KR102461173B1 - Robot moving along wire - Google Patents

Abstract

The present invention relates to a wire mobile robot capable of performing work in a wide area while traveling in a straight section and a curved section, comprising: a pair of driving units having driving wheels that are seated on a wire and run; a main frame disposed between the pair of driving parts to connect the pair of driving parts; and at least one hinge bracket interposed between the traveling part and the main frame, wherein the hinge bracket extends in the height direction of the main frame so that the hinge bracket and the main frame rotate with respect to each other on a horizontal plane, It may include a first hinge shaft connected to the main frame.

Description

Wire moving robot {Robot moving along wire}

The present invention relates to a wire mobile robot that performs work in a wide area while traveling in a straight section and a curved section.

In general, a wire cam obtains information by using an image sensor such as a camera while making a linear motion by a roller on an installed wire. For example, while fixing both ends of the wire to a pillar or a frame, the traveling unit is configured to travel in a straight line between the ends of the wire.

In such a wire cam, a work space for photographing is relatively wide compared to a fixed position camera, and a required installation space can be greatly reduced. In addition, the wire cam has a very fast control speed and can be automated by using path tracking and the like.

However, the actual use environment is limited due to the fact that the wire cam moving along the wire is difficult to travel in a curve or in an angled place, and the fact that external forces have a large influence on control since the platform is fixed only on the upper two axes. to be.

(Patent Document 1) US 9154673 B2

Accordingly, an object of the present invention is to provide a wire moving robot capable of performing work in a wide area while traveling in a straight section and a curved section.

A wire moving robot according to an embodiment of the present invention includes a pair of traveling units having a driving wheel seated on a wire and traveling; a main frame disposed between the pair of driving parts to connect the pair of driving parts; and at least one hinge bracket interposed between the traveling part and the main frame, wherein the hinge bracket extends in the height direction of the main frame so that the hinge bracket and the main frame rotate with respect to each other on a horizontal plane, and a first hinge shaft connected to the main frame, wherein the driving unit includes a body formed so that the wire passes through, the driving wheel rotatably installed on the body and traveling on the wire, and the driving unit installed on the main body and the driving unit and a driving motor connected to a wheel to rotate the driving wheel, wherein the hinge bracket includes a horizontal hinge part extending in a horizontal direction and a vertical hinge part extending in a vertical direction, the horizontal hinge part and the main frame The hinge portion of the may be connected by the first hinge shaft.

According to the present invention, it is possible to travel not only in a simple straight section but also in a curved section, thereby obtaining the effect of using the wire moving robot in various environments.

1 is a perspective view showing a wire moving robot according to an embodiment of the present invention.
2 is a cross-sectional view illustrating a wire moving robot according to an embodiment of the present invention.
FIG. 3 is a front view of the driving wheel shown in FIG. 2 .
4 is a perspective view illustrating a state in which the traveling unit travels the wire clamp.
5 and 6 are views showing the operating state of the wire mobile robot according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings.

1 is a perspective view illustrating a wire moving robot according to an embodiment of the present invention, and FIG. 2 is a cross-sectional view.

The wire moving robot according to an embodiment of the present invention may include a pair of traveling units 10 , a main frame 30 , and at least one hinge bracket 40 .

The pair of driving units 10 may have the same configuration and may be arranged in series, and may be placed symmetrically with respect to the main frame 30 .

By having a pair of traveling units 10 as described above, the wire moving robot of the present invention has the advantage of minimizing the influence of external forces as well as reducing the influence of bending occurring during driving in a curved section.

The driving unit 10 includes a main body 11 formed so that the wire 1 penetrates, a driving wheel 12 rotatably installed on the main body and traveling on the wire, and a driving wheel installed in the main body and connected to the driving wheel It may include a driving motor 13 for rotating the.

The body 11 may be formed of a bracket having a cross section of approximately C shape. The wire 1 may pass through the body along the longitudinal direction (X) of the body.

FIG. 3 is a front view of the driving wheel shown in FIG. 2 , and FIG. 4 is a perspective view illustrating a state in which the driving unit drives the wire clamp.

The driving wheel 12 may have a concave groove portion 120 formed on the circumferential surface. The wire 1 may be inserted into the groove portion to prevent the wire from being separated and generate frictional force. Accordingly, the driving wheel may be seated on the wire.

The groove part 120 includes a wide groove 121 formed on the radially outer side of the driving wheel 12 and having a substantially rectangular cross section, and a narrow groove 122 formed radially inside the driving wheel and having an approximately U-shaped cross section. , and an inclined groove 123 connecting the wide groove and the narrow groove.

For example, the driving wheel 12 can travel with the wire inserted into the narrow groove 122 in a straight section of the wire 1, and a wire clamp installed to maintain the curved shape of the wire in the curved section of the wire. (2), so that the wire and the wire clamp together pass through the wide groove 121, so that the driving wheel can continue to travel without deviating from the traveling path.

