KR20050079122A - The two wheel based security robot - Google Patents

The two wheel based security robot Download PDF

Info

Publication number
KR20050079122A
KR20050079122A KR1020040007268A KR20040007268A KR20050079122A KR 20050079122 A KR20050079122 A KR 20050079122A KR 1020040007268 A KR1020040007268 A KR 1020040007268A KR 20040007268 A KR20040007268 A KR 20040007268A KR 20050079122 A KR20050079122 A KR 20050079122A
Authority
KR
South Korea
Prior art keywords
camera
shaft
lifting
motor
driving
Prior art date
Application number
KR1020040007268A
Other languages
Korean (ko)
Other versions
KR100586433B1 (en
Inventor
박희재
장동영
서승철
심치권
이재헌
Original Assignee
박희재
장동영
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 박희재, 장동영 filed Critical 박희재
Priority to KR1020040007268A priority Critical patent/KR100586433B1/en
Publication of KR20050079122A publication Critical patent/KR20050079122A/en
Application granted granted Critical
Publication of KR100586433B1 publication Critical patent/KR100586433B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Studio Devices (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 보안 감시로봇에 관한 것으로 특히, 주행수단과 보안 감시수단으로 구성되되, 그 구성이 단순하여 저가로 대량생산이 가능한 이륜 구동형 보안 감시로봇에 관한 것이다.The present invention relates to a security monitoring robot, and in particular, comprising a driving means and a security monitoring means, the configuration is simple, and relates to a two-wheel drive type security monitoring robot that can be mass-produced at low cost.

상기한 목적을 달성하기 위한 본 발명의 특징은 독립된 구동수단을 갖는 이륜 구동형 구동륜과 보조륜이 구비된 주행수단;과 상기 주행수단 상부에 설치되며 카메라의 높이를 조절하는 리드스크류방식의 카메라 승강수단;과 상기 카메라 승강수단의 상단에 설치되며 카메라를 상하 회동시키는 카메라 각도조절수단;과 무선 송출되는 작동명령을 수신받아 상기 주행수단과 카메라 승강수단 및 카메라 각도조절수단에 전달하여 작동하게 하며, 카메라에서 수집된 영상정보를 사용자에게 송출하는 신호송수신부;를 포함하여 이루어지는 이륜 구동형 보안 감시로봇에 있다.Features of the present invention for achieving the above object is a two-wheel drive type driving wheel having an independent drive means and a traveling means provided with an auxiliary wheel; and a lead screw type camera lift is installed on the traveling means and adjusting the height of the camera And a camera angle adjusting means installed at an upper end of the camera elevating means and configured to rotate the camera up and down, and to receive the operation command wirelessly transmitted to the driving means, the camera elevating means, and the camera angle adjusting means. And a signal transmission and reception unit for transmitting the image information collected from the camera to the user.

Description

이륜 구동형 보안 감시로봇{The two wheel based security Robot}Two wheel based security robot

본 발명은 보안 감시로봇에 관한 것으로 특히, 주행수단과 보안 감시수단으로 구성되되, 그 구성이 단순하여 저가로 대량생산이 가능한 이륜 구동형 보안 감시로봇에 관한 것이다.The present invention relates to a security monitoring robot, and in particular, comprising a driving means and a security monitoring means, the configuration is simple, and relates to a two-wheel drive type security monitoring robot that can be mass-produced at low cost.

일반적으로 보안 감시로봇은 주행수단과 보안 감시수단이 구비되어 일정공간에 투입되어 감시작업을 행하는 것으로, 주행수단은 주로 무한궤도형과 4륜구동형 등이 사용되고 있으며 보안 감시수단의 시야확보를 위한 다관절링크 등이 사용되고 있다.In general, the security monitoring robot is equipped with a driving means and a security monitoring means to be put into a certain space to perform the monitoring work. The driving means is mainly used for an endless track type and a four-wheel drive type. Joint links and the like are used.

그러나 상기 종래의 보안 감시로봇은 주행수단 및 보안 감시수단의 구성이 복잡하여 유지보수가 어렵고 제작비용이 상승하는 문제점이 있었다.However, the conventional security monitoring robot has a problem in that the configuration of the driving means and the security monitoring means is complicated, maintenance is difficult and manufacturing costs are increased.

