KR20130004825A - Climbing robot having rope ascender - Google Patents

Abstract

PURPOSE: A climbing robot having a rope ascender is provided to enable the climbing robot to change a direction on a wall surface as the robot goes up and down the wall surface while the robot is in contact with the wall surface so that a route can be corrected or a posture of a mounting body can be changed. CONSTITUTION: A climbing robot(1000) having a rope ascender comprises a main body(500), caterpillar wheels(610,620,630,640), an ascender assembly(100), and propeller units(210,220). The caterpillar wheels are rotatably fixed to the main body. Caterpillars of the caterpillar wheels are in contact to a wall surface so that the caterpillar wheels are transferred. The ascender assembly is joined to the main body and comprises two pulleys rotating while engaging a rope. The propeller units are arranged in the main body and form an air flow in a direction of moving the main body closely to the wall surface. [Reference numerals] (AA) Front; (BB) Back; (CC) Right; (DD) Left

Description

Climbing robot having rope ascender}

The present invention relates to a climbing robot, and more particularly, a climbing robot that can climb up and down a wall with a rope ascender, and can move in close contact with the wall stably even when moving up and down at high speed, and there are obstacles on the wall. The present invention relates to a climbing robot having a rope ascender that can move over it.

The present invention is affiliated to the Ministry of Education, Science and Technology It is derived from the research conducted as part of the core research support projects of the Korea Research Foundation and the University-Industry Foundation.

[Task Management Number: 2010-0027809, Title: Development of Robot System for Cleaning Exterior Walls of High-rise Buildings]

Research on climbing robots climbing up and down walls is actively conducted. Until now, research on climbing robots used vacuum pads to adsorb on a flat surface such as glass, or two modules on both sides of a window with magnets attached to a wall using magnetic force. There is an example used.

In the conventional vacuum adsorption method or the method using magnetic force, there is a problem that it can be attached only on a flat surface, the problem of limited movement on the surface with obstacles, the difficulty of changing the direction of travel, the problem that the material of the climbing wall is limited. Although each solution has its own solution at the idea level, there is still a need to find a solution to solve the problem more fundamentally.

Republic of Korea Patent Publication No. 10-2009-0050376 Republic of Korea Patent Publication No. 10-2007-0064891 Republic of Korea Patent Publication No. 10-2010-0085342

none

The present invention is to solve the various problems including the above problems, the object of the present invention can be climbed regardless of the material of the wall, the direction can be changed during movement on the wall, and the discontinuous section on the wall Even if there are obstacles, they will overcome this problem and develop a new climbing robot that can drive.

An object of the present invention as described above, the main body;

Caterpillar wheels rotatably fixed to the main body;

An ascender assembly connected to the main body, the ascender assembly including two pulleys arranged to bite and rotate the rope so as to transport the rope; And

It is achieved by providing a climbing robot comprising a propeller unit disposed on the main body to form an air flow in a direction in which the main body is in close contact with the wall surface.

Here, the caterpillar wheel is provided with a wheel frame having a triangular lateral shape, a caterpillar feed gear fixed at a position corresponding to each vertex of the triangle in the wheel frame, and a caterpillar conveyed around the wheel frame by the caterpillar feed gear. It may be.

In addition, the object of the present invention as described above, the main body;

Two or more caterpillar wheels rotatably fixed to the main body and having a caterpillar having a triangular side shape; And

Connected to the main body, this is accomplished by providing a climbing robot comprising a ascender assembly having two pulleys arranged to bite and rotate the rope so as to transport the rope.

Here, one end is fixed to the main body, the other end is fixed to the ascender assembly, and may further include a steering shaft assembly capable of relatively rotating the main body and the ascender assembly by the rotation of a steering drive motor.

Here, the main body,

Two forward and backward frames spaced apart;

A first shaft rotatably supported on one side of the front-rear frame;

A second shaft rotatably supported at the other side of the front and rear direction frame and spaced apart from the first shaft;

A lateral frame disposed between the two forward and backward frames;

A center box fixed to the lateral frame;

Four caterpillar wheels respectively fixed to left and right ends of the first shaft and the second shaft;

A first wheel driving motor capable of rotating the first shaft to rotate the caterpillar wheel fixed to both ends of the first shaft; And

A second wheel driving motor capable of rotating the second shaft to rotate the caterpillar wheel fixed to both ends of the second shaft,

The front and rear direction frame may be made of a U-shape, and the first and second axes may be disposed at one end and the other end of the U-shape, respectively.

Here, the ascender assembly has a rope guide portion and a rope ascending portion,

The rope guide portion is provided with rope guide plates respectively disposed in both directions of the path through which the rope passes;

One or more stiffeners to maintain a gap between two rope guide plates;

It is disposed between the rope guide plate and includes two or more rope guide rods that directly guide the path through which the rope passes,

The rope climbing portion includes a first pulley and a second pulley for pushing the rope;

A spacer disposed between the first pulley and the second pulley;

A fixed shaft on which the first pulley and the second pulley are rotatably supported;

It may include a pulley drive motor for transmitting a rotational force to rotate the first pulley and the second pulley around the fixed shaft.

Here, the caterpillar wheel is provided with a caterpillar drive gear rotatably disposed on the wheel frame,

On the left side of the first shaft and the right side of the second shaft, a drive gear rotatably supported and a transmission gear rotated integrally with the drive gear are disposed.