Here, the wire clamp 2 may include a pipe member 3 which is disposed on a plurality of pillars or frames and holds the wire so that the wire 1 forms a curved section as well as a straight section.

The wire clamp 2 need not be installed in all ranges of the travel route. Among the traveling paths, for example, it may be installed in a place where the degree of sagging of the wire 1 is severe, a place where the left and right curved movement (yawing) of the robot is required, and a place where the up and down curved movement (pitching) of the robot is required.

When the curvature is changed from a straight section to a curved section or between curved sections by the wire clamp 2 , the environment in which the driving wheel 12 must travel changes. For example, if the diameter of the wire 1 is 5 mm, the pipe member 3 of the wire clamp 2 is increased to 8 mm in diameter. The diameter difference of 3 mm that occurs in this case can be overcome by using the narrow groove 122, the inclined groove 123, and the wide groove 121 of the groove part 120 for the driving wheel.

Accordingly, the wire moving robot according to an embodiment of the present invention can travel in a curved section such as a left and right curve or an up and down curve set through the wire clamp 2, and not only travel along the wire 1 but also the wire clamp can move through it.

Referring back to FIG. 1 , the driving motor 13 may be connected to the driving wheel 12 to rotate the driving wheel. The motor shaft 130 of the driving motor may be directly connected to the rotation shaft 125 fixed to the driving wheel to transmit driving force.

Alternatively, the electric means 14 may be disposed between the driving motor 13 and the driving wheel 12 so that the motor shaft 130 of the driving motor may be indirectly connected to the rotating shaft 125 of the driving wheel.

For example, the driving gear 141 is mounted on the motor shaft 130 of the driving motor 13 , and the driven gear 142 is mounted on the rotating shaft 125 of the driving wheel 12 so that the driving gear and the driven gear are Through engagement, the driving force of the driving motor may be transmitted to the driving wheel. When the driving gear and the driven gear are spaced apart from each other, a timing belt 143 or a gearbox having teeth formed on the inner surface may be further employed.

When the timing belt 143 or the gearbox is further employed, it is preferable that the timing belt or the gearbox be positioned on the opposite side of the wire clamp with respect to the driving wheel 12 in order to avoid interference with the wire clamp 2 while driving.

However, the transmission means 14 is not limited to the above-described example, and if the driving force of the driving motor 13 can be smoothly transmitted to the driving wheel 12 , other arbitrary mechanisms, for example, a belt and a pulley, a chain and a sprocket, etc. It is free even if it is adopted as a means.

The driving force generated by the driving motor 13 rotates the driving wheel 12 directly or via the electric means 14 , and moves the driving part forward or backward through friction between the driving wheel 12 and the wire 1 . this can start

1 and 2 , the traveling unit 10 of the wire moving robot according to an embodiment of the present invention includes at least one driven wheel disposed on the opposite side of the driving wheel 12 with respect to the wire 1 . (15) may be further included. That is, the driving wheel may be located above the wire, and the driven wheel may be located below the wire.

The driven wheel 15 may be mounted on a pivoting arm 17 rotatably installed with respect to the main body 11 via a hinge shaft 16 installed at one end. The pivot arm may be supported elastically with respect to the support part 111 of the body, and for this purpose, the first elastic member 18 may be interposed between the pivot arm and the support part of the body.

In addition, the rotation shaft 155 of the driven wheel 15 may be installed through the other end of the rotation arm 17 , and then inserted into the long hole 112 formed in the main body 11 to guide the movement of the driven wheel.

A concave groove 150 having a width corresponding to the diameter of the wire 1 may also be formed on the circumferential surface of the driven wheel 15 . Since the wire is received in the concave groove and passed, it can be prevented that the driven wheel is easily separated from the wire. Accordingly, the driven wheel may serve to prevent the driving unit 10 from being separated from the wire while assisting the driving according to the driving of the driving wheel 12 .

In addition, the driven wheel 15 is resiliently supported by the first elastic member 18 and the rotation shaft 155 is inserted into the long hole 112 of the main body 11 to be guided, thereby enabling vertical movement.

When the wire 1 is driven, the driven wheel 15 may move upward by the elastic force of the first elastic member 18 to come into contact with the wire, and the wire clamp 2 as shown in FIG. When traveling, it can move downward by the difference in diameter between the wire and the pipe member 3 of the wire clamp while being pressed against the wire clamp. The movement displacement of the driven wheel may be absorbed by the first elastic member.

As such, the driven wheel 15 can help smooth driving by providing stability to the movement of the driving unit 10 while driving the wire 1 or the wire clamp 2 .

The main frame 30 is disposed between the pair of driving units 10 to connect the driving units. In other words, the driving parts are positioned on both sides with the main frame in the middle, and the connection between the main frame and the driving part may be made through the hinge bracket 40 .