이에 본 발명은 상기한 문제점을 해결하기 이하여 인출된 것으로, Accordingly, the present invention is drawn out to solve the above problems,

주행수단은 이륜 구동형으로 구성하며, 보안 감시수단의 시야확보를 단순한 구성으로 할 수 있게 구성하여 유지보수 및 제작비용이 경제적인 이륜 구동형 보안 감시로봇을 제공하는데 있다.The driving means is configured as a two-wheel drive type, and the security monitoring means can be secured in a simple configuration to provide a two-wheel drive type security surveillance robot with economical maintenance and manufacturing costs.

상기한 목적을 달성하기 위한 본 발명의 특징은 독립된 구동수단을 갖는 이륜 구동형 구동륜과 보조륜이 구비된 주행수단;과 상기 주행수단 상부에 설치되며 카메라의 높이를 조절하는 리드스크류방식의 카메라 승강수단;과 상기 카메라 승강수단의 상단에 설치되며 카메라를 상하 회동시키는 카메라 각도조절수단;과 무선 송출되는 작동명령을 수신받아 상기 주행수단과 카메라 승강수단 및 카메라 각도조절수단에 전달하여 작동하게 하며 카메라에서 수집된 영상정보를 사용자에게 송출하는 신호송수신부;를 포함하여 이루어지는 이륜 구동형 보안 감시로봇에 있다.Features of the present invention for achieving the above object is a two-wheel drive type driving wheel having an independent drive means and a traveling means provided with an auxiliary wheel; and a lead screw type camera lift is installed on the traveling means and adjusting the height of the camera And a camera angle adjusting means installed at an upper end of the camera elevating means and configured to rotate the camera up and down, and to receive and transmit a wireless operation command to the driving means, the camera elevating means, and the camera angle adjusting means. And a signal transmission and reception unit for transmitting the image information collected by the user.

이하 본 발명의 구성 및 작용을 첨부도면 도 1 내지 도 6을 참조하여 설명하면 다음과 같다.Hereinafter, the configuration and operation of the present invention will be described with reference to FIGS. 1 to 6.

본 발명인 이륜 구동형 보안 감시로봇은 주행수단(100)과 카메라 승강수단(200)과 카메라 각도조절수단(300) 및 신호송수신부(400)로 이루어진다.The two-wheel drive type security monitoring robot of the present invention comprises a traveling means 100, the camera lifting means 200, the camera angle adjusting means 300 and the signal transmission and reception unit 400.

주행수단(100)은 독립된 구동수단을 갖는 이륜 구동형 구동륜과 보조륜으로 이루어지며,The driving means 100 is composed of a two-wheel drive type driving wheel and an auxiliary wheel having independent drive means,

카메라 승강수단(200)은 상기 주행수단(100) 상부에 설치되며 카메라의 높이를 조절하는 리드스크류방식으로 구성되어지며,Camera lifting means 200 is installed on the driving means 100 is configured in a lead screw method for adjusting the height of the camera,

카메라 각도조절수단(300)은 상기 카메라 승강수단(200)의 상단에 설치되며 카메라를 상하 회전시키게 이루어지며,Camera angle adjusting means 300 is installed on the top of the camera lifting means 200 is made to rotate the camera up and down,

신호송수신부(400)는 카메라브라켓(310)의 일 측에 설치되어 사용자가 원격조정기를 통하여 무선 송출되는 작동명령을 수신 받아 상기 주행수단(100)과 카메라 승강수단(200) 및 카메라 각도조절수단(300)에 전달하여 작동하게하며, 카메라에서 수집된 영상정보를 사용자에게 송출한다.Signal transmitting and receiving unit 400 is installed on one side of the camera bracket 310 receives the operation command that the user is wirelessly transmitted through the remote control the driving means 100 and the camera lifting means 200 and the camera angle adjusting means It transmits to 300 to operate, and transmits the video information collected from the camera to the user.