A caterpillar drive motor disposed on the main frame to transmit rotational force to each drive gear,

As the output shaft of the caterpillar drive motor rotates, the drive gear, the transmission gear, and the caterpillar drive gear rotate sequentially, and the caterpillar drive gear is disposed around the caterpillar wheel by rotating the caterpillar feed gear to transfer the caterpillar wheel frame. It may be.

Here, the body plate is fixed between the two rope guide plate;

A spur gear connected to the rotation shaft of the pulley drive motor; And

And an internal gear gear meshed with the spur gear and rotating about the fixed shaft.

The inner tooth gear, the first pulley, the spacer and the second pulley may be sequentially fixed to each other, and may be rotatably supported around the fixed shaft by a bearing.

Here, an end portion extending between the first pulley and the second pulley may be disposed so that a stripper is installed to prevent the rope from being pushed in the fixed axis direction.

Here, the first axis and the second axis is disposed at each end of the front and rear frame made of a U-shape,

The drive sprocket is rotatably supported on the left side of the first shaft, and the driven sprocket is rotatably supported on the right side,

A driven sprocket is rotatably supported on the left side of the second shaft, and a drive sprocket is rotatably supported on the right side,

Two or more sprocket idlers are disposed in the front-rear frame so that the path of the chain can be formed in a U-shape along the front-rear frame, and the driving sprocket of the first axis and the driven sprocket of the second axis are arranged on the left side via the sprocket idlers. Connected by this chain, the driven sprocket of the first axis and the driving sprocket of the second axis arranged on the right side are arranged to be connected to the chain,

A drive gear, a drive sprocket and a transmission gear are fixed to the left side of the first shaft so as to be integrally rotatable, and a drive gear, the drive sprocket and the transmission gear are fixed to the left side of the second shaft so as to be integrally rotatable. A driven sprocket and a transmission gear are fixed to the right side of the first shaft so as to be integrally rotatable, and a driven sprocket and the transmission gear can be fixed to the left side of the second shaft so as to be integrally rotatable.

Here, the cleaning unit may further include a cleaning unit having a wiper connected to the main body to wipe the wall surface on which the climbing robot moves.

Here, the cleaning unit, a wiper having a diatomaceous earth mop used for cleaning;

A close mechanism for pushing the wiper from the climbing robot toward the wall to be in close contact with the wall; And

The wiper may be provided with a lateral transfer unit for cleaning the wall while moving in the left and right directions of the climbing robot.

Here, the close mechanism unit first link and the second link connected to each other by a pin joint;

Third and fourth links symmetrically disposed with the first and second links;

A screw disposed between the connecting portion between the first link and the second link and the connecting portion between the third link and the fourth link, the connecting portion between the first link and the second link and the first link according to the rotation of the screw. The cleaning unit frame connected to the second link and the fourth link may be transported in the wall direction or the wall opposite direction to the climbing robot while the distance between the connection portion between the third link and the fourth link is changed.

Here, the lateral transfer unit, and includes a rack arranged side by side in the longitudinal direction of the cleaning unit frame,

The wiper may have a pinion corresponding to the rack, and each wiper may be laterally transferred along the rack.

According to the present invention, it is possible to provide a climbing robot capable of riding up and down a wall at high speed. In addition, the climbing robot of the present invention can climb up and down the wall in a state of continuously contacting the wall while riding up the wall at high speed, and can perform various tasks such as cleaning, observing, and painting the wall.

In particular, since the climbing robot of the present invention moves up and down the wall while maintaining the state in contact with the wall surface, if the caterpillar wheel's traveling direction is changed by the steering operation of the steering unit, the climbing robot can move on the wall along the direction, so as to ride a rope The path correction and the attitude of the payload can be changed while going.

In addition, the climbing robot of the present invention is provided with a caterpillar wheel fixed to the first axis or the second axis and a wheel drive motor for rotating the first axis and the second axis to ride an obstacle even when an obstacle is encountered on the wall. You can get over it. This is an effect that has an important meaning to enable the operation of the climbing robot on the obstacle wall that was difficult to implement in the existing climbing robots.

1 is a perspective view schematically showing the configuration of a climbing robot according to the present invention.
Figure 2 is a perspective view of the main body constituting the climbing robot according to the present invention.
Figure 3 is an exploded perspective view of the ascender constituting the climbing robot according to the present invention.
Figure 4 is an exploded perspective view showing the configuration of the rope climbing portion.
5 and 6 show the steering operation of the climbing robot according to the invention.
7 to 10 are views showing the operation of climbing the obstacle robot is installed on the wall in accordance with the present invention sequentially.
11 is a view showing a path that the rope passes in the climbing robot according to the invention.
12 is a view showing a power transmission structure for the operation of the caterpillar in the climbing robot according to the present invention.
Figure 13 is a perspective view of a state in which the cleaning unit is mounted on the climbing robot of the present invention.
FIG. 14 is a bottom view of the climbing robot shown in FIG. 13. FIG.
15 is a side view of the climbing robot shown in FIG.
16 is an enlarged view of the XVI portion of FIG. 15.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view schematically showing the configuration of the climbing robot according to the invention, Figure 2 is a perspective view of the main body constituting the climbing robot according to the invention, Figure 3 is climbing according to the invention An exploded perspective view of the ascender constituting the robot is shown.

The left, right, front, and back directions used in the detailed description and claims of the present invention while explaining the present invention are defined based on the climbing robot and are defined in the directions shown in FIGS. 1 and 2. In addition, "a" is added to the member number to refer to the member located on the left side to perform the same function, and "b" is added to the member number to refer to the member located on the right side.

