KR20240017663A - Rail driving module and autonomous driving robot using the same - Google Patents

Abstract

The present invention relates to a robot that can run on railway rails, and more specifically, to a rail drive module that can perform various inspections while autonomously running on rails, and an autonomous robot using the same. For this purpose, a first driving wheel 110 driven on one side rail; A first drive motor 120 directly connected to the drive wheel 110; A first driven wheel 140 rotating on the other rail; A first wheel frame 190 connecting the first driving wheel 110 and the first driven wheel 140; A first shock absorber 195 installed between the first wheel frame 190 and the first driving wheel 110 and between the first wheel frame 190 and the first driven wheel 140; The first drive wheel 110, the first drive motor 120, the first driven wheel 140, the first wheel frame 190, and the first shock absorber 195 are accommodated inside, and the lower surface is open. 1 housing (130); and a connection bracket 150 that protrudes from one side of the first housing 130 and is capable of being connected to the connection frame 300.

Description

Rail driving module and autonomous driving robot using the same {Rail driving module and autonomous driving robot using the same}

The present invention relates to a robot that can run on railway rails, and more specifically, to a rail drive module that can perform various inspections while autonomously running on rails, and an autonomous robot using the same.

Generally, in the railway field, periodic inspections and inspections are conducted on rails, sleepers, tunnels, bridges, etc. Because these inspections have many or wide inspection targets due to the special characteristics of the railroad field, there is an increasing trend to use automated inspection equipment rather than relying on human resources.

In other words, this is a method of inspecting rails, fasteners, or sleepers using a worker riding a vehicle running on rails or an unmanned robot. These automated facilities can inspect many subjects in a short period of time, and because they are specialized in specific inspections, the reliability of the inspection results is high.

However, in the case of railroad companies or organizations with safety responsibility, each type of inspection robot had to be equipped and operated in order to perform various inspections. For example, it was necessary to own, operate, and maintain rail inspection robots, fastener inspection robots, and sleeper inspection robots, respectively.

Each of these robots was from a different manufacturer, so their operation methods were different, and their parts were not compatible with each other. In addition, since most inspection robots have rail running as a basic function, they are equipped with redundant driving devices, wheels, body frames, communication devices, power devices, GPS sensors, cameras, and obstacle detection sensors necessary for driving. As a result, there was an economic burden as the purchase and operating costs of robots increased.

Also, from the perspective of the inspection robot operator, the robot that had completed one inspection had to be lowered from the rail and another robot had to be placed on the rail for another inspection. If the installation of these robots was dependent on workers, the robot was heavy, which increased worker fatigue and increased the risk of injury. Additionally, when using a crane, there was a risk of interference with the tram line or collision with a train.

1. Republic of Korea Patent Registration No. 10-2277633 (Automated diagnostic robot system for railway tunnel safety inspection), 2. Republic of Korea Patent Registration No. 10-2080051 (Urban railway safety operation system using autonomous vehicle), 3. U.S. Patent No. 9,731,734 (Method for detecting defects or defects in a railroad track and a railroad vehicle to be used in the method).

Therefore, the present invention was created to solve the above problems, and the first object of the present invention is to provide a drive module for rails that can be easily installed and to assemble it appropriately as needed to create an autonomous robot. The aim is to provide rail drive modules that can operate and self-driving robots using them.

The second object of the present invention is to install and operate various inspection sensors or equipment on a robot, and to perform various inspections in the field by only replacing sensors or equipment while leaving the robot on the rail. The goal is to provide drive modules and self-driving robots using them.

The third object of the present invention is to complete an autonomous driving robot by connecting multiple rail drive modules such as 2, 3, or 4 depending on the field situation, and to connect a separate power pack if necessary. The goal is to provide drive modules and self-driving robots using them.

However, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly apparent to those skilled in the art from the description below. It will be understandable.

