KR20230089669A - Soft growing robot using sub units - Google Patents

Abstract

The present invention relates to a flexible growing robot using a sub-unit. The purpose of the present invention is to provide the flexible growing robot capable of controlling a growing direction of a vine in a right direction by using a sub-unit inserted into the outer circumference. The flexible growing robot includes: the vine including a first inner circumference unit forming the center on the inner side, a first outer circumference unit separated from the outside of the first inner circumference unit, a first connection unit connecting an end of the first outer circumference unit and the first inner circumference unit for the end of the first outer circumference unit and the first inner circumference unit to be turned over, an outer cover unit separated from the outside of the first outer circumference unit, and an extension unit connecting the first inner circumference unit and the outer cover unit for the first inner circumference unit and the outer cover unit to be turned over; and at least one sub-unit arranged between the outer cover unit and the first outer circumference unit of the vine. A first front end space is formed between the first inner circumference unit and the first outer circumference unit, and an inner pressure of the first front end space is controlled. So, the growth of the vine is controlled. A path unit is formed between the first outer circumference unit and the outer cover unit. The sub-unit is controlled to be grown in the path unit.

Description

Flexible growth robot using subunits {SOFT GROWING ROBOT USING SUB UNITS}

The present invention relates to a flexible growth robot, and more particularly, to a flexible growth robot capable of steering control using a sub-unit.

To carry out various inspections, maintenance/repair work or lifesaving activities after moving to a specific destination on behalf of a person in a situation where a person cannot reach a specific destination, such as a pipe with a hollow inside or a pile of rubble of a collapsed building. For this purpose, various types of mobile robots are being developed. Conventional mobile robots are formed in the form of mounting a camera and tools for maintenance work on a vehicle body equipped with a crawler, or in a form capable of progressing by applying the movement of a caterpillar to a hose formed long in the longitudinal direction. At this time, the crawler-type robot can move smoothly on a plane, but has a disadvantage in that it is difficult to travel in a vertical direction or an inclined direction when a step is formed. In addition, robots that apply looper motion have a disadvantage in that their utilization is limited because it is difficult to proceed in various curved paths such as curved parts, T-shaped, and Y-shaped branching parts.

Accordingly, in order to compensate for the above-mentioned disadvantages, recently, in documents such as US 2021-0354289 A1, a soft robot in which the front end grows, a so-called Vine Robot is disclosed. As shown in FIG. 1, the Vine robot includes a Vine 1, a Feeder 2, a case 3, and a pressure regulator 4. At this time, the vine 1 has an inner circumferential portion 1a and an outer circumferential portion 1b, and moves forward or backward by the pressure of the front end space 1c between the inner circumferential portion 1a and the outer circumferential portion 1b, and separate The direction can be controlled to turn through the actuator means.

Here, the separate actuator means is currently implemented in the form of adding a means for applying an external force to pull the outer circumferential portion 1b or providing a hollow portion in the outer circumferential portion 1b to inject gas. However, the actuator means as described above has a problem in that it frequently leads to unexpected behavior due to causes such as buckling, and accordingly, there is a disadvantage in that the Vine robot does not reach the destination.

US 2021-0354289 A1 (2021.11.18. open)

The present invention is an invention made to solve the above-mentioned problems of the prior art, and an object of the present invention is to provide a flexible growth robot capable of correctly controlling the growth direction of a vine by using a subunit inserted into the outer periphery. .

The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the following description.

A flexible growth robot according to the present invention for achieving the above object is a first inner circumferential portion forming a central portion on the inside, a first outer circumferential portion spaced apart from the outside of the first inner circumferential portion, and the first inner circumferential portion and the first outer circumferential portion. A bar including a first connection portion connecting an end of the upside down, an outer skin spaced outside the first outer circumferential portion, and an extension portion connecting the first inner circumferential portion and the outer skin to be turned upside down; and at least one subunit disposed between the first outer circumferential portion and the outer skin of the vine, wherein a first end space is formed between the first inner circumferential portion and the first outer circumferential portion, and the inside of the first end space is formed. Pressure is adjusted to control the growth of the vein, and a passage portion is formed between the first outer circumferential portion and the outer skin, and the subunit may be controlled to grow in the passage portion.