As shown in FIG. 1, the climbing robot 1000 according to the present invention includes a main body 500, an ascender assembly 100, a propeller unit 210, 220, and a caterpillar wheel 610, 620, 630, 640. Include.

The main body 500 is a part constituting the body of the climbing robot 1000 according to the present invention, two front and rear frames 510 and 520 spaced apart from each other, one side of the front and rear frames 510 and 520. A first shaft 540 rotatably fixed to the second shaft 550 and a second shaft 550 rotatably fixed to the other side of the front and rear frames 510 and 520 and spaced apart from the first shaft 540. ), The lateral frames 581, 582, 583, and 584 disposed between the two forward and backward frames 510 and 520 and the side positioned in the front and rear center part of the climbing robot to be disposed side by side in the lateral frame. A directional center frame 571 and a center box 530 fixed to the lateral center frame 571.

The front and rear direction frames 510 and 520 may be made of an inverted U-shape, and the first and second shafts 540 and 550 may be connected to one end and the other end of the U-shape, respectively. When the U-shaped climbing robot 1000 performs additional functions other than climbing, the members performing the additional functions may be disposed inside the U-shaped.

The drive gear 541a, the drive sprocket 542a, and the transmission gear 543a are rotatably supported in the + y-axis direction of the first shaft 540, and the caterpillar wheel 610 is fixed to the distal end. The driven sprocket 556b and the transmission gear 557b are rotatably supported in the -y axis direction of the first axis, and the caterpillar wheel 620 is fixed to the distal end. The drive gear 541a, the drive sprocket 542a and the transmission gear 543a are integrally fixed to each other to rotate together around the first axis, and the driven sprocket 556B and the transmission gear 557B are also integrally fixed to each other. Rotate together around the first axis.

For reference, among the member numbers referring to gears and sprockets, a is used to mean a member associated with Caterpillar wheels 610 or 630, and b is used to mean a member associated with Caterpillar wheels 620 or 640.

The driving gear 541b, the driving sprocket 542b, and the transmission gear 543b are rotatably supported in the −y axis direction of the second shaft 550, and the caterpillar wheel 640 is fixed to the distal end thereof. The driven sprocket 556a and the transmission gear 557a are rotatably supported in the + y-axis direction of the second shaft, and the caterpillar wheel 630 is fixed to the distal end. The drive gear 541b, the drive sprocket 542b and the transmission gear 543b are integrally fixed to each other to rotate together around the second axis, and the driven sprocket 556a and the transmission gear 557a are also integrally fixed to each other. Rotate together around the second axis.

The main body 500 includes two wheel drive motors 592 and 593 which provide rotational power when the triangular caterpillar wheels 610, 620, 630, and 640 encounter an obstacle, and each of the caterpillar wheels ( Two caterpillar drive motors 591, 594 are arranged to drive the transport of the caterpillars 652 disposed around 610, 620, 630, 640 around the wheel frames 615, 616. A motor fixing bracket 560 may be disposed to fix each motor to the main body 500.

When the output shafts of the caterpillar drive motors 591 and 594 rotate, the caterpillar wheels 610 and 640 rotate while the output shaft gears 595 and 596, the drive gears 541a and 541b and the transmission gears 543a and 543b rotate sequentially. The caterpillar drive gears 617, 618, 619 disposed therein are rotated to enable the transfer of the caterpillar 652 around the caterpillar wheels 610, 640. Caterpillar drive of the remaining caterpillar wheels 620 and 630 can be implemented by connecting the drive sprocket and the driven sprocket by a chain. The power transmission relationship between the drive sprocket of the first axis and the driven sprocket of the second axis, the drive sprocket of the second axis, the first The power transmission relationship between the driven sprockets of the shaft will be described in more detail below with reference to FIG. 12.

The first shaft 540 and the second shaft 550 are respectively supported on the front and rear frames 510 and 520 by lubricating elements such as bearings.

The lateral frames 581, 582, 583, and 584 are the front and rear frames 510 and 520 between the front and rear frames 510 and 520 so as to maintain a gap between the front and rear frames 510 and 520. ) And are fixed to each other. The lateral frames 581, 582, 583, and 584 may be provided in plural as shown in the drawing.

The center box 530 is a member fixed to the lateral center frame 571 between the front and rear frames 510 and 520, and the propeller units 210 and 220 and the ascender assembly 100 may be connected to each other. Can be.

In FIG. 1, a caterpillar wheel in a state connected to a climbing robot may be referred to a perspective view (viewed from the outside), and in FIG. 2, a caterpillar wheel 610 connected to a main body 500 via a first axis or a second axis. See perspective from the inside. Caterpillar wheels 610, 620, 630, and 640 used in the present invention may all have the same shape.

As shown in FIGS. 1 and 2, the caterpillar wheel 610 is a caterpillar wheel 610 by a wheel frame 615, a caterpillar feed gear 651 fixed to the wheel frame, and the caterpillar feed gear 651. Caterpillar 652 is transported around. A timing belt pulley and a timing belt may be used for the caterpillar feed gear and the caterpillar, respectively. The wheel frame 615 includes a wheel frame center portion 611 to which the first shaft 540 or the second shaft 550 is connected, and three wheel support bars 612 extending outward from the wheel frame center portion 611. 613, 614. The three wheel support bars 612, 613, 614 are triangular because the outer shape of the caterpillar wheels 610, 620, 630, 640 used in the illustrated embodiment is triangular. This is because it is possible to ride over obstacles while minimizing the number of members such as gears used in comparison with other polygons, and considering the size of the caterpillar wheel, the area that is in close contact with the wall can have a stable shape on the wall.