특히, 상기 주행수단(100)은 상판(111)과 하판(112)으로 이루어지는 프레임(110)과, 상기 하판(112)의 일측 중앙부에 설치되어 복수의 구동륜을 보조하는 보조륜(120)과, 상기 하판(112)에 모터브라켓(160)에 의해 고정되는 고정축(130)과, 베어링(141)으로 고정축(130)의 양단부에 설치되며 내측에 종동기어(142)가 축 설치되는 복수의 구동륜(140)과, 상기 종동기어(142)와 기어 결합하는 구동기어(151)를 갖는 복수의 서보모터(150)와, 상기 서보모터(150)를 지지하며 상판(111)과 하판(112)사이에 지지되게 설치되는 모터브라켓(160)과, 상기 하판(112)의 전방 부에 위치한 다수의 장애물 감지용 센서(170)로 이루어진다.In particular, the driving means 100 is a frame 110 consisting of the upper plate 111 and the lower plate 112, the auxiliary wheel 120 is installed in one central portion of the lower plate 112 to assist a plurality of driving wheels, A plurality of fixed shaft 130 is fixed to the lower plate 112 by the motor bracket 160, and the bearing 141 is installed at both ends of the fixed shaft 130, the driven gear 142 is installed in the shaft A plurality of servomotors 150 having a driving wheel 140, a driving gear 151 gear-coupling with the driven gear 142, and the upper plate 111 and the lower plate 112 while supporting the servomotor 150. The motor bracket 160 is installed to be supported therebetween, and a plurality of obstacle detecting sensors 170 located at the front of the lower plate 112.

상기 카메라 승강수단(200)은 상판(111)에 수직 설치되는 DC모터(210)와, 상기 DC모터(210)의 구동 축에 연결되는 리드스크류(220)와, 하측에 형성된 플랜지(231)의 가이드공(232)을 통하여 가이드(240)에 지지되고 상측에 카메라브라켓(310)이 설치되며 리드스크류(220)에 나사 결합되어 승강되는 승강타워(230)와, 타워하우징(250)의 상단 부와 지지벽(251)사이에 지지되어 설치되며 승강타워(230)의 하측 플랜지(231)의 가이드공(232)을 관통하여 지지되는 복수의 가이드(240)와, 하단부 내측에 형성된 지지벽(251)의 축공(252)에 모터 축이 지지되고 상단 부에 형성된 승강공(253)에 승강타워(230)가 슬라이딩 지지되며 상단 부와 지지벽(251)사이에 가이드(240)가 고정되어 프레임(110) 상에 설치되는 통(筒)형상의 타워하우징(250)으로 이루어진다.The camera elevating means 200 includes a DC motor 210 vertically installed on the upper plate 111, a lead screw 220 connected to a drive shaft of the DC motor 210, and a flange 231 formed on a lower side thereof. The support tower 232 is supported by the guide 240 and the camera bracket 310 is installed on the upper side of the elevating tower 230 and screwed to the lead screw 220, and the upper end of the tower housing 250 And a plurality of guides 240 which are supported and installed between the support walls 251 and supported through the guide holes 232 of the lower flange 231 of the elevating tower 230, and a support wall 251 formed inside the lower end. A motor shaft is supported at the shaft hole 252 of the shaft hole, and the lifting tower 230 is slidably supported at the lifting hole 253 formed at the upper portion thereof, and the guide 240 is fixed between the upper portion and the support wall 251 to fix the frame ( It consists of a cylindrical tower housing 250 installed on the 110.

상기 카메라 각도조절수단(300)은 상기 승강타워(240) 상단에 고정되는 카메라브라켓(310)과, 상기 카메라브라켓(310)의 하부에 설치되는 모터(320)와, 카메라(380)가 안치되며 카메라브라켓(310)에 축 지지되는 카메라홀더(330)와, 상기 모터(320) 축에 결합하는 제 1풀리(340)와, 상기 카메라홀더(330) 축에 결합하는 제 2풀리(350)와, 상기 제 1풀리(340)와 상기 제 2풀리(350)를 연결하는 벨트(360)로 이루어진다.The camera angle adjusting means 300 is a camera bracket 310 fixed to the lifting tower 240, the motor 320 is installed below the camera bracket 310, the camera 380 is placed A camera holder 330 axially supported by the camera bracket 310, a first pulley 340 coupled to the shaft of the motor 320, a second pulley 350 coupled to the shaft of the camera holder 330, and The belt pulley 340 connects the first pulley 340 and the second pulley 350.

이하 본 발명의 작동을 설명한다.The operation of the present invention will be described below.

본 발명의 작동은 사용자가 원격조정기등을 이용하여 작동명령을 무선으로 송출하면 이를 신호수신부(400)가 수신하여 각각의 명령을 주행수단(100), 카메라 승강수단(200) 및 카메라 각도조절수단(300)에 전달하여 작동한다.In the operation of the present invention, when the user transmits an operation command wirelessly using a remote controller or the like, the signal receiving unit 400 receives the respective commands and the driving means 100, the camera elevating means 200, and the camera angle adjusting means. Work by passing to 300.

