KR20170015049A - Robot to Climb Pillar - Google Patents

Robot to Climb Pillar Download PDF

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Publication number
KR20170015049A
KR20170015049A KR1020150141110A KR20150141110A KR20170015049A KR 20170015049 A KR20170015049 A KR 20170015049A KR 1020150141110 A KR1020150141110 A KR 1020150141110A KR 20150141110 A KR20150141110 A KR 20150141110A KR 20170015049 A KR20170015049 A KR 20170015049A
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South Korea
Prior art keywords
unit
robot
robots
belt
column
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KR1020150141110A
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Korean (ko)
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KR101785675B1 (en
Inventor
김래영
김치국
진수진
류홍렬
정명진
Original Assignee
한국산업기술대학교산학협력단
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Publication of KR20170015049A publication Critical patent/KR20170015049A/en
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Publication of KR101785675B1 publication Critical patent/KR101785675B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

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

Abstract

According to a robot to climb a pillar, a plurality of unit robots are arranged to be spaced from each other at a constant distance along a circumferential direction of a pillar on a circumference of the pillar, and a gap between the unit robots is coupled by a belt means to vertically be driven along a longitudinal direction of the pillar. Moreover, a coupling means between the unit robots which are in contact with the pillar to be driven is formed by a belt storage member having a spiral spring which rotates and winds a belt drum; thereby elastically responding to a change in circumference of the pillar.

Description

Robot to climb a pole {Robot to Climb Pillar}

The present invention relates to a robot for ascending a column, in which a plurality of unit robots are arranged at regular intervals so as to be spaced apart from each other along a circumference of a column around a column, and the unit robots are bound by belt means, To a robot which moves up and down a column moving along the longitudinal direction.

Robots moving on the ground are being developed in various forms. However, in the case of a robot that climbs a pole, the research and development of a robot is insufficient.

One example of a robot that climbs a pole is a robot that moves up and down a pole by using the arm and / or hand pressure. However, such a robot is structurally complicated and requires a strong pressure.

In addition, robots that climb these conventional pillars require a strong pressure hand according to their weight, and have limitations in flexibly responding to changes in the circumference of the pillars.

In order to solve such a problem, the present invention is characterized in that a plurality of unit robots are arranged at regular intervals so as to be spaced apart from each other along the circumference of a column around a column, and the unit robots are bound by belt means, And to raise a column moving up and down along the longitudinal direction.

The present invention relates to a robot which comprises a belt storing member having a spiral spring for rotating and winding a belt drum by binding means between unit robots moving in tight contact with a column and raising a column capable of flexibly responding to a change in the circumference of the column The purpose is to provide.

According to an aspect of the present invention,

A plurality of unit robots disposed at regular intervals so as to be spaced apart from each other along the circumferential direction of the column around the column and moving up and down around the column along the longitudinal direction; And

And binding means for binding each unit robot to each other such that a plurality of unit robots are held in close contact with the periphery of the column.

According to the present invention,

A plurality of unit robots disposed at regular intervals so as to be spaced apart from each other along the circumferential direction of the column around the column and moving up and down around the column along the longitudinal direction; And

And binding means formed on both side surfaces of the unit robots so as to bind each unit robot to each other such that a plurality of unit robots are held in close contact with the periphery of the column,

The binding means includes a housing body provided on one of both side surfaces of the plurality of unit robots, a belt receiving member having a belt drum for winding and winding the belt around the inside of the housing body, a spiral spring for rotating the belt drum by rotating the belt drum, And a detachment mechanism provided on either side of the plurality of unit robots for detachably coupling the belt,

The first belt of the first unit receiving member of the first unit robot of the plurality of unit robots is pulled out to unwind from the first belt drum while overcoming the elastic force of the first spiral spring, And the second belt of the second unit accommodating member of the second unit robot is pulled out to unroll the second belt drum while overcoming the elastic force of the second spiral spring, And the first unit robot and the second unit robot are held in close contact with each other around the column by being coupled to the first detachment mechanism of the one unit robot.

With the above-described configuration, the present invention has an effect of realizing a robot that ascends a column that is structurally simple and not complicated.

The present invention has the effect of realizing a robot that climbs up pillars that can respond flexibly according to a change in the circumference of a column.