To this end, hinge portions 31 may be provided at both ends of the main frame, and hinge portions 113 may be provided in the main body 11 of the traveling unit 10 . .

However, the present invention is not necessarily limited thereto, and for example, the hinge bracket 40 is disposed between the one traveling part 10 and the main frame 30 , but the hinge bracket may not be disposed between the other traveling part and the main frame.

The hinge bracket 40 may include a horizontal hinge part 41 extending in a horizontal direction and a vertical hinge part 42 extending in a vertical direction.

The horizontal hinge part 41 of the hinge bracket 40 and the hinge part 31 of the main frame 30 are connected by a first hinge shaft 43 extending in the height direction Z of the main frame, and the hinge bracket It can rotate on a horizontal plane with respect to this main frame. Accordingly, the left and right curved movement (yaw) of the wire moving robot according to an embodiment of the present invention is possible.

In addition, the vertical hinge portion 42 of the hinge bracket 40 and the hinge portion 113 of the main body 11 are connected by a second hinge shaft 44 extending in the width direction (Y) of the main body, the hinge The bracket can rotate in a vertical plane with respect to the body. Accordingly, it is possible to move (pitching) up and down curves of the wire moving robot according to an embodiment of the present invention.

As such, by arranging the main frame 30 between the pair of traveling units 10 , the influence of the center of gravity of the wire moving robot can be minimized, and between the traveling unit and the main frame through the hinge bracket 40 . By giving the degree of freedom, the curved motion of the wire moving robot can be made.

Optionally, the wire moving robot according to an embodiment of the present invention may further include a second elastic member 19 positioned between the pair of traveling units 10 to connect the traveling units.

The second elastic member 19 supports to provide a restoring force with respect to each other between the traveling parts 10, so that the traveling parts moving away from or close to each other in the curved section of the wire 1 are constant with respect to each other in the straight section again. to maintain spacing.

Meanwhile, the main frame 30 may be provided with a control unit and a communication unit necessary for controlling the wire mobile robot.

In addition, various sensing units may be mounted on the main frame 30 according to the purpose of the wire mobile robot. As the sensing unit, for example, an image sensor, a thermal image sensor, a lidar sensor, or the like may be employed.

In addition, various types of platforms for elevating or moving the sensing unit may be installed on the main frame 30 as necessary.

For example, as the lifting platform, a scissors link, a robot arm, a belt and pulley mechanism, a chain and sprocket mechanism, a rack and pinion mechanism, etc. can be used. As the moving platform, a hydraulic cylinder, an electric actuator, a linear A motion guide or the like may be used.

The wire mobile robot according to an embodiment of the present invention comprises a main frame 30 to which a control unit, a communication unit, a sensing unit, a platform, etc. can be mounted separately from the traveling units 10, so that the components can be mounted on the main frame. can be changed, and through this, the wire moving robot of the present invention can work in various fields and has the advantage of being able to use a sensing unit or a platform tailored to the environment of the site.

5 and 6 are views showing the operating state of the wire moving robot according to an embodiment of the present invention, and FIG. 5 is a bottom view showing a state when the wire moving robot moves left and right (yaw) without a wire. and FIG. 6 is a front view showing a state when the wire moving robot moves up and down curvedly (pitching) without a wire.

When the wire moving robot runs the wire 1, the driving wheel 12 rolls on the wire according to the driving of the driving motor 13 in each driving unit 10, and through this, the wire moving robot moves in a straight line of the wire. advance the section

The driven wheel 15 of the driving unit 10 is supported elastically by the first elastic member 18 and in contact with the wire 1 , thereby assisting the driving according to the driving of the driving wheel 12 .

When the wire moving robot reaches the left and right curved section of the wire (1), it travels the wire clamp (2) supporting the wire.

As shown in FIG. 5 , the traveling unit 10 that enters the wire clamp 2 first is driven by the first hinge shaft 43 of the hinge bracket 40 disposed between the main frame 30 and the traveling unit. It can yaw according to the curvature of the curved section.

At this time, the driving wheel 12 can be prevented from being separated from the traveling path by rolling motion using the wide groove 121 of the groove part 120 . In addition, the driven wheel 15 moves downward while being pressed in contact with the wire clamp 2 , but the movement displacement can be absorbed and supported by the first elastic member 18 .

Next, the main frame 30 moves along the curved section of the wire by the first hinge shaft 43 of the hinge bracket 40 disposed between the driving unit 10 and the driving unit 10 .

At the same time, the traveling part 10, which enters the wire clamp 2 relatively late, has the curvature of the curved section by the first hinge shaft 43 of the hinge bracket 40 disposed between the main frame 30 and the main frame 30. It can yaw according to the

When the wire moving robot reaches the vertical curve section of the wire 10, it travels the wire clamp 2 supporting the wire as well.

