KR101003734B1 - Mine detector drive - Google Patents

Abstract

The present invention relates to a drive device for a mine detector, which can be driven without affecting the mine detection, and the operation of the arm connected to the sensor unit that detects the mine and the operation of the sensor unit are decoupled so that the mine detection is convenient and accurate. In addition, the present invention relates to a mine detector driving device that can be applied to an unmanned platform as well as manual operation because it can minimize the installation space constraints and manipulate the trajectory and position of each joint.

According to an aspect of the present invention, there is provided a driving device for a mine detection device, comprising: a motor box having drive motors, an upper arm disposed on one side of the motor box, and an upper arm and a first shaft connected to each other through a second shaft. The lower arm is connected to the drive shaft of the first motor provided in the motor box and the first shaft is connected to the lower arm driving belt is driven by the drive of the first motor, the upper and lower rotational movement is made The first shaft is bearing-coupled to the first pitching pulley, and the driving shaft of the second motor provided in the motor box and one end of the first pitching pulley are connected to the first pitching belt and the other end of the first pitching pulley The second pitching pulley coupled to the second shaft is connected to the second pitching belt, characterized in that the pitching operation of the mine detection sensor unit is performed by the driving of the second motor.

Mine detection and driving device

Description

Mine detector drive unit {A DRIVING DEVICE FOR MINE DETECTOR}

The present invention is a mine detector drive device for detecting the suspected landmines buried in the portable or vehicle and unmanned vehicles of humans, more specifically, the drive device is designed in a multi-joint folding method to limit the installation space The present invention relates to a mine detector driving device that can be minimized and controlled by a motor of each joint to manipulate trajectories and positions.

The mine detector currently in operation is divided into a mine sensor part 100 and a user operation part 200 as shown in FIG. 11, and a fastening method employs a method of connecting the long rods 210 and 220 to each other through manual operation. .

In the case of such an assembly type mine detector, the assembly and disassembly must be repeated every time before and after the mine detection, which causes a lot of inconvenience in mine detection operation, and may increase the mine detection time.

In addition, there are problems in that structural rigidity is very weak due to two or three thin rods connected to each other, and inconvenience of having to carry a case for storing each component.

On the other hand, in order to automate the operation of the mine detector, the joint arm is used to insert and drive a motor in each joint. When the driving method is applied to the mine detector, the angle of the joint is determined according to the rotation angle of the motor mount and the motor shaft. As a result, the link angle of the previous step in which the motor is mounted affects the link angle to be moved at present, so that the bottom surface of the sensor unit is difficult to maintain a constant angle with respect to the ground.

In addition, when the motor is used in each joint, there is a problem that the metal material constituting the motor may affect the sensor unit for detecting the metal, thereby reducing the accuracy of mine detection.

The present invention has been devised to solve the above-mentioned problems of the conventional mine detector, which can be driven without affecting the mine detection, and the operation of the arm and the operation of the sensor unit connected to the sensor unit for detecting the mine are Decoupling allows not only the bottom of the sensor unit to maintain a constant angle to the ground, but also minimizes the installation space constraints and allows the maneuvering and position of each joint to be manipulated, making it possible to land mines that can be applied to unmanned platforms as well as manual operation. It is an object of the present invention to provide a driving device for a detector.

In accordance with an aspect of the present invention, there is provided a drive device for a mine detector, comprising: a motor box including drive motors, an upper arm disposed on one side of the motor box, and an upper arm and a first device. A lower arm connected through a first shaft and connected to a mine detection sensor unit through a second shaft, and a driving shaft and a first shaft of the first motor provided in the motor box are connected by a lower arm driving belt to drive the first motor. The upper and lower rotational movement of the lower arm is performed, the first pitching pulley is bearing-coupled to the first shaft, and the driving shaft of the second motor provided in the motor box and one end of the first pitching pulley are The second pitching pulley connected to the first pitching pulley and coupled to the other end of the first pitching pulley and the second shaft is connected to the second pitching belt, and the pitch of the mine detection sensor unit is driven by the driving of the second motor. Characterized in that operation takes place.

