KR20110117022A - Mobile robot for eliminating impurities inside the hollow shaft - Google Patents

Abstract

The present invention relates to a mobile robot, to penetrate in the fluid or the tube in which the fluid is present to collect information and to remove impurities.
To this end, the present invention is mounted on the robot body, the robot body is built in the motor and the impeller to generate the power and propulsion force for its own movement in the center of the axis of the body, and supplies the operating power and control signals for rotating the motor and the impeller, respectively A power supply unit and a control unit installed in the robot body, each of the plurality of measurement units collecting various information about the fluid in the fluid or the tube, and mounted inside the robot body to perform communication for information exchange between the control unit and an external controller. Installed in the front end of the rotating shaft of the motor, and interlocked by the motor, impurity crushing unit for crushing impurities located on the movement path of the robot body, and detachably mounted on the rear opening of the robot body to flow into the robot body. An oil comprising an impurity collecting portion for collecting impurities contained in the fluid to be By providing a penetrating mobile robot, it is possible to collect information and remove impurities in the fluid through its own power movement and communication with an external controller without disturbing the flow of the fluid in the fluid or in the pipe in which the fluid is present. Let's do it.

Description

Mobile robot for eliminating impurities inside the hollow shaft}

The present invention relates to a mobile robot capable of penetrating into a fluid, and more particularly, a measuring device or impurity crushing unit, or a measuring device and an impurity crushing unit can be mounted at the same time. The present invention relates to a mobile robot that penetrates inside and exchanges and controls information via wireless or wired communication with the outside. That is, the present invention relates to a mobile robot that can be equipped with a camera, a sensor, an impurity crushing unit to monitor the state of the fluid inside the tube, and move the tube to remove impurities.

As the industry develops, various attempts have been made to design, manufacture, and control methods of robots, and research on robots having various forms is being actively conducted.

Previously, there is an urgent need to develop robots that can be performed by human hands or replace tasks that were impossible or difficult. In particular, robots that can perform the desired purpose in human fluids are rarely embodied, and even more rarely attempt to manufacture them in a very small size.

As interest in the environment and energy soars, there is a demand for technology capable of performing the protection and monitoring function of the aquatic ecosystem using a large number of robots at low cost. The technology that collects measurable information inside the pipe or removes impurities that interfere with the flow in the pipe is also one of the technologies that robots can effectively perform on behalf of humans.

Meanwhile, as medical equipments become more advanced and commonplace, robots capable of performing medical activities in special environments such as inside blood vessels are urgently required.

Efforts have been made to design and implement robots to accomplish a given purpose in such an environment. However, the results have remained insignificant.

The technical problem to be solved by the present invention is a mobile robot capable of collecting information in the fluid by the movement of its own power and communication with an external controller without disturbing the flow of the fluid in the fluid or the tube inside the fluid present. It is to provide.

Another technical problem to be solved by the present invention is a mobile robot capable of removing impurities in a fluid by moving by its own power and communicating with an external controller without disturbing the flow of the fluid in a fluid or a pipe in which a fluid exists. Is to provide.

Another technical problem to be solved by the present invention is the collection of information in the fluid and the collection of impurities in the fluid by the movement of its own power and communication with the external controller without disturbing the flow of the fluid in the fluid or the tube inside the fluid present It is to provide a mobile robot that allows simultaneous removal.

Another object of the present invention is to provide a robot capable of effectively performing a given purpose, such as collecting information and removing impurities in a fluid environment, along with the transfer of the robot using a single actuator in a fluid environment in a conventional pipe. have.

Another problem to be solved by the present invention is to provide a robot that can effectively perform a given purpose without disturbing the flow of fluid under special circumstances, such as inside the tube.

One embodiment of the present invention for achieving the above object, the front and rear of the body is open to each other so as not to interfere with the flow of the fluid in the fluid or inside the tube in which the flow of the fluid is present, the movement of its own to the axis center of the body A motor for generating the necessary power is rotatably embedded, and an impeller for generating self-propulsion by rotating the motor is mounted inside the robot body and the robot body which is installed rotatably at the rear end of the motor shaft. Power supply and control unit for supplying the operating power and control signal necessary for the rotation of the motor and the impeller, a plurality of measuring units installed in the robot body and collecting various information about the fluid in the fluid or the tube, respectively, and the inside of the robot body And a communication unit mounted in the communication unit for performing communication for exchanging information between the controller and the external controller. It is a mobile robot that can penetrate into a fluid.

