KR20190019612A - Cable climbing inspection robot with remote control - Google Patents

Abstract

The present invention relates to a mobile robot for cable inspection capable of radio control, and more particularly, to a mobile robot for cable inspection, in which a driving wheel rotated by a belt connected to a motor is radially arranged in a case, To a mobile robot for cable inspection capable of radio control so as to simplify the structure of the driving unit and to minimize the volume of the driving unit.

Description

[0001] CABLE CLIMBING INSPECTION ROBOT WITH REMOTE CONTROL [0002]

The present invention relates to a cable inspection robot. More particularly, the present invention relates to a cable inspection robot, in which a driving wheel rotated by a belt connected to a motor is radially arranged in a case, which is tilted by a cylinder at both ends of the frame, So that the structure and the volume of the driving unit can be minimized.

Cables are used in many modern constructions such as suspension bridges, cable-stayed bridges, and structures installed outside of high-rise buildings.

Structures or structures using these cables should be inspected or repaired periodically for safety inspection or maintenance after installation.

Conventionally, the operator has to directly access the cable at the time of inspecting or repairing such a cable. However, this method is dangerous because the safety of the operator is not guaranteed.

In order to solve such a problem, an operator may perform a remote inspection using a high magnification telescope or a camera without directly accessing a cable. However, when observing from a fixed position on the ground, the opposite side is obscured, Even when the unmanned helicopter is mounted on the vehicle, there is a problem that the operation efficiency is lowered.

In order to solve such a problem, a mobile robot capable of moving on a cable has recently been developed and used.

Such robots are disclosed in Korean Patent Publication No. 10-1451190 (cable mobile robot), 10-1430250 (caterpillar for cable mobile robot and cable mobile robot using the same).

1, the mobile robot includes a first gripper portion 100 having a first driving wheel portion 120 for holding and fixing a cable; A second gripper part 200 having a second driving wheel part 220 to hold and fix the cable; And a first link 310 fastened and fixed to the first gripper part 100 and a second link 320 fastened and fixed to the second gripper part 200. The first link 310, The second link 320 is coupled to the main hinge 330 so as to be rotated by a predetermined angle and includes a link driving unit 340 for adjusting the angle of the first link 310 and the second link 320 The link driving unit 340 includes a screw 343 mounted on the second link 320 and rotated by a link driving motor 344; A slider 342 mounted on the screw 343 and linearly movable by rotation of the screw 343; The other end of which is coupled to the rod 310 by the first rod hinge 3411 so as to be rotatable by the second rod hinge 3412, 341).

As shown in FIG. 2, the crawler for a cable moving robot and the cable moving robot using the crawler can easily move a cable or the like having a floor and a valley repeatedly formed along the longitudinal direction as shown in FIG. 2, A plurality of first rotating members 110 rotatably spaced apart from each other in the case 105 and a second rotating member 110 rotatably provided between the first rotating member 110 and a portion of the first rotating member 110 A second rotating member 120 protruding outwardly of an imaginary plane contacting the outer surface of the second rotating member 120; A belt member 130 mounted on the first rotating member 110 and the second rotating member 120; And a tension adjusting unit 140 for supporting the belt member 130 downward to adjust the tension of the belt member 130 and located between the second rotating member 120 and the first rotating member 110, ).

However, such a conventional cable mobile robot has a specific structure of a gripper mechanism part, a tension adjusting part, and the like, which is very complicated in realizing a moving mechanism, which leads to a relatively large volume and an increase in weight and inconvenience of carrying.

In addition, since the weight and volume increase, it is limited to operate wirelessly using the battery, and the power line is connected and operated, so that the power line may be twisted or cut.

Korean Patent Registration No. 10-1451190 Korean Patent Publication No. 10-1430250

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a driving unit, in which a driving wheel rotated by a belt connected to a motor is radially arranged in a case, So that the structure of the driving unit can be simplified and the volume can be minimized.

It is another object of the present invention to provide a mobile robot for cable inspection which can be wirelessly controlled by attaching a battery to the outside of the case and being operated and controlled by radio.

According to an aspect of the present invention,

A case having a triangular shape each formed in a plate shape; And a plurality of driving units coupled to respective corners of the case and installed at both ends of the frame for moving the driving wheels along a cable by a cylinder and including a driving motor for rotating the driving wheels with a belt, do.

