WO2013108951A1 - Robot mobile comportant des chenilles et des roues - Google Patents

Robot mobile comportant des chenilles et des roues Download PDF

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Publication number
WO2013108951A1
WO2013108951A1 PCT/KR2012/000970 KR2012000970W WO2013108951A1 WO 2013108951 A1 WO2013108951 A1 WO 2013108951A1 KR 2012000970 W KR2012000970 W KR 2012000970W WO 2013108951 A1 WO2013108951 A1 WO 2013108951A1
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WO
WIPO (PCT)
Prior art keywords
caterpillar
driving
motor
main
wheel
Prior art date
Application number
PCT/KR2012/000970
Other languages
English (en)
Korean (ko)
Inventor
김종원
최동규
장도영
김남수
오종균
이석우
Original Assignee
서울대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 서울대학교 산학협력단 filed Critical 서울대학교 산학협력단
Publication of WO2013108951A1 publication Critical patent/WO2013108951A1/fr

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    • 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
    • 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
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the present invention relates to a mobile robot capable of overcoming various terrains and obstacles, and includes a caterpillar and a driving wheel that are individually operated, and are capable of various posture control.
  • the driving mechanism of the mobile robot can be largely divided into wheeled, tracked, and legged.
  • the wheeled mobile robot has the advantage of excellent driving performance on flat terrain and the simple mechanical structure and control mechanism.However, the wheeled mobile robot with fixed distance between axes cannot pass through various obstacles such as stairs, pools, and steep slopes. The disadvantage is that it is extremely difficult.
  • the wheel type mobile robot is equipped with a driving mechanism that can adjust the distance between the wheels, which gives the ability to overcome various obstacles such as stairs, but due to the complicated driving mechanism and mechanical elements.
  • a driving mechanism that can adjust the distance between the wheels, which gives the ability to overcome various obstacles such as stairs, but due to the complicated driving mechanism and mechanical elements.
  • track type mobile robot it is used as a robot that can overcome various obstacles such as stairs because the driving mechanism can be easily configured without considering the distance between the wheels. Obstacles that can be overcome depending on the length must be limited, but if the track is made larger than necessary to maximize the ability to overcome the obstacles, the overall weight of the mobile robot increases and excessive power is consumed, which reduces energy efficiency. have.
  • Three links (1, 2, 3) and rotary joints are driven by three wheels (100, 200, 300) independently driving the left and right sides of the mobile robot body (4) having a symmetrical structure of the type shown in FIG. (31, 32, 33) to connect to the body (4) and connect the body and the first link (1), using a joint mechanism (50) to limit the rotation angle of the first link (1)
  • Section 4 linkage driving system of wheel driving robot is constructed.
  • Such a six-wheeled robot can pass high obstacles even with small wheels, and can move while minimizing the shaking of the body 4 even in a terrain with large left and right steps, and in-situ rotation and narrow terrain movement are possible.
  • the present inventors have developed a new type of mobile robot having a new driving mechanism that maximizes various types of obstacle overcoming capabilities.
  • the object of the present invention created to solve the above problems is as follows.
  • Another object of the present invention is to provide a mobile robot capable of loading, firing or deploying a small robot.
  • Another object of the present invention is to provide a mobile robot having a new structure that can increase energy efficiency while driving.
  • FIG. 1 shows a structure of a conventional six wheel driving robot.
  • Figure 2 shows the obstacle overcoming limit of the conventional six-wheel drive robot.
  • Figure 3 shows (a) side structure, and (b) front structure of the present invention.
  • FIG. 5 illustrates a rotational structure of the main wheel rest 200.
  • FIG. 6 illustrates a structure in which the main wheel rest 200 is spread from side to side.
  • FIG 7 shows the internal loading portion 710 structure.
  • FIG 8 shows the structure of the upper loading portion 810.
  • FIG 11 illustrates a state in which the main wheel rest 200 is greatly extended from side to side.
  • control unit 600 control unit
  • Fig. 3 shows (a) the side structure and (b) the front structure of the present invention
  • Fig. 4 shows the driving mechanism of the present invention.
  • the body part 100 is supported by a traveling mechanism of the mobile robot, and the body part 100 is provided with an internal loading part 710, an upper loading part 810, a controller 600, and the like.
  • the main wheel support 200 is rotatably coupled to the left and right sides of the body portion 100, the auxiliary wheel support 300 is rotatably coupled to one end of each of the main wheel support 200, the main wheel support ( 200, the first driving wheel 410 is mounted at the other end of each.
  • a driving caterpillar 430 is rotatably mounted at one end of each of the auxiliary wheel rests 300 rotatably coupled to one end of the main wheel rest 200, and a second travel is performed at the other end of the auxiliary wheel rest 300.
  • Wheel 420 is mounted.
  • the first driving motor 510 is mounted at the other end of each of the main wheel support 200 and serves to drive the first driving wheel 410. That is, the first driving wheels 410 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right first driving wheels 410 may be different from each other, and the driving speed may be different from each other.
  • the first driving motor 510 may be a structure engaged with the driving shaft of the first driving wheel 410 by a bevel gear, but is not necessarily limited to such a structure, and is generally known.
  • the driving shaft of the first driving motor 510 and the first driving wheel 410 may be engaged by the power transmission mechanism.
  • the caterpillar rotating motor 540 is mounted at one end of each of the auxiliary wheel rests 300 and serves to rotate the driving caterpillar 430. That is, the traveling caterpillar 430 may be rotated independently of each other to maintain an arbitrary angle.
  • the caterpillar rotating motor 540 is installed to interlock with one side of the traveling caterpillar 430 and is mounted on one side end of the auxiliary wheel support 300 (angle). Randomly adjust to maximize the ability to overcome obstacles.
  • a bevel gear system may be applied.
  • the caterpillar driving motor 530 is mounted inside each of the traveling caterpillar 430 and serves to drive the traveling caterpillar 430. That is, the traveling caterpillar 430 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right traveling caterpillar 430 may be different from each other and the traveling speed may be different from each other.
  • the caterpillar drive motor 530 may be a structure that interlocks with a drive wheel of the driving caterpillar 430 by a bevel gear, but is not necessarily limited to such a structure, and generally known power transmission.
  • the driving wheels of the caterpillar driving motor 530 and the driving caterpillar 430 may be engaged by a mechanism.
  • the second driving motor 520 is mounted at the other end of each of the auxiliary wheel support 300 and serves to drive the second driving wheel 420. That is, the second driving wheels 420 may be driven independently of each other. Therefore, the driving direction (driving direction) of the left and right second driving wheels 420 may be different from each other, and the driving speed may be different from each other.