Another embodiment of the present invention for achieving the above object is that the front and rear of the body is open to each other so as not to interfere with the flow of the fluid in the fluid or inside the tube in which the flow of the fluid is present, the self-movement to the axis center of the body A motor for generating the necessary power is rotatably embedded, and an impeller for generating self-propulsion by rotating the motor is mounted inside the robot body and the robot body which is installed rotatably at the rear end of the motor shaft. Power supply and control unit for supplying the operating power and control signals required for the rotation of the motor and the impeller respectively, mounted inside the robot body and a communication unit for communicating information for exchanging information between the control unit and the external controller, and detachable to the end of the rotating shaft of the motor It is installed integrally as possible and moves the robot body while rotating by interlocking with the motor. Fluid penetration within a movable robot including an impurity which is located rosang crushing unit for crushing impurities.

In another embodiment of the present invention for achieving the above object, the front and rear of the body is open to each other so as not to interfere with the flow of the fluid in the fluid or inside the tube in which the flow of the fluid is present and moves itself around the axis of the body A motor for generating the power required to rotate is built in a rotatable impeller that rotates integrally with the motor to generate self-propulsion. Power supply and control unit for supplying the operating power and control signals required for each, installed in the robot body and a plurality of measurement units for collecting a variety of information about the fluid in the fluid or inside the tube, and mounted inside the robot body, the controller and external Communication unit performing communication for exchanging information between controllers, at the tip of the rotating shaft of the motor Impurity crushing unit for interlocking the impurities located on the movement path of the robot body while being interlocked by the motor, detachably mounted to the rear opening of the robot body to collect impurities contained in the fluid flowing into the robot body A mobile robot capable of penetrating into a fluid including an impurity collecting portion.

In still another embodiment of the present invention, a single or multiple mobile robots are deployed in a fluid according to each embodiment of the present invention, and information exchange between the deployed single or multiple mobile robots and an external controller is performed by each mobile robot. It is made through the communication unit of, each mobile robot is a mobile robot that can penetrate into the fluid is set to be driven in accordance with the situation-specific instructions from the external controller.

In addition, the mobile robot of the present invention; An impeller mounted on one end of a rotation shaft of the motor to convert the rotational force of the motor into a driving force; An impurity crushing unit mounted on the other end of the rotating shaft of the motor to remove impurities in the front fluid; An inner housing for protecting the motor and including a sealing device to prevent intrusion of an external fluid; External housing; At least one support for connecting and fixing the inner and outer housings; And a cover provided in contact with an outer surface of the outer housing and equipped with a power supply device for supplying power and a plurality of measurement devices for measuring a state of a fluid.

In addition, the mobile robot of the present invention includes a motor equipped with an impeller and an impurity crushing unit for removing impurities in the front fluid; An inner housing to seal the motor to protect the motor and prevent intrusion of external fluids; And a cover to which a plurality of measuring devices for measuring the state of the fluid and a power supply device for coupling and supplying power to the inner housing by at least one support are mounted.

The mobile robot is further connected to the front or rear of the cover characterized in that it further comprises a filtering device for collecting impurity debris flowing into.

The mobile robot further comprises a plurality of air bearing devices on the outside of the cover.

A fluid movement path is provided between the inner housing and the outer housing.

According to the mobile robot according to the present invention, since the forward movement is possible in the fluid by the propulsion force generated by the motor and the impeller mounted in the robot body, it is possible to collect the surrounding information inside the fluid through this movement, the robot body Since the communication unit is mounted inside, there is an advantage that the robot can be controlled to exchange these collected information and the situation in the fluid through wired / wireless communication with an external controller.

In addition, according to the mobile robot according to the present invention, since the impurity crushing part and the collecting part are mounted at the front end and the rear end of the robot, the impurity that hinders the flow of the robot in the tube in a situation such as the flow of the fluid easily exists. There is an advantage that can be eliminated.

In addition, according to the mobile robot according to the present invention, since the flow path for the flow of fluid is formed in the interior of the robot body it is possible to move in the fluid without disturbing the flow of fluid by the penetration of the robot in the environment, such as the inside of the tube There is an advantage to doing this.

In addition, according to the mobile robot according to the present invention, since the outer circumferential surface of the housing cover of the robot body is provided with a plurality of external bearings that can adjust the pressure by the contraction and expansion of the membrane, the inner wall of the tube in a situation such as the inside of the tube where the fluid is present Direct collision with the outer wall of the robot body can be prevented, and there is an advantage in that it can overcome the reaction force generated when the robot is accurately moved, the center control and the impurities are removed.

The robot according to the present invention has the effect of performing a given purpose such as collecting information and removing impurities together with the transfer of the robot using a single actuator in a general fluid environment.

In addition, the robot according to the present invention can move without disturbing the flow of fluid even under special circumstances such as inside a narrow tube, and has the effect of performing a given purpose such as collecting information and removing impurities.

