KR20130130405A - Climbing robot - Google Patents

Abstract

The present invention provides a climbing robot. The climbing robot comprises: a first module comprising first and second rotary shafts arranged separately, multiple first driving wheels mounted on both ends of the first rotary shaft, multiple second driving wheels mounted on both ends of the second rotary shaft, and multiple caterpillars for surrounding the first and second driving wheels longitudinally arranged on the lateral side of the first and second rotary shafts at predetermined intervals; a first driving part for driving the first module; a second module comprising third and fourth rotary shafts arranged separately, multiple third driving wheels mounted on both ends of the third rotary shaft, multiple fourth driving wheels mounted on both ends of the fourth rotary shaft, and multiple caterpillars for surrounding the third and fourth driving wheels longitudinally arranged on the lateral side of the third and fourth rotary shafts at predetermined intervals; a second driving part for driving the second module; a link part for connecting the first module and the second module; a power supply part for supplying power to the first and second driving parts; a control part for controlling the first and second driving parts; and an active tail connected in the middle of the fourth rotary shaft. When the first module meets obstacles, such as stairs, walls, or window frames, the first and second modules driven by the first and second caterpillars can stably climb the obstacles using first and second links for rotating the first and second modules toward the wall of the obstacles.

Description

Climbing robot

The present invention relates to a climbing robot, and more particularly, to a climbing robot that can easily accompany the obstacle even when there are fixed obstacles such as stairs and walls or uneven obstacles such as window frames on the travel path.

Climbing robots are being actively researched at home and abroad to protect workers' safety and improve work efficiency in extreme environments, such as cleaning and painting high-rise buildings, painting and blasting large vessels, and inspecting large tanks.

The most important functions in the design and manufacture of the mechanical part of the climbing robot are the adsorption function and the climbing function. Here, the adsorption function means that the robot is stably adsorbed on the vertical walls of various materials, and the ascending function means that the robot can travel over obstacles on the walls and walls of various shapes.

The study related to the adsorption function is mainly a method using a vacuum and a magnet, as well as a method of simulating the gecko lizard by Van Der Waals Force, a method of adsorption using static electricity, fine A method of attaching to a mechanically rough wall by using a claw is actively studied (see references 1 to 7).

On the other hand, studies on the wall climbing function of various shapes and obstacles on the wall are typically performed in one plane by using a number of bridge mechanisms such as NINJA-1 by Hirose, Japan. Researches on moving to other inclined planes and moving using sliding mechanisms have been conducted. However, the research approach has not been made from various viewpoints compared to the study of adsorption function. In question (see Refs. 1, 2, 8, 9).

In addition, since the environment in which the robot actually travels, such as the outer wall of a building, includes obstacles of various shapes such as irregularities, curved surfaces, and a combination of surfaces and surfaces, it is also very important to develop an obstacle climbing mechanism to effectively overcome the obstacles. An effective approach is needed.

(references)

Hirose, S., Nagakubo, A. and Toyama, R., "Machine that can walk and climb on floors, walls and ceilings," International Conference on Advanced Robotics, vol. 1, pp. 753-758, 1991.

2. Xu, Z., and Ma, P., "A wall climbing robot for labeling scale of oil tank's volume," Robotica, vol. 20, pp. 2009-212, 2002.

3. Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V. and Cutkosky, MR, "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, "IEEE International Conference on Robotics and Automation, pp. 1268-1273, 2007.

4. Prahlad, H., Pelrine, R., Stanford, S., Marlow, J. and Kornbluh, R., "Electroadhesive Robots-Wall Climbing Robots Enabled by a Novel, Robust, and Electrically Controllable Adhesion Technology," IEEE International Conference on Robotics and Automation, pp. 3028-3033, 2008.

5. Asbeck, A. T .., Kim, S., Cutkosky, M. R., Provancher, W. R. and Lanzetta, M., "Scaling hard vertical surfaces with compliant microspine arrays," The International Journal of Robotic Research, vol. 25, pp. 1165-1179, 2006.

6. Seo, KC, Chang, DY, Lee, KH, Kim, H., Lee, KH, Nam, UC, and Kim, JW, "Design of an attachment device for robotic systems climbing the rugged vertical surfaces," Korea Precision Proceedings of the 2007 Fall Conference, 97-98, 2007.

7. Seo, KC, Lee, KH, Nam, UC, Kim, BW, and Kim, JW, "Optimal Design of a Vacuum Attachment Device Capable of Attaching to the Irregular Surface by Using Taguchi Methodology," Fall 2008, Korean Society of Precision Engineering Conference Proceedings, pp. 227-228, 2008.