Here, the mobile robot for cable inspection capable of wireless control further includes a battery and a wireless receiver installed outside the case.

Here, the mobile robot for cable inspection capable of wireless control further includes a plurality of stoppers for pressing the cable to the top of the case to fix the case.

Here, the frame of the driving unit may include a length adjusting bar extending from both ends, having length adjusting tabs formed on both sides thereof at equal intervals, and having a guide hole formed in a longitudinal direction at the center thereof; A length adjusting clamp which is moved back and forth in a length adjusting tab of the length adjusting bar; And a cylinder whose one end is connected to the length adjusting clamp and whose other end is connected to the driving wheel through the guide hole of the length adjusting bar and whose angle is adjusted by adjusting the length of the length adjusting clamp.

Here, the frame of the driving unit is formed with protruding hinges protruding outward at both ends of the frame to fasten the driving wheels.

Here, the driving wheel is connected and hinged at one end to the hinge jaw, the other end is coupled to the cylinder, and the pair of rollers are symmetrically installed and connected to each other by the auxiliary belt. One roller is connected and rotated according to the rotation of the driving motor.

Here, the frame of the driving unit is provided with a draw-in hole through which the belt is drawn in the center, and guide rollers are provided on both sides of the draw-in hole to guide the belt.

Here, the frame of the driving unit is provided with a camera at one end.

Here, the length adjusting clamp is provided with an elastic handle, and when the elastic handle is press-fitted, the length adjusting bar is disengaged from the length adjusting tab of the length adjusting bar and is moved back and forth in the length adjusting tab of the length adjusting bar, Releasing the pressure of the length adjusting tab to maintain the current position.

Here, the stopper may include an LM block coupled to a center portion of an upper surface of each of the cases; An electric cylinder mounted on a side surface of the LM block, the electric cylinder being positioned at the center of the upper surface of the case and having a piston moving forward and rearward to press the cable; And a press-in member formed in a cylindrical shape to be coupled to an end of the piston of the electric cylinder, and having an inclined surface formed on both sides with respect to the center on the inner side so as to be in close contact with the cable.

According to the mobile robot for cable inspection capable of being wirelessly controlled as described above, the driving wheel, which is rotated by the belt connected to the motor, is radially arranged in the case, which is tilted by the cylinder at both ends of the frame, So that the structure of the driving unit can be simplified and the volume can be minimized, so that it is easy to carry and handle and the working efficiency can be increased.

In addition, according to the present invention, by attaching a battery to the outside of the case and operating and controlling it wirelessly, it is possible to work alone by a worker, thereby reducing inspection cost and inspection time.

1 and 2 are perspective views showing the configuration of a conventional mobile robot for cable inspection capable of radio control.
3 is a perspective view showing the configuration of a mobile robot for cable inspection capable of radio control according to the present invention.
Figure 4 is a side view of Figure 3;
5 is a plan view of Fig.
6 is a perspective view showing the configuration of a driving unit among mobile robots for cable inspection capable of wireless control according to the present invention.
Fig. 7 is a side view of Fig. 6. Fig.
8 is a plan view of Fig.
FIG. 9 is a perspective view showing a mobile robot for cable inspection capable of radio control according to the present invention installed on a cable. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a configuration of a mobile robot for cable inspection capable of wireless control according to the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions of the present invention, and these may be changed according to the intention of the user, the operator, or the like. Therefore, the definition should be based on the contents throughout this specification.

FIG. 3 is a perspective view showing a configuration of a mobile robot for cable inspection capable of radio control according to the present invention, FIG. 4 is a side view of FIG. 3, FIG. 5 is a plan view of FIG. 3, FIG. 7 is a side view of FIG. 6, FIG. 8 is a plan view of FIG. 6, and FIG. 9 is a perspective view of a cable inspection mobile robot according to the present invention, In which the cable is installed.

3 to 9, a mobile robot 100 for cable inspection capable of wireless control according to the present invention includes a case 110, a driving unit 120, and a stopper 130.