1 is a perspective view illustrating an embodiment of a mobile robot according to the present invention.
Figure 2 is a perspective view of the mobile robot according to the present invention by cutting a portion of the tube in a state inserted into the tube.
3 is a front view of Fig.
4 and 5 are cross-sectional views taken along line AA and line BB of FIG. 3.
Figure 6 is a perspective view illustrating a state viewed from the rear of the mobile robot according to the present invention.
7 to 11 are perspective views illustrating the internal structure of the mobile robot of Figure 1 by partially cutting each part of the robot body,
7 is a perspective view illustrating a part of the housing cover of the robot body by cutting away.
8 is a perspective view illustrating a state in which a portion of the outer housing is further removed from FIG. 7.
9 is a perspective view illustrating a state in which the support is further removed from FIG. 8.
10 is a perspective view illustrating a state in which the inner housing is further removed from FIG. 9.
FIG. 11 is a perspective view illustrating a state in which the stator and the permanent magnet of the motor are further removed from FIG. 10.
12 and 13 are internal perspective views illustrating the housing cover and the impurity collecting unit separately from the robot body of FIG. 1, and are exemplified to explain a power unit, a control unit, and a communication unit mounted on an inner circumferential surface of the housing cover.
FIG. 14 is a perspective view illustrating only an internal drive in FIG. 9 to explain an internal drive of the mobile robot according to the present invention.
15 is an enlarged view of the structure of the motor and its main parts for explaining the operation of the impurity crushing unit and the impeller interlocked by the rotation axis of the motor in the mobile robot according to the present invention.

Hereinafter, the configuration and operation of a mobile robot that can penetrate into a fluid according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in this specification and claims are not to be construed as limiting in their usual or dictionary meanings, and the inventors may properly define the concept of terms in order to best explain their invention in the best way possible. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention. Therefore, since the embodiments shown in the specification and the configuration shown in the drawings is only one of the most preferred embodiment of the present invention, it is understood that there may be various equivalents and modifications that can replace them at the time of the present application shall.

1 is a perspective view illustrating an embodiment of a mobile robot according to the present invention, Figure 2 is a perspective view illustrating a part of the tube in a state in which the mobile robot according to the present invention is inserted into the tube, Figure 3 2 is a front view of FIG. 2, and FIGS. 4 and 5 are cross-sectional views taken along line AA and BB of FIG. 3, and FIG. 6 is a perspective view illustrating the mobile robot according to the present invention viewed from the rear, and FIGS. In order to explain the internal structure of the mobile robot of Figure 1 is a perspective view illustrating a part of the cutting portion of the robot body, Figure 12 and Figure 13 is an internally illustrated by extracting the housing cover and the impurity collecting portion separately from the robot body of Figure 1 14 are perspective views illustrating only the internal drive device in FIG. 9 to explain the internal drive device of the mobile robot according to the present invention, and FIG. 15 is an impurity crushed in the mobile robot according to the present invention. It is an enlarged view of the structure and the part of the motor which were illustrated in order to demonstrate the operation | movement which a part and an impeller interlock by the rotating shaft of a motor.

In the present invention, the pipe is not intended to refer to a specific pipe, and is intended to indicate where the fluid to which the robot of the present invention is applied flows, and may be a blood vessel, a water pipe, a sewer pipe, an oil pipe, a river, a river, or the like.

1 to 14, the mobile robot according to the present invention includes a robot body 10 having a motor 11 and an impeller 13 as a source of power and propulsion force, and supplying operating power to the motor. The power supply unit 31, the control unit 32 for supplying a control signal to the motor, the measurement unit 33 for collecting information in the fluid, the communication unit 34 for communicating with the external controller, and the impurities to crush the impurities in the fluid It is comprised including the crushing part 14.

The robot body 10 is composed of a cylindrical body in which the front and the rear of the body are opened so as to be able to move forward and backward without interfering with the flow of the fluid in the fluid or the tube in which the flow of the fluid exists. A motor 11 for generating power required for self movement at the center of the shaft is rotatably embedded about the rotating shaft 12, and an impeller 13 for generating self propulsion force by the rotational motion of the motor 11. ) Is rotatably installed at the rear end of the rotating shaft 12 of the motor 11.

In addition, the impurity crushing unit 14 is detachably installed at the distal end of the rotating shaft 12 of the motor 11 of the robot body, and is located in front of the moving path of the robot body 10 while being interlocked by the motor. It is configured to shred.