주행과정은 신호수신부(400)에서 수신된 주행 명령이 주행수단(100)을 작동시킴로 이루어진다.The driving process is performed by the driving command received from the signal receiver 400 operating the driving means 100.

특히, 전진 및 후진 주행은 양 구동륜(140)에 설치된 각각의 서보모터(150)가 서로 동일한 회전수로 회전하게 함으로써 양 구동륜(140)이 한 방향으로 일정하게 주행하여 이루어지며, 방향전환을 위한 좌회전 및 우회전은 각각의 서보모터(150)에 각기 다른 회전수로 회전하게 하여 그 회전수 차이로 방향 전환이 이루어지게 하거나, 상기 각각의 서보모터(150)의 회전방향이 서로 반대가 되게 하여 즉 우측 서보모터는 전진방향으로 회전하며 좌측 서보모터는 후진방향으로 회전하게 함으로써 양 구동륜의 진행방향이 서로 반대되게하여 신속하게 방향전환이 이루어지게 할 수 있다.In particular, the forward and backward travels are made by driving both the driving wheels 140 constantly in one direction by rotating the servo motors 150 installed in both driving wheels 140 at the same rotation speed. The left turn and the right turn cause each servomotor 150 to rotate at different rotational speeds so that the direction is changed by the difference in rotational speeds, or the rotational directions of the respective servomotors 150 are opposite to each other. The right servo motor rotates in the forward direction and the left servo motor rotates in the reverse direction so that the driving directions of both driving wheels are opposite to each other so that the direction can be changed quickly.

그리고 이때, 센서(170)가 주행시 주행방향에 위치한 장애물 등을 감지하여 접촉사고등을 방지할 수 있게 한다.In this case, the sensor 170 may detect an obstacle or the like located in the driving direction while driving to prevent contact accidents.

카메라의 승강과정은 카메라 승강수단(200)에 의해 이루어지며,Lifting process of the camera is made by the camera lifting means 200,

특히, DC모터(210)가 회전하여 리드스크류(220)를 회전시키면 나사결합된 승강타워(230)가 리드스크류(220)의 회전방향에 따라 가이드(240)에 지지되어 승강 및 하강하게 되며 이로 인해 카메라 감시 범위의 높낮이를 조절할 수 있다.In particular, when the DC motor 210 rotates to rotate the lead screw 220, the screw-mounted lifting tower 230 is supported by the guide 240 in accordance with the rotation direction of the lead screw 220, and ascends and descends. The camera's surveillance range can be adjusted.

카메라의 상하 회동은 카메라 각도조절수단(300)에 의해 이루어지며,The vertical rotation of the camera is made by the camera angle adjusting means 300,

특히, 모터(320)가 회전하여 제 1풀리(340)가 회전하며 이와 벨트(360)로 연동되는 제 2풀리(350)가 회전하게 된다.In particular, as the motor 320 rotates, the first pulley 340 rotates, and the second pulley 350 interlocked with the belt 360 rotates.

이와 동시에 제 2풀리(350)와 연동되게 카메라 브라케(310)이 상하 회동하여 카메라(380)의 시야각도를 상향 또는 하향되게 조절한다.At the same time, the camera bracket 310 rotates up and down in association with the second pulley 350 to adjust the viewing angle of the camera 380 upward or downward.

상기한 바와 같이, 본 발명은 주행수단과 보안감시수단을 단순한 구성으로 제작하여 유지보수향상 및 제작비용의 절감효과가 있다.As described above, the present invention has the effect of improving the maintenance and manufacturing cost by manufacturing the driving means and the security monitoring means in a simple configuration.

도 1은 본 발명의 분해사시도.1 is an exploded perspective view of the present invention.

도 2는 본 발명의 결합사시도.Figure 2 is a perspective view of the combination of the present invention.

도 3은 본 발명의 정단면도.Figure 3 is a front sectional view of the present invention.

도 4는 본 발명의 평단면도.4 is a plan cross-sectional view of the present invention.

도 5는 본 발명의 측단면도.Figure 5 is a side cross-sectional view of the present invention.