First, the case 110 is made of metal or synthetic resin, and is formed into a plate shape, and is coupled with the frame 121 of the driving unit 120 to form a triangular shape. At this time, the protective case 111 is further coupled to each corner portion of the case 110 to protect the driving unit 120, and one or more plates are separated so as to be easily coupled to the cable C, Are inserted and mutually coupled and separated, and the locker 115 is provided at the separated portion to increase the coupling force.

6 to 8, the driving unit 120 includes a frame 121, a length adjusting clamp 122, a cylinder 123, a driving wheel 124, a belt 125, and a driving motor 126, .

The frame 121 is formed of a metal or a synthetic resin. The length adjusting bar 121a extends in the same line at both ends, and the driving wheels 124 are fastened to both ends of the upper surface And the hinge jaw 121b is protruded outward. At this time, the length adjusting bar 121a is formed with equal length-adjusting tabs T on both sides thereof, and a guide hole 121c is formed in the center of the length adjusting bar 121a.

The frame 121 is provided with an inlet hole 121d through which the belt 125 is drawn in the center and guide rollers 121e guiding the belt 125 on both sides of the inlet hole 121d , It is preferable that the camera 140 is installed at one end.

The length adjusting clamp 122 is moved forward and backward by the length adjusting tab T of the length adjusting bar 121a. When the elastic grip 122a is provided to press the elastic grip 122a, the length adjusting bar 121a The length adjustment tab T of the length adjusting bar 121a is moved back and forth while the engagement of the length adjusting tab T with the length adjusting tab T is reversed, Combined to maintain the current position.

One end of the cylinder 123 is hinged to the length adjusting clamp 122 and the other end of the cylinder 123 is hinged to the driving wheel 124 through the guide hole 121c of the length adjusting bar 121a, The angle is adjusted by adjusting the length of the light guide 122. At this time, it is preferable that the cylinder 123 is a pneumatic or hydraulic cylinder.

One end of the driving wheel 124 is rotatably coupled to the hinge jaw 121b of the frame 121 and the other end is coupled to the cylinder 123 so that the pair of rollers R1 and R2 are symmetrical And one of the rollers (a roller not in contact with the cable) R 1 is connected to the belt 125 and is rotated in accordance with the rotation of the driving motor 126. At this time, the auxiliary belt 124a provided on the outer side of the other roller (the roller contacting with the cable) R2 comes into point contact with the cable C and the cable C).

The belt 125 is rotated by the driving motor 126 to rotate any one of the rollers R1 of the driving wheels 124 to rotate the other one of the rollers R2.

The driving motor 126 is installed on the bottom surface (i.e., the outer surface) of the frame 121, and rotates the belt 125. [ At this time, the driving motor 126 is a bidirectional motor.

The stopper 130 includes an LM block 131, an electric cylinder 132, and a press-in member 133.

The LM block 131 includes a fixed block 131a and a movable block 131b which slides forward and backward along the fixed block 131a and is coupled to the center of the upper surface of each case 110. [ At this time, the movable block 131b is bolted to the fixed block 131a.

The electric cylinder 132 is provided on the side of the movable block 131b of the LM block 131 and is located at the center of the upper surface of the case 110 and is provided with a piston 132a which is moved forward and rearward to press the cable C .

The push-in member 133 is formed in a cylindrical shape of metal or synthetic resin so as to be coupled to the end of the piston 132a of the electric cylinder 123, 133a are formed.

A mobile robot 100 for cable inspection capable of wireless control according to the present invention includes a battery 150 installed outside a case 110 and a wireless receiver 160 for controlling the operation of each component by receiving a wireless signal And a power switch 170 so as to be operated wirelessly, and may be installed in a wired manner according to the selection.

Hereinafter, the operation of the mobile robot for cable inspection capable of wireless control according to the present invention will be described in detail with reference to the accompanying drawings.

First, the locker 115 is unlocked from any one of the cases 110 in order to install the cable C in a state where the respective components are coupled to the case 110, Is positioned inside the driving unit 120. [ At this time, the length adjusting clamp 122 is moved as far as possible to the inside so as not to interfere with the driving wheel 124 of the driving unit 120 so that the angle of the cylinder 123 is lowered so that the driving wheel 124 is widened outward.

The length of the length adjusting clamp 122 is adjusted so that the auxiliary belt 124a provided outside the roller R2 of each of the driving wheels 124 contacts the cable C .