In addition, the impurity collecting unit 15 is detachably mounted on the rear opening of the robot body 10 so as to be repairable and replaceable. The impurity collecting unit 15 is detachably attached to a filter 15a for collecting impurities contained in the fluid flowing into the robot body, and the filter passes through the fluid and removes impurities that are crushed by the impurity crushing unit 14. The debris preferably consists of a porous filter having a pore size that can be filtered out. Here, impurities in the fluid can be considered to be generally in the form of agglomerates, and debris generated by removing them should be able to be treated by an appropriate method. For example, according to the present invention, the mechanically crushed debris can be transported to the rear of the robot by the flow generated by the impeller mounted on the robot, and the filter can pass only fragments of a certain size or less to the rear of the robot. By providing a solid particles of a specific size or more can be collected. To this end, the impurity crushing unit may generally be mounted at the head of the robot, and the impeller and filter may be mounted at the rear of the robot.

Here, the motor 11 is a rotor 11c which is integrally coupled to the rotation shaft 12 in an integrated manner as shown in FIG. 15, and the N pole and the S pole are repeated on the circumference of the rotor 11. It is composed of a permanent magnet (11d) arranged, a stator (11a) surrounding the rotor around, a coil (11b) wound around the inside of the stator. As a result, the rotating shaft 12 connected to the impeller 13 may be assembled with the rotor of the motor 11 by interference fitting so that the rotating motion by the magnetic field may be concentric with the stator 11a. 11 d of permanent magnets are attached to the rotor 11c of this motor 11 in the circumferential direction, and the stator 11a has a core on the circumference and is wound around the core 11b. Rotation of the motor 11 is generated as a magnetic force generated by the electromagnet). Conversely, it is possible to use an electromagnet attached to the rotor and a permanent magnet attached to the stator, which is obviously the same principle. The motor 11 is located at the center of the robot, and in particular, since the rotation axis of the motor 11 is located at the center of the motor 11, it is located at the center of the robot.

In addition, in order to prevent the inflow of external fluid, the motor 11 is sealed with the remaining portions except for both ends of the rotation shaft 12 surrounded by the inner housing 16 and a separate sealing device 11f, and the motor 11 And the inner bearing 11e are assembled between the sealing device 11f.

The impeller 13 is mounted on one end of the rotation shaft of the motor (for example, in the opposite direction to the traveling direction) to convert the rotational force generated from the motor 11 into the propulsion force. As a result, the robot can be driven in the fluid by the driving force generated by the operation of the impeller 13.

The impurity crushing unit 14 is mounted on the other end of the rotation shaft of the motor 11 (for example, in the advancing direction) to perform a function of crushing impurities in the front tube. The impurity crushing unit 14 may be implemented by using a device such as drilling, grinder, punching, that is, the impurity crushing unit may be implemented in the form of a warhead, such as a head of drilling, grinder, punching or the like. The impurity crushing unit 14 is made of a warhead type, and in some cases, a thread may be provided on the outer peripheral surface thereof.

The inner housing 16 functions as a protective case that protects the motor 11, and couples a sealing device to a coupling portion of the motor 11, the impeller 13, and the impurity crushing unit 14 so that external fluid is transferred to the motor ( 11) It prevents invasion inside.

In addition, a plurality of support inserting grooves 16a are formed on the outer circumferential surface of the inner housing 16 at equal intervals along the periphery thereof, and each of the support inserts 16a is inserted in the longitudinal direction in the longitudinal direction. . In addition, the plurality of supports 17 are installed in the outer housing 18 while being spaced apart from the outer circumferential surface of the inner housing 16. As a result, the robot body 10 may form a flow path 21 through which fluid can flow between the outer circumferential surface of the inner housing 16 and the inner circumferential surface of the outer housing 18. Here, in one embodiment of the present invention has been illustrated a state in which three supports are arranged at equal intervals in the circumferential direction, the arrangement of these supports can be modified in various forms, of course. In addition, an internal wiring hole 17a for wiring of the measuring unit 33 may be formed in each of the support bases 17.

The outer housing 18 is coupled to the inner housing 16 by at least one support 17. In the embodiment of the present invention, at least one support 17 is described as an example consisting of three supports, but is not limited thereto.

In addition, a housing cover 19 is integrally installed on the outer circumferential surface of the outer housing 18, and a plurality of outer bearings 20 are installed on the outer circumferential surface of the housing cover 19 to protrude from the surface thereof. The outer bearing 20 is installed for preventing collision with the inner wall of the pipe and for guiding in the axial direction and controlling the center and attitude.

Each of the supports 17 is disposed at equal intervals of 120 degrees with respect to each other about the circumferential direction. The space between the supports 17 is provided with a fluid movement passage through which fluid can move. As a result, the robot can move without disturbing the flow because the robot does not completely block the flow of the fluid even in the fluid.

A predetermined space is provided inside the support 17, and internal wiring for supplying power to the motor 11 or controlling the operation of the motor 11 passes through the internal space of the support 17. The support 17 is coupled to the support assembly groove of the inner housing 16 to connect the inner housing 16 and the outer housing 19.

