structure of the drive device 30 will be described in the description of FIG.

On the other hand, a platform 60 is provided below the miniature robot 1000 for a monitoring boundary. The platform 60 is mounted at the lower end of the drive device 30. [ The platform 60 supports and moves the drive device 30, the extension device 100, and the tilting assembly 10 and the like. The platform 60 is powered by a power source inside or outside the platform 60, thereby generating power to move the platform 60 forward and backward.

In the body 63 of the platform 60, a plurality of drive wheels 61 are rotatably installed. The track 67 is wound on the plurality of drive wheels 61. The track 67 moves the miniature robot 1000 for the monitoring boundary in contact with the ground to minimize the frictional force with the ground. FIG. 1 shows an example in which a plurality of two kinds of driving wheels 61 having different radii are provided, and two kinds of tracks 67 connecting the driving wheels 61 are provided. Such a structure may be inclined or inclined, Thereby making it easier to move the small-sized robot 1000 for a monitoring boundary.

Referring to FIG. 2, the tilting assembly 10 includes a harmonic drive 15 and a decelerating motor 17. The harmonic drive 15 is configured to rotate about one axis 13 and the deceleration motor 17 is connected to the harmonic drive 15 to provide a driving force.

The tilting assembly 10 may include an engaging portion 16 and a coupling portion 16 to which the arm assembly 40 and the monitoring portion 50 are coupled. As the tilting assembly 10 is tilted, the arming assembly 40 coupled to the engaging portion 16 is tilted.

As the tilting assembly 10 is rotated about the one axis 13, the forward and backward angles of the arming assembly 40 and the monitoring unit 50 coupled to the tilting assembly 10 can be adjusted.

4 is a perspective view showing an example of the length expanding apparatus 100 of FIG. FIG. 4 is an exploded perspective view of one tube, and FIG. 4 is a conceptual diagram illustrating that the height of the length adjusting unit 150 is adjusted in the center and the right side.

An example of the length-extending device 100 will be described with reference to FIG. 8 to 10 show other examples of the extension devices 200, 300 and 400, which will be described.

One example of the length-extending device 100 includes a length adjuster 150, an end stopper 151, and a guide chamber 153. The exploded perspective view of these is shown in the left side of Fig.

The length adjusting unit 150 includes a plurality of tubes 155. The plurality of tubes 155 are connected to each other and are accommodated in one of the tubes 155 adjacent to each other . 4 and 10 show an example in which a plurality of tubes 155 and 455 are accommodated in the lower tubes 155 and 455, respectively.

An end stopper 151 is coupled to the lower end of each tube 155. The end stopper 151 is formed with the receiving groove 151a so that the protruding portion 37a of the steel band 37 to be described later is fitted and the steel band 37 is prevented from being warped. This will be described in more detail in the description of FIG.

The end stopper 151 is formed in a thin rib shape coupled to the lower end of the length extending device 100 as shown in FIG. 4 and is coupled to the lower end of each tube 155.

The guide chamber 153 is coupled to the upper end of each of the plurality of tubes 155 so as to guide and accommodate adjacent tubes 155.

The center and right side views of FIG. 4 show an example in which the length adjuster 150 has a small height and an example in which the height adjuster 150 has a large height, respectively.

10, the elastic portion 410 may be provided on the outer side of the length adjusting portion 450. [ When adjusting the length of the length-extending device 400, the elastic part 410 is subjected to a relatively strong compressive force (when the length of the length-extending device is adjusted to a small value) or a relatively weak compressive force The stress applied to the elongating device 400 is dispersed.

Internal spaces (116, 416) are formed in the length adjusting portions (150, 450) so that the wires can be arranged.

FIG. 8 is a conceptual diagram showing another example of the length extending device 200 of FIG. 1, FIG. 9 is a conceptual view showing another example of the length extending device 300 of FIG. 1, (400) according to another embodiment of the present invention.

Other embodiments of the length-extending devices 200, 300, and 400 will be described with reference to FIGS.

On the other hand, the distance between the first and second members 220, 320, 420, 230, 330, and 430 of the extension devices 200, 300, and 400 is minimum A state in which the distance between the first and second members 220 and 230 is spaced by a certain distance, and a diagram in which a maximum distance is maintained between the first and second members 220 and 230, respectively.

The length extension devices 200, 300 and 400 include elastic portions 210, 310 and 410 and first and second members 220, 320, 420, 230, 330 and 430. The elastic portion 210 is disposed in one direction in which the length of the length-extending device 200 is adjusted. As the height of the length-extending device 200 is adjusted, the elastic portion is subjected to a relatively strong compressive force or a relatively weak compressive force do.

The first members 220, 320 and 420 are disposed at one end of the elastic portions 210 and 310 and the second members 230 and 430 are disposed at the other ends of the elastic portions 210, So that the relative distance to the first member 220, 320, 420 is adjusted. 8-10 illustrate an example in which the first members 220, 320, and 420 are disposed at the upper ends of the elastic portions 210, 310, and 410, respectively.

