KR20190097885A - Climbing robot and climbing method using it - Google Patents

Abstract

The present invention relates to a climbing robot and a climbing method using the same and, more specifically, to a climbing robot and a climbing method using the same capable of easily climbing even in a situation in which an angle of the ground changes, such as a stair and a wall surface, on a moving path. For the purpose of the climbing robot according to the present invention, the present invention relates to the climbing robot provided with at least one module wherein the module can comprise: first and second rotating shafts disposed and spaced apart from each other; a driving wheel mounted to one of the first and second rotating shafts, and a vertical motion wheel mounted on another rotating shaft; and a tail part provided to the rotating shaft on which the vertical motion wheel is mounted.

Description

Climbing robot and climbing method using it}

The present invention relates to a climbing robot and a climbing method using the same, and more particularly, to a climbing robot that can easily climb in a situation where the ground angle, such as stairs and walls on the movement path, and a climbing method using the same will be.

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 mechanism 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 wall of various materials, and the climbing function means that the robot can travel along the wall surfaces of various shapes.

In particular, it is important to design and manufacture so that the climbing robot can move continuously without leaving the movement path even when moving along the ceiling extending from the vertical wall.

Researches related to such adsorption function are mainly conducted by using the method of the gecko lizard and the adsorption by van der Waals force, the method of adsorption using static electricity, as well as the conventional method using vacuum and magnet. The method of attaching to a mechanically rough wall using a claw has been actively studied.

In addition, studies on the climbing function of various shapes of walls and obstacles existing on the wall are typically performed using a plurality of bridge mechanisms such as NINJA-1 by Hirose of Japan. Although researches on moving to another inclined plane and moving by using a sliding mechanism have been conducted, the research approach is not made from various viewpoints compared to the study of adsorption function, and it is not practical to use it. There is a problem in the control part.

In addition, since the environment in which the robot actually moves, such as the outer wall of a building, includes obstacles of various shapes such as irregularities, curved surfaces, and combinations of surfaces, the development of a mechanism to effectively overcome this problem is very important. The way is needed.

Technical problem to be solved in the present invention, the object of the present invention consists of two or more modules to provide a climbing robot capable of movement and attitude control and a climbing method using the same.

In addition, it is an object of the present invention to provide a climbing robot and a climbing method using the same, where each module is movable according to the ground conditions of the movement path, which can be moved even if two or more modules are separated from each other as necessary.

Climbing robot according to an embodiment of the present invention for solving the above technical problem, the climbing robot is provided with at least two or more modules, each of the modules, the first and second rotary shafts are spaced apart from each other, and It may include a driving wheel mounted to any one of the first and second rotary shafts, a driven wheel mounted to the other rotary shaft and the tail portion provided on the rotary shaft is mounted.

In this case, a driving motor for rotating the rotating shaft on which the driving wheel is mounted may be provided.

In addition, a tail motor may be provided to rotate the rotating shaft on which the tail is mounted.

The drive motor and the tail motor is preferably disposed in a position symmetrical with respect to the moving direction of the climbing robot.

Caterpillars surrounding the driving wheel and the driven wheel may be provided.

Each said module is characterized in that the mutual coupling and separation possible.

In this case, each of the modules is provided with a coupling portion, the module located in the front is provided with the coupling portion on the rotary shaft equipped with the driven wheel, the module located behind the coupling to the rotary shaft equipped with the drive wheel An additional may be provided.

In addition, in the module located between the module located in the front and the module located in the rear, the coupling portion may be provided on both the first and second rotation axis.

The coupling part may be provided with a magnet or an electromagnet.

Climbing robot according to another embodiment according to the present invention is a climbing robot having at least two modules, the two or more modules are separated from each other in the front and rear direction, each of the modules, the movement to move the module The unit may include a driving unit for driving the moving unit, a tail for stabilizing the posture of the module, and a coupling unit for coupling the respective modules.