도 6은 본 발명의 카메라 승강수단의 승강 및 카메라 각도조절수단의 상하회전을 도시한 측단면도.Figure 6 is a side cross-sectional view showing the lifting and lowering of the camera angle adjusting means of the camera lifting means of the present invention.

*도면의 주요부분에 대한 설명** Description of the main parts of the drawings *

100: 주행수단100: driving means

110: 프레임 111: 상판 112: 하판110: frame 111: top plate 112: bottom plate

120: 보조륜 130: 고정축 140: 구동륜120: auxiliary wheel 130: fixed shaft 140: drive wheel

141: 베어링 142: 종동기어 150: 서보모터141: bearing 142: driven gear 150: servomotor

151: 구동기어 160: 모터브라켓 170: 센서151: drive gear 160: motor bracket 170: sensor

200: 카메라 승강수단200: camera lift means

210: DC모터 220: 리드스크류 230: 승강타워210: DC motor 220: lead screw 230: lifting tower

240: 가이드 250: 타워하우징240: guide 250: tower housing

300: 카메라 각도조절수단300: camera angle adjusting means

310: 카메라브라켓 320: 모터 330: 카메라홀더310: camera bracket 320: motor 330: camera holder

340: 제 1풀리 350: 제 2풀리 370: 벨트340: first pulley 350: second pulley 370: belt

380: 카메라 380: camera

400: 신호송수신부400: signal transmission and reception unit

Claims (2)

독립된 구동수단을 갖는 이륜구동형 구동륜과, 보조륜이 구비된 주행수단(100);과A two-wheel drive type driving wheel having independent driving means, and driving means 100 provided with auxiliary wheels; and 상기 주행수단(100) 상부에 설치되며 카메라의 높이를 조절하는 리드스크류방식의 카메라 승강수단(200);과It is installed on the driving means 100 and the camera lifting means 200 of the lead screw type for adjusting the height of the camera; And 상기 카메라 승강수단(200)의 상단에 설치되며 카메라를 상하 회동시키는 카메라 각도조절수단(300);과A camera angle adjusting means (300) installed at an upper end of the camera elevating means (200) to rotate the camera up and down; and 무선 송출되는 작동명령을 수신받아 상기 주행수단(100)과 카메라 승강수단(200) 및 카메라 각도조절수단(300)에 전달하여 작동하게 하며, 카메라에서 수집된 영상정보를 사용자에게 송출하는 신호송수신부(400);를 포함하여 이루어진 것을 특징으로 하는 이륜 구동형 보안 감시로봇.Receiving a wireless operation command received by the driving means 100 and the camera lifting means 200 and the camera angle adjusting means 300 to operate and transmits, the signal transmission and reception unit for transmitting the image information collected from the camera to the user (400); two-wheel drive security surveillance robot, characterized in that consisting of. 제 1항에 있어서, The method of claim 1, 상기 주행수단(100)은 상판(111)과 하판(112)으로 이루어지는 프레임(110)과, 상기 하판(112)의 일측 중앙부에 설치되는 보조륜(120)과, 상기 하판(112)에 고정되는 고정축(130)과, 베어링(141)으로 고정축(130)의 양단부에 설치되며 내측에 종동기어(142)가 축 설치되는 복수의 구동륜(140)과, 상기 종동기어(142)와 기어 결합하는 구동기어(151)를 갖는 복수의 서보모터(150)와, 상기 서보모터(150)를 지지하며 상판과 하판사이에 설치되는 모터브라켓(160)으로 이루어지며,The driving means 100 is fixed to the frame 110 consisting of the upper plate 111 and the lower plate 112, the auxiliary wheel 120 is installed on one side central portion of the lower plate 112, and the lower plate 112 A plurality of drive