FIG. 1 and FIG. 2 are perspective views illustrating the configuration of a robot for ascending a pillar according to an embodiment of the present invention.
3 to 5 are views showing a configuration of a main unit robot according to an embodiment of the present invention.
6 to 8 are views showing a configuration of a sub unit robot according to an embodiment of the present invention.
FIG. 9 is a partially cutaway perspective view showing an internal structure of a main unit robot and a sub unit robot according to an embodiment of the present invention.
FIG. 10 is a block diagram briefly showing an internal configuration of a main unit robot and a sub unit robot according to an embodiment of the present invention.
11 is a cross-sectional view showing a configuration of a belt receiving member according to an embodiment of the present invention.
12 is a view showing a main unit robot and a sub unit robot running up and down the perimeter of a column according to an embodiment of the present invention.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

FIGS. 1 and 2 are perspective views illustrating a configuration of a robot for ascending a column according to an embodiment of the present invention, FIGS. 3 to 5 are views showing a configuration of a main unit robot according to an embodiment of the present invention, FIG. 8 is a view showing a configuration of a sub unit robot according to an embodiment of the present invention, FIG. 9 is a partial cutaway perspective view showing an internal configuration of a main unit robot and a sub unit robot according to an embodiment of the present invention, 10 is a block diagram briefly showing an internal configuration of a main unit robot and a sub unit robot according to an embodiment of the present invention, and FIG. 11 is a sectional view showing a configuration of a belt receiving member according to an embodiment of the present invention.

The robot for raising the column according to the embodiment of the present invention includes a plurality of unit robots 100 and 200 and binding means 120 and 220 for connecting between the unit robots 100 and 200.

The plurality of unit robots 100 and 200 are spaced apart from each other around the column 10 in the circumferential direction of the column 10 and spaced apart from each other and connected to each other by binding means between the unit robots 100 and 200 .

Although the unit robots 100 and 200 are composed of two for convenience of explanation in the present invention, the unit robots 100 and 200 may be composed of three or more.

Each of the unit robots 100 and 200 is provided with a traveling wheel and two auxiliary wheels on the rear side opposite to the pillar 10. The traveling wheels and the auxiliary wheels are configured to be able to travel up and down around the columns 10 along the longitudinal direction, and the traveling wheels can be rotated by the power of the driving motor.

At least one of the plurality of unit robots 100 and 200 is composed of a main unit robot 100 and the remaining units are composed of one or more sub unit robots 200 controlled by the main unit robot 100.

The binding units 120 and 220 are connected to the main unit robot 100 and the sub unit robot 200 such that the main unit robot 100 and the sub unit robot 200 are kept in close contact with the periphery of the column 10 by belts 130 and 230. [ Thereby uniting the unit robots 200 together.

Hereinafter, for convenience of description, one main unit robot 100 and one subunit robot 200 are described.

The main unit robot 100 of the embodiment of the present invention includes a first body frame 110 in the form of a rectangular parallelepiped that forms a certain space therein and a hydrate frame 150 for storing objects on the upper surface of the first body frame 110. [ .

The first body frame 110 is provided with a first belt receiving member 121 on one of both sides of the first body frame 110 and a first binding member 121 on the other side of the first body frame 110, A first fixture 140 to which the belt 130 is fastened is installed. The first binding means 120 includes a first belt receiving member 121 and a first fastener 140.

The first belt receiving member 121 includes a first accommodating body 122 that is threadedly engaged with one side surface of the first body frame 110 and a second accommodating body 122 that is provided on the inner side 130 of the first accommodating body 122 The upper and lower plates 124 and 125 and the lower plate 125 are fixed to the first belt drum 123 and rotate together with the first belt drum 123, A first upper spring fixture 126 is formed inside the upper portion of the first accommodating body 122 and a first lower spring fixture 127 is formed inside the lower portion of the first accommodating body 122.

First spiral springs 128 and 129 of spring type are built in the inside of the first upper spring fixture 126 and the first lower spring fixture 127.

The upper shaft 123a of the first belt drum 123 is rotatably fitted in the center hole of the first upper spring fixing hole 126 and the lower shaft 123b of the first belt drum 123 is fitted to the lower hole of the first lower spring fixing hole 126. [ (127).

At one end of the belt 130 is formed a cylindrical shape and a first knob 131 having an upper insertion groove 132 opened is coupled to the front side.