In order to achieve the above technical problem, a first driving wheel 110 driven on one side rail; A first drive motor 120 directly connected to the drive wheel 110; A first driven wheel 140 rotating on the other rail; A first wheel frame 190 connecting the first driving wheel 110 and the first driven wheel 140; A first shock absorber 195 installed between the first wheel frame 190 and the first driving wheel 110 and between the first wheel frame 190 and the first driven wheel 140; The first drive wheel 110, the first drive motor 120, the first driven wheel 140, the first wheel frame 190, and the first shock absorber 195 are accommodated inside, and the lower surface is open. 1 housing (130); and a connection bracket 150 that protrudes from one side of the first housing 130 and is capable of being connected to the connection frame 300.

Additionally, a handle 160 is further provided on the top of the first housing 130 to lift the drive module.

In addition, a first cable inlet 180 is further provided on the side of the first housing 130.

In addition, at least one first transverse beam 170 crossing the first wheel frame 190 is further provided on the inner side of the first housing 130.

Additionally, one end of the first wheel frame 190 is supported between the first drive wheel 110 and the first drive motor 120.

The object of the present invention as described above is another embodiment, the above-described first drive module for rail 100; The second driving module 200 for the rail described above; And a connecting frame 300 that detachably connects the first driving module 100 and the second driving module 200 and allows inspection equipment 400 to be loaded on the rail. This can also be achieved by an autonomous robot using a drive module.

In addition, the connection frame 300 has one end connected to a pair of connection brackets 150 protruding from one side of the first driving module 100, and the other end protruding from one side of the second driving module 200. A pair of first frames 310 each connected to a pair of connecting brackets 150 formed; and a pair of second frames 320 connecting the pair of first frames 310.

In addition, it may further include a pair of third frames 330 connecting the pair of second frames 320.

In addition, the first drive module (110) of the first drive module 100 is driven on one side rail, and the second drive wheel 210 of the second drive module 200 is driven on the other rail. 100) and the second driving module 200 are oriented.

In addition, a connecting bracket 150 is further protruding on the other side of the second driving module 200, and the connecting bracket 150 protruding on the other side of the second driving module 200 is capable of running on a rail and has a first A power pack 450 that supplies power to the driving module 100 and the second driving module 200 may be further connected.

Since the drive module of the present invention is a weight that can be easily lifted by two workers, an autonomous driving robot can be completed by quickly connecting multiple rail drive modules such as 2, 3, or 4, and can be quickly installed even after inspection is completed. It has the advantage of being able to be disassembled and stored. This reduces workers' work fatigue and significantly lowers the risk of injury without requiring heavy equipment such as cranes.

In addition, since various inspection sensors and equipment can be mounted and operated on the robot, there is an advantage in that one robot only needs to be equipped with various inspection sensors or equipment. In addition, by only replacing sensors or equipment while leaving the robot on the rail in the field, the inspection preparation process is simple and does not require a lot of labor.

In addition, since a separate power pack can be connected, smooth inspection can be performed without power shortage even in long-distance inspections, inspections that require large power, or when the inspection equipment is heavy.

However, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned above will be clearly understood by those skilled in the art from the description below. You will be able to.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the invention described later. Therefore, the present invention includes the matters described in such drawings. It should not be interpreted as limited to only .
1 is a top perspective view of an autonomous robot using a rail drive module according to an embodiment of the present invention;
Figure 2 is a lower perspective view of the autonomous robot shown in Figure 1;
Figure 3 is a bottom view of the autonomous robot shown in Figure 2;
Figure 4 is a partially exploded perspective view of the autonomous robot shown in Figure 1;
Figure 5 is a front view of the autonomous robot shown in Figure 1;
Figure 6 is a side view of the autonomous robot shown in Figure 1;
FIG. 7 is a top view of the autonomous robot shown in FIG. 1.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, since the description of the present invention is only an example for structural or functional explanation, the scope of the present invention should not be construed as limited by the examples described in the text. In other words, since the embodiments can be modified in various ways and can have various forms, the scope of rights of the present invention should be understood to include equivalents that can realize the technical idea. In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment must include all or only such effects, so the scope of the present invention should not be understood as limited thereby.