  • the second driving motor 520 may be a structure engaged with the driving shaft of the second driving wheel 420 by a bevel gear, but is not necessarily limited to such a structure, and is generally known.
  • the driving shaft of the second driving motor 520 and the second driving wheel 420 may be engaged by the power transmission mechanism.
  • the control unit 600 is mounted to the body portion 100 and the first drive motor 510, the caterpillar drive motor 540, the caterpillar drive motor 530, the second drive motor 520, the main wheel support motor 550 ), The trolley deployment motor 940, the first shape of the alloy lock spring 730 and the second shape of the alloy lock spring 830 to control the operation.
  • the controller 600 may receive a control signal from an external remote controller to give a necessary control command or may issue a control command by an embedded program.
  • a battery for supplying power for the operation of the mobile robot may be mounted (see the battery box shown between four upper loading portions 810 of FIG. 10 or 11). It can also be powered from the outside.
  • FIG 5 shows a rotation structure of the main wheel support 200
  • the main body 100 is equipped with a main wheel support rotation motor 550 for rotating the main wheel support 200.
  • the main wheel support rotation motor 550 rotates the main rotation shaft 910 by being engaged with the main rotation shaft 910, and thus, the main wheel coupled to the end of the main rotation shaft 910.
  • the pedestal 200 rotates to maintain an arbitrary angle (posture).
  • the main pivot shaft 910 is composed of one axis, the main wheel support 200 provided on the left and right sides of the body portion 100 by the main wheel support pivot motor 550 may rotate at the same time to maintain the same angle, Although not shown in detail as a separate drawing, it is composed of two shafts and does not interfere with each other in the direction of rotation. It is also possible to control only one angle (posture) of the two main wheel support (200).
  • main pivot shaft 910 is composed of two axes do not interfere with each other in the direction of rotation and the main wheel support pivot motor 550 is a two constituting the main pivot shaft 910 It is also possible to select the way in which the individual axes are connected, one for each of the four axes.
  • the main wheel support 200 rotates in the front-rear direction to variously change the posture of the mobile robot to improve the obstacle overcoming ability, and also rotates in the left-right direction as shown in FIG. 6.
  • the first bogie connecting portion 920 is coupled to each of the left and right end portions of the main pivot shaft 910 which rotates in association with the main wheel support pivot motor 550 to rotate together with the main pivot shaft 910.
  • the second balance connecting portion 930 is rotatably coupled to each of the first balance connecting portions 920, and the rotation shaft is coupled to be arranged in the front-rear direction so that the second balance connecting portion 930 may be rotated in the left-right direction to be unfolded.
  • the trolley deployment motor 940 is mounted on each of the first trolley connecting portions 920 to perform a function of rotating the second trolley connecting portion 930.
  • the main wheel support 200 When the main wheel support 200 is coupled to each of the second balance connecting portions 930, and the second balance connecting portion 930 is rotated upward and rightward by the balance-development motor 940, the main wheel support 200 accordingly. It will also be spread from side to side together.
  • the internal loading portion 710 serves to store the load as a loading space provided in the body portion 100.
  • the load may be of various kinds, and a small mobile robot may be loaded if necessary.
  • Deployment door 720 is rotatably coupled to the front end of the body portion 100, and serves to open and close the front of the inner loading portion (710).
  • the first shape-retaining alloy spring 730 is coupled to one side of the development door 720 and is rotated while pulling the deployment door 720 while being rotated when a current is supplied to open the deployment door 720. When the current supply is interrupted, the first shape-retaining alloy spring 730 returns to its original size and the development door 720 is closed again.
  • the upper loading portion 810 shows the structure of the upper loading portion 810, the upper loading portion 810 is provided on the upper portion of the body portion 100 serves to launch the stored load while rotating momentarily. That is, it functions to launch the load to the outside on the same principle as the catapult.
  • the firing spring 820 is coupled to the lower side of the upper loading portion 810 serves to provide a momentary rotational force to the upper loading portion 810.
  • the torsion spring 820 may be a torsion spring installed on the rotational shaft of the upper loading part 810, but is not necessarily limited to the torsion spring. May be used.
  • the trigger 840 rotates the upper loading part 810 to a stowed position so that the firing spring 820 is inserted into one side of the upper loading part 810 in a compressed state to prevent the upper loading part 810 from rotating. It is a kind of lock that plays a role.
  • the second shape-retaining alloy spring 830 is coupled to one side of the trigger 840 and contracts when the current is supplied to pull the trigger 840 to exit the upper loading portion 810.
  • the trigger 840 is released from the upper loading portion 810 in this manner, the upper loading portion 810 is momentarily rotated by the elastic force of the firing spring 820 to fire the load stored therein.
  • the kind of the load loaded on the upper loading part 810 is not limited to a specific object, and a small mobile robot may be loaded as needed.
  • FIG. 9 sequentially shows a process of opening the deployment door 720 after rotating the main wheel support 200 so that the body part 100 is inclined toward the front, and the upper loading part 810 is shown for convenience. Omitted.
  • a load for example, a small mobile robot
  • FIG. 10 shows the load stored in the upper loading part 810 by pivoting the upper loading part 810 after rotating the main wheel support 200 so that the body part 100 is inclined toward the front. The process of firing a small mobile robot forward) is shown.
  • the driving wheel and the caterpillar are mounted on the main wheel support 200 and the auxiliary wheel support 300 capable of active posture control in combination, thereby increasing the obstacle overcoming capacity as compared to the case in which only the general travel wheel is mounted.
  • main wheel rest 200 may not only rotate in the front-rear direction, but also expand in the left-right direction, and thus may pass through various terrains.
  • a small mobile robot may be loaded into the inner loading portion 710 and the upper loading portion 810 to be deployed or launched.
  • the caterpillar and driving wheel systems combine to maximize obstacle avoidance and drive power consumption while driving. Can be reasonably reduced.
  • the angle of the main wheel support () is appropriately changed, it may be possible to drive with only the caterpillar, and even with only the caterpillar and some driving wheels, the operation of the non-grounded driving wheels may be stopped, thereby minimizing unnecessary power usage.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

