WO2015088235A1 - Caterpillar traveling using suction - Google Patents

Caterpillar traveling using suction Download PDF

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Publication number
WO2015088235A1
WO2015088235A1 PCT/KR2014/012099 KR2014012099W WO2015088235A1 WO 2015088235 A1 WO2015088235 A1 WO 2015088235A1 KR 2014012099 W KR2014012099 W KR 2014012099W WO 2015088235 A1 WO2015088235 A1 WO 2015088235A1
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WIPO (PCT)
Prior art keywords
adsorption
track
unit
pad
caterpillar
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Application number
PCT/KR2014/012099
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French (fr)
Korean (ko)
Inventor
박종원
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박종원
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Publication of WO2015088235A1 publication Critical patent/WO2015088235A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof
    • B62D55/18Tracks
    • B62D55/26Ground engaging parts or elements
    • B62D55/265Ground engaging parts or elements having magnetic or pneumatic adhesion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/075Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00Suction cups for attaching purposes; Equivalent means using adhesives
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16BDEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2200/00Constructional details of connections not covered for in other groups of this subclass
    • F16B2200/83Use of a magnetic material
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00Motor vehicles
    • Y10S180/901Devices for traversing vertical surfaces

Definitions

  • the present invention is an endless track that travels without generating a driving load while being attracted by magnetic force without using a device such as a vacuum pump in a slippery place such as an inclined glass wall.
  • Korean Patent No. 10-0342029 Korean Patent No. 10-2007-0116767, and Korean Patent No. 20-1995-0013653 have been proposed, but a vacuum pump device should be used to have sufficient adsorption force.
  • the driving load was greatly generated by directly lifting the adsorption pad, and in the method of detaching the adsorption pad by a mechanical device, there was a problem in that the operation was complicated due to the complicated structure.
  • the adsorption force of the adsorption part is improved, so that the driving floor is adsorbed by the magnetic force without using a device such as a vacuum pump, and the adsorption force of the adsorption part is easily and easily manufactured. It provides a crawler platform that does not generate a driving load by releasing it by detaching it.
  • the adsorption unit including a depressurization release unit for depressurizing the inside of the adsorption pad by magnetic force of a magnet, and a plurality of adsorption units are provided.
  • a track having an adsorption running is provided, including a track for controlling and a control unit for controlling the decompression unit magnetically.
  • the adsorption unit may include a cylinder having a vent formed therein to communicate with the inside of the adsorption pad to increase the adsorption force of the adsorption pad.
  • the adsorption part may include an elastic body in the cylinder.
  • the depressurization release unit may introduce gas into the suction pad by the controller.
  • the decompression unit may include a valve structure.
  • the control unit may be provided on a portion of the crawler platform which is not linked with the track to operate the decompression unit by magnetic force of a magnet.
  • It may include a driving drum having a groove through which the upper portion of the adsorption portion protruding into the track passes.
  • It may include a release unit provided in the track to release the adsorption force of the plurality of adsorption units for adsorbing the running floor.
  • the lower part of the track may include a track cleaner to block contaminants from entering the track.
  • the adsorption part may include an anti-slip protrusion on an inner surface of the adsorption pad.
  • the trackless platform is magnetically adsorbed without the use of a separate device such as a vacuum pump, it is a simple structure by the controller to control the decompression release unit by the adsorption pad It is possible to implement a caterpillar running by removing the drive load.
  • FIG. 1 is a system configuration diagram of a caterpillar running adsorption according to an embodiment of the present invention.
  • FIGS. 2A and 2B are diagrams illustrating a configuration and adsorption of adsorption pads of a caterpillar traveling in adsorption according to an embodiment of the present invention.
  • 3 to 7 are diagrams illustrating a configuration of a decompression unit of a caterpillar traveling in adsorption according to embodiments of the present invention.
  • FIG. 8 is a rear view schematically illustrating an adsorption pad having an orbital track in which adsorption travels according to another embodiment of the present invention.
  • FIG. 9 is a perspective view schematically illustrating a caterpillar traveling by adsorption according to another embodiment of the present invention.
  • the caterpillar is a platform (P), drive drums (70, 71) provided on both sides of the platform (P), the track (10) provided on the drive drum, take-up to adjust the tension of the track It refers to a system including (not shown) or idler (not shown), and driven by the drive motor 80 to be driven indefinitely.
  • the adsorption pad may be made of a polymer material having high elasticity, heat resistance, and wear resistance, such as a silicone resin.
  • the adsorption pad includes a cup or trumpet in the shape of a hemispherical cross section, and may include a structure in which the bottom surface of the adsorption is blocked or open.
  • the adsorption pad refers to a functional pad that absorbs the adhered surface by depressurizing the inside by the air discharge inside.
  • the reduced pressure here refers to a pressure lower than the atmospheric pressure of the outside nature.
  • the adsorption unit may include an adsorption pad and a decompression unit for releasing the decompression inside the adsorption pad.
  • the adsorption pad is capable of adsorption with adjacent surfaces when the internal air is discharged to become a reduced pressure. At this time, as the depressurization pressure of the suction pad increases, the suction force of the suction pad increases.
  • the adsorption pad absorbs a lot of energy to forcibly lift, if a small amount of air is vented into the adsorption pad, the adsorption force is easily released and the adsorption unit may be desorbed.
  • the caterpillar includes an adsorption unit having a decompression unit on a portion of the adsorption pad, and includes a control unit for controlling the decompression unit by magnetic force of the magnet, such that the adsorption unit is driven like a track. It can be easily adsorbed and desorbed according to its position.
  • FIG. 1 is a view for explaining the system configuration and function of the caterpillar running in adsorption according to an embodiment of the present invention.
  • the adsorption unit 20 is characterized by the gravity of the platform P having the endless track A. Strong adsorption to support the acceleration must be made, but the strong adsorption force can be the driving load of the track 10 to interfere with the drive of the track 10 or damage the drive motor, so that the driving adsorption unit 20 is appropriate. It should be easily removable in position.
  • the platform P may be provided with a configuration of the caterpillar A to be described below.
  • platform P may be in the form of a housing.
  • the present invention is not limited thereto, and the platform P may be variously modified, such as a frame shape.
  • the caterpillar is provided with a plurality of adsorption portion 20 having a decompression unit on the track 10 driven by the drive drums 70 and 71, the caterpillar (A)
  • the control unit for controlling the depressurization release unit to detach the adsorption unit 20 from the running floor is provided in a part, and the adsorption unit 20 is adsorbed with the running floor with excellent adsorption force and is easily detached by the control unit at the detachable position. 10) Drive without driving load.
  • the suction pad 30 may be provided with a vent hole 31 in part.
  • the suction pad 30 may be provided with a vent 31 on the opposite side of the portion in contact with the running floor.
  • the depressurization release unit may include a check valve 50 connected to the air vent 31 to open and close the air vent 31 as a function of introducing gas into the suction pad for desorption of the adsorption pad.
  • the control unit may include a control magnet (60, 61) provided in a portion of the caterpillar (A) that does not interlock with the track to control the decompression unit to allow gas to flow into the suction pad (30).
  • the adsorbing portions 20 may be driven together with the track 10 by traveling in the caterpillar A to turn around the driving drum 70 to enter the driving floor R position. At this time, the valve for opening and closing the vent 31 may be opened by the control magnet (60).
  • the suction unit 20 may be compressed by passing through the driving drums 70 and 71 or the rollers 73 and 74 to discharge air in the suction pad 30 and the cylinder 40.
  • the valve 50 is blocked to depressurize the inside of the suction pad 30 and the cylinder 40, and the suction pad 30 may adsorb with the running bottoms R and L.
  • the valve 50 may be opened by the control magnet 61 to open the air vent 31. Accordingly, the adsorption pad 30 is introduced into the air, the adsorption portion 20 loses the adsorption force is detached and performs a continuous operation to be rotated upward along the outer periphery of the drive drum (71).