The meaning of terms described in the present invention should be understood as follows.

Terms such as “first” and “second” are used to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, a first component may be named a second component, and similarly, the second component may also be named a first component. When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected to the other component, but that other components may also exist in between. On the other hand, when a component is referred to as being “directly connected” to another component, it should be understood that there are no other components in between. Meanwhile, other expressions that describe the relationship between components, such as "between" and "immediately between" or "neighboring" and "directly neighboring" should be interpreted similarly.

Singular expressions should be understood to include plural expressions, unless the context clearly indicates otherwise, and terms such as “comprise” or “have” refer to the specified features, numbers, steps, operations, components, parts, or them. It is intended to specify the existence of a combination, and should be understood as not excluding in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

All terms used herein, unless otherwise defined, have the same meaning as commonly understood by a person of ordinary skill in the field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as consistent with the meaning they have in the context of the related technology, and cannot be interpreted as having an ideal or excessively formal meaning unless clearly defined in the present invention.

Configuration of drive module

Hereinafter, the configuration of the preferred embodiment will be described in detail with reference to the attached drawings. Figure 1 is an upper perspective view of an autonomous robot using a rail drive module according to an embodiment of the present invention, Figure 2 is a lower perspective view of the autonomous robot shown in Figure 1, and Figure 3 is an autonomous robot shown in Figure 2. It is a bottom view of the driving robot, and Figure 4 is a partially exploded perspective view of the autonomous driving robot shown in Figure 1.

As shown in Figures 1 to 4, the self-driving robot 10 of the present invention is composed of two drive modules 100 and 200. In the present invention, the first and second drive modules 100 and 200 have the same configuration.

The first drive wheel 110 can be driven on one side rail and is directly connected to the first drive motor 120. The first drive motor 120 may be a servo motor, brushless motor, forward/reverse motor, etc. The first drive motor 120 may include a harmonic drive for torque conversion, an encoder for rotation detection, and a brake for deceleration.

The first driven wheel 140 is positioned to travel on the other rail. The first driving wheel 110 and the first driven wheel 140 are small diameter wheels (eg, 270 mm).

A first driven wheel 140 is connected to one end of the first wheel frame 190, and a first driving wheel 110 is connected to the other end. In particular, the other end is supported between the first drive wheel 110 and the first drive motor 120.

The first shock absorber 195 is located between one end of the first wheel frame 190 and the first driven wheel 140, and is also located between the other end of the first wheel frame 190 and the first drive wheel 110. Located. The first shock absorber 195 performs the function of alleviating shock during rail travel, and is equipped with a spring and damper (e.g. shock absorber, etc.) for this purpose.

The first housing 130 has a structure in which the sides and top are sealed and the bottom is open, and therein are a first wheel frame 190, a first drive wheel 110, a first driven wheel 140, and a first drive. Accommodates the motor 120. The first housing 130 has a hexagonal cross-section, a semicircular cross-section, or a combination thereof, and has a length longer than the rail spacing (eg, 1,600 to 1,800 mm).

The first housing 130 can be made of lightweight metal (eg, aluminum) or reinforced plastic to reduce the overall weight. The upper surface of the first housing 130 forms a flat surface so that the inspection equipment 400 can be placed or installed. A pair of handles 160 are fixed to both ends of the upper surface of the first housing 130. When a first worker holds the handle 160 on one side and a second worker holds the handle 160 on the other side, two workers can easily lift and move the first drive module 100. For this purpose, the weight of the first drive module 100 is preferably in the range of 15 to 20 Kg.

The first cable inlet 180 is located in the form of an opening on the side of the first housing 130. The control cable and power cable of the first drive motor 120 may be connected through the first cable inlet 180.