8. Minor, M. A. and Mukherjee, R., "Under-actuated kinematic structures for miniature climbing robots," ASME Journal of Mechanical Design, vol. 125, no. 2, pp. 281-291, 2003.

9. Zhang, H., Zhang, J., Wang, W., Liu, R. and Zong, G., "A series of pneumatic glass-wall cleaning robots for high-rise buildings," Industrial robot: An International Journal , vol. 34, no. 2, pp. 150-160, 2007.

The present invention has been created to meet the above needs, it is possible to stably climb the fixed obstacles such as stairs and walls or uneven obstacles such as window frames in order to be able to perform a variety of operations by putting in the actual site The purpose is to provide a climbing robot.

According to the invention for achieving the above object, the first and second rotary shafts spaced apart from each other, a plurality of first driving wheels mounted on both ends of the first rotary shaft, and mounted on both ends of the second rotary shaft A first module including a plurality of second driving wheels, and a plurality of caterpillars surrounding the first driving wheels and the second driving wheels spaced apart in the front-rear direction on each side of the first and second rotation shafts; A first driver driving the first module; Third and fourth rotating shafts spaced apart from each other, a plurality of third driving wheels mounted at both ends of the third rotating shaft, a plurality of fourth driving wheels mounted at both ends of the fourth rotating shaft, and the third and A second module including a plurality of caterpillars surrounding a third driving wheel and a fourth driving wheel which are spaced apart in the front-rear direction on each side of the fourth rotating shaft; A second driving unit driving the second module; A link unit connecting the first module and the second module; A power supply unit supplying power to the first and second driving units; A controller for controlling the first driver and the second driver; And an active tail connected to an intermediate portion of the fourth rotary shaft.

In the climbing robot, a polymer adhesive may be applied to an outer surface of the caterpillar.

The link unit may include a first link connecting the second rotating shaft and the third rotating shaft at one end of the second rotating shaft and the third rotating shaft, and the second rotating shaft and the third rotating shaft at the other end of the second rotating shaft and the third rotating shaft. A second link connecting the rotating shaft, and a connecting link connecting the second rotating shaft and the third rotating shaft at an intermediate portion of the second rotating shaft and the third rotating shaft, wherein the first link and the second link include: It may be a directional passive compliant joint.

The first driving unit includes at least one first driving motor for driving the first driving wheel and the second driving wheel, a plurality of first driving shafts for transmitting power of the at least one first driving motor, and the at least one driving shaft. And a connecting member connecting one first driving shaft to the first driving wheel and the second driving wheel, wherein the second driving part includes at least one first driving the third driving wheel and the fourth driving wheel. And a second driving motor, a plurality of second driving shafts for transmitting power of the at least one second driving motor, and a connection member connecting the at least one second driving shaft, the third driving wheel, and the fourth driving wheel. The connection member may be a gear or a belt.

According to the climbing robot according to the present invention, when the first module and the first module of the second module traveling by the first and second caterpillar meet the obstacle, the first module and the second module is rotated in the wall direction of the obstacle By the first link and the second link, it is possible to stably and easily climb obstacles such as stairs, walls and window frames.

In addition, the tail extending to the rear of the second module supports the first module and the second module from the rear, it has the advantage that it is possible to stably easily climb obstacles such as stairs, walls and window frames.

1 is a perspective view showing a climbing robot according to an embodiment of the present invention.
2A to 2H are side views sequentially illustrating a state in which the climbing robot shown in FIG. 1 climbs a fixed obstacle such as a stair or a wall.
3A to 3H are side views sequentially illustrating a state in which the climbing robot shown in FIG. 1 passes an uneven obstacle such as a window frame.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

1 is a perspective view showing a climbing robot according to an embodiment of the present invention.

Referring to the drawings, the climbing robot 10 according to an embodiment of the present invention, the first module 100, the first driving unit 200, the second module 300, the second driving unit 400 and And a link unit 500, a power supply unit 600, a control unit 700, and a tail 800.

The first module 100 includes a first rotating shaft 110 and a second rotating shaft 120, a first driving wheel 112 and a second driving wheel 122, and a plurality of first caterpillars 130. do. The first rotary shaft 110 and the second rotary shaft 120 are disposed to be spaced apart from each other, a plurality of first driving wheels 112 are mounted at both ends of the first rotary shaft 110, the second rotary shaft ( Both ends of the 120 are provided with a plurality of second driving wheels 122.