In addition, the at least two modules include a main module located in the front and an auxiliary module located in the rear, when the angle of the ground is changed when the climbing robot moves, the auxiliary module has a supporting force so that the main module does not leave the ground It characterized in that to provide.

In addition, the auxiliary module is characterized in that it provides a support force until the main module moves to a position where the angle of the ground is kept constant.

When the main module is moved to a position where the angle of the ground is kept constant, the main module may be moved separately from the auxiliary module.

In the climbing method using a climbing robot according to another embodiment of the present invention, the main module located in the front and the auxiliary module located in the rear with respect to the moving direction of the climbing robot is coupled to each other, the main module and the auxiliary module Moving to a combined state, and when the angle of the ground changes, the auxiliary module supports the main module so that the main module does not deviate from the ground, and the main module maintains a constant angle of the ground. When moved to the main module may include the step of moving apart from the auxiliary module.

In this case, the supporting of the main module by the auxiliary module is characterized in that the main module continuously supports until the main module moves to a position where the angle of the ground is kept constant.

According to the climbing robot of the present invention having the above-described configuration and a climbing method using the same, the configuration is simple because it can be moved only by a single module, there is an advantage that easy posture control because only a single module needs to control posture.

In addition, in a situation where it is difficult to move with only a single module, such as when moving along a ceiling extending from a vertical wall, each module is combined and moved. Depending on the situation, there is an advantage that can be moved in response flexibly.

1 is a perspective view showing a climbing robot according to an embodiment of the present invention.
2 is a plan view showing a climbing robot according to an embodiment of the present invention.
3A to 3D are side views sequentially illustrating a state in which a climbing robot according to the present invention moves along a ceiling extending from a vertical wall surface.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted for clarity, and like reference numerals designate like elements throughout the specification.

In this specification, terms such as "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof. In addition, when a part such as a layer, film, region, plate, etc. is said to be "on" another part, this includes not only when the other part is "right on" but also another part in the middle. Conversely, when a part such as a layer, film, region, plate, etc. is "below" another part, this includes not only the other part "below" but also another part in the middle.

1 is a perspective view showing a climbing robot according to the present invention, Figure 2 is a plan view showing a climbing robot according to the present invention, Figures 3a to 3d is a ceiling extending from the vertical wall climbing robot according to the invention It is a side view which shows the state which moves along sequentially.

1 and 2, the climbing robot according to an embodiment of the present invention includes at least one module 10, and the module 10 includes a moving unit 100 for moving the module 10. ), A driving part 200 for driving the moving part 100, and a tail part 300 for stabilizing a posture of the module 10.

The moving unit 100 for moving the module 10 includes a first rotation shaft 110 and a second rotation shaft 120, and a driving wheel 130 and a driven wheel 140 mounted on the respective rotation shafts.

The first rotary shaft 110 and the second rotary shaft 120 are spaced apart from each other, and when the driving wheel 130 is mounted on any one of the first and second rotary shafts (110, 120), the other rotary shaft The driven wheel 140 is mounted.

The driving wheel 130 and the driven wheel 140 spaced apart in the front and rear directions at both ends of the first rotation shaft 110 and the second rotation shaft 120 are wrapped by the caterpillar 150.

A polymer adhesive is applied to the outer surface of the caterpillar 150, and the polymer adhesive is applied to the outer surface of the caterpillar 150 so that the caterpillar 150 has high adhesion in various aspects such as glass, acrylic, wood, and iron. Can be implemented.

Hereinafter, the driving wheel 130 is mounted on the first rotating shaft 110, and the driven wheel 140 is mounted on the second rotating shaft 120.

The first rotation shaft 110 and the driving wheel 130 mounted thereon are mounted by the driving motor 210.