A pair of connection brackets 150 protrude from the side of the first housing 130 facing the connection frame 300, spaced apart from each other at appropriate intervals. The connection bracket 150 is made of a “U” shaped steel, etc. so that the connection frame 300 of a square cross-section can be connected from the top or side. The connection bracket 150 has pin holes for fixing with pins (not shown) or screws.

Optionally, the connection bracket 150 and the connection frame 300 may be quick-snap connected through a typical spring and hook (protrusion) combination.

Optionally, a secondary battery can be installed in the empty space inside the first housing 130 and used as a power source.

The second driving module 200 has the same configuration as the first driving module 100. However, the connection bracket 150 of the second drive module 200 is oriented to face the connection bracket 150 of the first drive module 100. As a result, the first driving wheel 110 of the first driving module 100 is driven on one side of the rail, and the second driving wheel 210 of the second driving module 200 is driven on the other rail, thereby maintaining driving balance. there is.

Configuration of self-driving robot

Hereinafter, the configuration of the preferred embodiment will be described in detail with reference to the attached drawings. FIG. 5 is a front view of the self-driving robot 10 shown in FIG. 1, FIG. 6 is a side view of the self-driving robot 10 shown in FIG. 1, and FIG. 7 is a front view of the self-driving robot 10 shown in FIG. 1. This is the floor plan. As shown in FIGS. 5 to 7, the self-driving robot 10 is roughly composed of a first drive module 100, a second drive module 200, and a connection frame 300.

As shown in FIGS. 5 and 6, the second driving wheel 210 and the second driven wheel 240 are partially exposed to the lower part of the second housing 230.

Among the connection frames 300, a pair of first frames 310 have one end each connected to a pair of connection brackets 150 protruding from one side of the first drive module 100, and the other end to the second drive module ( 200) are each connected to a pair of connection brackets 150 protruding from one side.

Among the connection frames 300, a pair of second frames 320 connects the pair of first frames 310 while being spaced apart.

Also, a pair of third frames 330 among the connecting frames 300 connect a pair of second frames 320 while being spaced apart from each other.

This connection frame 300 is made of a steel beam with a hollow square cross-section, maintaining sufficient rigidity, and has a flat upper surface, making it convenient for loading the inspection equipment 400. The inspection equipment 400 is supported by an installation jig, holder, stand, etc.

As shown in FIG. 6, the inspection equipment 400 is equipped with basic robot equipment (e.g., drive control module) and basic inspection equipment (e.g., communication device, power device, GPS sensor, camera, lidar, obstacle detection sensor). Optionally, specific inspection equipment (e.g. rail inspection module, fastener inspection module, sleeper inspection module, gravel pavement inspection module, tram line inspection module, tunnel inspection module, etc.) can be mounted or replaced.

As shown in FIG. 7, when connection brackets 150 are formed on both sides of the second drive module 200, a power pack 450 or a third drive module can be additionally connected to the module to be towed on a rail. The power pack 450 may be a secondary battery or a demand fuel cell, and supplies power to the first and second drive modules 100 and 200 and the inspection equipment 400.

Operation of the Embodiment

Hereinafter, the operation of the preferred embodiment will be described in detail with reference to the attached drawings.

First, two workers hold the handles 160 on both sides of the first drive module 100 and lift it and place it on the rail. Next, the second driving module 200 is also placed adjacently on the rail in the same manner.

Next, the self-driving robot 10 is completed by connecting the first and second drive modules 100 and 200 with the connection frame 300.

Next, preparation for inspection is completed by mounting the inspection equipment 400 on the upper part of the connection frame 300. The self-driving robot 10 performs camera shooting, image processing, and judgment while autonomously traveling on rails, stores the results, and transmits them wirelessly to the central control center.