La présente invention a trait à un robot mobile qui comprend : une section corps (100) ; des empattements principaux (200) couplés rotatifs aux côtés gauche et droit de la section corps (100) ; des empattements auxiliaires (300) couplés rotatifs à une extrémité des empattements principaux (200) respectifs ; des premières roues (410) montées respectivement sur l'autre extrémité de chacun des empattements principaux (200) ; des chenilles (430) montées rotatives sur une extrémité des empattements auxiliaires (300) respectifs ; des secondes roues (420) montées rotatives sur l'autre extrémité de chacun des empattements auxiliaires (300) ; des premiers moteurs d'entraînement (510) montés sur l'autre extrémité des empattements principaux (200) respectifs de manière à entraîner lesdites premières roues (410) ; des moteurs de rotation de chenilles (540) montés sur la première extrémité de chacun des empattements auxiliaires (300) afin de faire tourner les chenilles (430) ; des moteurs d'entraînement de chenilles (530) situés dans les chenilles (430) respectives de manière à entraîner lesdites chenilles (430) ; des moteurs d'entraînement secondaires (520) montés sur l'autre extrémité de chacun des empattements auxiliaires (300) afin d'entraîner les secondes roues (420) ; ainsi qu'une section de commande (600) montée sur la section corps (100) et commandant les opérations des premiers moteurs d'entraînement (510), des moteurs de rotation de chenilles (540), des moteurs d'entraînement de chenilles (530) et des seconds moteurs d'entraînement (520).
PCT/KR2012/000970 2012-01-18 2012-02-09 Robot mobile comportant des chenilles et des roues WO2013108951A1 (fr)