The plurality of first driving wheels 112 and the plurality of second driving wheels 122, which are spaced apart in the front and rear directions at both ends of the first rotating shaft 110 and the second rotating shaft 120, may include a plurality of first caterpillars. It is wrapped by (Caterpillar; 130).

A polymer adhesive is applied to the outer surfaces of the plurality of first caterpillars 130. Since a polymer adhesive is applied to the outer surface of the first caterpillar 130, the first caterpillar 130 may realize high adhesion in various aspects such as glass, acrylic, wood, and iron.

The first module 100 including the first rotating shaft 110 and the second rotating shaft 120, the first driving wheel 112 and the second driving wheel 122, and a plurality of first caterpillars 130. Is driven by the first driving unit 200.

The first driving part 200 includes a first driving motor 210, a first driving shaft 220, and a first connecting means 230. The first driving motor 210 serves to supply power to rotate the first rotation shaft 110, the first driving shaft 220 is connected to the first driving motor 210 to drive the first drive. It serves to transfer the power of the motor 210, the first connecting means 230 serves to connect the first drive shaft 220 and the first rotating shaft (110). A belt is used as the first connection means 230, but is not limited thereto. A chain or gear other than the belt may be used.

The first module 100 is driven by the power of the first driving motor 210. Power of the first driving motor 210 is transmitted to the first driving shaft 220, the first rotation shaft by the first connecting means 230 for connecting the first driving shaft 220 and the first rotation shaft 110. 110 will rotate. As the first rotating shaft 110 rotates, the first driving wheel 112 mounted at both ends of the first rotating shaft 110 rotates, and the first driving wheel 112 rotates to form the first driving wheel ( 112 and the plurality of first caterpillar 130 surrounding the second driving wheel 122 is rotated, the first module 100 is rotated by the first caterpillar 130 is rotated by the first caterpillar (130). Will be moved in the direction.

The second module 300 includes a third rotating shaft 310 and a fourth rotating shaft 320, a third driving wheel 312 and a fourth driving wheel 322, and a plurality of second caterpillar 330. do. The third rotary shaft 310 and the fourth rotary shaft 320 are disposed to be spaced apart from each other in the same manner as the first rotary shaft 110 and the second rotary shaft 120 of the first module 100, the third rotary shaft A plurality of third driving wheels 312 are mounted at both ends of the 310, and a plurality of fourth driving wheels 322 are mounted at both ends of the fourth rotating shaft 320.

The plurality of third driving wheels 312 and the plurality of fourth driving wheels 322 disposed at both ends of the third rotating shaft 310 and the fourth rotating shaft 320 in the front and rear directions are disposed in the plurality of second caterpillars. It is wrapped by a (Caterpillar; 330), a polymer adhesive is applied to the outer surface of the second caterpillar 330 in the same manner as the first caterpillar (130).

Since a polymer adhesive is also applied to the outer surface of the second caterpillar 330, the climbing robot 10 according to an embodiment of the present invention may be provided with obstacles provided with various surfaces such as glass, acrylic, wood, and iron. You can easily climb.

The second module 100 including the third rotating shaft 310 and the fourth rotating shaft 320, the third driving wheel 312 and the fourth driving wheel 322, and a plurality of second caterpillar 330. Is driven by the second driving unit 400.

The second driving unit 400 includes a second driving motor 410, a second driving shaft 420, and second connecting means 430, similarly to the first driving unit 200. The second driving motor 410 serves to supply power to rotate the fourth rotation shaft 320, and the second driving shaft 420 is connected to the second driving motor 410 to drive the second driving. It serves to transfer the power of the motor 410, the second connecting means 430 serves to connect the first drive shaft 420 and the fourth rotary shaft 320. The second connection means 430 is also used in the same belt as the first belt means 230, but is not limited to this, a chain or gear other than the belt may be used.

The second module 300 is driven by the power of the second driving motor 410. The power of the second driving motor 410 is transmitted to the second driving shaft 420, and the fourth rotating shaft by the second connecting means 430 connecting the second driving shaft 420 and the fourth rotating shaft 320. 320 is rotated. As the fourth rotating shaft 320 rotates, the fourth driving wheel 322 mounted at both ends of the fourth rotating shaft 320 rotates, and the fourth driving wheel 322 rotates to cause the third driving wheel ( 312 and the plurality of second caterpillars 330 surrounding the fourth driving wheel 322 are rotated, and the second module 300 is rotated by the second caterpillar 330 due to the rotation of the second caterpillar 330. Will be moved in the direction.

