KR101359250B1 - Robot having apparatus for obstacle removing and driving assistance - Google Patents

Abstract

The present invention is disposed at the front end of the driving mechanism such as a robot, and the crushing means provided to remove the obstacle and the position adjusting means provided to adjust the position of the crushing means is connected between the driving mechanism and the crushing means, according to the position of the obstacle The present invention relates to a robot provided with an obstacle removing and driving assistance device. According to the present invention, an obstacle existing at a front end of a driving mechanism may be removed regardless of a position, and when the removal is not easy, assisting in easy driving You can expect the effect.

Description

Robot having apparatus for obstacle removing and driving assistance

The present invention relates to an obstacle removing and driving assistance apparatus, and more specifically, an obstacle removing and driving assistance apparatus configured to facilitate obstacle removal and driving assistance by using a plurality of crushing means mounted on a front end of a traveling mechanism such as a robot. It is about.

Various types of piping used in industrial infrastructures are subject to deterioration, corrosion and sedimentation over time. This lowers the flow of fluid inside the pipe, causing malfunctions and sometimes leading to accidents.

In other words, the corrosion of the pipe proceeds due to chemicals, and many foreign matters accumulate inside the pipe to hinder the flow of flow. However, since it is impossible to look inside the pipe made of iron plate, it is not easy to know how much foreign matter is accumulated in which place.

 Steel mills and heavy chemical plants use COG (cove oven gas), water or pipes to transfer various gases. Large amounts of sludge and chemical debris build up inside the pipes, requiring periodic maintenance.

In this case, in order to clean up the debris or sludge inside the pipe made of steel, a flaw detector is introduced to check the inside of the pipe, and there is a problem such as where a lot of sludge is accumulated in the long pipe, or leakage or corrosion inside the pipe. It can be found whether or not it has occurred.

Currently, many research institutes are developing robotic devices that can inspect the inside of pipes and send them into curved pipes to find out the situation inside the pipes. In addition, a storage tank for gas and chemicals made of steel plates other than pipes, and devices for detecting corrosion or wear or defects on the outer walls of various pipes have been developed.

By the way, foreign matter such as sludge becomes an obstacle inside the pipe and the like, which hinders the running of the flaw detector. Accordingly, there is a need in the related art for a device that easily removes such obstacles or enables driving.

In addition, since there are pipes having various shapes and diameters such as horizontal or vertical curved pipes and branch pipes as well as straight pipes, there is a need for a device capable of traveling according to each situation.

The present invention has been proposed to solve the above conventional problems, it is possible to remove the obstacles existing on the driving direction side of the traveling mechanism, such as robots, regardless of the position, when the obstacle removal is not easy or various types of piping It is to provide a device that can assist this when driving.

In order to achieve the above object, an embodiment of the present invention provides a robot equipped with an obstacle removing and driving assistance device as follows.

The robot equipped with the obstacle removing and traveling assistance device of the present invention is disposed at the front end of the traveling mechanism and is connected to the crushing means provided to remove the obstacle and the traveling mechanism and the crushing means, and the position of the crushing means according to the position of the obstacle. It may be configured to include a position adjusting means provided to adjust.

Here, the crushing means is disposed outside the support frame and the support frame associated with the position adjusting means, the crushing portion is provided to remove obstacles and disposed on the rotation axis of the position adjusting means and the support frame, the support It may be configured to include a first drive provided to rotate the frame.

The support frame may be provided in a cross shape, and the crushing part may be provided with a plurality of blades in the cross-shaped protrusion.

In addition, the crushing means may be provided in plural to assist the driving of the traveling mechanism by simultaneously removing or crossing the obstacles in the up and down or left and right of the driving direction.

In addition, the support frame may further include a magnetic member disposed in the circumferential direction along the outside of the support frame so that the vertical movement is possible when the structure is made of a material that the drive mechanism is responsive to the magnetic.

And, the position adjusting means is mounted to the front end of the traveling mechanism, and associated with the horizontal moving portion and the horizontal moving portion for moving the crushing means perpendicular to the traveling direction, Shanghai for moving the crushing means up and down Can be configured to include eastern.

In addition, the horizontal moving unit is mounted on the guide rail disposed in the front of the traveling mechanism perpendicular to the driving direction and the second drive unit and the guide rail provided on both sides of the guide rail to rotate the guide rail, the guide It may be configured to include a moving frame that moves perpendicular to the driving direction in accordance with the rotation of the rail.

Here, the shangdongbu is one side is connected by the upper end and the shaft of the movable frame, the other side is mounted on the connecting arm and the movable frame connected to the crushing means and connected to the other side of the connecting arm, the connecting arm It may be configured to include a third drive provided to lift.