In addition, in the flexible growth robot according to the present invention, the subunit can grow and the barn can grow to the front end.

In addition, in the flexible growth robot according to the present invention, the spine may be grown in a state in which the posture of the rear end is fixed with the grown subunit.

In addition, in the flexible growth robot according to the present invention, the subunit may grow and the barine may be steered while tension is applied to the rear end of the first inner circumferential portion.

In addition, in the flexible growth robot according to the present invention, the subunit grows while tension is applied to the rear end of the outer skin, and the barine may be steered.

In addition, the growth of the subunit can be controlled by adjusting the pressure of the second end space formed by the second inner circumferential portion, the second outer circumferential portion, and the second connection portion.

In addition, a plurality of passage portions may be formed in the circumferential direction of the vine, and a plurality of subunits may be disposed in the plurality of passage portions.

In addition, the flexible growth robot according to the present invention further includes a control unit for controlling the growth of the vine, and the control unit is disposed inside a case having one side opened, and at the rear end of the first inner circumferential portion. A connected tail portion and a pressure adjusting portion configured to adjust the pressure in the first front end space by injecting gas into the case, and the first outer circumferential portion may be fixed to one side of the case.

In addition, the flexible growth robot according to the present invention further includes a control unit for controlling the growth of the subunit, and the control unit is disposed in a case having one side opened and disposed inside the case at the rear end of the second inner circumference. A tail part connected to and a pressure adjusting part configured to adjust the pressure in the second front end space by injecting gas into the case, and the second outer peripheral part may be fixed to one side of the case.

In addition, the flexible growth robot according to the present invention may be disposed such that the tail part is folded to form a folding region (B).

The control unit may further include a guide portion fixed to the inside of the case and extending to both sides, and the folding region may be disposed to surround the guide portion.

In addition, the control unit may further include a tension adjusting unit for applying tension to the tail portion and the outer skin.

In addition, the tension control unit includes at least one pair of rollers in contact with the tail portion, a first fixing member and a second fixing member connected to both ends of the roller so that the rollers can rotate, and the control unit , It may further include a driving unit for rotating the roller.

In addition, the flexible growth robot according to the present invention may further include a data collection unit including a cable disposed at the center of the bar and a sensing module connected to the tip of the cable.

The flexible growth robot according to the present invention according to the above-described configuration can partially fix the shape through the subunit, thereby preventing unintended behavior in advance, as well as providing more precise barine control. This has the advantage of improving the performance of reaching the destination.

In addition, as the flexible growth robot according to the present invention provides a basis for performing more diverse functions, including various types of growth mechanisms and steering mechanisms, it can lead to the advantage of increasing the utilization of the Vine robot.

1 is a view showing the structure of a Vine robot according to the prior art.
2 is a view showing the structure of a flexible growth robot according to the present invention;
3 and 4 are diagrams showing a growth mechanism of a flexible growth robot according to the present invention;
5 is a view showing a control unit of a flexible growth robot according to the present invention;
6 is a diagram schematically showing a growth method of a flexible growth robot according to the present invention;
7 is a cross-sectional view showing the structure of a tension adjusting unit according to the present invention;
8 and 9 show a steering mechanism of a flexible growth robot according to the present invention;

Hereinafter, a flexible growth robot according to the present invention will be described in detail with reference to the accompanying drawings. The drawings introduced below are provided as examples to sufficiently convey the spirit of the present invention to those skilled in the art. Therefore, the present invention may be embodied in other forms without being limited to the drawings presented below. Also, like reference numbers indicate like elements throughout the specification.

Unless otherwise defined, the technical terms and scientific terms used at this time have meanings commonly understood by those of ordinary skill in the art to which this invention belongs, and the gist of the present invention is unnecessary in the following description and accompanying drawings. Descriptions of well-known functions and configurations that may be obscure are omitted.

Figure 2 relates to a flexible growth robot according to the present invention, Figure 2 shows a view showing the structure of the flexible growth robot.