  • the adsorption unit 20 performs the adsorption and desorption with the same function.
  • the control magnet 60 is preferably used a permanent magnet, but can be used in combination with electromagnets or permanent magnets as needed, when the decompression unit is a magnet and may include a magnetic body that acts as a magnet, attraction force and repulsive action Can be.
  • the control magnet 60 may be part of the driving drums 70 and 71.
  • the track 10 of the caterpillar A according to the present embodiment as described above may be integrally formed with the adsorption unit 20, but may be separately assembled.
  • the driving drums 70 and 71 may be the track 10.
  • the caterpillar (A) of the system of the present invention as described above is foamed to block the inflow of contaminants in the lower portion of the track 10 in order to protect the loss of adsorptive force of the adsorption pad 30 is introduced into the track 10.
  • a track cleaner 11 made of resin or rubber scraper is provided.
  • a device for cleaning the dust on the suction pad 30 can be added to the track 10.
  • FIG. 2A and 2B schematically illustrate the adsorption unit 20 of an orbital track according to an exemplary embodiment. Specifically, it is a view for explaining the structure and function of easily adsorbing and desorption while increasing the adsorption force of the adsorption unit 20.
  • the adsorption unit 20 provided in the track 10 may include a cylinder 40 having a space separate from the adsorption pad 30 at the top.
  • the cylinder 40 and the suction pad 30 may be connected to the vent 31.
  • the adsorption unit 20 may include a decompression unit as described above.
  • the decompression unit may include a valve 50 for opening and closing the vent 31.
  • the suction pad 30 and the cylinder 40 discharge the air by the external pressure, and when the external pressure stops, the valve 50 blocks the air vent 31 by the elastic force of the suction pad and the cylinder, thereby preventing the suction pad 30.
  • the cylinder 40 may be reduced in pressure.
  • the suction pad 30 and the cylinder 40 may simultaneously increase the suction force of the suction pad 30 by the suction action.
  • the upper portion of the cylinder may be opened and closed by a separate valve 51.
  • the cylinder 40 and the suction pad 30 may be decompressed by the weight and driving force of the crawler when passing through the driving drum. At this time, the valve may be opened to discharge the internal air of the cylinder 40 and the suction pad 30 to the outside.
  • the cylinder 40 and the suction pad 30 may be sealed after passing through the driving drum. At this time, the cylinder 40 may be further depressurized by the spring 41.
  • the suction unit 20 is driven like the track 10 to be adjacent to the control magnet 60 as a control unit.
  • air may be introduced into the suction pad 30 by opening the valves 50 and 51 which are decompression units by the magnetic force of the control magnet 60. Therefore, the adsorption pad 30 loses the adsorption force, and the adsorption portion 20 is easily detached.
  • the material of the cylinder 40 is preferably to use a material having the same elasticity as the adsorption pad 30, when a cylinder-like structure in the cylinder 40 may be used a solid material.
  • the cylinder 40 may be selectively provided with an external vent valve 51 that communicates with the outside air depending on the application.
  • 3 to 6 are views for explaining the configuration and function of the various decompression units of the crawler adsorption unit 20.
  • the decompression unit may include a check valve 100 and a spring 101
  • the control unit may include a control magnet 60.
  • the check valve 100 may be made of a magnetic material.
  • the spring 101 may push the check valve 100 to block the vent (31). That is, the spring 101 may crimp the check valve 100 to block the vent.
  • air in the adsorption pad 30 may be discharged to the outside through the edge of the adsorption pad 30 or the check valve 100. Can be.
  • the check valve 100 blocks the air vent 31 by the elastic force and the spring of the suction pad 30 and the cylinder 40, thereby maintaining a reduced pressure inside the suction pad 30.
  • the check valve 100 is pulled upward by the magnetic force of the control magnet 60 and may open the vent 31. Accordingly, the adsorption pad 30 introduces air into the inside, and the depressurization state is released to remove the air from the running floor.
  • the check valve 100 may be used in the form of a plate or ball when the same function.
  • the shape of the check valve 100 is not limited thereto.
  • the magnetic material in the present invention refers to a metal object attracted to the magnet and may be a magnet.
  • the depressurization release unit may include a push button 200 of a magnetic body having a rod valve 201, and the control unit may include a magnet or magnetic rollers 73 and 74. have.
  • the decompression unit may include a load valve 201 and a push button 200.
  • the push button 200 may repeatedly move the load valve 201 forward and backward by receiving the repetitive pressure in one direction by the control unit and the repulsive force. Accordingly, the load valve 201 can open and close the vent 31.
  • the rod valve 201 and the push button 200 may be provided at an upper portion of the suction pad 30.
  • the push button 200 may open and close the load valve by the driving drums 70 and 71 or the rollers 73 and 74.
  • the adsorption pad 30 when depressurizing the inside of the adsorption pad, the adsorption pad 30 is pressurized by the driving drums 70 and 71 or the rollers 73 and 74, which are magnetic bodies, to generate the air vent 31 or the edge. Air can be exhausted through At this time, the push button 200 may move the load valve 201 to block the vent (31). Therefore, the adsorption pad 30 can adsorb the inside to the running floor under reduced pressure.
  • the push button 200 may open the vent 31 by moving the load valve 201 under the pressure of the driving drums 70 and 71 or the rollers 73 and 74. Therefore, by decompressing the pressure inside the suction pad 30 can be easily removed from the running floor.
  • the pressure means of the push button by the push button and the controller control magnet 60 and the structure in which the repulsive force is generated or the depth of the drum groove 90 formed in the driving drum (70, 71) or rollers (72, 73) You may.
  • the push button 200 is provided with a pressure button 220, a button support 221, a first sleeve 230 having a sleeve protrusion 231 and a tooth 232 on an outer surface thereof, and a sleeve protrusion 243.
  • a spring 250 is provided inside the second sleeve 240, and the pushbutton case 280 formed of the rotation induction core 260 and the slide groove 270 is mounted to penetrate the vent 210.
  • the load valve 201 may be coupled to the second sleeve 240.
  • the adsorption unit 20 may further include a bottom plate 302 provided on the bottom surface of the adsorption pad 30 in addition to the above-described configuration. At this time, the adsorption unit may be sealed.
  • the decompression unit may include a rod 301 connecting the bottom plate 302 and the upper portion of the suction unit, and a lever 300 having a magnet and connected to the rod 301.
  • the control unit may include a control magnet (60, 61) arranged in each of the different polarity of the magnet toward the lever 300.
  • the suction unit 20 may be adjacent to the control magnets 60 and 61.
  • the lever 300 When the adsorption part 20 is adjacent to the control magnets 60 and 61, the lever 300 generates a repulsive force with the control magnet 60 to downwardly operate to pull the bottom plate 302 through the connected rod 301. Can be. Therefore, the adsorption part 20 can adsorb
  • the lever 300 may generate an attraction force by the control magnet 61 disposed differently from the magnetic pole at the position passing through the driving floor, and may return the bottom plate 302 to the upward operation. Therefore, the adsorption unit 20 may repeatedly perform the desorption operation by decompression release to achieve the object of the present invention.
  • the depressurization release unit may include a magnetic substance 400 at an edge of the adsorption pad 30, and the controller may include a control magnet 60.
  • the adsorption pad 30 When towing the adsorption portion 20 adsorbed on the adhered surface for the desorption, if the adsorption pad 30 is circular, the traction force is required as the traction position is closer to the center point and the traction force is less toward the edge.
  • the magnetic body 400 which is a decompression release unit, may be provided on the inner surface and the outer edge of the middle of the length of the adsorption pad 30 radius.
  • the controller may include a control magnet 60.
  • the adsorption unit 20 is depressurized by the control magnet 60 and receives the pressure from the pressing means provided in the endless track A.