The caterpillar wheels 610, 620, 630, and 640 may include an odd number of caterpillar drive gears 617, 618, and 619 in one of three wheel support bars. For example, in the illustrated embodiment three caterpillar drive gears 617, 618, 619 are arranged, of which the gear 617 closest to the wheel frame center 611 is the transmission gears 543a, 543b, 557a. 557b). The three caterpillar drive gears 617, 618, 619 are also sequentially engaged with each other. In this state, when the output shaft of the caterpillar drive motor rotates, the caterpillar drive gears rotate as the transmission gear rotates, and the caterpillar feed gear fixed integrally with the outermost of the caterpillar drive gears rotates to transfer the caterpillar around the caterpillar wheel. Done.

The caterpillar wheels 610, 620, 630, and 640 may include two wheel frames 615 and 616. In this case, the two wheel frames are spaced apart from each other and the caterpillar feed gears 651 are fixed between the two wheel frames 615 and 616 as shown in the figure.

Meanwhile, although FIG. 2 shows the caterpillar wheel 610 upside down to show the gears installed in the wheel frame, in practice, the gears installed in the wheel frame face the main body 500 side with the first shaft ( 540.

As shown in FIG. 3, the ascender assembly 100 has a rope guide portion and a rope ascending portion.

The rope guide part may include one or more reinforcing members 141, 142, 143 for maintaining a gap between two rope guide plates 110 and 120 and rope guide plates 110 and 120 respectively disposed in both directions of a path through which the rope passes. 144, 145, and 146, and two or more rope guide rods 131, 132, 133, and 134 disposed between the rope guide plates 110 and 120 to directly guide a path through which the rope passes.

4 is an exploded perspective view showing the configuration of the rope climbing portion.

As shown in FIG. 4, the rope ascending part 150 is formed of the first pulley 155 and the second pulley 156 and the first pulley 155 and the second pulley 156 which are disposed to face each other. Spacer 157 disposed between, a fixed shaft 160 fixed to the shaft fixing portion 162 of the ascending unit fixing plate 166, a pulley drive motor 180 for transmitting a rotational force to the fixed shaft 160 (Fig. 1, FIG. 3). The first pulley 155 and the second pulley 156 is used to transport the rope, the surface facing the rope is formed with a plurality of protrusions extending from the center to the outside so as to be sure to bite the rope. The protrusions may have a shape extending outward in a tangential direction with respect to the portion fixed to the center spacer 157. The spacing between the protrusions is narrow in the portion adjacent to the spacer 157 and widens toward the outer side. Due to the action of the protrusions, the rope may not slip between the first pulley 155 and the second pulley 156.

The motor adapter 163 may be installed on the climbing unit fixing plate 166 to fix the pulley driving motor 180 to the climbing unit fixing plate 166.

When the pulley driving motor 180 rotates while the rope is bitten between the first pulley 155 and the second pulley 156, the rope is transferred by the first pulley 155 and the second pulley 156. It is possible to do Of course, when viewed on the basis of the rope, it is possible to move the climbing robot along the rope along the length of the rope.

Detailed configuration of the rope ascender assembly 100 shown in Figure 4 as follows. The fixed shaft 160 is fixed to the shaft fixing portion 162 of the ascending unit fixing plate 166, the rotary shaft and the spur gear of the pulley drive motor 180 through the shaft through portion 164 of the climbing unit fixing plate 166. 161 is connected. The spur gear 161 rotates the inner tooth gear 151 meshed with the spur gear 161 about the fixed shaft 160. The internal gear 151, the first pulley 155, the spacer 157, and the second pulley 156 are sequentially fixed to each other, and are rotated about the fixed shaft 160 by bearings 158 and 159. Possibly supported.

The thickness of the spacer 157 (thickness in the longitudinal direction of the fixed shaft 160) may vary depending on the thickness of the rope used.

In order to ensure that the rope is transported to a desired position between the first pulley and the second pulley, the rope unit ring plate may be provided with a rope transfer ring 153 having a hole through which the rope penetrates.

When the first pulley 155 and the second pulley 156 rotates while the rope is bitten between the first pulley 155 and the second pulley 156, the ropes have two pulleys in the fixed shaft 160 direction. It is easy to push in to the spacer 157 side (inner side) deeply in the space between. In this case, since the rope may be difficult to be discharged between the pulleys, it is preferable that a stripper 152 is installed to prevent the rope from being pushed in the direction of the fixed shaft 160. The stripper 152 is fixed between the rope transfer ring 153 and the ascending unit fixing plate 166, and has a portion extending between the two pulleys, the depth that the rope does not enter between the two pulleys The extended portion may be disposed in the corresponding portion.

Brackets 154 may be further installed to guide the ropes from leaving the first and second pulleys.

The ascending unit fixing plate 166 to which the ascender assembly 100 is fixed is fixed with the rope guide plates between the rope guide plates.

Meanwhile, the steering unit 170 may be further disposed on the climbing unit fixing plate 166. One end of the steering unit 170 is fixed to the climbing unit fixing plate 166 and the other end is fixed to the main body 500. In the exemplary embodiment shown in the drawing, the other end of the steering unit 170 is fixed to the center box 530 of the main body 500.

The steering unit 170 includes a steering drive motor located in the center box 530 so that the ascender assembly 100 and the main body 500 can be relatively rotated by the rotation operation of the steering drive motor.

5 and 6 are views showing the steering operation of the climbing robot according to the present invention.