When the first binding part 131 is pulled by the first binding part 120, the belt 130 rotates around the first upper spring fixing part 126 and the first lower spring fixing part 127, Out of the first accommodating body 122 through the outgoing groove 122a of the first accommodating body 122 while overcoming the elastic force of the first accommodating body 128,

The first binding means 120 can move the first spiral spring 128 and the first spiral spring 129 of the first lower spring fixture 127 when the pulling force of the first knob 131 is removed, The first belt drum 123 is rotated by the elastic force, and the belt 130 is wound on the first belt drum 123.

The first fixture 140 is threadedly coupled to one of the opposite sides of the first body frame 110, and is fixed up and down in the longitudinal direction in a bar shape.

The first fixture 140 has first guide grooves 141 formed on both sides thereof in the longitudinal direction and a first stopping protrusion 142 is formed on the entire surface of the first fixture 140.

The bag body 150 is coupled to the upper surface of the first body frame 110 and has a larger width and larger size than the first body frame 110. The upper surface of the rectangular body is opened, And stores it.

A first driving motor 111, a first traveling wheel 112, a first power supply 113, a first auxiliary wheel 114, a first infrared distance sensor 115, A first wireless communication unit 116, and a first control unit 117.

The first drive motor 111 is coupled to the gear shaft of the first gear box 104 and the rotational gear of the first drive wheel 112 is engaged with the gear shaft of the first gear box 104 at right angles .

When the first drive motor 111 rotates the gear shaft of the first gear box 104, the first gear 112 of the first drive wheel 112 engaged with the gear shaft rotates together with the first drive wheel 112, 10 in the longitudinal direction.

The first power supply unit 113 supplies power to the first drive motor 111, the first control unit 117, and the first infrared distance sensor 115. The first infrared ray distance sensor 115 is composed of a transmitter and a receiver, and measures an infrared ray signal that is returned by projecting an infrared ray signal on the ground and converts the measured distance into a distance.

The first wireless communication unit 116 performs wireless communication with an external wireless remote controller or the sub unit robot 200 through Bluetooth communication.

The first control unit 117 receives the distance value from the ground from the first infrared distance sensor 115 and controls the first driving motor 111 to maintain the horizontal distance between the sub unit robots 200, To control the height. The first control unit 117 performs Bluetooth communication for transmitting a control signal with the sub unit robot 200 through the first wireless communication unit 116.

The first body frame 110 has a first driving wheel groove 101 for exposing the first driving wheel 112 to the outside on one surface of the first body frame 110 contacting the column 10 and a bottom surface of the first body frame 110, The first bottom groove 102 is opened.

The first body frame 110 includes a first auxiliary wheel groove 103 for contacting the first auxiliary wheel 114 with the first auxiliary wheel 114 exposed to the outside, It is open.

The sub-unit robot 200 of the embodiment of the present invention includes a rectangular parallelepiped second body frame 210 which forms a certain space therein.

The second body frame 210 has a second belt receiving member 221 on one side and a second belt receiving member 221 on the other side of the second binding means 220, A second fastener 240 to fasten the belt 230 is provided. The second binding means 220 includes a second belt receiving member 221 and a second fastener 240.

The second belt receiving member 221 includes a second accommodating body 222 that is screwed on either side of the second body frame 210 and a second accommodating body 222 that is inserted into the second accommodating body 222, A top plate 224 and a bottom plate 225 which rotate together with the second belt drum 223 while fixing the second belt drum 223 and a second belt drum 223 which rotates together with the second belt drum 223, A second upper spring fixture 226 is formed inside the upper portion of the housing body 222 and a second lower spring fixture 227 is formed inside the lower portion of the second housing body 222. [

Second spiral springs 228 and 229 are housed inside the second upper spring retainer 226 and the second lower spring retainer 227.

The upper shrinkage shaft 223a of the second belt drum 223 is rotatably fitted in the center hole of the second upper spring fixing hole 226 and the lower shaft 223b of the second belt drum 223 is fixed to the second lower spring fixing hole 226. [ (227).

At one end of the belt 230 is formed a cylindrical shape and a second handle 231 having an insertion groove 232 opened in the up-and-down direction is coupled to the front side.

When the second handle 231 is pulled out, the belt 230 is pressed against the second spiral spring 228 and the second spiral spring 228 provided on the inner side of the second lower spring fixture 227 And is drawn out of the second accommodating body 222 through the drawing groove 222a of the second accommodating body 222. [

The second fixing member 240 is threadedly coupled to the other side of the second body frame 210 and is coupled to the second body frame 210 so as to stand up and down in the longitudinal direction.