Referring to FIG. 2 , the flexible growth robot according to the present invention may include a barine 100, a subunit 200, and a control unit 300. At this time, the vine 100 is configured to grow toward the front end, which is the upper side in the drawing, and to reverse grow in the opposite direction. In addition, the bar 100 may include a first inner circumferential portion 110 forming a central portion, and the first inner circumferential portion 110 surrounds the central portion based on a plane cross section orthogonal to the vertical direction on the drawing. can be placed. Hereinafter, in the description below, the inner side is defined in a direction toward the hole formed by the central portion, and the outer side is defined in the opposite direction.

As described above, the Vine 100 may include the first outer circumferential portion 120, the first connection portion 130, and the first end space 140 together with the first inner circumferential portion 110 forming the center on the inside. can The first outer circumferential portion 120 may be disposed outside the first inner circumferential portion 110, and the first connection portion 130 connects the first inner circumferential portion 110 and the front ends of the first outer circumferential portion 120. can connect At this time, the first inner circumferential portion 110, the first connection portion 130, and the first outer circumferential portion 120 may be inverted to mutually ervert, and during growth, the first inner circumferential portion 110 It is turned over to the first outer circumferential portion 120, and in case of reverse growth, the first outer circumferential portion 120 may be turned over to the first inner circumferential portion 110.

The bar 100 may further include an outer skin 150 and an extension portion 160 . At this time, the outer skin 150 may be spaced apart from the outside of the first outer circumferential portion 120, and the front end of the outer skin 150 is connected to the tip of the first inner circumferential portion 110 and the extension portion 160. can be connected via Here, the first inner circumferential portion 110 may have a shape in which the inverted first outer circumferential portion 120 and the outer skin 150 overlap. Also, the first outer circumferential portion 120 , the first connection portion 130 , the extension portion 160 , and the outer skin 150 may form a passage portion 170 . Here, the first front end space 140 and the passage part 170 may be hollow with closed front ends and open to the rear end, and the growth of the vine 100 is achieved through the gas injected into the first front end space 140. can be controlled

The subunit 200 may be disposed in the passage part 170 of the bar 100, and the sub unit 200 may be formed in plurality and disposed along the circumferential direction of the bar 100. At this time, the subunit 200 may be arranged to be able to grow in the leading direction in the passage part 170, and has a second inner circumferential part 210, a second outer circumferential part 220, a second connection part 230, and a second A tip space 240 may be included. In addition, the growth length is controlled by the pressure of the gas injected into the second tip space 240 in such a way that the second inner circumferential portion 210, the second connection portion 230, and the second outer circumferential portion 220 are turned over to each other. can

The control unit 300 can control the growth of the vine 100 or the subunit 200, adjust the pressure or tension of the gas injected into the vine 100 or the subunit 200, etc. function may be included. In addition, the flexible growth robot according to the present invention may further include a data collection unit 400, and the data collection unit 400 may include a cable 410 and a sensing module 420. Here, the sensing module 420 may perform functions such as photographing the outside or measuring external information, and data may be transmitted through the cable 410 . At this time, the cable 410 may be disposed in the center formed by the first inner circumferential portion 110 of the bar 100 .

3 and 4 relate to a flexible growth robot according to the present invention, and FIGS. 3 and 4 each show a view showing another type of growth mechanism using the flexible growth robot.

Referring to FIG. 3 , the control unit 300 controls the first pressure P ₁ of the first end space 140 of the barne 100 and the second end space 240 of the subunit 200. It is possible to adjust the second pressure (P ₂ ) for, and the third pressure (P ₃ ) for the passage part 170 of the barne 100 may also include a function of adjusting. When the control unit 300 injects gas into the second front end space 240 of the sub unit 200 to increase the second pressure P ₂ , the sub unit 200 can grow to the front end. In addition, the growing subunit 200 may push the bar 100 to grow toward the tip, and as the third pressure P ₃ increases, the bar 100 grows or grows by direct contact. You can push it in such a way. Here, a plurality of the subunits 200 may be disposed along the circumference of the passage 170 and controlled to grow together or individually.