As shown in FIG. 5, the climbing robot 1000 of the present invention may climb a wall by a rope. At this time, one end of the rope is fixed to the upper portion of the wall surface and the other end is in a state of hanging down in the vertical direction to the free end. When the climbing robot 1000 climbs on the rope at a high speed, the climbing robot 1000 may move away from the wall surface. In order not only to climb on the wall, but also to clean the wall while climbing on the wall, it is necessary to climb on the wall in close contact with the wall. In order to climb on the wall while the climbing robot 1000 is in close contact with the wall surface, the climbing robot 1000 provides a close contact force in the wall direction by using the propeller units 210 and 220 installed in the center box 530. It is preferable. In addition, if the climbing robot moves away from the wall due to the influence of wind, etc. If the climbing robot pendulums to the left and right side away from the wall like a weight suspended from a rope, the climbing robot may be damaged by hitting the wall. It is important to stay in close contact with the wall for safety.

On the other hand, if it is necessary to move left and right in addition to the vertical movement while climbing the wall surface, the steering drive motor of the steering unit 170 is operated as shown in FIG. 6 to operate the main ascender assembly 100. The direction of the body 500 and the caterpillar wheels 610, 620, 630, and 640 connected thereto may be changed in the lateral direction instead of the vertical direction. The configuration of the steering unit can change the direction of the caterpillar wheels, which can be used to correct the path on the wall of the climbing robot or to change the attitude of the payload.

7 to 10 is a view showing a sequence in which the climbing robot according to the invention over the obstacle installed on the wall sequentially.

When the climbing robot 1000 climbing the wall 15 as shown in FIG. 7 encounters an obstacle 16 such as a protrusion formed on the wall 15 as illustrated in FIG. 8, the climbing robot 1000 shown in FIG. As such, the entirety of the triangular-shaped caterpillar wheels 610, 620, 630, 640 starts to rotate. Caterpillar wheels 610, 620 until the sides of the triangular shape of the caterpillar wheels (610, 620, 630, 640) in parallel with the wall surface 15 as shown in Figure 10 by the continuous operation of the caterpillar , 630, 640 is rotated, the climbing robot 1000 according to the present invention obstacles 16, such as protrusions of the wall surface 15 by the rotation of the entire caterpillar wheels (610, 620, 630, 640) You can go beyond this ride.

In addition to the motor for providing power for transferring the caterpillar around the triangular caterpillar wheel, a motor for rotating the caterpillar wheel itself in a triangular shape may be separately provided. To this end, the wheel rotation motors are connected to the first and second axes, respectively, so that the caterpillar wheels of the triangular shape rotate when the caterpillar wheel encounters an obstacle.

For example, in FIG. 2, two motors are installed on the first and second shafts, respectively, 591 and 594 are caterpillar driving motors, 592 is a first shaft driving motor, and 593 is a second shaft driving. It is a motor.

Gears and sprockets installed around the first and second shafts are supported lubricated by bearings with respect to the first or second axis so that they can rotate independently of the rotation of the first and second axes themselves. . In order to rotate the first and second shafts to rotate the triangular caterpillar wheel, the first shaft is fixed to the center of the wheel frame of the caterpillar wheels disposed at both ends of the first axis, and the caterpillar wheels are disposed at both ends of the second axis. The second axis should be fixed in the center of the wheel frame.

The additional driving motor of the caterpillar wheel itself may increase the weight of the climbing robot, but may be more desirable in that it can provide a great force to ride over the obstacle when it is encountered.

Alternatively, the motor may not include a motor for rotating the caterpillar wheel itself, and may be implemented in such a manner that the caterpillar may move over the obstacle by the feed force of the caterpillar. For example, the caterpillar wheels 610, 620, 630, and 640 are rotatably supported with respect to the first shaft 540 and the second shaft 550, respectively, and the first shaft and the second shaft are respectively driven gears, It is integrally fixed with a drive sprocket and a transmission gear, and is comprised so that a 1st shaft and a 2nd shaft may also be fixed with a driven sprocket and a transmission gear. In this state, the caterpillar wheels 610, 620, 630, and 640 are not rotated when the caterpillar rotates when transporting on the flat wall surface 15, but the caterpillar blocks the obstacle 16 when it encounters the obstacle 16. Caterpillar wheels (610, 620, 630, 640) is naturally rotated because it continues to move even in contact with.

11 is a view showing a path through which a rope passes in the climbing robot according to the present invention.

As shown in FIG. 11, the rope passes between two pairs of guide rods 131, 132, 133, 134 in the ascender assembly 100 and passes between two pulleys 155, 156. Meanwhile, 800 in FIG. 11 shows a cleaning unit in which the climbing robot 1000 of the present invention is coupled with the climbing robot 1000 to perform a wall cleaning function.

12 is a view showing a power transmission structure for the operation of the caterpillar in the climbing robot according to the present invention. The motor driving the caterpillar wheels 620 and 640 on the side shown in FIG. 12 is a motor indicated by 594 in FIG. 2, and a motor driving the opposite caterpillar wheels 610 and 630 indicated by 610 and 630. 591), the position is different. That is, both 591 and 594 are caterpillar wheel drive motors, where 591 is disposed on the first axis side and 594 is disposed on the second axis side, but each drive connection relationship is made in the same manner. Here, only the case of driving the caterpillar wheels indicated by 620 and 640 will be described, but the caterpillar wheels indicated by the opposing 610 and 630 are driven in the same manner.