The second fastener 240 has second guide grooves 241 formed on both sides thereof in the longitudinal direction and a second fastening protrusion 242 formed on the front surface of the second fastener 240.

A second driving motor 211, a second traveling wheel 212, a second power supply 213, a second auxiliary wheel 214, a second infrared distance sensor 215, A second wireless communication unit 216, and a second control unit 217.

The second drive motor 211 is coupled to the gear shaft of the second gear box 204 and the rotation gear of the second drive wheel 212 is engaged with the gear shaft of the second gear box 204 at right angles .

When the second drive motor 211 rotates the gear shaft of the second gear box 204, the rotation gear of the second drive wheel 212 engaged with the gear shaft rotates together, so that the second drive wheel 212 rotates 10 in the longitudinal direction.

The second power supply unit 213 supplies power to the second driving motor 211, the second control unit 217 and the second infrared distance sensor 215. The second infrared distance sensor 215 is composed of a transmitter and a receiver. The second infrared distance sensor 215 measures an infrared signal reflected by projecting infrared rays on the ground, and converts the infrared signal into a distance.

The second wireless communication unit 216 performs wireless communication with the main unit robot 100 through Bluetooth communication.

The second control unit 217 receives the distance value from the second infrared ray distance sensor 215 to the ground and transmits the distance value to the first control unit 117 of the main unit robot 100, The second drive motor 211 is controlled to elevate and lower the sub unit robot 200 to control the height. The second controller 217 performs Bluetooth communication for transmitting a control signal with the main unit robot 100 through the second wireless communication unit 216.

The second body frame 210 includes a second driving wheel groove 201 for exposing the second driving wheel 212 to the outside on one surface of the second body frame 210 contacting the column 10 and a bottom surface of the second body frame 210, The second bottom groove 202 is opened.

The second body frame 210 includes a second auxiliary wheel groove 203 for allowing the second auxiliary wheel 214 to be exposed to the outside and contacting the column 10 at an upper portion of the second driving wheel groove 201, It is open.

A method of binding the main unit robot 100 and the sub unit robot 200 to the column 10 will now be described.

When the first handle 131 of the main unit robot 100 is pulled, the elastic force of the first spiral spring 128 and 129 provided on the inner side of the first upper spring fixture 126 and the first lower spring fixture 127 And the insertion groove 132 of the first handle 131 is inserted into the second guide groove 242 of the second fixture 240 of the sub unit robot 200 and the second guide guide groove 241 So that the first handle 131 is fastened to the second fastener 240.

When the second handle 231 of the subunit 200 is pulled, the elastic force of the second spiral spring 228 or 229 provided on the inner side of the second upper spring fixture 226 and the second lower spring fixture 227 And the insertion groove 232 of the second handle 231 is inserted into the first guide groove 141 of the first fixture 140 of the main unit robot 100, So that the second handle 231 is fastened to the first fastener 140. In this manner, the main unit robot 100 and the sub unit robot 200 are closely attached to the outer circumferential surface of the column 10 by the belts 130 and 230 and spaced apart from each other, and the first spiral springs 128 and 129 ) And the second spiral springs (228, 229).

The first binding unit 120 and the second binding unit 220 are connected to the main unit robot 100 and the sub unit robot 200 so that the main unit robot 100 and the sub unit robot 200 are kept in close contact with the outer circumferential surface of the column 10. [ Thereby uniting the unit robots 200 together.

The main unit robot 100 and the sub unit robot 200 can be applied to the columns 10 of various diameters by the first binding means 120 and the second binding means 220. [

In other words, the main unit robot 100 and the sub unit robot 200 are in close contact with the periphery of the column 10 by the elastic forces of the first spiral springs 128 and 129 and the second spiral springs 228 and 229 Or the diameter of the column 10 is changed, the belt 130 or 230 is loosened or adjusted so as to fit the diameter of the column 10.

The second control unit 217 of the sub unit robot 200 measures the distance information to the ground by the second infrared distance sensor 215 and transmits the distance information to the main unit robot 100.

The first control unit 117 of the main unit robot 100 measures and stores the first distance information with the ground by the first infrared distance sensor 115, Analyze by comparing with distance information.