One embodiment of the robot provided with the obstacle removing and traveling assistance device of the present invention relates to the position of the obstacle through a plurality of crushing means capable of positioning the obstacle existing on the driving direction side of the traveling mechanism such as a robot through the configuration as described above It can be removed without the effect.

In addition, in the case of an obstacle that is not easy to remove, a combination of a plurality of crushing means may be expected to assist the driving mechanism to easily drive on the obstacle.

In addition, it is also possible to expect the effect that the magnetic force member is provided to enable the traveling of the vertical structure made of a material that the traveling mechanism reacts to the magnetic.

1 is a perspective view of the obstacle removing and running assistance device of the present invention.
Figure 2a is a perspective view of one embodiment of the shredding means of the present invention.
Figure 2b is a perspective view of another embodiment of the shredding means of the present invention.
3 is a perspective view of the position adjusting means of the present invention.
4 is a view illustrating a state in which the crushing means is moved horizontally to remove obstacles in the left and right driving directions in the present invention.
5 is a view showing a state in which the crushing means vertically moved to remove obstacles in the upper and lower driving direction in the present invention.
FIG. 6 is a view illustrating a state in which a crushing unit is combined to assist obstacle driving of a traveling mechanism in the present invention.
Figure 7 is a state diagram showing a state in which the traveling mechanism is equipped with the present invention to remove obstacles.
8 is a state diagram in which the driving mechanism equipped with the present invention is assisted by obstacle driving.
9 is a state diagram showing a driving mechanism equipped with the present invention to drive the vertical pipe.

In order to help the understanding of the features of the present invention as described above, it will be described in more detail with respect to the robot equipped with obstacle removal and driving assistance apparatus according to an embodiment of the present invention.

In order to help the understanding of the embodiments described below, in the reference numerals described in the accompanying drawings, among the components that will perform the same function in each embodiment, the related components are denoted by the same or extension numerals.

Embodiments related to the present invention are basically based on facilitating obstacle removal and driving assistance by using a plurality of crushing means mounted to be positioned in front of the traveling mechanism.

Hereinafter, a specific embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a perspective view of an obstacle removing and traveling assistance device of the present invention, Figure 2a is a perspective view of one embodiment of the shredding means of the present invention, Figure 2b is a perspective view of another embodiment of the shredding means of the present invention, Figure 3 is the present invention Perspective view of the position adjusting means.

Looking at the configuration of the present invention with reference to Figures 1 to 3, the present invention is disposed at the front end of the traveling mechanism, the crushing means 200 provided to remove obstacles and the linkage between the driving mechanism and the crushing means 200 It may be configured to include a position adjusting means 300 provided to adjust the position of the shredding means 200 according to the position of the obstacle.

The driving mechanism may be provided as a robot, a flaw detector, or the like for exploring pipes, storage tanks, and the like, and may include driving means such as an electric motor, an engine, and the like for driving wheels or tracks so as to basically drive itself. And, it may be configured to include an image equipment that can deliver the interior of the structure to be explored to the worker.

The crushing means 200 is disposed in front of the traveling mechanism, which means the driving direction side of the traveling mechanism. The shredding means 200 is disposed at the front end of the traveling mechanism to remove various obstacles such as sludge that are encountered as the traveling mechanism travels.

The shredding means 200 is disposed outside the support frame 210 and the support frame 210 associated with the position adjusting means 300, the shredding unit 220 and the position control provided to remove the obstacle It may be configured to include a first drive member 230 is disposed on the rotation axis of the means 300 and the support frame 210, the support frame 210 is provided to rotate.

Specifically, in the embodiment of the present invention, the support frame 210 is provided in a cross structure. Here, in the support frame 210, two support plates 213 having a plurality of square holes 211 are coupled to each other by a plurality of support beams. However, the structure of the support frame 210 is not necessarily limited thereto, and provided in a circle, oval, polygon, etc. within a range in which rotation is possible by the first driving means positioned on the rotation axis of the support frame 210. Can be.

The plurality of square holes 211 of the support frame 210 is to allow the obstacles such as sludge crushed by the crushing unit 220 to be smoothly discharged to the surroundings without remaining in the support frame 210. This shape will also be unlimited in the range of easy discharge.

The crushing part 220 is disposed in the cross-shaped protrusion 217 of the support frame 210. In the embodiment of the present invention, the shredding part 220 is provided with a plurality of blades 221. The blade 221 has a sharp blade and may be made of a material such as steel. Obstacles, such as agglomerated sludge, collide with the blade 221 and are crushed to facilitate driving of the driving mechanism.