The elastic portion 310 may include a first spring 313 and a second spring 315. The first spring 313 is disposed such that one end thereof contacts the first member 320 and the second spring 315 And the second member 330 is disposed at the other end of the second spring 315 positioned opposite to the one end of the first spring 313 An example is shown in Fig.

The first member 320 has an inner tube 325 extending along the inner periphery of the first spring 313 in the direction in which the first and second springs 313 and 315 are disposed, The member 330 has an outer tube 335 extending along the outer periphery of the second spring 315 in the direction in which the first and second springs 313 and 315 are disposed.

Further, a guide tube 340 is provided between the first and second springs 313 and 315. The guide tube 340 has a first flange portion 347 and a second spring 315 which extend inward from the inner periphery of one end of the guide tube 340 so as to come into contact with the end portion of the first spring 313, A second flange portion 343 extending outward from the outer periphery of the other end of the guide tube 340 is formed.

At least one spring may be further included between the first and second springs 313 and 315 and the spring between the first and second springs 313 and 315 and the first and second springs 313 and 315 At least one guide tube 340 may be provided between the guide tubes 340.

An example of how the relative distance between the first and second members 320 and 330 approaches is shown in the lower left figure in which the guide tube 340, the inner tube 325, and the outer tube 335, The first and second springs 313 and 315 may be appropriately guided and the relative distance of the first and second members 320 and 330 may be shortened.

The first and second springs 313 and 315 are guided by the inner and outer tubes 325 and 335 and the guide tube 340 when the height of the length extending device 300 is adjusted It is possible to stably adjust the height.

Meanwhile, the length expanding apparatus 400 according to another example of FIG. 10 is further provided with a length adjusting unit 450 in the length expanding apparatus according to the example of FIG. The length adjuster 450 is fixed to both the first and second members 420 and 430 so that the length between the first and second members 420 and 430 is adjusted.

The length adjuster 450 includes a plurality of tubes 455. The plurality of tubes 455 are accommodated in one of the tubes 455 adjacent to each other. 10, an example in which a plurality of tubes 455 are accommodated in the lower tube 455 is shown.

When the second member 430 moves close to the first member 420 and the elastic part 410 is compressed, the tubes 455 partially move toward the first member 420, (455). Referring to the center view of FIG. 10, a structure is formed in which each tube 455 is partially inserted into another tube 455 disposed at the lower side. Further, when the second member 430 is moved away from the first member 420 so that the elastic portion 410 is subjected to a relatively small compressive force, the plurality of tubes 455 are accommodated for a relatively small length do.

The length extension devices 100, 200, 300, and 400 are height-adjusted by the driving device 30 described below. The structure thereof will be described in the description of the drive unit 30. FIG.

Internal spaces 216, 316 and 416 in which electric wires can be arranged may be formed in the lengthwise expansion devices 200, 300 and 400.

5 is a perspective view showing the driving device 30 of Fig.

5, the driving device 30 includes a drum 33 wound with a steel band 37 and capable of being supplied to a pulley 38, a worm gear motor 35 for supplying a driving force, a speed reducer 34, A worm gear 36 for transmitting the power generated by the worm gear motor 35 to the pulley 38 and a worm gear 36 for storing the worm gear 36 wound on the drum 33 and connected to the pulley 38, And a steel band 37 supplied to the inner circumference of the frame.

The steel band 37 is wound on the pulley 38 and the steel band 37 is released from the drum 33 when the pulley 38 is rotated by the driving force provided by the worm gear motor 35. [

The steel band 37 is formed with a plurality of protrusions 37a to be coupled to the receiving groove 151a of the end stopper 151. The steel band 37 is connected to the inner end of the length extending device 100, And can be firmly coupled to the stopper 151. Further, warping of the steel band 37 can be prevented.

One end of the steel band 37 is coupled to the length extending device 100 to adjust the height of the length extending device 100. The steel band 37 is positioned inside the upper tubes 155 and 455 of the length adjusters 150 and 450 and in the first member 220 or the inner tube 325, Lt; / RTI > The steel band 37 is wound or unwound on the drum 33 so that the inside of the upper tubes 155 and 455 of the length adjusting parts 150 and 450 and the first member 220 or the inner tube 325 are moved up and down The height of the length-extending devices 100, 200, 300, and 400 can be adjusted.

6 is a perspective view showing the arming assembly 40 of FIG. 7 is a conceptual diagram showing the shock absorber 45 of the arming assembly 40 of FIG.

6 and 7, the monitoring miniature robot 1000 according to the present invention includes an arming assembly 40 and a monitoring unit 50, which are coupled to an engaging portion 16 at an upper end of a length extending device 100 .

The arming assembly 40 may include a gun 44 configured to be foamable in one direction and a laser unit 48 coupled to the upper side of the gun 44 to emit a laser. The firearm (44) is provided with a shock absorber (45) adapted to absorb an impact at the time of foaming. The shock absorber 45 can be constructed as an oil-filled spring or damper structure inside, and can be understood as a general shock absorber. 7 shows an example of a shock absorber 45 provided on the side surface of the gun 44. As shown in Fig.