The first controller 117 of the main unit robot 100 performs the motor control of the first drive motor 111 according to the difference value of the distance information between the first distance information and the second distance information, And transmits the generated motor control signal to the sub-unit robot 200. The sub-

The second control unit 217 of the sub unit robot 200 performs the motor control of the second drive motor 211 according to the motor control signal received from the main unit robot 100 to control the moving speed of the sub unit robot 200 .

12, when the traveling speed of the column 10 of the main unit robot 100 is slower than the traveling speed of the column 10 of the sub unit robot 200, The unit robot 100 travels around the column 100 while maintaining the level between the main unit robot 100 and the sub unit robot 200 by increasing the traveling speed and slowing the traveling speed of the sub unit robot 200 .

In another embodiment, the main unit robot 100 increases the traveling speed, maintains the original traveling speed in the case of the sub unit robot 200, and maintains the horizontal distance between the main unit robot 100 and the sub unit robot 200 after a predetermined time So as to move around the column 100. [0050]

The main unit robot 100 can adjust the speed at which the main unit robot 100 travels around the column 10 while transmitting and receiving the distance information between the sub unit robot 200 and the ground.

The embodiments of the present invention described above are not implemented only by the apparatus and / or method, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

10: Column 100: Main unit robot
101: first driving wheel groove 102: first floor groove
103: first auxiliary wheel groove 104: first gear box
110: first body frame 111: first drive motor
112: first driving wheel 113: first power supply unit
114: first auxiliary wheel 115: first infrared distance sensor
116: first wireless communication unit 117: first control unit
120: first binding means 121: first belt containing member
122: first accommodating body 122a: withdrawing groove
123: first belt drum 123a:
123b: lower shaft 124: upper plate
125: bottom plate 126: first upper spring fixture
127: first lower spring retainer 128, 129: first spiral spring
130: Belt 131: First handle
132: insertion groove 140: first fastener
141: first guide guide groove 142: first engaging jaw
150: Luggage frame 200: Sub unit robot
201: second traveling wheel groove 202: second floor groove
203: second auxiliary wheel groove 204: second gear box
210: second body frame 211: second drive motor
212: second traveling wheel 213: second power supply unit
214: second auxiliary wheel 215: second infrared distance sensor
216: second wireless communication unit 217: second control unit
220: second binding means 221: second belt receiving member
222: second accommodating body 222a: withdrawing groove
223: second belt drum 223a: upper deflector
223b: lower shaft 224: upper plate
225: bottom plate 226: second upper spring fixture
227: second lower spring clamp 228, 229: second spiral spring
230: Belt 231: Second handle
232: insertion groove 240: second fixing member
241: second guide guide groove 242: second hooking jaw

Claims (7)