The housing cover 19 is provided in contact with the outer surface of the outer housing 18, and the housing cover 19 is equipped with a plurality of measuring devices. The plurality of measuring devices may be implemented by a sensor or a camera, and various measuring devices may be added and mounted according to the purpose of the measuring.

In addition, the inner circumferential surface of the housing cover 19 is provided with a plurality of component insertion grooves 19a for mounting components of the power supply unit 31, the control unit 32, the measurement unit 33, and the communication unit 34, and the external bearing 20. ) Is provided with an air inlet (19b) for injecting air to the outer bearing side.

The filtering device comprises a filter 15 and a filter holder, which are connected to the housing cover 19 by a filter holder. The filtering device may be implemented connected to the front or rear of the housing cover 19. In the embodiment of the present invention, an example connected to the rear of the housing cover 19 will be described.

The filter 15 is implemented in the form of a porous filtration filter and can be detachably attached to the filter fixing device so as to be easily replaced and repaired. The filter 15 has a function of collecting impurity fragments of a predetermined size or more, which are crushed by the impurity crushing unit 14, and used to collect the collected impurity fragments, which may be used to analyze impurities in the fluid. have.

The outer bearing 20 is an air bearing and is mounted on the outer surface of the housing cover 19 to cushion the robot when it collides with the inner wall of the tube during movement. The outer bearing 20 is filled with air therein and functions as a bearing by expansion and contraction of the membrane by air pressure. The outer bearing 20 not only serves as a shock absorber when colliding with the inner wall of the tube, but also performs an auxiliary function of allowing the robot to move correctly along the inner tube. In addition, when the robot performs a function for removing impurities in the tube or when the impeller 13 operates, an axial repulsion force is generated, and the outer bearing 20 cancels this repulsive force and supports the robot to stabilize the movement. Or work is possible.

In general, air bearings are bearings that use high pressure air to wrap around the shaft to reduce friction, that is, bearings that support high load by sending high pressure air between the shaft and the bearing of the machine to open the shaft with pneumatic pressure. When a moderate pressure air is blown into the contact surface with the journal, the air flows out of the bearing in a spiral flow with the rotation of the shaft. Also in the present invention, the air bearing forms a hemispherical air bag, and has an air hole in the housing cover of the underside of the air bearing, and when air of a suitable pressure is blown through the air hole, the air is rotated together with the rotation of the motor. It flows out of the bearings and wraps around the robot to reduce friction and support the robot.

The power supply unit 31 is mounted on the robot body 10 to supply the operating power required for the rotation of the motor 11 and the impeller 13, and the control unit 32 is mounted on the robot body 10 to supply the motor 11 and the motor 11. The control signal required for the rotation of the impeller 13 is supplied. The power supply unit may be made of a battery.

The controller 32 generates a control signal for controlling the operation of the motor 11 to control the operation of the motor 11. In the embodiment of the present invention, the communication unit 34 has been described as an example implemented separately from the control unit 32, but the communication unit 34 may be implemented by being included in the control unit 32.

A plurality of measuring units 33 are installed in front of the robot body 10 to collect various information about the fluid in the fluid or the tube.

The communication unit 34 is mounted inside the robot body 10 to perform communication for exchanging information between the control unit 32 and an external controller. The communication unit 34 receives commands for controlling the motor 11 and the measuring unit 33 through communication with an external device, or transmits information collected through the measuring unit 33 to an external device, In some cases, the external device may be another robot.

The communication unit 34 may be any one of a wireless communication module mounted for wireless communication with the control unit 32 and an external controller, or a wired communication module connected to the rear of the robot body along a tube. In particular, when operating the robot by wire, of course, the wireless communication module can be excluded.

In the case of a wired line, the communication unit can install a line that can communicate with an external controller along the inside of the tube to the rear of the mobile robot, and in a more advanced manner, the inside of the robot for remote wireless communication and control using Bluetooth, sound waves, and the like. It may include a wireless communication module.

In particular, the power supply unit 31, the control unit 32, and the communication unit 34 are respectively mounted in the plurality of component insertion grooves 19a formed on the inner circumferential surface of the housing cover 19 inside the robot body 10.

In the present invention, when the side cross section of the inner housing 16 is viewed, the motor 11 transmits the rotational force of the motor 11 to the impurity crushing unit 14 through a bearing. In the section where the inner housing 16, the impurity crushing portion 14 and the motor 11 are connected, a sealing device is provided to prevent external fluid from penetrating into the motor 11. The sealing device, such as a general packing ring or packing tube, is mounted on the rotating shaft 111 of the motor 11 at the coupling portion of the inner housing 16 surrounding the motor 11 and the impurity crushing portion 14. The same applies to the sealing device between the inner housing 16 and the impeller 13 surrounding the motor 11.