Meanwhile, the monitoring unit 50 may include a CCD (charge coupled device) camera 53 that can be monitored during the day and an IR (infrared ray) camera 57 that can be monitored at night.

The above-described miniature robot for a surveillance boundary is not limited to the configuration and the method of the embodiments described above, but all or some of the embodiments may be selectively combined so that various modifications may be made to the embodiments.

In addition, the detailed description of the invention described above is a concrete example for the inventors of the present invention to carry out the invention as an embodiment of the present invention, and the applicant's right is not limited thereto. The applicant's rights are set forth in the claims set forth below.

Claims (13)

A length extension device capable of adjusting the height;
A tilting assembly installed on the upper side of the length expanding device and capable of tilting about one axis;
A fan driving unit provided on the upper side of the length expanding device and rotating the tilting assembly about an axis intersecting the one axis; And
And a driving device connected to a lower end of the length extending device and providing driving force to the length extending device to adjust a height of the length extending device,
The length-
An elastic part arranged in one direction to receive an elastic force;
A first member disposed at one end of the elastic portion; And
And a second member disposed at the other end of the elastic portion and adapted to adjust a relative distance with respect to the first member in the one direction,
The elastic portion
A first spring contacting the first member; And
And a second spring installed to receive the outer periphery of the first spring and the other end of the first spring positioned opposite to the first end of the first spring is coupled to the second member. The method according to claim 1,
The tilting assembly includes:
A harmonic drive having a coupling portion, the coupling portion being rotatable about the one axis; And
And a deceleration motor connected to the harmonic drive for providing a driving force to the harmonic drive. The method according to claim 1,
The length-
A length adjuster having a plurality of tubes connected to each other to be fitted to each other, the plurality of tubes being accommodated in one of the adjacent tubes;
An end stopper coupled to a lower end of each of the plurality of tubes and coupling the length extension device to the drive device; And
And a guide chamber coupled to an upper end of each of the plurality of tubes, the guide chamber being configured to guide and receive the adjacent tubes. delete The method according to claim 1,
Wherein a guide tube is provided between the first spring and the second spring to contact one end of the first spring and the second spring,
In the guide tube,
A first flange portion extending inward from an inner periphery of one end of the guide tube so as to contact an end portion of the first spring; And
And a second flange portion extending outwardly from an outer periphery of the other end portion of the guide tube so as to be in contact with an end portion of the second spring. 6. The method of claim 5,
At least one spring is further provided between the first and second springs,
Wherein at least one guide tube is provided between the springs between the first and second springs and the first and second springs. The method according to claim 1,
The driving device includes:
A pulley rotatable about one axis;
A worm gear motor for providing a driving force to the pulley; And
And a steel band coupled to an inner circumference of the length expanding device so that the height of the length expanding device can be adjusted as the pulley is rotated. The method according to claim 1,
An arming assembly coupled to the tilting assembly;
A monitoring unit connected to the tilting assembly and configured to monitor the front; And
And a searchlight connected to the fan driving unit and providing a light to an external object. 9. The method of claim 8,
The arming assembly includes:
A firearm made fireproof; And
And a laser unit coupled to an upper side of the firearm to fire a laser beam. 10. The method of claim 9,
Wherein the firearm is provided with a shock absorber configured to absorb an impact at the time of foaming. 9. The method of claim 8,
Wherein,
A CCD camera which can be monitored during the day; And
And an IR camera capable of being monitored at night. 9. The method of claim 8,
Wherein the tilting assembly rotates the arming assembly and the monitoring unit around the one axis to tilt the monitor in the vertical direction,
Wherein the fan driving unit rotates the arming assembly, the monitoring unit, and the searchlight around one axis that intersects the one axis of rotation. A length extension device capable of adjusting the height;
A tilting assembly installed on the upper side of the length expanding device and capable of tilting about one axis;
A fan driving unit provided on the upper side of the length expanding device and rotating the tilting assembly about an axis intersecting the one axis; And
And a driving device connected to a lower end of the length extending device and providing driving force to the length extending device to adjust a height of the length extending device,
The length-
An elastic part arranged in one direction to receive an elastic force;
A first member disposed at one end of the elastic portion; And
And a second member disposed at the other end of the elastic portion and adapted to adjust a relative distance with respect to the first member in the one direction,
Wherein the resilient portion is configured to receive a compressive force by a relative distance adjustment of the first and second members,
Wherein the first and second members are fixed to the inside of the elastic portion so that the length between the first and second members is adjusted A length adjusting unit is provided,
The length adjusting unit may include a plurality of tubes each having a circular shape, and each of the tubes may be inserted into or withdrawn from one of the adjacent tubes according to the magnitude of the compressive force acting on the elastic part, And adjusts the distance between the first member and the second member.

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