  • the control magnet 61 is adjacent to lift the edge of the suction pad 30 to vent the air to the inside, and the inside of the suction pad 30 is depressurized to be detached and pivoted upward without driving load. do.
  • the inner surface of the adsorption pad 30 of the present invention is provided with a non-slip protrusion (a) to widen the surface area to facilitate running in a place with moisture.
  • the adsorption force of the adsorption unit 20 may not be necessary, such as when the caterpillar A finishes or moves the work.
  • the upper portion of the adsorption portion 20 is provided with a permanent magnet or an electromagnet is provided with a release portion 500 for adjusting the interval with the depressurization release unit or release the adsorption force of the adsorption portion 20 by the control of the current.
  • the release unit 500 may be fixed to the inside of the track 10 in the case of the electromagnet to release the adsorption force of the adsorption units 20 under the control of the current, and in the case of the permanent magnet, inside the track 10. By moving up and down, the adsorption force of the adsorption units 20 may be released.
  • the caterpillar adsorbed by the magnetic force of the present invention can be used as a device performing the purpose of accessing a very steep and slippery place or a dangerous place for humans to access, so the caterpillar platform is preferably configured to be remotely controlled remotely. Do.

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  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
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Abstract

The present invention relates to a caterpillar travelling using suction, which is adhered onto an inclined and slippery area such as a solar photovoltaic panel or a glass wall of a building through its own power and is easily detachable by releasing reduced pressure within a suction pad. The caterpillar includes: a suction part including a reduced pressure release unit for releasing reduced pressure within a suction pad by using the magnetic force of a magnet on the suction pad; a track on which the suction part is provided in plurality; and a control part for controlling the operation of the reduced pressure release unit by using the magnetic force.

Description

흡착 주행하는 무한궤도Caterpillar track
본 발명은 경사진 유리벽과 같은 미끄러운 장소에서 진공펌프와 같은 장치를 사용하지 않고, 간편한 구조로 되어 자력(自力)으로 흡착하면서도 구동부하를 발생하지 않고 주행하는 무한궤도이다.The present invention is an endless track that travels without generating a driving load while being attracted by magnetic force without using a device such as a vacuum pump in a slippery place such as an inclined glass wall.
태양광발전 패널, 유리벽빌딩 등과 같은 가파른 경사로 설치된 벽면을 흡착을 하며 주행하는 방법은 매우 어렵고 난해하였다.It was very difficult and difficult to travel with the adsorption of the walls installed on steep slopes such as photovoltaic panels and glass wall buildings.
이러한 문제점을 해결하기 위한 대한민국 특허 제 10-0342029호, 대한민국 특허 제 10-2007-0116767호, 대한민국 특허 제 20-1995-0013653호 등 에서 제시하고 있지만, 충분한 흡착력을 갖기 위해 진공펌프 장치를 사용하여야 하고, 흡착패드 탈착을 직접 인양함으로서 구동부하가 크게 발생되었으며, 흡착패드를 기계적 장치로 탈착시키는 방법에서는 구조 복잡하여 작동과 제작이 어려운 문제가 있었다.In order to solve this problem, Korean Patent No. 10-0342029, Korean Patent No. 10-2007-0116767, and Korean Patent No. 20-1995-0013653 have been proposed, but a vacuum pump device should be used to have sufficient adsorption force. In addition, the driving load was greatly generated by directly lifting the adsorption pad, and in the method of detaching the adsorption pad by a mechanical device, there was a problem in that the operation was complicated due to the complicated structure.
본 발명에서는 상기와 같은 문제점을 해결하기 위하여, 흡착부의 흡착력을 향상시켜 진공펌프와 같은 장치를 이용하지 않고 자력(自力)으로 주행바닥을 흡착하게 하고, 또 제작이 쉽고 간편한 방법으로 흡착부의 흡착력을 해제시켜 탈착되게하여 구동부하를 발생하지 않는 무한궤도 플랫폼을 제공한다.In the present invention, in order to solve the above problems, the adsorption force of the adsorption part is improved, so that the driving floor is adsorbed by the magnetic force without using a device such as a vacuum pump, and the adsorption force of the adsorption part is easily and easily manufactured. It provides a crawler platform that does not generate a driving load by releasing it by detaching it.
본 발명의 일 관점에 따르면, 흡착패드로 흡착 주행하는 흡착부에 있어서, 자석의 자력에 의해 상기 흡착패드 내부의 감압해제 작동을 하는 감압해제 유닛을 포함하는 흡착부와, 상기 흡착부를 복수로 구비하는 트랙과, 상기 감압해제 유닛을 자력으로 제어하는 제어부를 포함하는, 흡착 주행하는 무한궤도가 제공된다. According to an aspect of the present invention, in the adsorption unit traveling by the adsorption pad, the adsorption unit including a depressurization release unit for depressurizing the inside of the adsorption pad by magnetic force of a magnet, and a plurality of adsorption units are provided. A track having an adsorption running is provided, including a track for controlling and a control unit for controlling the decompression unit magnetically.
상기 흡착부는, 상기 흡착패드의 흡착력을 증가시키도록 상기 흡착패드 내부와 연통되는 통기구가 형성된 실린더를 포함할 수 있다. The adsorption unit may include a cylinder having a vent formed therein to communicate with the inside of the adsorption pad to increase the adsorption force of the adsorption pad.
상기 흡착부는, 상기 실린더 내부에 탄성체를 포함할 수 있다. The adsorption part may include an elastic body in the cylinder.
상기 감압해제 유닛은, 상기 제어부에 의해 흡착패드 내부로 기체를 유입시킬 수 있다. The depressurization release unit may introduce gas into the suction pad by the controller.
상기 감압해제 유닛은 밸브구조를 포함할 수 있다.The decompression unit may include a valve structure.
상기 제어부는 트랙과 연동하지 않는 무한궤도 플랫폼 일부에 구비되어 상기 감압해제 유닛를 자석의 자력으로 작동을 시킬 수 있다. The control unit may be provided on a portion of the crawler platform which is not linked with the track to operate the decompression unit by magnetic force of a magnet.
상기 트랙 내부로 돌출된 흡착부 상부가 통과하는 홈이 구비된 구동드럼을 포함할 수 있다.It may include a driving drum having a groove through which the upper portion of the adsorption portion protruding into the track passes.
상기 트랙 내부에 구비되어 주행바닥을 흡착하는 상기 복수의 흡착부들의 흡착력을 해제시키는 릴리즈부를 포함할 수 있다. It may include a release unit provided in the track to release the adsorption force of the plurality of adsorption units for adsorbing the running floor.
상기 트랙의 하부에는 트랙내부로 오염물 유입을 차단하는 트랙 크리너를 포함할 수 있다.The lower part of the track may include a track cleaner to block contaminants from entering the track.
상기 흡착부는 상기 흡착패드의 내면에는 미끄럼방지 돌기를 포함할 수 있다.The adsorption part may include an anti-slip protrusion on an inner surface of the adsorption pad.
상기한 바와 같이 이루어진 본 발명의 일실시 예에 따르면, 진공펌프 와 같은 별도의 장치를 사용하지 않고도 무한궤도 플랫폼을 자력(自力)으로 흡착하며, 간편한 구조로 하여 감압해제 유닛를 제어부가 제어하여 흡착패드를 탈착시켜 구동부하 없이 주행하는 무한궤도를 구현할 수 있다. According to one embodiment of the present invention made as described above, the trackless platform is magnetically adsorbed without the use of a separate device such as a vacuum pump, it is a simple structure by the controller to control the decompression release unit by the adsorption pad It is possible to implement a caterpillar running by removing the drive load.
물론 이러한 효과에 의해 본 발명의 범위가 한정되는 것은 아니다.Of course, the scope of the present invention is not limited by these effects.
도 1는 본 발명의 일실시 예에 따른 흡착 주행하는 무한궤도의 시스템 구성도이다.1 is a system configuration diagram of a caterpillar running adsorption according to an embodiment of the present invention.