Six pairs of auxiliary belts 124a located on the roller R2 among the six driving wheels 124 located on both sides of the respective driving parts 120 are brought into close contact with the cable C. [

Then, the operator adjusts the position of the LM block 131 of the stopper 130 to adjust the position of the electric cylinder 132 so that the press-in member 133 can press-fit the cable C.

In this state, when the operator operates the remote control terminal (not shown) and communicates with the wireless receiving unit 160 to operate the driving motor 126 in one direction with the power switch 170 turned on, the belt 125 The roller R1 of the driving wheel 124 connected to the roller R1 is rotated and the auxiliary belt 124a connecting the roller R1 and the roller R2 is rotated and is lifted along the cable C. [

Then, the camera 140 captures the cable C, and transmits the captured image to the remote control terminal or the server through the wireless receiving unit 160.

In the case where it is desired to photograph a specific portion of the cable C in a check state more precisely or to fix the cable inspection mobile robot 100 capable of radio control to the cable C, the operator operates the remote control terminal 120 is stopped and the electric cylinder 132 of the stopper 130 is operated.

When the piston 132a of the three-way electric cylinder 132 is discharged, the cable inspecting mobile robot 100 capable of radio control by pressing the cable C on the inclined surface 133a while the press-in member 133 is advanced ) To the cable (C).

On the other hand, when the inspection is completed, the above process is reversed, and the mobile robot 100 for cable inspection capable of wireless control is lowered and separated from the cable C.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

110: Case 120:
121: Frame 122: Length adjusting clamp
123: cylinder 124: drive wheel
125: Belt 126: Drive motor
130: stopper 131: LM block
132: electric cylinder 133: press-in member
150: battery 160: wireless receiver
170: Power switch

Claims (10)

A case having a triangular shape each formed in a plate shape;
And a plurality of driving units coupled to respective corners of the case and installed at both ends of the frame for moving the driving wheels along a cable by a cylinder and including a driving motor for rotating the driving wheels with a belt, A mobile robot for cable inspection capable of wireless control. The method according to claim 1,
The mobile robot for cable inspection capable of the above-
Further comprising a battery and a wireless receiver mounted on the outside of the case. The method according to claim 1,
The mobile robot for cable inspection capable of the above-
Further comprising a plurality of stoppers for pressing the cable to the upper end of the case to fix the case. The method according to claim 1,
The frame of the driving unit
A length adjusting bar extending from both ends, having length adjusting tabs formed at equal intervals on both sides thereof, and having a guide hole formed at a center thereof in the longitudinal direction;
A length adjusting clamp which is moved back and forth in a length adjusting tab of the length adjusting bar; And
And a cylinder whose one end is connected to the length adjusting clamp and whose other end is connected to the driving wheel through the guide hole of the length adjusting bar and whose angle is adjusted by adjusting the length of the length adjusting clamp. A mobile robot for cable inspection that can be controlled. The method according to claim 1,
The frame of the driving unit
And a hinge jaw to which the driving wheel is fastened is formed to protrude outward on both ends of one side of the moving robot. 6. The method of claim 5,
The drive wheel,
A pair of rollers are installed symmetrically so as to be mutually rotated by the auxiliary belt, and one of the rollers is connected to one of the rollers, Wherein the motor is rotated in accordance with the rotation of the motor. The method according to claim 1,
The frame of the driving unit
And a guide roller for guiding the belt on both sides of both sides of the inlet hole are provided in the central portion of the movable robot. The method according to claim 1,
The frame of the driving unit
And a camera is installed at one end of the mobile robot. 5. The method of claim 4,
The length-
When the elastic handle is press-fitted, the length adjusting bar is released from the length adjusting tab and is moved back and forth in the length adjusting tab of the length adjusting bar. When the elastic grip is released, Wherein the mobile robot is capable of being controlled in a wireless manner. The method of claim 3,
The stopper
An LM block coupled to a top center portion of each of the cases;
An electric cylinder mounted on a side surface of the LM block, the electric cylinder being positioned at the center of the upper surface of the case and having a piston moving forward and rearward to press the cable; And
And a press-fit member formed in a cylindrical shape to be coupled to an end of a piston of the electric cylinder and having an inclined surface formed on both sides with respect to a central portion on an inner side so as to be in close contact with the cable.

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