When the rail inspection of the designated section is completed, the rail inspection module of the inspection equipment 400 is lowered, the sleeper inspection module is mounted, and the inspection in the corresponding section is repeated.

Through this method, the self-driving robot 10 can perform various inspections by replacing only the inspection module while remaining on the rail.

A detailed description of preferred embodiments of the invention disclosed above is provided to enable any person skilled in the art to make or practice the invention. Although the present invention has been described above with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, a person skilled in the art may use each configuration described in the above-described embodiments by combining them with each other. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that do not have an explicit reference relationship in the patent claims can be combined to form an embodiment or included as a new claim through amendment after filing.

10: Self-driving robot,
100: first driving module,
110: first driving wheel,
120: first driving motor,
130: first housing,
140: first driven wheel,
150: connection bracket,
160: handle,
170: 1st transverse beam,
180: first cable inlet,
190: first wheel frame,
195: first shock absorber,
200: second driving module,
210: second driving wheel,
220: second driving motor,
230: second housing,
240: second driven wheel,
270: second transverse beam,
280: second cable inlet,
290: second wheel frame,
295: second shock absorber,
300: connection frame,
310: first frame,
320: second frame,
330: third frame,
400: Inspection equipment,
450: Power pack.

Claims (10)

A first driving wheel 110 driven on one side rail;
A first drive motor 120 directly connected to the drive wheel 110;
A first driven wheel 140 rotating on the other rail;
A first wheel frame 190 connecting the first driving wheel 110 and the first driven wheel 140;
A first shock absorber 195 installed between the first wheel frame 190 and the first driving wheel 110 and between the first wheel frame 190 and the first driven wheel 140;
The first driving wheel 110, the first driving motor 120, the first driven wheel 140, the first wheel frame 190, and the first shock absorber 195 are accommodated therein, A first housing (130) with an open bottom; and
A drive module for a rail, comprising a connection bracket 150 that protrudes from one side of the first housing 130 and is capable of being connected to the connection frame 300. According to claim 1,
A rail driving module, characterized in that a handle 160 is further provided on the upper part of the first housing 130 to lift the driving module. According to claim 1,
A rail drive module, characterized in that a first cable inlet (180) is further provided on the side of the first housing (130). According to claim 1,
A rail drive module, characterized in that at least one first transverse beam (170) crossing the first wheel frame (190) is further provided on the inner side of the first housing (130). According to claim 1,
A rail drive module, characterized in that one end of the first wheel frame (190) is supported between the first drive wheel (110) and the first drive motor (120). A first driving module (100) for rail according to any one of claims 1 to 5;
A second driving module (200) for rail according to any one of claims 1 to 5; and
A rail characterized in that it includes a connection frame 300 that detachably connects the first drive module 100 and the second drive module 200 and allows inspection equipment 400 to be loaded on the top. Self-driving robot using a dragon driving module. According to claim 6,
The connection frame 300 is,
One end is connected to a pair of connection brackets 150 protruding from one side of the first drive module 100, and the other end is connected to a pair of connection brackets 150 protruding from one side of the second drive module 200. ) a pair of first frames 310 respectively connected to each other; and
A self-driving robot using a rail drive module, comprising a pair of second frames 320 connecting the pair of first frames 310. According to claim 7,
An autonomous robot using a rail drive module, further comprising a pair of third frames (330) connecting the pair of second frames (320). According to claim 6,
The first driving wheel 110 of the first driving module 100 is driven on one side rail,
On the other rail, the second driving wheel 210 of the second driving module 200 is driven.
An autonomous driving robot using a rail driving module, characterized in that the first driving module 100 and the second driving module 200 are oriented. According to claim 6,
A connection bracket 150 is further protruding on the other side of the second drive module 200,
The connection bracket 150 protruding from the other side of the second drive module 200 is equipped with a power pack 450 that can travel on rails and supplies power to the first drive module 100 and the second drive module 200. ) An autonomous robot using a rail drive module characterized by further connection.

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