도 2a, 2b는 본 발명의 일실시 예에 따른 흡착 주행하는 무한궤도의 흡착패드 구성과 흡착하는 기능도이다.2A and 2B are diagrams illustrating a configuration and adsorption of adsorption pads of a caterpillar traveling in adsorption according to an embodiment of the present invention.
도 3 내지 도 7은 본 발명의 실시 예들에 따른 흡착 주행하는 무한궤도의 감압해제 유닛 구성도이다.3 to 7 are diagrams illustrating a configuration of a decompression unit of a caterpillar traveling in adsorption according to embodiments of the present invention.
도 8는 본 발명의 또 다른 일실시 예에 따른 흡착 주행하는 무한궤도의 흡착패드를 개략적으로 도시하는 배면도이다. FIG. 8 is a rear view schematically illustrating an adsorption pad having an orbital track in which adsorption travels according to another embodiment of the present invention.
도 9는 본 발명의 또 다른 일 실시예에 따른 흡착 주행하는 무한궤도를 개략적으로 도시하는 사시도이다.FIG. 9 is a perspective view schematically illustrating a caterpillar traveling by adsorption according to another embodiment of the present invention. FIG.
이하, 첨부된 도면들을 참조하여 본 발명의 실시예를 상세히 설명하면 다음과 같다. 그러나 본 발명은 이하에서 개시되는 실시예에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있는 것으로, 이하의 실시 예는 본 발명의 개시가 완전하도록 하며, 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이다. 또한 설명의 편의를 위하여 도면에서는 구성 요소들이 그 크기가 과장 또는 축소될 수 있다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and the following embodiments are intended to complete the disclosure of the present invention, the scope of the invention to those skilled in the art It is provided to inform you completely. In addition, the components may be exaggerated or reduced in size in the drawings for convenience of description.
본 발명에서의 무한궤도는 플랫폼(P)과, 플랫폼(P)의 양측에 구비된 구동드럼(70, 71)과, 구동드럼에 구비된 트랙(10)과, 트랙의 장력을 조절하는 테이크 업(미도시)이나 아이들러(미도시)를 포함하고, 구동모터(80)로 구동되어 무한으로 구동되는 시스템을 말한다. In the present invention, the caterpillar is a platform (P), drive drums (70, 71) provided on both sides of the platform (P), the track (10) provided on the drive drum, take-up to adjust the tension of the track It refers to a system including (not shown) or idler (not shown), and driven by the drive motor 80 to be driven indefinitely.
또, 본 발명에서 흡착패드는 실리콘 수지와 같은 신축성과 내열성, 내마모성이 높은 고분자재질로 이루어질 수 있다. 또한, 흡착패드는 단면 상 반구형의 컵 또는 나팔형태를 포함하며, 흡착하는 바닥면이 막혔거나 오픈된 구조를 포함할 수 있다. 또한, 흡착패드는 내부의 공기배출로 내부가 감압되어 피착면에 흡착하는 기능성의 패드를 말한다. 여기서 감압은 외부 자연의 대기압보다 낮은 압력을 말한다. In addition, in the present invention, the adsorption pad may be made of a polymer material having high elasticity, heat resistance, and wear resistance, such as a silicone resin. In addition, the adsorption pad includes a cup or trumpet in the shape of a hemispherical cross section, and may include a structure in which the bottom surface of the adsorption is blocked or open. In addition, the adsorption pad refers to a functional pad that absorbs the adhered surface by depressurizing the inside by the air discharge inside. The reduced pressure here refers to a pressure lower than the atmospheric pressure of the outside nature.
이하, 첨부된 도면을 참고하여 본 발명의 실시예를 상세히 설명한다.Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;
흡착부는 흡착패드와, 흡착패드 내부의 감압을 해제하는 감압해제 유닛을 포함할 수 있다. 예컨대, 일반적으로 흡착패드는 내부의 공기를 배출하여 감압상태가 되면, 인접하는 면과 흡착을 할 수 있다. 이때 흡착패드의 감 압력이 커질수록 흡착패드의 흡착력은 증가된다.The adsorption unit may include an adsorption pad and a decompression unit for releasing the decompression inside the adsorption pad. For example, in general, the adsorption pad is capable of adsorption with adjacent surfaces when the internal air is discharged to become a reduced pressure. At this time, as the depressurization pressure of the suction pad increases, the suction force of the suction pad increases.
또, 흡착을 하고 있는 흡착패드는 강제로 인양하기에는 많은 에너지가 소요되지만, 흡착패드 내부로 소량의 공기를 통기시키면 흡착력이 용이하게 해제되어 흡착부가 탈착될 수 있다. In addition, although the adsorption pad absorbs a lot of energy to forcibly lift, if a small amount of air is vented into the adsorption pad, the adsorption force is easily released and the adsorption unit may be desorbed.
따라서 본 발명의 일 실시예에 따르면, 무한궤도는 흡착패드의 일부에 감압해제 유닛을 구비된 흡착부를 포함하고, 감압해제 유닛을 자석의 자력으로 제어하는 제어부를 포함하여, 흡착부가 트랙과 같이 구동하며 위치에 따라 용이하게 흡착과 탈착을 하게 한다. Therefore, according to one embodiment of the present invention, the caterpillar includes an adsorption unit having a decompression unit on a portion of the adsorption pad, and includes a control unit for controlling the decompression unit by magnetic force of the magnet, such that the adsorption unit is driven like a track. It can be easily adsorbed and desorbed according to its position.
도1 은 본 발명의 일 실시예에 따른 흡착 주행하는 무한궤도의 시스템구성과 기능을 설명하기 위한 도면이다.1 is a view for explaining the system configuration and function of the caterpillar running in adsorption according to an embodiment of the present invention.
태양광발전패널이나 건물유리 벽과 같은 경사지고 미끄러운 장소를 안전하게 주행하는 흡착패드로 흡착 주행하는 무한궤도에 있어서, 흡착부(20)는 무한궤도(A)를 구비한 플랫폼(P)의 중력과 가속도를 지탱하는 강력한 흡착을 해야 한다, 그러나 강력한 흡착력은 그만큼 트랙(10)의 구동부하가 되어 트랙(10)의 구동을 방해하거나 구동모터를 손상시킬 수 있으므로, 구동하는 흡착부(20)는 적정 위치에서 용이하게 탈착되어져야 한다.In the endless track, which is adsorbed by an adsorption pad that safely travels in an inclined and slippery place such as a solar power panel or a building glass wall, the adsorption unit 20 is characterized by the gravity of the platform P having the endless track A. Strong adsorption to support the acceleration must be made, but the strong adsorption force can be the driving load of the track 10 to interfere with the drive of the track 10 or damage the drive motor, so that the driving adsorption unit 20 is appropriate. It should be easily removable in position.
플랫폼(P)은 이하에서 설명할 무한궤도(A)의 구성이 설치될 수 있다. 예컨대, 플랫폼(P)은 하우징 형태일 수 있다. 이에 한정하는 것은 아니며 플랫폼(P)은 프레임 형태 등 다양한 변형이 가능하다.The platform P may be provided with a configuration of the caterpillar A to be described below. For example, platform P may be in the form of a housing. The present invention is not limited thereto, and the platform P may be variously modified, such as a frame shape.
또한, 이하에서 플랫폼(P)에 구비 또는 설치되는 것의 의미는 구성들이 플랫폼(P)에 직접 구비 또는 설치되거나 브라켓 등에 의해 간접적으로 설치되는 것을 의미한다.In addition, the meaning of being provided or installed in the platform (P) below means that the components are provided or installed directly on the platform (P) or indirectly installed by a bracket or the like.