The drive motor 210 includes a drive shaft and a connecting gear. The driving motor 210 serves to supply power for rotating the first rotation shaft 110 on which the driving wheel 130 is mounted, and the driving shaft is connected to the driving motor 210 to transmit power of the driving motor 210. The connecting gear serves to connect the drive shaft and the first rotating shaft (110). Such a connection gear is not necessarily limited to a gear-shaped structure, and a structure such as a chain or a belt may be used as long as the structure can transmit power.

The module 10 is driven by the power of the drive motor 210. Power of the driving motor 210 is transmitted to the driving shaft, and the first rotating shaft 110 is rotated by a connecting gear connecting the driving shaft and the first rotating shaft 110. As the first rotation shaft 110 rotates, the driving wheel 130 mounted at both ends of the first rotation shaft 110 rotates, and the driving wheel 130 and the driven wheel 130 rotate as the driving wheel 130 rotates. The caterpillar 150 surrounding the 140 rotates, and the driven wheel 140 rotates as the caterpillar 150 rotates, and the module 10 moves in the direction of rotation of the caterpillar 150.

The module 10 is provided with a tail 300 to stabilize the posture when the module 10 is moved. The tail portion 300 is mounted on the second rotary shaft 120 on which the driven wheel 140 is mounted, and the pressure at which the tail portion 300 presses the ground is changed as the second rotary shaft 120 rotates. . That is, the posture 300 is to stabilize the posture of the module 10 by varying the pressure to press the ground according to the situation such as the slope of the ground.

As described above, the force of pressing the ground by the tail part 300 varies according to the degree of rotation of the second rotation shaft 120, and the tail motor 220 is provided to rotate the second rotation shaft 120.

The tail motor 220, like the drive motor 210 described above, includes a drive shaft and a connecting gear. The tail motor 220 serves to supply power to rotate the second rotating shaft 120 on which the tail 300 is mounted, and the driving shaft is connected to the tail motor 220 to transmit power of the tail motor 220. The connecting gear serves to connect the drive shaft and the second rotation shaft 120. As described above, the connecting gear is not necessarily limited to a gear-type structure, and a structure such as a chain or a belt may be used as long as the structure can transmit power.

At this time, the driven wheel 140 and the tail 300 is mounted on the second rotary shaft 120 at the same time, the driven wheel 140 is independent of the rotation of the second rotary shaft 120 as the module 10 moves. It needs to be configured to rotate. This is because if the second rotation shaft 120 is configured to rotate together with the driven wheel 140, the tail motor 220 cannot rotate the second rotation shaft 120 for controlling the tail 300.

Therefore, a bearing may be provided between the driven wheel 140 and the second rotating shaft 120 so that the driven wheel 140 rotates independently of the rotation of the second rotating shaft 120.

The method of controlling the above-described tail 300 is compared to the pressure required to maintain a stable posture according to the situation of the ground and the current pressure applied to the tail 300, the tail (220) through the tail motor 220 300).

The module 10 is provided with a power supply unit and a control unit. The power supply unit serves to supply power to the driving motor 210 and the tail motor 220, and the control unit controls the driving motor 210 and the tail motor 220.

The power supply unit and the control unit may be provided in the driving motor 210 and the tail motor 220, respectively, or one of the power supply and the control unit to supply power to the drive motor 210 and the tail motor 220 and control them It may be.

As described above, it is important to maintain a stable posture when moving the module 10 according to the situation of the ground. For this purpose, the driving motor 210 and the tail motor 220 are based on the moving direction (x) of the climbing robot. It is preferred to be located at mutually symmetrical positions. This configuration is because the center of gravity can be located in the center of the module 10 it is because it is easy to maintain a stable posture.

When the module 10 moves, the ground such as the ceiling extending from the vertical wall corresponds to the ground where the module 10 is difficult to move. When it meets such a ground, it is difficult to move only to a single module 10, so that additional modules 10 are moved, and then each module 10 is coupled to each other and then moved.