As shown in FIG. 12, the output shaft gear 596 fixed to the output shaft of the caterpillar wheel driving motor 594 is a drive gear 541b rotatably supported on the second shaft 550, and the transmission gear in FIG. 12. (Invisible and hidden by 543b) to rotate it. The drive gear 541b, the drive sprocket 542b and the transmission gear 543b are integrally fixed to each other and rotatably supported on the second shaft 550. The drive sprocket 542b is connected to the driven sprocket 556b rotatably supported on the first shaft 540 by a chain 580, and the caterpillar wheel 620 disposed on the first shaft 540 is second. Allows rotation with the caterpillar wheel 640 disposed on the shaft.

More specifically, in the embodiment shown in the drawing, the first axis 540 and the second axis 550 are disposed at each end of the front and rear frame 510, 520 made in a U-shape, the first axis ( The drive sprocket 542 and the driven sprocket 556 are rotatably supported by the 540 and the 2nd shaft 550, respectively. A total of four sprocket idlers 544, 545, 554, and 555 are disposed in the front and rear frames 510 and 520 such that the path of the chain 580 is U-shaped along the front and rear frames 510 and 520. . That is, the driving sprocket 542 and the driven sprocket 556 are connected via the four sprocket idlers 544, 545, 554, and 555. In order to form the path of the chain in a U-shape, the sprocket idlers need to be arranged to form four vertices with the driving sprocket 542 and the driven sprocket 556. Therefore, only the two sprocket idlers besides the driving sprocket 542 and the driven sprocket 556 are provided. It may be possible in addition, but in addition, two additional sprocket idlers are used to maintain the tension of the chain and to prevent the chain from deviating from the sprocket. That is, a total of four sprocket idlers are arranged when connecting two caterpillar wheels in a chain.

In this arrangement, when the drive sprocket 542b rotates in accordance with the rotation of the caterpillar wheel drive motor 594, the transmission gear 543b integrally fixed with the drive sprocket 542b rotates around the second axis 550. . At the same time, as the sprocket idlers 544b, 545b, 554b, and 555b connected by the drive sprocket 542b and the chain rotate, the rotational force of the caterpillar wheel drive motor 594 is transmitted to the driven sprocket 556b, and An integrally fixed transmission gear 557b rotates about the first shaft 540. As the transmission gear 557b rotates, the caterpillar mounted on the caterpillar wheel 620 connected to the transmission gear 557b is transferred around the wheel frame.

As mentioned above, the chains, sprockets and transmission gears arranged on the opposite side of FIG. 12 also transmit power in the same way, allowing for transfer around the caterpillar wheel of the caterpillar, with the only difference being the caterpillar wheel drive motor. Is positioned adjacent to the first axis, the drive gear and the drive sprocket are rotatably supported around the first axis, and the driven sprocket is rotatably supported around the second axis. As mentioned above, of the member numbers referring to gears and sprockets, b used in FIG. 12 refers to a member associated with a 620 or 640 caterpillar wheel.

FIG. 13 is a perspective view of a climbing unit mounted on the climbing robot of the present invention, FIG. 14 is a bottom view of the climbing robot shown in FIG. 13, and FIG. 15 is a climbing robot shown in FIG. 13. Is a side view of FIG. 16 and an enlarged view of the XVI portion of FIG. 15.

As shown in FIGS. 13 to 16, the climbing robot 1000 of the present invention may be equipped with a cleaning unit 800. As described above, the shape of the front and rear direction frames 510 and 520 is described as a U-shape, and it has been mentioned that a member that performs a function may be disposed inside the U-shape. As shown in FIGS. 13 to 16, the cleaning unit 800 may be connected to the mounting unit 570 disposed on the front and rear frames 510 and 520 inside the U-shaped front and rear frames 510 and 520.

The cleaning unit 800, the wiper (820, 825) having a mop used for cleaning, the close-up mechanism portion for pushing the wiper (820, 825) from the climbing robot 1000 in the wall direction to be in close contact with the wall surface and the The wipers 820 and 825 are provided with a lateral transfer unit for cleaning the wall while moving in the left and right directions of the climbing robot 1000.

The mop used in the present invention is particularly preferably a diatomaceous earth mop. Diatomaceous earth rags are more precisely diatomaceous earth wet mops. If the climbing robot has to carry detergent or water for cleaning, he or she is faced with the problem that the climbing robot has to increase the load. Moreover, the cleaning of large areas requires constant supply of water and detergent. However, in the case of using diatomaceous earthen cloth mop, the use of diatomaceous earth and dust adsorption reduces the amount of mop consumption and reduces the burden on the climbing robot to transfer water or detergent, which greatly reduces the overall load of the climbing robot and This greatly simplifies configuration.

In the exemplary embodiment shown in the drawing, the close mechanism part includes a first link 860, a second link 870, the first link 860, and a second link 870 connected to each other by a pin joint at a connection part 880. And a screw 890 connecting symmetrically arranged third and fourth links, connections between the first and second links, and connections between the third and fourth links. Third link, fourth ring key The connecting portion between the third link and the fourth link is not shown in the drawing, but is symmetrical with the first link, the second link, and the connecting portion shown in the drawing (based on a centerline extending in the front-back direction of the climbing robot). Symmetrically). A screw 890 is connected to the connecting portion between the third link and the fourth link, and the end of the screw 890 is fixed at the connecting portion between the first link and the second link. In this state, the distance between the connecting portion between the first link and the second link and the connecting portion between the third link and the fourth link changes with the rotation of the screw 890 to the second link and the fourth link. The connected cleaning unit frame 805 is transportable with respect to the climbing robot 1000 in the wall direction (ie, in the direction in close contact with the wall surface). Of course, if the direction of rotation of the screw 890 is reversed, it may be transferred in a direction away from the wall surface.