본 발명의 일 실시예에 따르면, 무한궤도는 감압해제 유닛을 구비한 흡착부(20)를 구동드럼(70, 71)에 의해 구동되는 트랙(10)에 복수로 구비시키고, 무한궤도(A) 일부에 상기 감압 해제 유닛를 제어하여 흡착부(20)를 주행바닥으로부터 탈착시키는 제어부를 구비하여, 흡착부(20)는 우수한 흡착력으로 주행바닥과 흡착하고 탈착위치에서 제어부에 의해 용이하게 탈착되어 트랙(10)의 구동부하 없이 주행을 하게 한다.According to an embodiment of the present invention, the caterpillar is provided with a plurality of adsorption portion 20 having a decompression unit on the track 10 driven by the drive drums 70 and 71, the caterpillar (A) The control unit for controlling the depressurization release unit to detach the adsorption unit 20 from the running floor is provided in a part, and the adsorption unit 20 is adsorbed with the running floor with excellent adsorption force and is easily detached by the control unit at the detachable position. 10) Drive without driving load.
실시예를 상세하게 설명하면 흡착패드(30)는 일부에 통기구(31)를 구비할 수 있다. 구체적으로 흡착패드(30)는 주행바닥과 접촉하는 부분의 반대편에 통기구(31)을 구비할 수 있다. 그리고 감압해제 유닛은 흡착패드의 탈착을 위해 흡착패드 내부로 기체를 유입시키는 기능으로서, 통기구(31)와 연결되어 통기구(31)를 개폐하는 체크밸브(50)를 포함할 수 있다. 또한, 제어부는 트랙과 연동하지 않는 무한궤도(A) 일부에 구비된 되어 감압 해제 유닛을 제어하여 흡착패드(30) 내부로 기체를 유입시키게 하는 컨트롤자석(60, 61)을 포함할 수 있다. Referring to the embodiment in detail the suction pad 30 may be provided with a vent hole 31 in part. Specifically, the suction pad 30 may be provided with a vent 31 on the opposite side of the portion in contact with the running floor. The depressurization release unit may include a check valve 50 connected to the air vent 31 to open and close the air vent 31 as a function of introducing gas into the suction pad for desorption of the adsorption pad. In addition, the control unit may include a control magnet (60, 61) provided in a portion of the caterpillar (A) that does not interlock with the track to control the decompression unit to allow gas to flow into the suction pad (30).
상기 무한궤도(A)의 주행으로 흡착부(20)들은 트랙(10)과 같이 구동되어 구동드럼(70)외주를 선회하여 주행바닥(R) 위치로 진입할 수 있다. 이때, 통기구(31)를 개폐하는 밸브는 컨트롤자석(60)에 의해 개통될 수 있다.The adsorbing portions 20 may be driven together with the track 10 by traveling in the caterpillar A to turn around the driving drum 70 to enter the driving floor R position. At this time, the valve for opening and closing the vent 31 may be opened by the control magnet (60).
그리고 흡착부(20)는 구동드럼(70, 71) 또는 롤러(73, 74)를 통과하며 압착되어 흡착패드(30)및 실린더(40) 내부의 공기가 배출될 수 있다. 압착수단이 중지되면 밸브(50)는 차단되어 흡착패드(30)및 실린더(40)내부가 감압이 되며 흡착패드(30)는 주행바닥면(R, L)과 흡착을 할 수 있다. In addition, the suction unit 20 may be compressed by passing through the driving drums 70 and 71 or the rollers 73 and 74 to discharge air in the suction pad 30 and the cylinder 40. When the crimping means is stopped, the valve 50 is blocked to depressurize the inside of the suction pad 30 and the cylinder 40, and the suction pad 30 may adsorb with the running bottoms R and L.
주행바닥을 경과한 (L)위치의 흡착부(20)는 컨트롤자석(61)에 의해 밸브(50)가 열려 통기구(31)를 개통될 수 있다. 이에 따라, 흡착패드(30)는 내부로 공기가 유입되어, 흡착부(20)는 흡착력을 잃고 탈착되어 구동드럼(71)의 외주를 따라 상부로 선회되는 연속적인 작동을 한다.In the adsorption part 20 at the (L) position that has passed the running floor, the valve 50 may be opened by the control magnet 61 to open the air vent 31. Accordingly, the adsorption pad 30 is introduced into the air, the adsorption portion 20 loses the adsorption force is detached and performs a continuous operation to be rotated upward along the outer periphery of the drive drum (71).
상기의 트랙(10)이 역방향으로 주행을 하여도 동일한 기능으로 흡착부(20)는 흡착과 탈착을 하며 주행을 하게 된다.Even if the track 10 travels in the reverse direction, the adsorption unit 20 performs the adsorption and desorption with the same function.
상기 컨트롤자석(60)은 영구자석을 사용하는 것이 바람직하지만 필요에 따라 전자석 또는 영구자석과 전자석을 혼용하여 사용할 수 있고, 감압해제 유닛이 자석일 때는 자석과 인력, 척력작용을 하는 자성체를 포함할 수 있다.The control magnet 60 is preferably used a permanent magnet, but can be used in combination with electromagnets or permanent magnets as needed, when the decompression unit is a magnet and may include a magnetic body that acts as a magnet, attraction force and repulsive action Can be.
상기 컨트롤자석(60)은 구동드럼(70, 71)의 일부가 될 수 있다.The control magnet 60 may be part of the driving drums 70 and 71.
상기와 같은 본 실시예에 따른 무한궤도(A)의 트랙(10)은 흡착부(20)와 일체로 구성될 수 있지만 별도로 조립시킬 수 있으며, 이때, 구동드럼(70, 71)은 트랙(10) 내부로 돌출된 흡착부(20) 상부가 통과하는 드럼 홈(90)을 구비할 수 있다. The track 10 of the caterpillar A according to the present embodiment as described above may be integrally formed with the adsorption unit 20, but may be separately assembled. In this case, the driving drums 70 and 71 may be the track 10. ) May be provided with a drum groove 90 through which the upper portion of the adsorption portion 20 protrudes.
또, 상기와 같은 본 발명 시스템의 무한궤도(A)는 트랙(10)내부로 오염물이 유입되어 흡착패드(30)의 흡착력 손실을 보호하기 위해 트랙(10)의 하부에 오염물 유입을 차단시키는 발포수지나 고무 스크래퍼로 된 트랙 크리너(11)를 구비한다. In addition, the caterpillar (A) of the system of the present invention as described above is foamed to block the inflow of contaminants in the lower portion of the track 10 in order to protect the loss of adsorptive force of the adsorption pad 30 is introduced into the track 10. A track cleaner 11 made of resin or rubber scraper is provided.
또, 트랙(10)내부에 흡착패드(30)에 묻은 먼지를 청소하는 장치를 추가할수있다.In addition, a device for cleaning the dust on the suction pad 30 can be added to the track 10.
도 2a, 2b는 일 실시예에 따른 무한궤도의 흡착부(20)를 개략적으로 도시한 도면이다. 구체적으로 흡착부(20)의 흡착력을 증가시키며 용이하게 흡착, 탈착 하는 구조와 기능을 설명하기 위한 도면이다. 2A and 2B schematically illustrate the adsorption unit 20 of an orbital track according to an exemplary embodiment. Specifically, it is a view for explaining the structure and function of easily adsorbing and desorption while increasing the adsorption force of the adsorption unit 20.
도 2a에서 도시한바와 같이 트랙(10)에 구비된 흡착부(20)는 상부에 흡착패드(30)와는 별도의 공간을 갖는 실린더(40)를 포함할 수 있다. 실린더(40)와 흡착패드(30)는 통기구(31)가 연결될 수 있다. As shown in FIG. 2A, the adsorption unit 20 provided in the track 10 may include a cylinder 40 having a space separate from the adsorption pad 30 at the top. The cylinder 40 and the suction pad 30 may be connected to the vent 31.