In addition, the mine detector drive device according to the present invention, the first rolling pulley bearing coupled to the other end of the first shaft, the mine detection sensor unit and the bevel gear is connected to the second shaft Further comprising a second rolling pulley, the drive shaft of the third motor provided in the motor box and one end of the first rolling pulley is connected to the first rolling belt, the other end and the second rolling pulley of the first rolling pulley It is connected to the two rolling belts, characterized in that the rolling operation of the mine detection sensor unit is performed by the drive of the third motor.

In addition, in the case of using the sensor unit mainly for metal detection, in the drive device for a mine detector according to the present invention, all the components constituting the lower arm and the upper arm can be made of a non-metallic material.

Further, optionally in the drive device for a mine detector according to the present invention, the lower arm and the mine detection sensor unit is characterized in that the structure can be folded toward the upper arm.

According to the drive device for minesweeper according to the present invention, each joint is characterized in that the structure is a power transmission by the belt. In addition, in the present invention, the belt and the belt for moving the pitch of the mine detection sensor unit is coupled to the first shaft bearing and connected to the pulley, the movement of the sensor unit from the movement of the lower arm by the rotational motion of the first axis It is desynchronized. Therefore, the sensor unit can maintain a constant angle with respect to the bottom surface regardless of the operation of the lower arm.

In addition, according to the drive device for minesweeper according to the present invention, since the motor is not used in each joint portion, all components except for the motor box portion disposed on one side of the upper arm can be made of a non-metallic material. Since the motor box including the metal material maintains a distance of about 1 m from the sensor unit when the mine detector operates, it does not affect the sensor unit of the mine detector which detects metal and detects the presence of mines.

In addition, according to the drive device for minesweeper according to the present invention, as shown in Figures 9 and 10, the lower arm and the sensor unit is completely folded into the upper arm when the menu puller is fully folded and folded When not in use, the length of the horizontal axis can be reduced by approximately 50% or more. In this way, the overall dimensions are reduced, thereby minimizing space when installed in vehicles and mobile platforms. In addition, since the folded state of the lower arm and the sensor unit forms a stable form, there is a strong advantage against internal and external shocks.

The singular forms used to describe the embodiments of the present invention are intended to include the plural forms as well, unless the phrases clearly indicate the opposite. And “comprises” means specific features, domains, integers, steps, actions, elements and / or components, and the presence or addition of other specific features, domains, integers, steps, actions, elements, components and / or groups. It is not excluded.

Unless defined otherwise, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. In addition, commonly used terms defined in advance are not to be interpreted in an ideal or very formal sense unless further interpreted and defined as having a meaning consistent with the related technical literature and the presently disclosed contents.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of the drive device for a mine detector according to the present invention, the present invention is not limited to the following embodiments. Therefore, it will be apparent to those skilled in the art that the present invention may be variously modified without departing from the technical spirit of the present invention.

1 is a perspective view of a drive device for a mine detector according to an embodiment of the present invention, Figure 2 is a perspective view of the housing portion removed from the perspective view of Figure 1, Figure 3 is a drive for a mine detector according to an embodiment of the present invention 4 is a side view of the device, and FIG. 4 is a front view of a drive for a mine detector according to an embodiment of the present invention.

As shown in the drawings, a mine detector drive device 1 according to a preferred embodiment of the present invention, the upper arm 10, the lower arm 20 is connected to the lower portion of the upper arm 10, A first link unit 30 connecting the upper arm 10 and the lower arm 20, a second link unit 40 connecting the lower arm 20 and the mine detection sensor unit 60; It consists of a motor box 50 disposed on one side of the upper arm (10).