wheels 140 are installed on both ends of the fixed shaft 130 by the fixed shaft 130, the bearing 141 and the driven gear 142 is installed in the shaft, and the driven gear 142 and the gear coupling It consists of a plurality of servo motor 150 having a drive gear 151, and a motor bracket 160 for supporting the servo motor 150 is installed between the upper plate and the lower plate, 상기 카메라 승강수단(200)은 상판에 수직설치되는 DC모터(210)와, 상기 DC모터의 구동축에 연결되는 리드스크류(220)와, 하측에 형성된 플랜지(231)의 가이드공(232)을 통하여 가이드에 지지되고 상측에 카메라브라켓이 설치되며 리드스크류에 나사 결합되어 승강되는 승강타워(230)와, 타워하우징의 상단 부와 지지벽사이에 지지되어 설치되며 승강타워(230)의 하측 플랜지의 가이드공(232)을 관통하여 지지되는 복수의 가이드(240)와, 지지벽(251)의 축공(252)에 모터축이 지지되고 상단부에 형성된 승강공(253)에 승강타워(230)가 슬라이딩 지지되며 상단부와 지지벽(251)사이에 가이드(240)가 고정되어 프레임 상에 설치되는 통(筒)형상의 타워하우징(250)으로 이루어지며,The camera elevating means 200 is through a DC motor 210 installed vertically on the upper plate, a lead screw 220 connected to the drive shaft of the DC motor, and a guide hole 232 of the flange 231 formed on the lower side. Supported by the guide, the camera bracket is installed on the upper side and the lifting tower 230 is screwed to the lead screw and the lifting, the support is installed between the upper end of the tower housing and the support wall and the guide of the lower flange of the lifting tower 230 The lifting tower 230 slides and supports the plurality of guides 240 supported through the balls 232, and the lifting holes 253 formed in the upper end of the support shaft 252 of the support wall 251. The guide 240 is fixed between the upper end and the support wall 251 is made of a cylindrical tower housing 250 is installed on the frame, 상기 카메라 각도조절수단(300)은 상기 승강타워(240) 상단에 고정되는 카메라브라켓(310)과, 상기 카메라브라켓(310)의 하부에 설치되는 모터(320)와, 카메라가 안치되며 카메라브라켓에 축 지지되는 카메라홀더(330)와, 상기 모터 축에 결합하는 제 1풀리(340)와, 상기 카메라홀더 축에 결합하는 제 2풀리(350)와, 상기 제 1풀리와 상기 제 2풀리를 연결하는 벨트(360)로 이루어지는 것을 특징으로 하는 이륜 구동형 보안 감시로봇.The camera angle adjusting means 300 is a camera bracket 310 fixed to the lifting tower 240, the motor 320 is installed below the camera bracket 310, the camera is placed in the camera bracket A shaft-supported camera holder 330, a first pulley 340 coupled to the motor shaft, a second pulley 350 coupled to the camera holder shaft, and the first pulley and the second pulley are connected. Two-wheel drive type security surveillance robot, characterized in that consisting of a belt (360).
KR1020040007268A 2004-02-04 2004-02-04 The two wheel based security Robot KR100586433B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020040007268A KR100586433B1 (en) 2004-02-04 2004-02-04 The two wheel based security Robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020040007268A KR100586433B1 (en) 2004-02-04 2004-02-04 The two wheel based security Robot