The plurality of blades 221 are fastened between two support plates 213 constituting the support frame 210 by fasteners such as bolts. If the blade 221 is worn in the future to facilitate the replacement. However, the support frame 210 may be fixed to the support frame 210 so as not to be replaced. In this case, the entire support frame 210 may be replaced to replace the blade 221.

The central portion 215 of the support frame 210 is connected to the first driving member 230. In the embodiment of the present invention, the first driving member 230 is provided as a motor, and the central portion 215 of the support frame 210 is connected to the shaft of the motor to rotate as the motor is driven.

When the driving mechanism faces an obstacle while driving, the operator drives the first driving member 230, and accordingly, the support frame 210 is rotated, thereby being disposed outside the support frame 210. The crushing unit 220 is to rotate together to crush the obstacle.

In addition, the support frame 210 further includes a magnetic member 240 disposed in a circumferential direction along the outside of the support frame 210 so that the vertical movement is possible when the structure is made of a material in which the driving mechanism responds to the magnetism. It can be configured to include. The magnetic member 240 provides a magnetic force that can withstand gravity when the traveling mechanism moves a vertical tube, a steep slope tube, or the like (see FIG. 9). Here, the magnetic force member 240 may be provided as a permanent magnet having a circular shape, and may be provided as an electromagnet for easier control.

Next, the crushing means 200 is connected to the position adjusting means 300 installed at the front end of the traveling mechanism. The position adjusting means 300 serves to adjust the position of the crushing means 200 according to the position of the obstacle existing on the driving direction side of the traveling mechanism.

Here, the position adjusting means 300 is mounted to the front end of the traveling mechanism, and associated with the horizontal moving part 310 and the horizontal moving part 310 for moving the crushing means 200 perpendicular to the traveling direction, It may be configured to include a shanghai East 320 for moving the shredding means 200 up, down.

That is, the position adjusting means 300 can be moved up and down and left and right, specifically, the horizontal moving part 310 is a guide rail 311 and the guide rail 311 disposed perpendicular to the driving direction in front of the traveling mechanism ) Is mounted on the second driving member 313 and the guide rail 311 installed on both sides of the guide rail 311 so as to rotate, and moves perpendicularly to the traveling direction according to the rotation of the guide rail 311. It may be configured to include a moving frame 315.

The guide rail 311 is installed in the direction perpendicular to the running at the front end of the traveling mechanism. In the embodiment of the present invention, the guide rail 311 is provided as a cylindrical beam formed with a screw, it is configured to rotate as the second drive means to both sides of the guide rail 311.

In this case, the second driving means may be provided as a stepping motor, and in this case, the second driving means may be driven slowly, thereby enabling precise position control of the moving frame 315 moving along the screw of the guide rail 311.

The movable frame 315 is installed on the guide rail 311, and a protrusion fitted to a screw on the guide rail 311 is provided inside the movable frame 315 (not shown), and the guide rail is provided. As the 311 rotates, the protrusion moves along the screw to adjust the position of the moving frame 315. Accordingly, the crushing means 200 connected to the position adjusting means 300 is able to move left and right.

A support rail 312 may be provided at the front of the driving direction side of the guide rail 311, and the support rail 312 has the moving frame 315 along the guide rail 311 to be precisely left and right. It will act as a direction to move to.

Next, the Shanghai East 320 is mounted on the upper end of the moving frame 315. The shanghai east part 320 is mounted on one side is connected to the upper end and the shaft of the moving frame 315, the other side is connected to the crushing means 200 and the arm 321 and the moving frame 315 And a third driving member 323 which is connected to the connection arm 321 and provided to raise and lower the connection arm 321.

Specifically, the upper end of the moving frame 315 is provided with a block 327 bent in the a-shape toward the driving direction side of the traveling mechanism, the connection arm 321 is linked to the end of the bent block 327 by a shaft. .

In addition, the third driving member 323 is mounted at the lower center portion of the movable frame 315. The third driving member 323 is connected between the lower end of the moving frame 315 and the connection arm 321 is provided to raise and lower the connection arm 321.

Here, in the embodiment of the present invention, the third driving member 323 may be provided as a hydraulic cylinder. That is, the cylinder side of the hydraulic cylinder is fixed to the lower center portion of the moving frame 315 and the rod 324 side is mounted to the connecting arm 321 to change the length of the rod 324 in accordance with the hydraulic supply of the hydraulic cylinder It is possible to determine whether the lifting of the connecting arm 321 through.