그리고 흡착부(20)는 전술한 바와 같이 감압해제 유닛을 포함할 수 있다. 여기서 감압 해제 유닛은 통기구(31)를 개폐하는 밸브(50)를 포함할 수 있다. And the adsorption unit 20 may include a decompression unit as described above. The decompression unit may include a valve 50 for opening and closing the vent 31.
따라서, 흡착패드(30)과 실린더(40)는 외부 압력에 의해 공기를 배출하고, 외부압력이 멈추면 흡착패드와 실린더의 신축력으로 밸브(50)는 통기구(31)를 차단하여 흡착패드(30)와 실린더(40)는 감압될 수 있다. 이때, 흡착패드(30)와 실린더(40)는 동시에 흡인작용을 하여 흡착패드(30)의 흡착력을 더욱 증가할 수 있다. 여기서, 실린더의 상부는 별도의 밸브(51)에 의해 개폐될 수 있다. Therefore, the suction pad 30 and the cylinder 40 discharge the air by the external pressure, and when the external pressure stops, the valve 50 blocks the air vent 31 by the elastic force of the suction pad and the cylinder, thereby preventing the suction pad 30. ) And the cylinder 40 may be reduced in pressure. At this time, the suction pad 30 and the cylinder 40 may simultaneously increase the suction force of the suction pad 30 by the suction action. Here, the upper portion of the cylinder may be opened and closed by a separate valve 51.
또, 실린더(40) 내부에 스프링(41)과 같은 탄성체를 구비시켜 실린더(40)의 신축성을 향상시킴으로서 흡착패드(30)의 흡착력을 더욱 증가 시킬 수 있다. In addition, by providing an elastic body such as a spring 41 in the cylinder 40 to improve the elasticity of the cylinder 40, it is possible to further increase the suction force of the suction pad 30.
예를 들어, 실린더(40) 및 흡착패드(30)는 구동드럼을 통과할 때 무한궤도의 무게와 구동력에 의해 감압될 수 있다. 이때, 밸브가 개방하여 실린더(40)와 흡착패드(30)의 내부 공기를 외부로 배출할 수 있다. For example, the cylinder 40 and the suction pad 30 may be decompressed by the weight and driving force of the crawler when passing through the driving drum. At this time, the valve may be opened to discharge the internal air of the cylinder 40 and the suction pad 30 to the outside.
그리고 실린더(40) 및 흡착패드(30)는 구동드럼을 통과한 후 밀폐될 수 있다. 이때, 실린더(40)는 스프링(41)에 의해 더욱 감압될 수 있다. The cylinder 40 and the suction pad 30 may be sealed after passing through the driving drum. At this time, the cylinder 40 may be further depressurized by the spring 41.
도 2b에 도시한바와 같이, 흡착부(20)는 트랙(10)과 같이 구동을 하여 제어부인 컨트롤자석(60)과 인접하게 된다. 이때, 컨트롤자석(60)의 자력에 의해 감압해제 유닛인 밸브(50, 51)를 개통하여 흡착패드(30) 내부로 공기가 유입될 수 있다. 따라서 흡착패드(30)는 흡착력을 상실하고, 흡착부(20)는 용이하게 탈착이 된다. As shown in FIG. 2B, the suction unit 20 is driven like the track 10 to be adjacent to the control magnet 60 as a control unit. At this time, air may be introduced into the suction pad 30 by opening the valves 50 and 51 which are decompression units by the magnetic force of the control magnet 60. Therefore, the adsorption pad 30 loses the adsorption force, and the adsorption portion 20 is easily detached.
이때, 실린더(40)의 재질은 흡착패드(30)과 같은 재질의 신축성을 갖는 재질을 사용하는 것이 바람직하나, 실린더(40) 내부에 피스톤과 같은 구조를 구비할 때는 견고한 재질을 사용할 수 있다.At this time, the material of the cylinder 40 is preferably to use a material having the same elasticity as the adsorption pad 30, when a cylinder-like structure in the cylinder 40 may be used a solid material.
또, 상기 실린더(40)에는 용도에 따라 외기로 통하는 외부 통기밸브(51)를 선택적으로 구비할 수 있다.In addition, the cylinder 40 may be selectively provided with an external vent valve 51 that communicates with the outside air depending on the application.
도 3 내지 도 6은 무한궤도의 흡착부(20)가 갖는 다양한 감압해제 유닛들의 구성과 기능을 설명하기 위한 도면이다.3 to 6 are views for explaining the configuration and function of the various decompression units of the crawler adsorption unit 20.
3a, 3b 에서 도시한바와 같이, 감압해제 유닛은 체크밸브(100) 및 스프링(101)을 포함할 수 있고, 제어부는 컨트롤자석(60)을 포함할 수 있다. As shown in 3a and 3b, the decompression unit may include a check valve 100 and a spring 101, and the control unit may include a control magnet 60.
예컨대, 체크밸브(100)는 자성체로 이루어질 수 있다. 그리고 스프링(101)은 통기구(31)를 차단하게 체크밸브(100)를 밀 수 있다. 즉 스프링(101)은 체크밸브(100)를 압착하여 통기구를 차단할 수 있다. For example, the check valve 100 may be made of a magnetic material. And the spring 101 may push the check valve 100 to block the vent (31). That is, the spring 101 may crimp the check valve 100 to block the vent.
흡착부(20)가 외부 무한궤도(A) 일부에 구비된 압착수단에 압력을 받으면, 흡착패드(30) 내부의 공기는 흡착패드(30) 가장자리나 체크밸브(100)를 통해 외부로 배출될 수 있다. When the adsorption part 20 receives pressure from the compression means provided in a part of the outer endless track A, air in the adsorption pad 30 may be discharged to the outside through the edge of the adsorption pad 30 or the check valve 100. Can be.
그리고 압력이 멈추면, 체크밸브(100)는 흡착패드(30)와 실린더(40)의 신축력 및 스프링에 의해 통기구(31)를 차단하여, 흡착패드(30) 내부의 감압 상태를 유지할 수 있다.When the pressure stops, the check valve 100 blocks the air vent 31 by the elastic force and the spring of the suction pad 30 and the cylinder 40, thereby maintaining a reduced pressure inside the suction pad 30.
무한궤도가 주행함에 따라, 체크밸브(100)는 컨트롤자석(60)의 자력에 의해 상부로 견인되며 통기구(31)를 개통할 수 있다. 이에 따라 흡착패드(30)는 내부로 공기를 유입하고, 감압상태가 해제되어 주행바닥에서 탈착할 수 있다. As the caterpillar travels, the check valve 100 is pulled upward by the magnetic force of the control magnet 60 and may open the vent 31. Accordingly, the adsorption pad 30 introduces air into the inside, and the depressurization state is released to remove the air from the running floor.
상기 체크밸브(100)는 동일한 기능일 때 판상이거나 볼 형상으로 사용할 수 있다. 물론 체크밸브(100)의 형상을 이에 한정하는 것은 아니다. The check valve 100 may be used in the form of a plate or ball when the same function. Of course, the shape of the check valve 100 is not limited thereto.
또, 본 발명에서의 자성체는 자석에 이끌리는 금속물체를 말하며 자석이 될 수도 있다.In addition, the magnetic material in the present invention refers to a metal object attracted to the magnet and may be a magnet.
도 4 및 도 5에서 도시한바와 같이, 감압해제 유닛은 로드밸브(201)를 갖는 자성체의 푸쉬버튼(200)을 포함할 수 있고, 제어부는 자석이나 자성체롤러(73, 74)를 포함할 수 있다.As shown in FIGS. 4 and 5, the depressurization release unit may include a push button 200 of a magnetic body having a rod valve 201, and the control unit may include a magnet or magnetic rollers 73 and 74. have.