Publications (2)

Publication Number Publication Date
KR20050079122A true KR20050079122A (en) 2005-08-09
KR100586433B1 KR100586433B1 (en) 2006-06-08

Family

ID=37266127

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020040007268A KR100586433B1 (en) 2004-02-04 2004-02-04 The two wheel based security Robot

Country Status (1)

Country Link
KR (1) KR100586433B1 (en)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100771985B1 (en) * 2006-05-04 2007-10-31 강명수 Movable and installable type control tower
KR100939997B1 (en) * 2008-02-20 2010-02-03 국방과학연구소 Vertically Expandable Apparatus
CN101791800B (en) * 2010-01-21 2011-05-25 西北工业大学 Motion control method of double-wheel differential type robot
CN103273476A (en) * 2013-04-27 2013-09-04 国家电网公司 Relay protection room inspection tour robot
CN103832498A (en) * 2012-11-27 2014-06-04 哈尔滨市三和佳美科技发展有限公司 Amphibious inspection robot
CN105564333A (en) * 2014-11-11 2016-05-11 深圳泰洋科技有限公司 Intelligent unmanned vehicle capable of being used for shooting
CN106002924A (en) * 2016-07-20 2016-10-12 张学衡 Inspection robot for transformer substation
CN106514611A (en) * 2017-01-14 2017-03-22 许建芹 Highway detection robot
CN107414855A (en) * 2017-08-15 2017-12-01 林招枫 A kind of security robot
CN107792659A (en) * 2017-11-24 2018-03-13 四川大学 A kind of novel automatic conveying arrangement
KR20180060278A (en) * 2016-11-28 2018-06-07 동서대학교산학협력단 Pillar-mounting photography shooting module and management system of pillar-mounting photography shooting module
CN108127638A (en) * 2017-12-23 2018-06-08 王丹宁 A kind of walking mechanism of intelligent robot
CN108500991A (en) * 2018-04-09 2018-09-07 中山火炬高新企业孵化器有限公司 A kind of security robot
CN109202934A (en) * 2018-10-26 2019-01-15 山东金惠新达智能制造科技有限公司 Ground crusing robot lifting device, elevating method and ground crusing robot
CN109397241A (en) * 2018-11-13 2019-03-01 深圳供电局有限公司 Crusing robot in a kind of Omni-mobile room
KR102005846B1 (en) * 2019-01-14 2019-08-01 주식회사 한일엔지니어링 Manless security system of apartment house
CN110142771A (en) * 2018-12-17 2019-08-20 浙江大学山东工业技术研究院 A kind of computer room crusing robot
CN110143268A (en) * 2019-05-06 2019-08-20 中国科学院深圳先进技术研究院 Wall detection robot is climbed under water
CN111113446A (en) * 2020-01-07 2020-05-08 深圳市银星智能科技股份有限公司 Self-moving robot
KR20200055453A (en) 2018-11-13 2020-05-21 주식회사 포스코 Fire detecting apparatus and fire detecting method by using of it
KR102166797B1 (en) * 2020-05-27 2020-10-16 (주)구방엔지니어링건축사사무소 Firefighting safety monitoring apparatus using electricity apparatus of apartment house
CN112109065A (en) * 2020-08-26 2020-12-22 合肥中科创奥数字科技有限公司 Anti-collision inspection robot
CN112351257A (en) * 2020-11-05 2021-02-09 张家港华飞智能科技有限公司 Movable monitoring patrol car for apartment public area
CN114408015A (en) * 2021-12-21 2022-04-29 重庆特斯联智慧科技股份有限公司 Steering device of logistics robot and control method thereof

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101190294B1 (en) 2010-04-14 2012-10-12 충남대학교산학협력단 Vision stabilization apparatus for mobile robot
KR101145599B1 (en) 2010-04-14 2012-05-15 순천향대학교 산학협력단 A homemaid robot having lift construction
KR101652684B1 (en) * 2015-04-30 2016-08-31 (주)동화이엔지 CCTV Exploration Robot of Easily Corresponding to Sewer Pipe Size
KR101886533B1 (en) * 2016-12-15 2018-08-08 한국기술교육대학교 산학협력단 Steering system of balancing robot
CN108543723A (en) * 2018-04-19 2018-09-18 重庆电子工程职业学院 Sorting machine people and logistics system
CN108974180B (en) * 2018-08-06 2021-12-28 西安誉博机器人系统技术有限公司 Robot
CN109079819A (en) * 2018-09-11 2018-12-25 广东宏穗晶科技服务有限公司 One kind, which is led the way, explains robot
KR102342891B1 (en) * 2020-09-25 2021-12-27 한국철도기술연구원 Detection droid of dangerous substance and fire