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KR1020120005613A KR101248978B1 (ko) 2012-01-18 2012-01-18 캐터필러와 주행휠을 구비한 이동로봇
KR10-2012-0005613 2012-01-18

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107140151A (zh) * 2017-05-10 2017-09-08 深圳市行知行机器人技术有限公司 船体清洗爬壁机器人
CN107380297A (zh) * 2017-09-06 2017-11-24 钦州学院 变形多轮式全地形机器人行走机构
CN109506079A (zh) * 2018-12-21 2019-03-22 云南大红山管道有限公司 用于管道内爬行机器人的行走装置
CN110126563A (zh) * 2019-06-03 2019-08-16 河南林业职业学院 一种多功能履带车
CN114179109A (zh) * 2021-12-31 2022-03-15 徐州工程学院 一种抗落石冲击的巡检机器人
WO2022156825A1 (fr) * 2021-03-05 2022-07-28 广东海洋大学 Dispositif de nettoyage de fond marin de type à aspiration à déplacement tout terrain
WO2022198714A1 (fr) * 2021-03-24 2022-09-29 东南大学 Robot d'inspection de canalisations à chenilles variables et procédé associé de commande

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CN110282044A (zh) * 2019-05-29 2019-09-27 温广胜 一种智能爬壁机器人
KR20220132943A (ko) * 2021-03-24 2022-10-04 호서대학교 산학협력단 모바일 로봇의 구동휠 변형장치 및 이를 포함하는 모바일 로봇
KR102468550B1 (ko) 2021-06-09 2022-11-22 (주)필드로 험지주행이 가능한 주행로봇
KR102542967B1 (ko) 2021-07-07 2023-06-14 한국에너지기술연구원 연속식 직접공기포집 장치 및 포집방법
CN114013531A (zh) * 2021-11-26 2022-02-08 江苏科技大学 具有曲面适应能力的磁吸附爬壁喷涂机器人及其使用方法
KR20240036777A (ko) 2022-09-13 2024-03-21 (주)필드로 인공지능 자율주행 배송로봇

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US4993912A (en) * 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
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KR100477044B1 (ko) * 2002-05-15 2005-03-17 김영석 계단 주행 로보트 및 그 주행방법
US20100263948A1 (en) * 2006-10-06 2010-10-21 Couture Adam P Robotic vehicle
JP2011235692A (ja) * 2010-05-07 2011-11-24 Ihi Aerospace Co Ltd 走行ロボット

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US4993912A (en) * 1989-12-22 1991-02-19 Chamberlain Mrc, Division Of Duchossois Industries, Inc. Stair climbing robot
KR100477044B1 (ko) * 2002-05-15 2005-03-17 김영석 계단 주행 로보트 및 그 주행방법
KR100458284B1 (ko) * 2002-07-18 2004-11-26 한국과학기술연구원 계단등반 가능한 6차륜 주행로봇의 4절 링크기구 주행시스템
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107140151A (zh) * 2017-05-10 2017-09-08 深圳市行知行机器人技术有限公司 船体清洗爬壁机器人
CN107380297A (zh) * 2017-09-06 2017-11-24 钦州学院 变形多轮式全地形机器人行走机构
CN107380297B (zh) * 2017-09-06 2023-09-05 钦州学院 变形多轮式全地形机器人行走机构
CN109506079A (zh) * 2018-12-21 2019-03-22 云南大红山管道有限公司 用于管道内爬行机器人的行走装置
CN110126563A (zh) * 2019-06-03 2019-08-16 河南林业职业学院 一种多功能履带车
WO2022156825A1 (fr) * 2021-03-05 2022-07-28 广东海洋大学 Dispositif de nettoyage de fond marin de type à aspiration à déplacement tout terrain
WO2022198714A1 (fr) * 2021-03-24 2022-09-29 东南大学 Robot d'inspection de canalisations à chenilles variables et procédé associé de commande
US11965620B2 (en) 2021-03-24 2024-04-23 Southeast University Pipeline patrol inspection robot having variable tracks and control method therefor
CN114179109A (zh) * 2021-12-31 2022-03-15 徐州工程学院 一种抗落石冲击的巡检机器人
CN114179109B (zh) * 2021-12-31 2024-04-19 徐州工程学院 一种抗落石冲击的巡检机器人

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