To this end, each module 10 is provided with a coupling part 400. In detail, the coupling module 400 is provided on the second rotation shaft 120 on which the driven wheel 140 is mounted on the module 10 located at the front, and the driving wheel 130 is provided on the module 10 located at the rear. Coupling unit 400 is provided on the first rotating shaft 110 is mounted. That is, when the module 10 located in front meets the ceiling extending to the vertical wall, the additional module 10 is moved to the back of the module 10 located in the front, the module 10 is disposed in front and rear respectively In the state that the coupling unit 400 provided in each module 10 is to be coupled to each other.

Such a module 10 may be configured to move three or more arranged in succession. An additional module 10 is provided between the module 10 located at the front and the module 10 located at the rear. Since the additional module 10 should be coupled to the module 10 located at the front and the module 10 located at the rear, the coupling part 400 is provided at both the first rotation shaft 110 and the second rotation shaft 120. desirable.

In addition, after each module 10 is coupled, the front and rear modules 10 are moved together so that they can be moved to the ceiling extending from the vertical wall.

The above-described coupling part 400 may be provided with a magnet or an electromagnet. When the coupling unit 400 is provided with a magnet, each module 10 may be coupled through a simple configuration such as a sintered magnet. However, as will be described later, in a situation where each module 10 is to be separated, a structure capable of separating the coupling state of the coupling unit 400 through the magnet in this manner is required.

Alternatively, the coupling part 400 may be provided with an electromagnet. As such, when the electromagnet is provided, the coupling force of the coupling part 400 provided in each module 10 may be adjusted due to the characteristics of the electromagnet. In the situation where each module 10 should be firmly coupled, the coupling force may be increased, and In a situation in which each module 10 needs to be separated, the coupling force may be reduced so that each module 10 may be stably separated.

In the coupled state of each module 10 is used to maintain a stable posture of the entire module 10 in the coupled state that the tail portion 300 provided in the module 10 located in the rear. As described above, the tail part 300 of the module 10 located at the rear side also compares the pressure required according to the situation of the ground with the pressure applied to the tail part 300 located at the rear side of the tail motor 220. Through the tail portion 300 can be controlled.

Hereinafter, the module 10 located at the front is defined as the main module 11, the module 10 located at the rear is defined as the auxiliary module 12, and the main module 11 and the auxiliary module 12 are coupled to each other. The process of moving the ceiling extending from the vertical wall in the state will be described.

First, when the main module 11 meets the ground such as the ceiling extending from the vertical wall, it detects this and moves the auxiliary module 12. The auxiliary module 12 moves to be located behind the main module 11.

3A, the coupling part 400 provided on the second rotation shaft 120 of the main module 11 and the first rotation shaft 110 of the auxiliary module 12 are provided. Will combine together and move together. The coupling part 400 of the main module 11 is provided on the second rotation shaft 120. As described above, the second rotation shaft 120 controls the tail 300 of the main module 11. Since the second rotation shaft 120 is to be rotated, it is necessary to be configured to be rotatable independently of the coupling portion 400. To this end, a bearing may be provided between the second rotation shaft 120 and the coupling part 400.

In addition, the coupling portion 400 of the auxiliary module 11 is provided on the first rotation shaft 110, since the first rotation shaft 110 is used to rotate the drive wheel 130, such a first rotation shaft 110 Silver needs to be rotatable independently of the coupling part 400. To this end, a bearing may be provided between the first rotation shaft 110 and the coupling part 400.

Then, as shown in Figure 3b, the main module 11 is moved to the ceiling past the vertical wall, the position where the caterpillar 150 of the main module 11 can not reach, such as the corner between the vertical wall and the ceiling. In this case, a situation may occur in which the main module 11 is separated from the ground. At this time, the auxiliary module 12 located at the rear supports the main module 11 to prevent the main module 11 from being separated from the ground. do.

In this state, the main module 11 and the auxiliary module 12 continue to move, and the auxiliary module 12 continuously supports the main module 11 until the main module 11 completely moves to the ceiling. .