The first module 100 and the second module 300 are connected by the link unit 500. The link unit 500 includes a first link 510, a second link 520, and a connection link 530. The first link 510 and the second rotary shaft 120 is connected to one end of the second rotary shaft 120 of the first module 100 and the third rotary shaft 310 of the second module 300 and The third rotary shaft 310 is connected, and the second link 520 is connected to the first link 510 at the second end of the second rotary shaft 120 and the third rotary shaft 310. The rotary shaft 120 and the third rotary shaft 310 is connected.

Passive compliant joints are used as the first link 510 and the second link 520. The passive compliant joint serves to add flexibility while maintaining the rigidity of the climbing robot 10 according to the present invention, and also to move the adjacent first module 100 and the second module 300 in the wall direction of the obstacle. It rotates. The first link 510 and the second link 520 add flexibility to the climbing robot 10 when an external force of a predetermined value or more is applied, and the climbing robot 10 when an external force of a predetermined value or less is applied. The stiffness of the can be maintained.

The connection link 530 is installed at an intermediate portion of the second rotary shaft 120 and the third rotary shaft 310 and serves to connect the second rotary shaft 120 and the third rotary shaft 310.

The power supply unit 600 and the control unit 700 are provided in the first module 100 and the second module 300, respectively. Each of the power supply units 600 supplies power to the first driver 200 of the first module 100 and the second driver 400 of the second module 300. 700 serves to control the first driving unit 200 and the second driving unit 400.

In the figure, the power supply unit 600 and the control unit 700 are shown as being provided in the first module 100 and the second module 300, respectively, but are not limited thereto. Supplying power to the first driving unit 200 and the second driving unit 400 of the first module 100 and the second module 300 by the 700 and the first driving unit 200 and the second driving unit 400 ) Can be controlled.

The tail 800 is connected to the fourth rotary shaft 320 of the second module 300. The tail 800 is connected to the fourth rotary shaft 320 extends to the rear of the fourth rotary shaft 320 to be grounded to the bottom surface, the tail 800 is at the rear of the second module 300 The first module 100 and the second module 300 supports the first module 100 and the second module 300 from the rear when climbing the obstacle.

Hereinafter, a process of climbing and passing an obstacle by the climbing robot 10 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

2A to 2H are side views sequentially illustrating a state in which the climbing robot shown in FIG. 1 climbs a fixed obstacle such as a stair or a wall, and FIGS. 3A to 3H are views of the climbing robot shown in FIG. It is a side view which shows the state which passes an uneven | corrugated obstacle sequentially.

2A to 2H, the climbing robot 10 according to an exemplary embodiment of the present invention may include a first caterpillar 130 provided in the first module 100 and a second caterpillar provided in the second module 300. The first caterpillar 130 and the second caterpillar 330 are driven by the first driving unit 200 and the second driving unit 400, and the first module 100 and the first module 100. The second module 300 is connected by the link unit 500.

When the first module 100 of the climbing robot 10 is grounded to the fixed obstacle, the first module 100 is fixed by the first link 510 and the second link 520 of the link unit 500. It rotates while grounded to the obstacle and climbs the wall of the fixed obstacle.

When the second module 300 of the climbing robot 10 is grounded to the fixed obstacle, the second module 300 is the first link 510 and the second link 520 and the second module 300. Using the tail 800 provided at the rear of the climb the wall of the fixed obstacle.

When the climbing robot 10 sequentially climbs the fixed obstacle, the first module 100 climbs by the first link 510 and the second link 520, and when the climbing of the first module 100 occurs. In the second module 300 and the tail 800 is to support the first module 100 from the bottom.

When the climbing of the first module 100 is completed, the first module 100 moves by the driving of the first caterpillar 130 while the second module 300 climbs when the second module 300 climbs. It serves to support the second module 300 in front of the.

When climbing the second module 300, the first module 100 supports the second module 300 from the front, and the tail 800 supports the second module 300 from the bottom. In the state, the second link 300 is climbing a fixed obstacle by the first link 510 and the second link 520.

The reason why the first module 100 and the second module 200 do not fall from the fixing obstacle is that a polymer adhesive is applied to the first caterpillar 130 and the second caterpillar 330. The first link 510 and the second link 520 connecting the first module 100 and the second module 300 always rotate the first module 100 and the second module 300 toward the wall surface. Because it is.