The other side 350 of the connecting arm 321 is connected to the first driving member 230 of the crushing means 200, the first driving member 230 to be mounted to the support frame 210 A mounting table 233 is installed, and the mounting table 233 is fitted into the end hole 353 of the connecting arm 321 and coupled with the position adjusting means 300 by a fastener 351 such as a bolt. Will be. Thereafter, as the position adjusting means 300 is driven, the position of the crushing means 200 is changed.

On the other hand, the shredding means 200 associated with the position adjusting means 300 may be operated in plurality. When moving the actual pipe, storage tank, etc., obstacles on the driving direction side of the traveling mechanism may exist in various positions in the vertical direction or the left and right. In this case, it is not only cumbersome to remove it with one of the shredding means 200, but also in terms of working time.

In this case, when the crushing means 200 is provided in plural, the obstacle removal operation such as sludge may be performed more easily. Referring to FIG. 4, in order to remove obstacles existing in the left and right driving directions of the traveling mechanism. By rotating the guide rail 311 to move the moving frame 315 to the left and right of the driving direction, it can be seen that the plurality of shredding means 200 to move to a position to remove it.

And, referring to Figure 5, in order to remove the obstacles existing in the driving direction side of the traveling mechanism by operating the third drive member 323 to raise the connection arm 321 to the plurality of crushing means ( It can be seen that 200 is moved to the position where each obstacle exists. As described above, since the plurality of shredding means 200 is provided, the above operation is efficiently performed.

In addition, referring to Figure 6, when the crushing means 200 is provided with a plurality of obstacles when the removal of the obstacle is not easy to see that the driving mechanism is combined to facilitate the running on the obstacle to the shape of a wheel close to the circular shape Can be. When combined in the shape of the wheel as described above to ride on the obstacle in the direction of travel of the driving mechanism serves to allow the driving mechanism to run in the future (see Figure 8).

In the above, the configuration of the present invention has been described, and in the following, an operation process of the present invention mounted and operated on the driving mechanism will be described.

Figure 7 is a state diagram showing a state in which the driving mechanism is equipped with the present invention to remove the obstacle, Figure 8 is a state diagram showing the state in which the driving mechanism is equipped with the present invention assists the obstacle driving, Figure 9 is the present invention It is a state diagram showing the driving mechanism mounted to drive the vertical tube.

First, referring to FIG. 7, the traveling mechanism is introduced to inspect the inside of a structure such as a pipe, and foreign matter such as sludge that interferes with running is accumulated at the front end of the traveling mechanism to form an obstacle.

The operator recognizes this situation through an image device (not shown) provided in the driving mechanism and signals a control unit to move the plurality of shredding means 200 up and down. According to the signal according to the embodiment of the present invention while the hydraulic pressure is supplied to the hydraulic cylinder implemented by the third drive member 323 any one of the plurality of shredding means 200 moves to the top, the other one hydraulic cylinder The oil pressure will be released to the lower portion.

Now, when the shredding means 200 is moved to a position suitable for removing obstacles such as sludge, the operator gives a signal through the controller again to operate the shredding means 200. In the embodiment of the present invention according to the signal, the motor implemented by the first driving member 230 is rotated, the support frame 210 that was connected to the motor shaft is rotated together with the plurality of blades 221 Will collide with the obstacle. The obstacle starts to be crushed gradually as it collides with the plurality of blades 221 and no longer disturbs the running of the driving mechanism.

Next, FIG. 8 illustrates an obstacle in which foreign substances such as sludge and chemicals are firmly hardened and not crushed by the crushing means 200. This will be a later action after the worker attempts to remove the obstacle through the above process, but the result is not smooth.

If the worker is not crushed even though the above process proceeds, the operator may choose a method that can proceed smoothly beyond the obstacle. First, a signal is supplied to a controller and the hydraulic cylinder is driven to control the hydraulic pressure supply of the hydraulic cylinder so that the plurality of crushing means 200 can move to the same position.

When the plurality of shredding means 200 moves to the same position, the operator sends a signal to the controller again to drive the first driving member 230 to support the support frame 210 of the plurality of shredding means 200. Position the cross structure to intersect.

In the exemplary embodiment of the present invention, when two crushing means 200 are operated and two crushing means 200 are crossed and combined, the shape of the circular wheel becomes close. Now the signal to the control unit again to rotate the two motors implemented by the first driving member 230 at the same speed at the same time. That is, the two crushing means 200 serve as driving assistance wheels at the front end of the traveling mechanism.

Now, when the hydraulic cylinder is slowly raised while rotating the two crushing means 200 to cross the obstacle, the driving assistance wheels implemented by the two crushing means 200 are gradually climbed on the obstacle.