In the embodiment shown in the drawings, the lateral transfer unit may include two racks 810 arranged side by side in the longitudinal direction of the cleaning unit frame 805. Pins 806 and 807 corresponding to the racks 810 and 811 and motors 808 and 809 for driving the pinions are disposed in the wipers 820 and 825, respectively. Thus, each wiper 820, 825 can be transported laterally.

In the following description of the present invention, the embodiments illustrated in the drawings have been described with reference to the embodiments, which are merely exemplary, and various modifications and equivalent other embodiments are possible to those skilled in the art. I will understand the point. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: rope 15: wall surface
16: obstacle 100: ascender assembly
110, 120: rope guide plate
131, 132, 133, 134: rope guide rods
141, 142, 143, 144, 145: Stiffener 150: Rope ascending part
151: internal gear 152: rope stripper
153: rope feed hook 154: stripper fixing bracket
155: first pulley 156: second pulley
157: spacer 158, 159: bearing
160: fixed shaft 161: spur gear
162: climbing unit fixing plate 163: motor adapter
164: shaft through portion 165: steering shaft fixing portion
166: climbing unit fixing plate
170: steering unit 180: pulley drive motor
500: main body 510, 520: front and rear frame
530: center box 540: first axis
541: drive gear 542: drive sprocket
543: transmission gear
544, 545, 554, 555: Sprocket Idler
550: 2nd axis 556: driven sprocket
557 transmission gear
560: motor fixing bracket 570: mounting portion
571: lateral center frame 580: chain
581, 582, 583, 584: lateral frame
591, 594: Caterpillar drive motor 592, 593: Wheel drive motor
595, 596: output shaft gear
610, 620, 630, 640: Caterpillar wheel
611: center of wheel frame
612, 613, 614: Caterpillar wheel support bar
615: caterpillar wheel frame
617, 618, 619: Caterpillar drive gear
651: caterpillar feed gear 652: caterpillar
800: cleaning unit 805: cleaning unit frame
806, 807: pinion 808, 809: pinion drive motor
810, 811: rack 820, 825: wiper
860: first link 870: second link
880: connection 890: screw
1000: climbing robot

Claims (15)