Referring to FIG. 4 , when the shape of the bar 100 is to be fixed at a predetermined position, the subunit 200 may grow to the corresponding position and maintain the shape. Thereafter, as the first pressure P ₁ of the vine 100 increases and is steered and grown, the growth control may be more precisely possible.

5 to 7 relate to a flexible growth robot according to the present invention, FIG. 5 is a view showing a control unit of the flexible growth robot, FIG. 6 is a view schematically showing a growth method of the flexible growth robot, FIG. 7 shows a cross-sectional view showing the structure of the tension adjusting unit, respectively.

Referring to FIG. 5 , the control unit 300 may include a case 310 , a tail part 320 and a pressure adjusting part 330 . In this case, the case 310 may have a hollow inside and may include an opening open to a front end, and the tail part 320 may be disposed inside the case 310 . Here, the tail portion 320 may be wound or unwound by being integrally wound in a drum shape with the first inner circumferential portion 110 or the second inner circumferential portion 210, and as shown, a folding area B is formed It can be implemented in various forms, such as a length being adjusted in a folded form. In addition, the first outer circumferential portion 120 or the second outer circumferential portion 220 may be fixed to the front end of the case 310, and the first inner circumferential portion 110 and the first outer circumferential portion may be connected through the pressure adjusting unit 330. It is possible to adjust the pressure between (120) or between the second inner circumference (210) and the second outer circumference (220). The pressure adjusting unit 330 may be configured as a means for adjusting the pressure of a fluid such as a compressor.

Referring to FIG. 6 , the control unit 300 includes a guide part 340 extending in the front-rear direction in which the tail part 320 is released, and a tension adjusting part 350 that contacts the tail part 320 and applies tension thereto. ) may be further included. At this time, the cable 410 may be disposed on an inner surface of the guide part 340 in the form of a hollow tube, and a folding region B of the tail part 320 may be formed on the outer surface. In addition, the tension control unit 350 may apply tension to the tail portion 320 in various forms, and when the tail portion 320 grows, an external force is applied to the tip to assist it, or growth is restricted Tension may be applied in the opposite direction to do so.

Referring to FIG. 7 , the tension adjusting unit 350 may include a pair of rollers 351 spaced apart from each other about the tail part 320 as shown. And the tension adjusting unit 350 may include a first fixing member 352 and a second fixing member 353 connected to both ends of the roller 351, respectively, and the first fixing member 352 and the 2 The position of the fixing member 353 may be fixed on the inner surface of the case 310 . Also, the first fixing member 352 and the second fixing member 353 may be rotatably coupled to end portions so that the roller 351 rotates.

The control unit 300 may further include a driving unit 360 that applies power to the roller 351, and the driving unit 360 drives the first fixing member 352 or the second fixing member 353. Through this, power may be transmitted to the end of the roller 351 . In addition, the tension adjusting unit 350 may further include a gear 354, and rotation of the pair of rollers 351 may be performed in parallel through the gear 354.

8 and 9 relate to a flexible growth robot according to the present invention, and FIGS. 8 and 9 each show a view showing another type of steering mechanism using the flexible growth robot.

Referring to FIG. 8 , at least one subunit 200 among a plurality of subunits 200 may grow in a state in which tension is applied to the first inner circumferential portion 110 of the bar 100 in a rearward direction. And, when the pressure in the first end space 140 of the barb 100 increases, the barbine 100 can be bent in the opposite direction to the grown subunit 200, and FIG. 8-(a) shows the left side 8-(b) shows that the subunit 200 on the right side rotates to the right as the subunit 200 of grows and the tip of the barine 100 rotates to the left as the subunit 200 on the right side grows. Rotation is shown respectively.

9, in a state in which tension is applied to the outer skin 150 of the bar 100, at least one sub unit 200 among the plurality of sub units 200 grows and the bar 100 is steered. may be For example, when the subunit 200 disposed on the side where tension is applied in the outer skin 150 grows, the front end of the barne 100 can turn in the corresponding direction, and FIGS. 9-(a) and 9- (b) shows the bar 100 turning left and right, respectively.