The overall operation of the mobile robot that can penetrate the fluid according to the present invention having such a configuration will be described.

As a result, as described above, it is possible to secure the flow path 21 that can minimize the disturbance of the fluid flow due to the penetration of the robot, so that not only the fluid inside the pipe can flow through the flow path, but also the impurities removed by the impurity crushing unit. It is possible to transfer the debris to the filter 15a installed behind the mobile robot.

First, when the motor 11 is driven through the power supply unit 31 and the control unit 32 of the mobile robot by communication with an external controller, the rotational torque generated by the motor 11 may be impregnated with the impurity crushing unit 14 through the rotating shaft. The impeller 13 and the impeller 13 are delivered to the impeller 13 so as to rotate together with the motor 11. When the impeller 13 is rotated by this operation, the mobile robot has a driving force in the fluid, and thus the forward movement is made in the fluid. With this forward movement, the measurement unit 33 of the mobile robot can collect information in the fluid. In addition, by the impurity crushing unit 14 detachably mounted at the beginning, it is possible to simultaneously perform mechanical cutting operations such as drilling or grinding.

On the other hand, the outer side of the body of the housing cover 19 of the mobile robot according to the present invention is provided with an external bearing 20 that can serve as a bearing by the expansion and contraction of the membrane through the injection of air, the mobile robot as described above When moving inside the tube, collision between the inner wall of the tube and the outer wall of the mobile robot can be prevented, and guiding in the axial direction, center and attitude control can be performed. Since the outer bearing 20 can supply an appropriate level of air through the air inlet 19b inside the membrane, the outer bearing 20 can serve as a bearing by expanding and contracting the membrane due to the air pressure. From this, it is possible to mitigate the impact that the robot can receive due to the collision between the robot and the inner wall of the tube. This not only prevents the collision between the robot and the inner wall of the tube, but also enables the robot to move accurately along the tube within the tube. In addition, when the robot is to remove impurities in the tube, reaction force in the axial direction may occur in the process of removing the impurities using the impurity crushing unit 14, and in this case, the robot may move in the axial direction together with the posture control in the tube. This outer bearing 20 can contribute to the fixing function of the robot. The fixing of the robot in the axial direction is also possible by the thrust generated by the impeller 13 for the movement in the fluid of the robot. That is, the axial reaction force is supported by the thrust by the impeller 13 and the bearing force of the outer bearing 20, and the robot can perform the desired function.

The mobile robot according to the present invention penetrates into a tube through which fluids of various types and sizes flow as in the above-described embodiment, and performs a function of collecting various information and removing impurities by using the measuring unit 33. A robot capable of communicating with the outside may be applied to all ranges of use. Examples include water and sewer pipes, oil pipes, and blood vessels inside the human body.

The robot according to the present invention may be inserted into blood vessels of an animal or human to examine the state of blood vessel fluid (eg, blood), and may also crush impurities, and collect fragments of crushed impurities to remove impurities. By analyzing the components of the, it can be used as a device for medical or medical assistance. In particular, when the outer bearing 20 according to the present invention is used to penetrate the robot into a tube of a weak material such as a blood vessel, damage to or damage to the inner wall of the blood vessel as well as the robot may be prevented.

That is, the robot according to the present invention described above includes a motor 11, an impeller 13, an impurity crushing unit 14, an inner housing 16 having a sealing device, an outer housing 18, a support 17, and a housing. The cover 19, the filter 15a, the outer bearing 20, the measuring unit 33, and the like, and the robot according to the present invention may be used for blood vessels. Therefore, the blood vessel may be inserted into the blood vessel and the blood, ie, the state of blood, may be measured using the measuring unit 33, and impurities in the blood may be broken using the impurity crushing unit 14. The filter 15a can be used to collect.

In addition, the robot according to the present invention can be used to analyze the components of the impurities by inspecting the state of the fluid is injected into the water supply pipe, sewage pipe, or oil pipe, crushing the impurities inside and collecting the debris generated at this time.

In addition, the robot according to the present invention is implemented so that a large number of groups can communicate with each other or with external devices to communicate with each other, it is possible to inspect the state of the river, rivers or more complex and long pipe, The impurities can be crushed, and the resulting debris of impurities can be collected and collected.

That is, the robot according to the present invention described above includes a motor 11, an impeller 13, an impurity crushing unit 14, an inner housing 16 having a sealing device, an outer housing 18, a support 17, and a housing. The cover 19, the filtering device 15a, the outer bearing 20, the measuring unit 33, the communication unit 34, and the control unit 32, etc., and in particular, the communication unit 34 includes an external device. Receives commands for controlling the motor 11 and the measuring unit 33 through communication of the communication unit, or transmits the information collected through the measuring unit 33 to an external device, the external device is another robot 100 may be sufficient. That is, the predetermined robot is configured to transmit or receive information to an external device (for example, another robot).