A plurality of unit robots disposed at regular intervals so as to be spaced apart from each other along the circumferential direction of the column around the column and moving up and down around the column in the longitudinal direction; And
And a binding unit that binds the unit robots to each other such that the plurality of unit robots are held in close contact with the periphery of the column. The method according to claim 1,
Wherein the plurality of unit robots include one main unit robot and one or more subunit robots controlled by the main unit robot, the unit robots having the binding means on both sides thereof,
Wherein the binding unit comprises a housing body provided on one of both sides of the plurality of unit robots, a belt drum wound and rolled around the inside of the housing body, a spiral spring for spirally winding the belt drum, A rod-shaped member provided on one of the opposite side surfaces of the plurality of unit robots and having guiding grooves formed in the longitudinal direction on both sides thereof; And a grip portion of a belt receiving member of a neighboring unit robot is slidably inserted and guided along a guide guide groove of the fixing member. The method according to claim 1,
Wherein each of the unit robots is provided with the binding means on both sides thereof and the binding means comprises a housing body provided on one of both sides of the plurality of unit robots, a belt which is wound around the inside of the housing body in a roll- And a spiral spring for spirally winding the belt drum by rotating the drum, and a detachment mechanism provided on either side of the plurality of unit robots for detachably coupling the belt,
Each of the unit robots is pulled out of the belt drum while overcoming the elastic force of the spiral spring when the belt of the belt receiving member is pulled, and is coupled to a detachment mechanism of a neighboring unit robot. Wherein the spiral spring is wound on the belt drum by an elastic force of the spiral spring. The method according to claim 1,
Wherein the plurality of unit robots include one main unit robot and one or more subunit robots controlled by the main unit robot,
Wherein the main unit robot and the sub unit robot include a body frame in the form of a hexahedron forming a certain space therein, a gear box in which a gear shaft is coupled to the drive motor, And a wireless communication unit for wirelessly communicating with neighboring unit robots. The wireless communication unit wirelessly communicates with neighboring unit robots. The wireless communication unit wirelessly communicates with neighboring unit robots. And a control unit controlling the driving movement of each of the unit robots by controlling the driving motor, the infrared distance sensor, and the wireless communication unit. The method according to claim 2 or 4,
Wherein the main unit robot further comprises a luggage frame coupled to an upper surface of the body frame, the luggage frame being larger in width and size than the body frame and accommodating the luggage in an opened top surface of the rectangular parallelepiped. robot. 5. The method of claim 4,
Wherein the subunit robot measures first distance information from an infrared distance sensor installed on a floor and wirelessly communicates the measured first distance information to the main unit robot,
The control unit of the main unit robot measures and stores second distance information from an infrared distance sensor installed on the bottom surface of the main unit robot, compares the first distance information with the first distance information received from the subunit, The control unit controls the driving motor provided in the main unit robot or transmits the motor control signal to the sub unit robot so as to travel around the column while maintaining the horizontal position between the main unit robot and the sub unit robot A robot that climbs a pole. A plurality of unit robots disposed at regular intervals so as to be spaced apart from each other along the circumferential direction of the column around the column and moving up and down around the column in the longitudinal direction; And
And binding means formed on both sides of each of the unit robots so as to bind the unit robots together so that the plurality of unit robots are held in close contact with the periphery of the column,
Wherein the binding unit includes a housing body provided on one of both sides of the plurality of unit robots, a belt drum wound and wound around the inside of the housing body by a roll, and a spiral spring for rotating the belt drum by rotating the belt drum And a detachment mechanism provided on either side of both sides of the plurality of unit robots for detachably coupling the belt,
The first belt of the first unit receiving member of the first unit robot of the plurality of unit robots is pulled out to unfold the first belt from the first belt drum while overcoming the elastic force of the first spiral spring, The second unitary robot is pulled out from the second belt drum while pulling the second belt of the second belt receiving member out of the second belt drum while overcoming the elastic force of the second spiral spring, And the second belt is coupled to the first detachment mechanism of the first unit robot so as to maintain the close contact state between the first unit robot and the second unit robot around the column.
KR1020150141110A 2015-07-31 2015-10-07 Robot to Climb Pillar KR101785675B1 (en)

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Application Number Priority Date Filing Date Title
KR1020150108553 2015-07-31
KR20150108553 2015-07-31

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KR101785675B1 KR101785675B1 (en) 2017-10-17

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Publication number Priority date Publication date Assignee Title
CN108942964A (en) * 2018-08-15 2018-12-07 武汉科技大学 A kind of bio-robot of column structure Surface testing
CN110386206A (en) * 2018-04-21 2019-10-29 湖北职业技术学院 A kind of spiral lifting climbing device
CN111805501A (en) * 2020-07-02 2020-10-23 宁夏理工学院 Flexible variable-diameter permanent-magnet adsorption wheat wheel type cylinder climbing robot system
CN115432149A (en) * 2022-09-26 2022-12-06 江苏绘蓝智能科技有限公司 Underwater pier detection robot
CN116298700A (en) * 2023-05-18 2023-06-23 陕西浩悦博纳网络科技有限公司 5G-based power communication cable state monitoring system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3392814B2 (en) * 2000-07-27 2003-03-31 鹿島建設株式会社 Self-propelled cable snow removal robot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110386206A (en) * 2018-04-21 2019-10-29 湖北职业技术学院 A kind of spiral lifting climbing device
CN110386206B (en) * 2018-04-21 2024-02-06 湖北职业技术学院 Spiral lifting climbing device
CN108942964A (en) * 2018-08-15 2018-12-07 武汉科技大学 A kind of bio-robot of column structure Surface testing
CN111805501A (en) * 2020-07-02 2020-10-23 宁夏理工学院 Flexible variable-diameter permanent-magnet adsorption wheat wheel type cylinder climbing robot system
CN115432149A (en) * 2022-09-26 2022-12-06 江苏绘蓝智能科技有限公司 Underwater pier detection robot
CN116298700A (en) * 2023-05-18 2023-06-23 陕西浩悦博纳网络科技有限公司 5G-based power communication cable state monitoring system
CN116298700B (en) * 2023-05-18 2024-05-28 北京鹏鹄物宇科技发展有限公司 5G-based power communication cable state monitoring system

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