When the main module 11 is completely moved to the ceiling, as shown in Figure 3c, the main module 11 and the auxiliary module 12 is separated from each other and then operated separately.

In the process of operating each of the above-described modules 10 individually, each module 10 may be provided with various sensors such as an infrared sensor for detecting dangerous goods, as well as a basic sensor for detecting pressure, temperature, or smell. . In addition, by installing a camera module for detecting the situation in front of the individual work through each module 10 is possible according to the purpose.

As such, each module 10 may be configured to be capable of changing direction as well as going straight so that the individual tasks may be smoothly performed.

Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to such specific embodiments, and those of ordinary skill in the art are appropriately within the scope described in the claims of the present invention. Changes will be possible.

10 module 11 main module
12: auxiliary module 100: moving part
110: first axis of rotation 120: second axis of rotation
130: driving wheel 140: driven wheel
150: caterpillar 200: drive unit
210: driving motor 220: tail motor
300: tail 400: coupling portion

Claims (15)

A climbing robot equipped with at least two modules,
Each said module is
First and second rotary shafts spaced apart from each other;
A driving wheel mounted to one of the first and second rotary shafts, and a driven wheel mounted to the other rotary shaft; And
A tail provided on the rotating shaft on which the driven wheel is mounted;
Climbing robot comprising a. The method of claim 1,
Climbing robot, characterized in that provided with a drive motor for rotating the rotary shaft on which the drive wheel is mounted. The method of claim 2,
Climbing robot, characterized in that the tail motor is provided for rotating the rotary shaft to which the tail is mounted. The method of claim 3,
The driving motor and the tail motor is a climbing robot, characterized in that arranged in a position symmetrical with respect to the movement direction of the climbing robot. The method of claim 1,
Climbing robot, characterized in that the caterpillar surrounding the drive wheel and the driven wheel is provided. The method of claim 1,
Climbing robot, characterized in that each of the modules can be mutually coupled and separated. The method of claim 6,
Each module is provided with a coupling portion,
The module located in the front is provided with the coupling portion on the rotating shaft is mounted the driven wheel,
The module located behind the climbing robot, characterized in that the coupling portion is provided on the rotating shaft on which the drive wheel is mounted. The method of claim 7, wherein
In the module located between the module located in front and the module located in the rear,
Climbing robot, characterized in that the coupling portion is provided on both the first and second rotation axis. The method according to claim 7 or 8,
Climbing robot, characterized in that the coupling portion is provided with a magnet or an electromagnet. A climbing robot equipped with at least two modules,
The two or more modules are detachably coupled to each other in the front and rear directions,
The module,
A moving unit for moving the module;
A driving unit driving the moving unit;
Tail to stabilize the posture of the module; And
A coupling unit coupling each of the modules;
Climbing robot comprising a. The method of claim 10,
The at least two modules include a main module located in front and an auxiliary module located in the rear,
If the angle of the ground changes when the climbing robot moves,
The auxiliary module is a climbing robot, characterized in that to provide a support force so that the main module does not leave the ground. The method of claim 11,
The auxiliary module provides a support robot until the main module moves to a position where the angle of the ground is maintained constant. The method of claim 12,
And the main module moves separately from the auxiliary module when the main module moves to a position where the angle of the ground is kept constant. In the climbing method using the climbing robot of any one of claims 10 to 13,
Coupling the main module located at the front and the auxiliary module located at the rear with respect to the moving direction of the climbing robot;
Moving to a state in which the main module and the auxiliary module are coupled;
Supporting the main module to prevent the main module from being separated from the ground when the angle of the ground changes;
Moving the main module separately from the auxiliary module when the main module moves to a position where the angle of the ground is kept constant;
Climbing method using a climbing robot comprising a. The method of claim 14,
Wherein the auxiliary module supporting the main module climbing method using a climbing robot, characterized in that the main module is continuously supported until moving to a position where the angle of the ground is kept constant.

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