This robot can be used for the purpose of inspecting the inside of the tube, and can also be used for the purpose of restoring the flow in the tube normally by removing all kinds of impurities that obstruct the flow of the tube by blocking the inside of the tube at the same time as the inspection. . In addition, it can be used for medical activities such as finding and removing various types of chronic constrictions deposited in blood vessels by penetrating blood vessels in the human body.

As a task that the mobile robot can perform in the fluid, the condition monitoring in the normal fluid (all measurable information such as environmental pollution, water depth, and flow rate) and the exchange of information with the outside may be typical. In the case of flow as well, it may be representative of the removal of impurities and the like which may disturb the flow in the pipe together with the task of measuring the measurable information in the pipe and exchanging information with the outside. Alternatively, the robot may be equipped with a measuring device suitable for a given purpose, for example, a micro camera or various types of sensors, and a mechanical and chemical removal device for removing impurities. As a mechanical impurity removal device, an apparatus using a mechanism such as drilling and punching may be involved, and their driving may be performed by a motor driving an impeller.

The mobile robot according to the present invention can be used for the purpose of collecting various measurable information in a general fluid as well as a special situation such as penetration into a tube, and for this purpose, a mobile robot in which a plurality of mobile robots are simultaneously deployed in a fluid It can be used as a stage. In this case, the exchange of information between the deployed single or multiple mobile robots and the external control device is performed through the communication unit of each mobile robot, and each mobile robot can be set to be driven according to a situation-specific command from the external control device. have. In addition, if a large amount of robots according to the present invention are deployed, these robots can exchange information with each other through a wireless communication module included in the robot, and can be applied to a situation in which a function of delivering such various information to the outside is possible.

10: robot body 11: motor
11a: Stator 11b: Coil
11c: Rotor 11d: Permanent Magnet
11f: sealing device 11e: internal bearing
12: shaft 13: impeller
14 impurity crushing unit 15 impurity collecting unit
15a: filter 16: inner housing
16a: support insertion groove 17: support
17a: inner wiring hole 18: outer housing
19: housing cover 19a: component insertion groove
9b: air inlet 20: outer bearing
21: Euro 31: power supply
32 control unit 33 measuring unit
34: communication unit

Claims (20)