3A to 3H, the climbing robot 10 according to an exemplary embodiment of the present invention will be described with reference to a state of passing through an uneven obstacle such as a window frame.

When the climbing robot 10 climbs the uneven obstacle, it is the same as described with reference to FIGS. 2A to 2H. When the climbing robot 10 passes the uneven obstacles, the first module 100 of the climbing robot 10 moved by the driving of the first caterpillar 130 and the second caterpillar 330 may be formed of the uneven obstacle. When exceeding the upper portion, the first module 100 crosses the upper portion of the uneven obstacle to be in close contact with the wall surface by the first link 510 and the second link 520.

After the first module 100 passes through the uneven obstacles, the first module 100 is brought into close contact with the wall of the uneven obstacles and moved by the driving of the first caterpillar 130. The second module 300 sequentially moves to the first module 100. In the state supported in the front and rear by the tail 800, the first link 510 and the second link 520 is over the upper portion of the uneven obstacle, the first carafe 130 and the second caterpillar 330 ) Is moved in close contact with the wall surface of the uneven obstacle.

Therefore, when the first module 100 and the first module 100 of the second module 300 and the second module 300 run by the first caterpillar 130 and the second caterpillar 330 meet the obstacle, the first module 100 By the first link 510 and the second link 520 for rotating the second module 300 in the wall direction, obstacles such as stairs or walls and window frames can be stably and easily climbed, and the second module The tail 800 extending to the rear of the 300 supports the first module 100 and the second module 300 at the rear of the second module 300, thereby stably preventing obstacles such as stairs or walls and window frames. It is easy to climb.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10: climbing robot 100: the first module
110: first axis of rotation 112: first drive wheel
120: second axis of rotation 122: second drive wheel
130: first caterpillar 200: first driving unit
210: first driving motor 220: first driving shaft
230: first connecting means 300: second module
310: third rotating shaft 312: second driving wheel
320: fourth rotating shaft 322: fourth driving wheel
330: second caterpillar 400: second drive unit
410: first drive motor 420: first drive shaft
430: first connecting means 500: link portion
510: first link 520: second link
530: connection link 600: power supply
700 control unit 800 tail

Claims (7)

First and second rotating shafts spaced apart from each other, a plurality of first driving wheels mounted at both ends of the first rotating shaft, a plurality of second driving wheels mounted at both ends of the second rotating shaft, and the first and second rotation shafts. A first module including a plurality of caterpillars surrounding a first driving wheel and a second driving wheel which are spaced apart in the front-rear direction on each side of the second rotation shaft;
A first driver driving the first module;
Third and fourth rotating shafts spaced apart from each other, a plurality of third driving wheels mounted at both ends of the third rotating shaft, a plurality of fourth driving wheels mounted at both ends of the fourth rotating shaft, and the third and A second module including a plurality of caterpillars surrounding a third driving wheel and a fourth driving wheel which are spaced apart in the front-rear direction on each side of the fourth rotating shaft;
A second driving unit driving the second module;
A link unit connecting the first module and the second module;
A power supply unit supplying power to the first and second driving units;
A controller for controlling the first driver and the second driver; And
Climbing robot comprising an active tail is connected to the middle portion of the fourth axis of rotation.
The method according to claim 1,
Climbing robot, characterized in that a polymer adhesive (Polymer adhesive) is applied to the outer surface of the caterpillar (Caterpillar).
The method according to claim 1,
Wherein,
A first link connecting the second rotary shaft and the third rotary shaft at one end of the second rotary shaft and the third rotary shaft;
A second link connecting the second rotary shaft and the third rotary shaft at the other end of the second rotary shaft and the third rotary shaft;
Climbing robot comprising a connecting link connecting the second rotary shaft and the third rotary shaft in the middle portion of the second rotary shaft and the third rotary shaft.
The method according to claim 3,
And the first link and the second link are directional passive compliant joints.
The method according to claim 1,
The first driving unit,
At least one first driving motor for driving the first driving wheel and the second driving wheel;
A plurality of first driving shafts for transmitting power of the at least one first driving motor;
And a connecting member connecting the at least one first driving shaft to the first driving wheel and the second driving wheel.
The method according to claim 1,
The second driving unit,
At least one second driving motor for driving the third driving wheel and the fourth driving wheel;
A plurality of second driving shafts for transmitting power of the at least one second driving motor;
And a connecting member connecting the at least one second driving shaft to the third driving wheel and the fourth driving wheel.
The method according to claim 5 or 6,
The connecting member is a climbing robot, characterized in that the gear or belt.

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