As shown in FIG. 6 , the traveling unit 10 that enters the wire clamp 2 first is driven by the second hinge shaft 44 of the hinge bracket 40 disposed between the main frame 30 and the traveling unit. Pitching motion can be performed according to the curvature of the curved section.

At this time, the driving wheel 12 can be prevented from being separated from the traveling path by rolling motion using the wide groove 121 of the groove part 120 . In addition, the driven wheel 15 moves downward while being pressed in contact with the wire clamp 2 , but may be supported by the first elastic member 18 .

Subsequently, the main frame 30 moves along the curved section of the wire by the second hinge shaft 44 of the hinge bracket 40 disposed between the driving unit 10 and the driving unit 10 .

At the same time, the traveling unit 10, which enters the wire clamp 2 relatively late, is curved in the curved section by the second hinge shaft 44 of the hinge bracket 40 disposed between the main frame 30 and the traveling unit. Pitching can be done according to the curvature.

As a result, curved travel of the wire mobile robot can be performed stably.

As described above, according to the present invention, it is possible to travel not only in a simple straight section but also in a curved section, so that the wire moving robot can be used in various environments.

In addition, according to the present invention, it is easy to install compared to the prior art, and there are few restrictions on the environment in which it can be installed, so that a desired operation can be performed in a wide area.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

For example, in this specification and drawings, an example in which a wire moving robot follows a traveling path formed of a wire is illustrated and described, but is not necessarily limited thereto, and instead of a wire, a rod or tube of a circular cross section, or a polygonal cross section It is also possible to travel along a travel path made of rods or tubes.

Accordingly, the embodiments disclosed in the present specification and drawings are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

1: Wire 2: Wire Clamp
3: pipe member 10: running part
11: body 12: drive wheel
13: drive motor 14: electric means
15: driven wheel 17: rotating arm
18: first elastic member 19: second elastic member
30: main frame 40: hinge bracket
41: horizontal hinge part 42: vertical hinge part
43: first hinge shaft 44: second hinge shaft

Claims (10)

A pair of traveling parts having a driving wheel seated on the wire and traveling;
a main frame disposed between the pair of driving parts to connect the pair of driving parts; and
at least one hinge bracket interposed between the driving unit and the main frame
including,
The hinge bracket includes a first hinge shaft extending in a height direction of the main frame and connected to the main frame so that the hinge bracket and the main frame rotate with respect to each other on a horizontal plane,
The driving unit,
a body formed so that the wire passes through;
The driving wheel is rotatably installed on the main body and runs on the wire, and
A driving motor installed on the main body and connected to the driving wheel to rotate the driving wheel
including,
The hinge bracket includes a horizontal hinge part extending in a horizontal direction and a vertical hinge part extending in a vertical direction,
The horizontal hinge part and the hinge part of the main frame are connected by the first hinge shaft wire mobile robot.
delete According to claim 1,
The driving wheel has a groove portion formed on a circumferential surface,
The groove portion,
A wide groove formed on the radially outer side of the driving wheel,
A narrow groove formed radially inside the driving wheel, and
Inclined groove connecting the wide groove and the narrow groove
A wire moving robot comprising a.
According to claim 1,
A wire moving robot in which an electric means is disposed between the driving motor and the driving wheel.
According to claim 1,
The traveling unit, wire mobile robot further comprising at least one driven wheel disposed on the opposite side of the driving wheel with respect to the wire.
A pair of traveling parts having a driving wheel seated on the wire and traveling;
a main frame disposed between the pair of driving parts to connect the pair of driving parts; and
at least one hinge bracket interposed between the driving unit and the main frame
including,
The hinge bracket includes a first hinge shaft extending in a height direction of the main frame and connected to the main frame so that the hinge bracket and the main frame rotate with respect to each other on a horizontal plane,
The driving unit,
a body formed so that the wire passes through;
The driving wheel is rotatably installed on the main body and runs on the wire,
a driving motor installed on the main body and connected to the driving wheel to rotate the driving wheel; and
at least one driven wheel disposed on the opposite side of the driving wheel with respect to the wire
including,
The driven wheel is mounted on a pivoting arm installed rotatably with respect to the main body via a hinge shaft installed at one end,
The rotating arm is a wire moving robot supported with respect to the main body by a first elastic member.
7. The method of claim 6,
The rotating shaft of the driven wheel is installed through the other end of the rotating arm, the wire moving robot is inserted into the long hole formed in the main body.
delete According to claim 1,
The vertical hinge part and the hinge part of the main body are connected by a second hinge shaft extending in the width direction of the main body, and the hinge bracket is rotatable on a vertical plane with respect to the main body.
10. The method according to any one of claims 1, 3 to 7 and 9,
The wire moving robot further comprising a second elastic member positioned between the pair of the traveling parts to connect the pair of the traveling parts.

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