Then, when the hydraulic cylinder is operated again, the front end of the traveling mechanism is heard by the traveling auxiliary wheels having the upper end of the obstacle as a supporting point. At this time, since the driving assistance wheels continue to rotate, the driving mechanism may overcome obstacles.

Next, in Figure 9, the driving mechanism can be seen when driving the vertical tube made of a material that reacts to the magnetic, first, the worker is supplied with hydraulic pressure to the hydraulic cylinder through the control unit the two pieces are combined with each other The means 200 is brought into contact with one side of the vertical tube.

At this time, the magnetic force member 240 is mounted to the outside of the support frame 210 so that the combined crushing means 200 is in close contact with one side of the vertical tube. Here, the magnetic force member 240 may be implemented as a permanent magnet or an electromagnet, and as the motor implemented by the first driving member 230 rotates, the magnetic force member 240 may be in close contact with one side of the vertical tube and drive in a vertical direction by riding on sidewalls. Will be. At this time, the magnetic force of the magnetic member 240 will have a magnetic force enough to bear the weight of the traveling mechanism.

Through such a configuration and operation process, obstacles existing in the driving direction of the driving device can be removed regardless of the position, and when the obstacles are not easy to be removed or when driving various types of pipes, the effect can be expected. have.

The foregoing merely shows specific embodiments of the obstacle removing and driving assistance device.

Therefore, it should be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. do.

110. Traveling device 200 ... Crushing means
210.Support frame 220 ... Crushing part
230 ... first driving member 240 ... magnetic member
300 position adjusting unit 310 horizontal moving unit
311 Guide rails 312 Support rails
313 ... 2nd drive member 315 ... moving frame
320 ... up and down 321 ... connecting arm
323 ... third drive member

Claims (6)

A crushing means (200) disposed in front of a robot, such as a robot that operates inside a structure such as a water tank, a pipe, or the like, and provided to remove an obstacle that prevents the traveling of the driving mechanism from inside the structure; And
And a position adjusting means 300 which is connected between the driving mechanism and the crushing means 200 and is provided to adjust the position of the crushing means 200 according to the position of the obstacle.
The shredding means 200, the support frame 210 associated with the position adjusting means 300; and the shredding portion 220 is disposed around the outer periphery of the support frame 210, and provided to break the obstacle; And a first driving member 230 disposed on a rotation axis of the support frame 210 and providing a rotational force so that the support frame 210 can rotate.
The support frame 210 is provided in a cross shape, the crushing portion 220 is provided with a plurality of blades in the cross-shaped protrusion, the crushing means 200 is to remove obstacles in the driving direction up and down or left and right at the same time or mutual Robot provided with an obstacle removing and driving assistance device, characterized in that a plurality provided to assist the traveling of the traveling mechanism to cross.
A crushing means (200) disposed in front of a robot, such as a robot that operates inside a structure such as a water tank, a pipe, or the like, and provided to remove an obstacle that prevents the traveling of the driving mechanism from inside the structure; And
And a position adjusting means 300 which is connected between the driving mechanism and the crushing means 200 and is provided to adjust the position of the crushing means 200 according to the position of the obstacle.
The position adjusting means 300 is mounted to the front end of the traveling mechanism, the horizontal moving unit 310 for moving the crushing means 200 to the left and right in the running direction; And a moving part 320 installed between the horizontal moving part 310 and the crushing means 200, and lifting and lowering the crushing means 200. The obstacle removing and traveling assistance device is provided. robot.
3. The method of claim 2,
The shredding means 200,
A support frame 210 associated with the position adjusting means 300;
A crushing unit 220 disposed around the outer side of the support frame 210 and provided to crush an obstacle; And
A first driving member 230 disposed on a rotation axis of the support frame 210 and providing a rotational force such that the support frame 210 is rotatable;
Robot with an obstacle removal and driving assistance device comprising a.
The method of claim 3,
The support frame 210 is provided in a cross shape, the crushing portion 220 is provided with a obstacle removing and driving assistance device, characterized in that provided with a plurality of blades in the cross-shaped protrusion.
5. The method of claim 4,
The crushing means 200 is provided with a plurality of obstacle removing and driving assistance device, characterized in that a plurality of obstacles to remove the obstacle in the up and down, left and right of the driving direction at the same time or cross each other to assist the driving of the traveling mechanism.
6. The method according to claim 1 or 5,
The support frame 210 further includes a magnetic member 240 disposed in a circumferential direction along an outer circumference of the support frame 210 to allow vertical movement when the structure is made of a material in which the driving mechanism responds to the magnetism. Robot with obstacle removal and driving assistance device, characterized in that.

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