The upper arm 10 is made of synthetic resin and covers two first and second arms 11a and 11b formed to cover an internal power transmission component and support a load, and the first and second arms 11a, 11b) includes a first connecting plate 12 connecting each other. In addition, as shown in FIG. 2, the first arm 11a includes a pulley and a first link unit 30 formed on a motor shaft of the first motor 51 provided in the motor box 50. The lower arm driving belt 13 connected to the lower arm driving pulley 32 formed at the end of the first shaft 31 constituting the () is disposed, and the third motor 53 provided inside the motor box 50. A first rolling belt 15 connected to one end of the first rolling pulley 35 bearingly coupled to the pulley formed on the motor shaft of the crankshaft and the outer peripheral surface of one side of the first shaft 31 is disposed. Meanwhile, the first shaft 31 constituting the pulley and the first link unit 30 formed on the motor shaft of the second motor 52 provided in the motor box 50 are formed inside the second arm 11b. The first pitching belt 14 is connected to one end of the first pitching pulley 34 bearing-coupled to the outer circumferential surface of the other side).

The lower arm 20 is made of the same synthetic resin as the upper arm 10 and the two third and fourth arms (21a, 21b) formed to cover the power transmission parts and support the load, and the And a second connecting plate 22 connecting the third and fourth arms 21a and 21b to each other. In addition, as shown in FIG. 2, the third arm 21a is formed at one end of the second shaft 41 constituting the first rolling pulley 35 and the second link portion 40. A second rolling belt 24 is disposed to connect power of the second rolling pulley 43 to each other, and the first pitching pulley 34 and the second link are disposed inside the fourth arm 21b. A second pitching belt 23 for connecting the second pitching pulley 42 formed at the end of the second shaft 41 constituting the portion 40 is disposed.

As shown in FIGS. 2, 6, 7 and 8, the first link unit 30 has a lower arm driving pulley geared to the first shaft 31 and one end of the first shaft 31. (32), a spacer (33) inserted into a central portion of the first shaft (31), and a first pitching pulley (34) disposed on both sides of the spacer (33) and engaged on the first shaft (31). ) And the first rolling pulley 35. Each of the first pitching pulley 34 and the first rolling pulley 35 has a cylindrical tubular shape, and an accommodating part for accommodating a belt is formed at both ends, and is bearing-coupled with the first shaft 31. It is characterized in that the decoupling with respect to the rotational movement of the first shaft (31).

The second link portion 40 includes a second shaft 41, a second pitching pulley 42 geared to one end of the second shaft, and a second rotatably coupled to the other end of the second shaft. It is made of a rolling pulley 43, the second shaft 41 is fixedly coupled to the mine detection sensor unit (60). In addition, one side of the second rolling pulley 43 is also coupled to the mine detection sensor unit 60 and the bevel gear 44, as shown in FIG.

The motor box 50 is disposed above the upper arm 10, and includes first, second and third motors 51, 52, and 53, a housing 54 covering these motors, and the motor. 54) and brackets for fixing them.

The mine detection sensor unit 60 detects metal to determine whether or not there is a mine, a cradle 62 for mounting the sensor, and a cradle for connecting the cradle to the lower end of the lower arm 40. It consists of a fixed portion (63).

In the case of the mine detector drive device 1 according to the preferred embodiment of the present invention configured as described above, as shown in FIG. 5, all components from the sensor unit to the upper arm are made of a non-metallic material. Only the motor box part is made of metal. As a result, since there is nothing made of metal up to about 1 m from the sensor unit 60, in the case of detecting the presence of landmines through metal detection, it is possible to prevent the degradation of accuracy due to the driving device.

Next, each driving mechanism for driving the sensor unit through the mine detector drive device 1 according to the preferred embodiment of the present invention will be described.

Lower arm  Rotation

6 is a block diagram of a mechanism for driving a lower arm in a mine detector driving device according to an embodiment of the present invention.

When the first motor 51 provided in the motor box 50 is driven, as shown in FIG. 6, the motor shaft pulley of the first motor 51 is gear-coupled to one end of the first shaft 11. The first shaft 11 is rotated by the rotational movement of the lower arm driving pulley 32.

Accordingly, the upper end of the lower arm 20 connected to the first shaft 11 is driven up and down by the first motor 51, and as a result, the upper and lower rotational operations of the lower arm 20 are performed. .

Pitching operation of the mine detection sensor unit

7 is a mechanism diagram for the pitching operation of the sensor unit 60 in the mine detector drive device according to an embodiment of the present invention.