Main body 500;
Caterpillar wheels (610, 620, 630, 640) rotatably fixed to the main body 500 and is transported while the caterpillar is in contact with the wall;
An ascender assembly (100) connected to the main body (500) and including two pulleys (first and second pulleys) arranged to bite and rotate the rope so as to transport the rope; And
Climbing robot (1000) comprising a propeller unit (210, 220) disposed on the main body (500) to form an air flow in a direction in which the main body (500) is in close contact toward the wall surface. Main body 500;
Caterpillar wheels (610, 620, 630, 640) rotatably fixed to the main body 500 and is transported while the caterpillar is in contact with the wall;
An ascender assembly 100 connected to the main body 500 and having two pulleys (a first pulley and a second pulley) arranged to bite and rotate the rope so as to transport the rope; And
One end is fixed to the ascender assembly and the other end is fixed to the main body, by rotating the other end with respect to the one end fixed to the ascender assembly, the steering unit 170 to change the direction of the main body and the members connected thereto Climbing robot 1000 that includes. Main body 500;
The wheel frame 615 is rotatably fixed to the main body 500, the wheel frame 615 is a side shape of a triangle, the caterpillar feed gear 651 and the caterpillar feed fixed to a position corresponding to each vertex of the triangle in the wheel frame Two or more caterpillar wheels 610, 620, 630, 640 having a caterpillar 652 in contact with the wall while being transported around the wheel frame 615 by the gear 651; And
Climbing robot 1000 which is connected to the main body 500 and includes a ascender assembly 100 having two pulleys (first and second pulleys) arranged to bite and rotate the rope so as to transport the rope. ). The method according to claim 1 or 2,
The caterpillar wheels 610, 620, 630, and 640 are rotatably fixed to the main body 500, the wheel frame 615 having a triangular side shape, and a position corresponding to each vertex of the triangle in the wheel frame. Climbing robot (1000) characterized in that the caterpillar feed gear 651 and the caterpillar feed gear 651 is fixed to the wheel frame 615 is transported around the caterpillar 652 in contact with the wall surface. The method according to claim 1 or 3,
One end is fixed to the main body 500, the other end is fixed to the ascender assembly 100, and the main body 500 and the ascender assembly 100 may be relatively rotated by the rotation of a steering drive motor. Climbing robot 1000, characterized in that it further comprises a steering unit (170). 4. The method according to any one of claims 1 to 3,
The main body 500,
Two front and rear frames 510 and 520 spaced apart from each other;
A first shaft 540 rotatably supported on one side of the front and rear direction frames 510 and 520;
A second shaft 550 rotatably supported at the other side of the front and rear frames 510 and 520 and spaced apart from the first shaft 540 in parallel with each other;
Lateral frames (581, 582, 583, 584) disposed between the two forward and backward frames (510, 520);
A center box 530 fixed to the lateral frames 581, 582, 583, 584;
Four caterpillar wheels 610, 620, 630, and 640 fixed to the left and right ends of the first and second axes, respectively;
A first wheel driving motor 592 capable of rotating the first shaft to rotate the caterpillar wheels 610 and 620 fixed to both ends of the first shaft; And
A second wheel driving motor 593 capable of rotating the second shaft to rotate the caterpillar wheels 630 and 640 fixed to both ends of the second shaft,
The front and rear direction frame (510, 520) is made of a U-shaped, the climbing robot, characterized in that the first shaft 540 and the second shaft 550 are disposed at one end and the other end of the U-shaped ( 1000). 5. The method of claim 4,
The caterpillar wheel is provided with a caterpillar drive gear rotatably disposed on the wheel frame,
On the left side of the first shaft 540 and the right side of the second shaft, a drive gear rotatably supported and a transmission gear integrally rotated with the drive gear are disposed.
A caterpillar drive motor disposed on the main frame to transmit rotational force to each drive gear,
As the output shaft of the caterpillar drive motor rotates, the drive gear, the transmission gear and the caterpillar drive gear rotate in sequence, and the caterpillar drive gear rotates the caterpillar feed gear so that the caterpillar disposed around the caterpillar wheel transfers with respect to the caterpillar wheel frame. Climbing robot (1000) characterized in that. 4. The method according to any one of claims 1 to 3,
The ascender assembly 100 has a rope guide portion and a rope ascending portion,
The rope guide part rope guide plate (110, 120) respectively disposed in both directions of the path through which the rope passes;
One or more reinforcements to maintain a gap between the two rope guide plates 110 and 120;
Is disposed between the rope guide plate (110, 120) includes two or more rope guide rods that directly guide the path through which the rope passes,
The rope ascending unit includes a first pulley 155 and a second pulley 156 for pumping the rope;
A spacer 157 disposed between the first pulley 155 and the second pulley 156;
A fixed shaft 160 on which the first pulley 155 and the second pulley 156 are rotatably supported;
Climbing robot (1000), characterized in that it comprises a pulley drive motor (180) for transmitting a rotational force to rotate the first pulley (155) and the second pulley around the fixed shaft (160). 9. The method of claim 8,
A climbing unit fixing plate 166 fixed between the two rope guide plates 110 and 120;
A spur gear 161 connected to the rotation shaft of the pulley driving motor 180; And
It further includes an internal tooth gear 151 meshing with the spur gear 161 to rotate about the fixed shaft 160,
The internal gear 151, the first pulley 155, the spacer 157, and the second pulley 156 are sequentially fixed to each other, and are rotatably supported around the fixed shaft 160 by a bearing. Climbing robot 1000 characterized in that. 4. The method according to any one of claims 1 to 3,
Climbing robot 1000, characterized in that the stripper 152 is installed between the first pulley 155 and the second pulley 156 is disposed to prevent the rope is pushed in the direction of the fixed shaft 160. ). The method of claim 7, wherein
The first shaft 540 and the second shaft 550 are disposed at each end of the U-shaped front and rear frames 510 and 520,
The drive sprocket 542a is rotatably supported on the left side of the first shaft 540, and the driven sprocket 556b is rotatably supported on the right side of the first shaft 540.
A driven sprocket 556a is rotatably supported on the left side of the second shaft 550, and a drive sprocket 542b is rotatably supported on the right side,
Two or more sprocket idlers are disposed in the front and rear direction frames 510 and 520 such that a path of the chain 580 may be formed in a U shape along the front and rear frames 510 and 520. The drive sprocket 542a of the 1st axis | shaft and the driven sprocket 556a of the 2nd axis | shaft arrange | positioned to the left via 554, 555 are connected by the chain 580, and the driven sprocket 556b of the 1st shaft arrange | positioned at the right side And the second drive sprocket 542b is arranged to be connected to the chain 580,
A drive gear 541a, a drive sprocket 542a and a transmission gear 543a are fixed to the left side of the first shaft 540 so as to be integrally rotatable, and a drive gear (right) to the right side of the second shaft 550. 541b, the drive sprocket 542b and the transmission gear 543b are fixed to be integrally rotatable, and the driven sprocket 556b and the transmission gear 557b are integrally rotatable on the right side of the first shaft 540. And a driven sprocket (556a) and a transmission gear (557a) are fixed to the left side of the second shaft (550) so as to be integrally rotatable. 4. The method according to any one of claims 1 to 3,
Climbing robot (1000), characterized in that it further comprises a cleaning unit (800) having a wiper (820, 825) connected to the main body (500) to wipe the wall surface on which the climbing robot (1000) moves. The method of claim 12,
The cleaning unit 800, the wiper (820, 825) having a diatomaceous earth mop used for cleaning;
An adhesion mechanism part for pushing the wipers 820 and 825 in a wall direction from the climbing robot 1000 to be in close contact with the wall; And
Climbing robot (1000), characterized in that the wiper (820, 825) has a lateral transfer unit for cleaning the wall while moving in the left and right direction of the climbing robot (1000). The method of claim 13,
The contact mechanism part includes a first link and a second link connected to each other by a pin joint;
Third and fourth links symmetrically disposed with the first and second links;
And a screw 890 disposed between the connecting portion between the first link and the second link and the connecting portion between the third link and the fourth link, so that the first link and the second link according to the rotation of the screw 890. As the distance between the connecting portion between the connecting portion and the third link and the fourth link changes, the frame of the cleaning unit 800 connected to the second link and the fourth link is in a wall direction or opposite to the wall of the climbing robot 1000. Climbing robot (1000), characterized in that transported in the direction. The method of claim 13,
The lateral transfer unit includes a rack 810 arranged side by side in the longitudinal direction of the cleaning unit 800 frame,
Climbing robot (1000), characterized in that the wiper (820) has a pinion corresponding to the rack (810) is disposed so that each wiper (820, 825) is laterally moved along each rack (810).

Images