The front and rear of the body are respectively opened to move forward and backward without disturbing the flow of the fluid in the fluid or inside the tube where the flow of the fluid is present, and to generate the power necessary for the movement of the body in the center of the axis of the body. A robot body in which a motor is rotatably embedded, and an impeller rotatably installed at a rear end of the rotating shaft of the motor for generating a self-propelling force by a rotation operation of the motor;
A power supply unit and a control unit mounted in the robot body and supplying an operation power and a control signal for rotation of the motor and the impeller, respectively;
A plurality of measurement units installed in the robot body and collecting various pieces of information about a fluid in a fluid or a pipe;
And a communication unit mounted inside the robot body to perform communication for exchanging information between the controller and an external controller. The front and rear of the body are respectively opened to move forward and backward without disturbing the flow of the fluid in the fluid or inside the tube where the flow of the fluid is present, and to generate the power necessary for the movement of the body in the center of the axis of the body. A robot body in which a motor is rotatably embedded, and an impeller rotatably installed at a rear end of the rotating shaft of the motor for generating a self-propelling force by a rotation operation of the motor;
A power supply unit and a control unit mounted in the robot body and supplying an operation power and a control signal for rotation of the motor and the impeller, respectively;
A communication unit mounted inside the robot body and performing communication for exchanging information between the controller and an external controller;
The impurity crushing unit is detachably installed at the distal end of the motor, the impurity crushing unit for crushing the impurities located on the movement path of the robot body while being rotated in conjunction with the motor; fluid comprising a My penetrating mobile robot. The front and rear of the body are respectively opened to move forward and backward without disturbing the flow of the fluid in the fluid or inside the tube where the flow of the fluid is present, and to generate the power necessary for the movement of the body in the center of the axis of the body. A robot body in which a motor is rotatably embedded, and an impeller rotatably installed at a rear end of the rotating shaft of the motor for generating a self-propelling force by a rotation operation of the motor;
A power supply unit and a control unit mounted in the robot body and supplying an operation power and a control signal for rotation of the motor and the impeller, respectively;
A plurality of measurement units installed in the robot body and collecting various pieces of information about a fluid in a fluid or a pipe;
A communication unit mounted inside the robot body and performing communication for exchanging information between the controller and an external controller;
The impurity crushing unit is detachably installed at the distal end of the motor, the impurity crushing unit for crushing the impurities located on the movement path of the robot body while being rotated in conjunction with the motor; fluid comprising a My penetrating mobile robot. 4. The method according to any one of claims 1 to 3,
And an impurity collecting part detachably mounted to the rear opening of the robot body to collect impurity fragments contained in the fluid flowing into the robot body and allow the fluid to pass therethrough. . According to any one of claims 1 to 3, The robot body,
An inner housing that directly surrounds and seals an outer circumferential surface of the motor;
An outer housing formed of a larger diameter than the inner housing and surrounding the outer circumferential surface of the inner housing at a predetermined distance;
A plurality of supports spaced apart at equal intervals along the circumference of the inner housing to be inserted in the longitudinal direction so as to form a flow path between the outer circumferential surface of the inner housing and the inner circumferential surface of the outer housing; My penetrating mobile robot. The method of claim 5, wherein the robot body,
And a housing cover integrally installed on an outer circumferential surface of the outer housing and formed with a plurality of component insertion grooves formed on an inner circumferential surface of the power supply unit, the control unit, and the communication unit. According to claim 6, The robot body,
And a plurality of external bearings installed on an outer circumferential surface of the housing cover and protruding from the surface of the housing cover for preventing collision with the inner wall of the tube and guiding in the axial direction and controlling the center and attitude. Mobile robot that can penetrate fluids. The communication unit according to any one of claims 1 to 3, wherein
And a wired communication module connected to the rear of the robot body along a tube, or a wireless communication module mounted for wireless communication with the controller and an external controller. The mobile robot of any one of claims 1 to 3 is deployed in a single or multiple in the fluid,
The exchange of information between the deployed single or multiple mobile robots and the external control device is made through the communication unit of each mobile robot,
And each of the mobile robots is driven by a situation-specific command from an external controller. motor;
An impeller mounted on one end of a rotation shaft of the motor to convert the rotational force of the motor into a driving force;
An impurity crushing unit mounted on the other end of the rotating shaft of the motor to crush and remove impurities in the front fluid by being rotated;
In order to prevent foreign fluids from entering the motor, a sealing device is provided, and is positioned outside the motor to surround the motor, wherein the sealing device is a coupling part of the impeller and the motor, and the impurities. An inner housing configured to be mounted and sealed on a rotation shaft of the motor at a coupling part of the crushing unit and the motor;
An outer housing positioned outside the inner housing;
At least one support for connecting and fixing the inner housing and the outer housing; And
And a housing cover provided on an outer surface of the outer housing and equipped with a power supply device for supplying power and a plurality of measurement devices for measuring a state of the fluid. An impeller is mounted at the rear end of the rotating shaft, and a motor having an impurity crushing unit having one of drilling, grinder, and punching heads is mounted at the front of the rotating shaft;
An inner housing formed to surround the motor and sealing the coupling part of the motor and the impeller, and the coupling part of the motor and the impurity crushing part to protect the motor and prevent intrusion of external fluid;
A mobile robot capable of penetrating into a fluid, comprising a housing cover which is coupled to the inner housing by at least one support and is supplied with a power supply for supplying power and a plurality of measuring devices for measuring the state of the fluid. . The method according to any one of claims 10 or 11,
The robot,
And a filtering device connected to the front or rear surface of the housing cover to collect impurity debris introduced therein. The method of claim 12,
It is mounted on the outside of the housing cover, the inside is filled with air, by the expansion and contraction of the air pressure, a plurality of air bearing device configured to support the robot by offsetting the reaction force generated when the impeller is operating A mobile robot that can penetrate the fluid further comprising. The method of claim 13,
And a fluid movement path is provided between the inner housing and the outer housing. The method of claim 13,
The at least one support,
A mobile robot capable of penetrating into a fluid, comprising three supports, each support being mounted at an angle of 120 degrees, and having a fluid movement path for moving the fluid between the supports. The method of claim 13,
And a drive circuit for controlling the operation of the motor and communicating with an external device in the housing cover. The method of claim 16,
And a wireless communication device for wireless communication with the outside inside the housing cover. The method of claim 13,
The mobile robot that can penetrate the fluid,
A mobile robot capable of penetrating fluids, characterized in that it is used to inspect the state of the fluid in a water pipe, sewer pipe, or oil pipe, crush impurities, and collect crushed debris. The method of claim 4, wherein
The mobile robot that can penetrate the fluid,
A penetrating mobile robot, which is inserted into a blood vessel of an animal or a human, and used to examine the state of blood vessels, to break up impurities or constrictions generated inside the blood vessels, and to collect the broken impurities or constrictions. The method of claim 4, wherein
The mobile robot that can penetrate the fluid,
A mobile robot capable of penetrating fluids, which is used for inspecting the state of fluids in rivers and streams, crushing impurities, and collecting crushed debris.

Images