As shown in FIG. 7, when the second motor 52 is driven, the first pitching belt 14 rotates, and the first pitching pulley 34 connected to the first shaft rotates.

Then, the second pitching pulley 42 connected through the first pitching pulley 34 and the second pitching belt 23 rotates, and accordingly, the second shaft 41 geared to the second pitching pulley 42. ) Rotates, and the up and down driving, that is, the pitching operation of the mine detection sensor unit 60 connected to the second shaft 41 is made.

Of the mine detection sensor unit Rolling motion

8 is a mechanism diagram for driving a sensor unit pitching in the mine detector driving device according to an embodiment of the present invention.

As shown in FIG. 8, when the third motor 53 is driven, the first rolling belt 15 rotates, and the first rolling pulley 35 connected to the first shaft rotates.

Then, the second rolling pulley 43 connected to the first rolling pulley 35 is rotated through the second rolling belt 24. On the other hand, since one end of the second rolling pulley 43 is coupled to the mine detection sensor unit and the bevel gear, the sensor unit 60 is rotated by the second rolling pulley 43 by the second rolling pulley 43. It rotates at right angles to. That is, the left and right rotation operation is possible.

1 is a perspective view of a drive device for a mine detector according to an embodiment of the present invention.

2 is a perspective view of a state in which the housing portion is removed from the perspective view of FIG. 1.

3 is a side view of a mine detector driving device according to an embodiment of the present invention.

4 is a front view of a drive device for a mine detector according to an embodiment of the present invention.

5 is a view showing a range in which a non-metallic material is applied in the mine detector driving device according to the embodiment of the present invention.

6 is a block diagram of a mechanism for driving a lower arm in a mine detector driving device according to an embodiment of the present invention.

7 is a mechanism diagram for pitching driving of a sensor unit in a mine detector driving device according to an embodiment of the present invention.

8 is a mechanism of the sensor unit rolling drive in the mine detector driving device according to an embodiment of the present invention.

9 is a side view showing a state in which the menu puller is opened in the mine detector driving device according to the embodiment of the present invention.

10 is a side view showing a state where the menu puller is folded in the mine detector driving apparatus according to the embodiment of the present invention, respectively.

11 is a perspective view of a conventional mine detector.

Claims (4)

As a drive device for a mine detector, A motor box 50 having drive motors, an upper arm 10 disposed on one side of the motor box 50, and one end thereof are connected to the upper arm 10 through a first link unit 30. The other end has a lower arm 20 connected to the landmine sensor unit 60 through the second link unit 40, The first link portion 30 includes a first arm 31, a lower arm driving pulley 32 geared to one end of the first shaft 31, and a central portion of the first shaft 31. A spacer 33 inserted into the spacer 33, a first pitching pulley 34 and a first rolling pulley 35 disposed on both sides of the spacer 33 and coupled to the first shaft 31. Each of the first pitching pulley 34 and the first rolling pulley 35 has a cylindrical tubular shape, and a receiving part for accommodating a belt is formed at both ends, and is bearing-coupled with the first shaft 31. Decoupling with respect to the rotational movement of the single shaft 31, The second link portion 40 includes a second shaft 41, a second pitching pulley 42 geared to one end of the second shaft 41, and the other of the second shaft 41. A second rolling pulley 43 rotatably coupled to the end; The drive shaft of the first motor 51 provided in the motor box 50 and the first shaft 31 are connected to the lower arm driving belt 13 to drive the lower arm by driving the first motor 51. 20, the up and down rotation operation is made, The driving shaft of the second motor 52 provided in the motor box 50 and one end of the first pitching pulley 42 are connected to the first pitching belt 14 and the other of the first pitching pulley 42 is provided. The second pitching pulley 42 coupled to the stage and the second shaft 41 is connected to the second pitching belt 23, so that the mine detection sensor unit 60 is driven by the second motor 52. Pitching operation is made, All except for the motor box 50, the drive device for a mine detector, characterized in that made of a non-metallic material. delete delete The method of claim 1, The lower arm 20 and the mine detection sensor unit 60 is a drive device for a mine detector, characterized in that the structure that can be folded toward the upper arm (10).

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