As described above, the present invention has been described by specific details such as specific components and limited embodiment drawings, but this is provided only to help a more general understanding of the present invention, and the present invention is limited to each of the above-described embodiments. It is not, and those skilled in the art can make various modifications and variations from the above description, and several embodiments may be mixed or some components of each embodiment may be mixed.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and it can be said that not only the claims described later, but also all modifications equivalent or equivalent to these claims fall within the scope of the spirit of the present invention. will be.

100: Vine
110: first inner periphery 120: first outer periphery
130: first connection part 140: first tip space
150: outer skin 160: extension
170: passage part
200: subunit
210: second inner periphery 220: second outer periphery
230: second connection part 240: second tip space
300: control unit
310: case 320: tail part
330: pressure control unit 340: guide unit
350: tension control unit
351: roller 352: first fixing member
353: second fixing member 354: gear
360: driving unit
400: data collection unit
410: cable 420: sensing module

Claims (14)

A first inner circumferential portion forming a central portion on the inside, a first outer circumferential portion spaced apart from the outside of the first inner circumferential portion, a first connection portion connecting the first inner circumferential portion and the end of the first outer circumferential portion so as to be reversed, and the first outer circumferential portion. A bar that includes an outer skin spaced apart from the outside and an extension portion connecting the first inner circumferential portion and the outer skin to be turned inside out; and
at least one subunit disposed between the outer skin and the first outer periphery of the vein;
Including,
A first end space is formed between the first inner circumference and the first outer circumference,
The growth of the vein is controlled by adjusting the internal pressure of the first front end space,
A passage is formed between the first outer circumference and the outer skin,
A flexible growth robot characterized in that the subunit is controlled to grow in the passage part.
According to claim 1,
A flexible growth robot, characterized in that the subunit grows and the barine grows to the tip.
According to claim 1,
In a state in which the attitude of the rear end is fixed with the grown subunit,
A flexible growth robot, characterized in that the Vine is grown.
According to claim 1,
A flexible growth robot characterized in that the subunit grows and the barine is steered while tension is applied to the rear end of the first inner circumference.
According to claim 1,
A flexible growth robot characterized in that the subunit grows and the barine is steered while tension is applied to the rear end of the outer skin.
According to claim 1,
The subunit is
A flexible growth robot characterized in that the growth is controlled by adjusting the pressure of the second tip space formed by the second inner circumferential portion, the second outer circumferential portion, and the second connection portion.
According to any one of claims 1 to 6,
The bar is formed with a plurality of passages in the circumferential direction,
The subunit consists of a plurality,
A flexible growth robot characterized in that each is disposed in a plurality of the passage portions.
According to claim 1,
a control unit controlling the growth of the vine;
Including more,
The control unit,
A case having one side opened, a tail portion disposed inside the case and connected to the rear end of the first inner circumferential portion, and a pressure regulator configured to inject gas into the case to adjust the pressure in the first front end space,
The flexible growth robot, characterized in that the first outer peripheral portion is fixed to one side of the case.
According to claim 6,
a control unit controlling the growth of the subunit;
Including more,
The control unit,
A case having one side opened, a tail portion disposed inside the case and connected to the rear end of the second inner circumferential portion, and a pressure regulator configured to inject gas into the case to adjust the pressure in the second front end space,
The flexible growth robot, characterized in that the second outer periphery is fixed to one side of the case.
The method of claim 8 or 9,
A flexible growth robot, characterized in that the tail portion is arranged to be folded to form a folding region (B).
According to claim 10,
The control unit,
Further comprising a guide portion fixed to the inside of the case and extending to both sides,
A flexible growth robot, characterized in that the folding area is arranged to surround the guide part.
The method of claim 8 or 9,
The control unit,
A flexible growth robot further comprising a tension control unit for applying tension to the tail and the outer skin.
According to claim 12,
The tension adjusting unit,
At least one pair of rollers in contact with the tail portion, a first fixing member and a second fixing member connected to both ends of the roller so that the rollers can rotate,
The control unit,
Flexible growth robot further comprising a driving unit for rotating the roller.
According to claim 1,
a data collection unit including a cable disposed at the center of the bar and a sensing module connected to the front end of the cable;
A flexible growth robot characterized in that it further comprises.

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