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100771985B1 (en) * 2006-05-04 2007-10-31 강명수 Movable and installable type control tower
KR100939997B1 (en) * 2008-02-20 2010-02-03 국방과학연구소 Vertically Expandable Apparatus
CN101791800B (en) * 2010-01-21 2011-05-25 西北工业大学 Motion control method of double-wheel differential type robot
CN103832498A (en) * 2012-11-27 2014-06-04 哈尔滨市三和佳美科技发展有限公司 Amphibious inspection robot
CN103273476A (en) * 2013-04-27 2013-09-04 国家电网公司 Relay protection room inspection tour robot
CN105564333A (en) * 2014-11-11 2016-05-11 深圳泰洋科技有限公司 Intelligent unmanned vehicle capable of being used for shooting
CN106002924A (en) * 2016-07-20 2016-10-12 张学衡 Inspection robot for transformer substation
KR20180060278A (en) * 2016-11-28 2018-06-07 동서대학교산학협력단 Pillar-mounting photography shooting module and management system of pillar-mounting photography shooting module
CN106514611A (en) * 2017-01-14 2017-03-22 许建芹 Highway detection robot
CN107414855A (en) * 2017-08-15 2017-12-01 林招枫 A kind of security robot
CN107792659A (en) * 2017-11-24 2018-03-13 四川大学 A kind of novel automatic conveying arrangement
CN108127638A (en) * 2017-12-23 2018-06-08 王丹宁 A kind of walking mechanism of intelligent robot
CN108500991A (en) * 2018-04-09 2018-09-07 中山火炬高新企业孵化器有限公司 A kind of security robot
CN108500991B (en) * 2018-04-09 2020-06-02 中山火炬高新企业孵化器有限公司 Security robot
CN109202934A (en) * 2018-10-26 2019-01-15 山东金惠新达智能制造科技有限公司 Ground crusing robot lifting device, elevating method and ground crusing robot
KR20200055453A (en) 2018-11-13 2020-05-21 주식회사 포스코 Fire detecting apparatus and fire detecting method by using of it
CN109397241A (en) * 2018-11-13 2019-03-01 深圳供电局有限公司 Crusing robot in a kind of Omni-mobile room
CN110142771A (en) * 2018-12-17 2019-08-20 浙江大学山东工业技术研究院 A kind of computer room crusing robot
KR102005846B1 (en) * 2019-01-14 2019-08-01 주식회사 한일엔지니어링 Manless security system of apartment house
CN110143268A (en) * 2019-05-06 2019-08-20 中国科学院深圳先进技术研究院 Wall detection robot is climbed under water
CN111113446A (en) * 2020-01-07 2020-05-08 深圳市银星智能科技股份有限公司 Self-moving robot
CN111113446B (en) * 2020-01-07 2022-08-09 深圳银星智能集团股份有限公司 Self-moving robot
KR102166797B1 (en) * 2020-05-27 2020-10-16 (주)구방엔지니어링건축사사무소 Firefighting safety monitoring apparatus using electricity apparatus of apartment house
CN112109065A (en) * 2020-08-26 2020-12-22 合肥中科创奥数字科技有限公司 Anti-collision inspection robot
CN112351257A (en) * 2020-11-05 2021-02-09 张家港华飞智能科技有限公司 Movable monitoring patrol car for apartment public area
CN114408015A (en) * 2021-12-21 2022-04-29 重庆特斯联智慧科技股份有限公司 Steering device of logistics robot and control method thereof
CN114408015B (en) * 2021-12-21 2024-04-09 重庆特斯联智慧科技股份有限公司 Steering device of logistics robot and control method thereof

Also Published As

Publication number Publication date
KR100586433B1 (en) 2006-06-08

Similar Documents

Publication Publication Date Title
KR100586433B1 (en) The two wheel based security Robot
CN101811649B (en) Automatic reciprocating type lifting gear
KR101036096B1 (en) Exercise bike
CA2318079A1 (en) Automatic cart for transporting golf clubs or other objects and accessories
CN108909880A (en) One kind slipping into towed AGV
CN210762756U (en) Household cold chain system food material conveying device
KR20060002720A (en) Capping machine
CN113370723A (en) Take angle detection device's automated guided vehicle detection device
CN210476999U (en) Hoisting structure of inspection robot
CN106474741A (en) The pure weight-driven environmental protection dolly of energy intelligent barrier avoiding
CN109562797A (en) Driving body
CN207043668U (en) A kind of spring selects to device automatically
CN112055764A (en) Bale opener having a frame with a door-shaped structure and a pick-up unit arranged on the frame
WO2018233515A1 (en) Unmanned transport vehicle
CN211661625U (en) Stable and be convenient for carousel device for machining of locking
CN107388833A (en) Aluminum-bar heating furnace discharging rotating mechanism
CN114098547B (en) Chassis and ground washing equipment
CN106740738A (en) One kind may span across formula detection robot, control method and device
CN206793028U (en) A kind of pure weight-driven environmental protection dolly of energy intelligent barrier avoiding
CN208036468U (en) The wheel assembly that can be cleared the jumps and the car-like robots with the wheel assembly
CN111620269A (en) Unmanned forklift with double-wheel differential structure
KR100756916B1 (en) Automatic nut runner system for valve of tire pressure monitoring system
KR101391469B1 (en) Drive control apparatus for reach type industrial vehicle
CN217302385U (en) Cable tunnel environmental parameter monitoring devices
CN109848503B (en) Intelligent circuit board soldering robot

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20100506

Year of fee payment: 5

LAPS Lapse due to unpaid annual fee