감압해제 유닛은 로드밸브(201) 및 푸쉬버튼(200)을 포함할 수 있다. 여기서 푸쉬버튼(200)는 제어부와 척력에 의해 일 방향의 반복적 압력을 받아 반복적으로 로드밸브(201)를 전진, 후진할 수 있다. 이에 따라, 로드밸브(201)는 통기구(31)를 개폐할 수 있다. The decompression unit may include a load valve 201 and a push button 200. Here, the push button 200 may repeatedly move the load valve 201 forward and backward by receiving the repetitive pressure in one direction by the control unit and the repulsive force. Accordingly, the load valve 201 can open and close the vent 31.
로드밸브(ROD VALVE, 201) 및 푸쉬버튼(200)는 흡착패드(30)의 상부에 구비될 수 있다. 그리고 푸쉬버튼(200)는 구동드럼(70, 71) 또는 롤러(73, 74)에 의해 로드밸브를 개폐할 수 있다. The rod valve 201 and the push button 200 may be provided at an upper portion of the suction pad 30. The push button 200 may open and close the load valve by the driving drums 70 and 71 or the rollers 73 and 74.
예를 들어, 흡착패드 내부를 감압할 때, 흡착패드(30)는 자성체인 구동드럼(70, 71) 또는 롤러(73, 74)와 발생되는 척력에 의해 압력을 받아 통기구(31)나 가장자리를 통해 공기를 배출할 수 있다. 이때, 푸쉬버튼(200)은 로드밸브(201)를 이동시켜 통기구(31)를 차단할 수 있다. 따라서 흡착패드(30)는 내부를 감압상태로 주행바닥에 흡착할 수 있다. For example, when depressurizing the inside of the adsorption pad, the adsorption pad 30 is pressurized by the driving drums 70 and 71 or the rollers 73 and 74, which are magnetic bodies, to generate the air vent 31 or the edge. Air can be exhausted through At this time, the push button 200 may move the load valve 201 to block the vent (31). Therefore, the adsorption pad 30 can adsorb the inside to the running floor under reduced pressure.
다시 푸쉬버튼(200)이 구동드럼(70, 71) 또는 롤러(73, 74)에 압력을 받아 로드밸브(201)를 이동시켜 통기구(31)를 개방할 수 있다. 따라서 흡착패드(30)내부의 감압을 해제하여 주행바닥에서 용이하게 탈착될 수 있다. In addition, the push button 200 may open the vent 31 by moving the load valve 201 under the pressure of the driving drums 70 and 71 or the rollers 73 and 74. Therefore, by decompressing the pressure inside the suction pad 30 can be easily removed from the running floor.
이때, 상기 푸쉬버튼의 압력 수단을 푸쉬버튼과 제어부 컨트롤자석(60)과 척력이 발생하는 구조 또는 구동드럼(70, 71)이나 롤러(72, 73)에 형성된 드럼 홈(90)의 깊이조절로 할 수도 있다. At this time, the pressure means of the push button by the push button and the controller control magnet 60 and the structure in which the repulsive force is generated or the depth of the drum groove 90 formed in the driving drum (70, 71) or rollers (72, 73) You may.
이하에서 푸쉬버튼(200)의 구성에 대해 상세히 설명한다. Hereinafter, the configuration of the push button 200 will be described in detail.
푸쉬버튼(200)는 압력버튼(220), 버튼 지지구(221), 외면에 슬리브 돌기(231) 및 톱니(232)가 구비된 제1 슬리브(230)와, 슬리브 돌기(243)가 구비된 제2 슬리브(240)의 내부에는 스프링(250)이 구비되며, 회전유도 코어(260)와 슬라이드 홈(270)으로 구성되는 푸쉬버튼 케이스(280)는 통기구(210)와 내부 관통되게 장착된다. 여기서 로드밸브(201)는 제2 슬리브(240)에 결합될 수 있다. The push button 200 is provided with a pressure button 220, a button support 221, a first sleeve 230 having a sleeve protrusion 231 and a tooth 232 on an outer surface thereof, and a sleeve protrusion 243. A spring 250 is provided inside the second sleeve 240, and the pushbutton case 280 formed of the rotation induction core 260 and the slide groove 270 is mounted to penetrate the vent 210. Here, the load valve 201 may be coupled to the second sleeve 240.
도 6a, 도 6b 에서 도시한바와 같이, 흡착부(20)는 전술한 구성 외에 흡착패드(30)의 바닥면에 구비된 바닥판(302)을 더 포함할 수 있다. 이때, 흡착부는 밀폐될 수 있다. 그리고 감압 해제 유닛은 바닥판(302)와 흡착부의 상부를 연결하는 로드(301)와, 자석을 구비하며 로드(301)과 연결된 지렛대 구조의 레버(300)포함할 수 있다. 또한, 제어부는 레버(300)를 향하는 자석 극성을 각각 다르게 배치시킨 컨트롤자석(60, 61)를 포함할 수 있다. As shown in FIGS. 6A and 6B, the adsorption unit 20 may further include a bottom plate 302 provided on the bottom surface of the adsorption pad 30 in addition to the above-described configuration. At this time, the adsorption unit may be sealed. The decompression unit may include a rod 301 connecting the bottom plate 302 and the upper portion of the suction unit, and a lever 300 having a magnet and connected to the rod 301. In addition, the control unit may include a control magnet (60, 61) arranged in each of the different polarity of the magnet toward the lever 300.
트랙(10)이 구동함에 따라, 흡착부(20)는 컨트롤자석(60, 61)에 인접할 수 있다. 흡착부(20)가 컨트롤자석(60, 61)에 인접하면, 레버(300)는 컨트롤자석(60)과 척력을 발생되어 하향 작동하여 연결된 로드(301)를 통해 바닥판(302)를 견인할 수 있다. 따라서 흡착부(20)는 주행바닥에 흡착할 수 있다. As the track 10 is driven, the suction unit 20 may be adjacent to the control magnets 60 and 61. When the adsorption part 20 is adjacent to the control magnets 60 and 61, the lever 300 generates a repulsive force with the control magnet 60 to downwardly operate to pull the bottom plate 302 through the connected rod 301. Can be. Therefore, the adsorption part 20 can adsorb | suck to a running floor.
그리고 레버(300)는 주행바닥을 경과한 위치에 자극이 다르게 배치된 컨트롤자석(61)에 의해 인력이 발생되어 상향작동으로 바닥판(302)을 복귀시킬 수 있다. 따라서 흡착부(20)는 감압해제로 탈착하는 작동을 반복적으로 하게 되어 본 발명의 목적을 달성할 수 있다.In addition, the lever 300 may generate an attraction force by the control magnet 61 disposed differently from the magnetic pole at the position passing through the driving floor, and may return the bottom plate 302 to the upward operation. Therefore, the adsorption unit 20 may repeatedly perform the desorption operation by decompression release to achieve the object of the present invention.
도 7a, 7b 에서 도시한바와 같이, 감압해제 유닛은 흡착패드(30) 가장자리에 자성체(400)를 포함하고, 제어부는 컨트롤자석(60)을 포함할 수 있다. As shown in FIGS. 7A and 7B, the depressurization release unit may include a magnetic substance 400 at an edge of the adsorption pad 30, and the controller may include a control magnet 60.
피착면에 흡착된 흡착부(20)를 탈착을 위해 견인을 할 때, 흡착패드(30)가 원형이면 견인위치가 중심점에 가까울수록 견인력이 많이 소요되고 가장자리로 갈수록 견인력이 적게 소요된다.When towing the adsorption portion 20 adsorbed on the adhered surface for the desorption, if the adsorption pad 30 is circular, the traction force is required as the traction position is closer to the center point and the traction force is less toward the edge.
본 실시예에서는 이러한 원리를 이용하여, 감압해제 유닛인 자성체(400)는 흡착패드(30) 반지름의 길이 중간 밖 가장자리 표면과 내부에 구비될 수 있다. 그리고 제어부는 컨트롤자석(60)을 포함할 수 있다. In this embodiment, by using this principle, the magnetic body 400, which is a decompression release unit, may be provided on the inner surface and the outer edge of the middle of the length of the adsorption pad 30 radius. The controller may include a control magnet 60.
따라서 무한궤도(A)가 주행함에 따라 흡착부(20)는 컨트롤자석(60)에 의해 감압해제가 되었다가 무한궤도(A)일부에 구비된 압착수단에 압력을 받아 흡착을 하고, 주행바닥(R, L)을 경과하여 컨트롤자석(61)을 인접하면 흡착패드(30)의 가장자리가 들추어져 내부로 공기통기가 되고 흡착패드(30) 내부는 감압이 해제되어 탈착하여 구동부하 없이 상부로 선회하게 된다. Therefore, as the endless track A travels, the adsorption unit 20 is depressurized by the control magnet 60 and receives the pressure from the pressing means provided in the endless track A. After passing through R and L, the control magnet 61 is adjacent to lift the edge of the suction pad 30 to vent the air to the inside, and the inside of the suction pad 30 is depressurized to be detached and pivoted upward without driving load. do.
도 8에서 도시된 바와 같이, 본 발명의 상기 흡착패드(30)의 내부표면은 미끄럼방지 돌기(a)가 구비되어 표면적을 넓게하여 수분이 있는 장소를 용이하게 주행을 하게한다. As shown in Figure 8, the inner surface of the adsorption pad 30 of the present invention is provided with a non-slip protrusion (a) to widen the surface area to facilitate running in a place with moisture.
도 9를 참조하면, 상기 무한궤도(A)가 작업수행을 종료하거나 이동시킬 때와 같이 흡착부(20)의 흡착력은 필요하지 않을 수 있다. 이때에는 상기 흡착부(20)들의 상부에 영구자석이나 전자석을 구비시켜 감압해제 유닛과의 간격을 조절하거나 전류의 조절로 흡착부(20)들의 흡착력을 해제시키는 릴리즈부(500)를 구비한다. Referring to FIG. 9, the adsorption force of the adsorption unit 20 may not be necessary, such as when the caterpillar A finishes or moves the work. At this time, the upper portion of the adsorption portion 20 is provided with a permanent magnet or an electromagnet is provided with a release portion 500 for adjusting the interval with the depressurization release unit or release the adsorption force of the adsorption portion 20 by the control of the current.
예를 들어, 릴리즈부(500)는 전자석인 경우 트랙(10) 내부에 고정 설치되어 전류의 제어로 흡착부(20)들의 흡착력을 해제될 수 있고, 영구자석인 경우, 트랙(10) 내부에 상하로 이동가능하게 설치시켜 흡착부(20)들의 흡착력을 해제될 수 있다. For example, the release unit 500 may be fixed to the inside of the track 10 in the case of the electromagnet to release the adsorption force of the adsorption units 20 under the control of the current, and in the case of the permanent magnet, inside the track 10. By moving up and down, the adsorption force of the adsorption units 20 may be released.
본 발명 자력으로 흡착하는 무한궤도는 매우 경사가 가파르고 미끄러운 장소나 사람이 접근하기 위험한 장소에 접근을 하는 목적을 수행하는 장치로 사용할 수 있어 무한궤도 플랫폼은 무선으로 원격제어 조종되는 구성을 하는 것이 바람직하다. The caterpillar adsorbed by the magnetic force of the present invention can be used as a device performing the purpose of accessing a very steep and slippery place or a dangerous place for humans to access, so the caterpillar platform is preferably configured to be remotely controlled remotely. Do.
본 발명은 도면에 도시된 실시예를 참고로 설명되었으나 이는 예시적인 것에 불과하며, 당해 기술 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 다른 실시예가 가능하다는 점을 이해할 것이다. 따라서 본 발명의 진정한 기술적 보호 범위는 첨부된 특허 청구범위의 기술적 사상에 의하여 정해져야 할 것이다.Although the present invention has been described with reference to the embodiments shown in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

Claims (10)

  1. 흡착패드로 흡착 주행하는 무한궤도에 있어서,In the caterpillar running by adsorption pads,
    상기 흡착패드 내부의 감압을 자석의 자력에 의해 감압해제 작동을 하는 감압해제 유닛을 포함하는 흡착부;An adsorption unit including a decompression release unit configured to depressurize the inside of the adsorption pad by a magnetic force of a magnet;
    상기 흡착부를 복수로 구비하는 트랙; A track having a plurality of adsorption units;
    을 포함하는, 흡착 주행하는 무한궤도.Including, the caterpillar running track adsorption.
  2. 제1항에 있어서,The method of claim 1,
    상기 흡착패드 내부의 감압을 자석의 자력에 의해 감압해제 작동을 하는 감압해제 유닛을 포함하는 흡착부;An adsorption unit including a decompression release unit configured to depressurize the inside of the adsorption pad by a magnetic force of a magnet;
    상기 흡착부를 복수로 구비하는 트랙; 및A track having a plurality of adsorption units; And
    상기 감압해제 유닛을 자력으로 제어하는 제어부;A control unit controlling the decompression unit magnetically;
    를 포함하는, 흡착 주행하는 무한궤도.Including, the caterpillar running adsorption.
  3. 제1항에 있어서,The method of claim 1,
    상기 흡착부는,The adsorption unit,
    상기 흡착 패드의 흡착력을 증가시키도록 상기 흡착패드 내부와 연통되는 통기구가 형성된 실린더;A cylinder having a vent formed in communication with the inside of the suction pad to increase the suction force of the suction pad;
    를 포함하는, 흡착 주행하는 무한궤도. Including, the caterpillar running adsorption.
  4. 제1항, 제2항에 있어서,The method according to claim 1 or 2,
    상기 감압해제 유닛은, 상기 제어부에 의해 흡착패드 내부로 기체를 유입시키는, 흡착 주행하는 무한궤도.The decompression unit is an endless track running adsorption running gas into the suction pad by the control unit.
  5. 제4항에 있어서,The method of claim 4, wherein
    상기 감압해제 유닛은 밸브구조를 포함하는, 흡착 주행하는 무한궤도.And the decompression unit includes a valve structure.
  6. 제2항에 있어서,The method of claim 2,
    상기 제어부는 무한궤도 일부에 구비되어 상기 감압해제 유닛을 작동을 시키는, 흡착 주행하는 무한궤도.The control unit is provided on a portion of the caterpillar to operate the decompression unit, the caterpillar running on adsorption.
  7. 제1항에 있어서,The method of claim 1,
    상기 트랙은 내부로 돌출된 흡착부 상부가 통과하는 홈이 구비된 구동드럼을 포함하는, 흡착 주행하는 무한궤도.The track includes a drive drum having a groove through which the upper portion of the adsorption portion protruding therein passes, the caterpillar running track.
  8. 제1항에 있어서,The method of claim 1,
    상기 트랙내부에 구비되어, 주행바닥을 흡착하는 상기 복수의 흡착부들의 흡착력을 해제시키는 릴리즈부를 포함하는, 흡착 주행하는 무한궤도. And a release part provided in the track, the release part releasing the attraction force of the plurality of adsorption parts for adsorbing the running floor.
  9. 제1항에 있어서,The method of claim 1,
    상기 트랙의 하부에는 트랙내부로 오염물 유입을 차단하는 트랙 크리너를 포함하는, 흡착 주행하는 무한궤도.And a track cleaner below the track to block contaminants from entering the track.
  10. 제1항에 있어서,The method of claim 1,
    상기 흡착부는 상기 흡착패드의 내면에 구비된 미끄럼방지 돌기를 포함하는, 흡착 주행하는 무한궤도. The adsorption unit is an endless track running adsorption, including a non-slip projection provided on the inner surface of the adsorption pad.
PCT/KR2014/012099 2013-12-13 2014-12-10 Caterpillar traveling using suction WO2015088235A1 (en)

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