ROBOT TRAVELING DEVICE

The present disclosure relates to a robot traveling device including a body part, a moving part that slidably moves in a longitudinal direction of the body part, a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit under 35 USC § 119(a) of Korean Patent Application No. 10-2022-0017512, filed on Feb. 10, 2022, the entire disclosure of which are incorporated herein by reference for all purposes.

BACKGROUND

1. Field of the Invention

The present disclosure relates to a robot traveling device, and more particularly, to a robot traveling device which may satisfy both flexibility and an adhesive force by automatically distributing a load while passing through a pipe.

2. Discussion of Related Art

In general, almost all driving modules used in mobile robots are designed in consideration of suspension. The driving modules are designed to be flexibly changed according to an external ground state so that the driving modules are used as traveling modules. In this case, since it is enough to consider only a weight of a body as an applied load, an idler individually implements the suspension by appropriately selecting a spring constant.

However, in the case of a driving module used in a pipe robot, a traction force factor should be additionally considered, and the traction force is proportional to a surface friction coefficient to a gripping force (an adhesive force) that is a force applied to a wall by the driving module.

When the driving module of the pipe robot is designed in the conventional method (a method in which the suspension is implemented in each idler), the flexibility and adhesive force are in a trade-off relationship, and thus one of the two factors should be abandoned.

In order to solve this problem, a robot using a pneumatic component as the suspension has been manufactured. However, in the case of a pneumatic method, since a pneumatic line is essential, a wireless robot cannot be manufactured, and a maximum adhesive force is limited. Therefore, it is required to improve this problem.

The background technology of the present disclosure is disclosed in Korean Patent Publication No. 2015-0078119 (published on Jul. 8, 2015, Title of the Invention: Moving Robot for Inspecting Inside of Pipe).

SUMMARY OF THE INVENTION

The present disclosure is directed to providing a robot traveling device capable of automatically distributing a load to simultaneously satisfy flexibility and an adhesive force while passing through a pipe.

A robot traveling device includes a body part, a moving part that slidably moves in a longitudinal direction of the body part, a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, wherein loads of the front end traveling part and the rear end traveling part are shared through the moving part.

The body part may include a body housing portion having a length in a left-right direction, and a body space part formed in a longitudinal direction of the body housing portion and providing a movement space for the moving part.

The moving part may include a moving line portion disposed in the longitudinal direction of the body part, and a moving connection portion that slidably moves along the moving line portion.

The front end traveling part and the rear end traveling part may be connected to the moving connection portion and may be rotatable on the same axis.

The front end traveling part and the rear end traveling part may each be rotatably connected to one of a pair of moving connection portions.

The front end traveling part may include a front end main rod portion rotatably mounted on the moving part, a front end support rod portion having both ends rotatably connected to a front end of the body part and the front end main rod portion, a front end connection rod portion rotatably connected to the front end main rod portion, and a front end wheel portion that is rotatably mounted on the front end connection rod portion and is rotatable by contact friction.

The rear end traveling part may include a rear end main rod portion rotatably mounted on the moving part, a rear end support rod portion having both ends rotatably connected to a rear end of the body part and the rear end main rod portion, a rear end connection rod portion rotatably connected to the rear end main rod portion, and a rear end wheel portion that is rotatably mounted on the rear end connection rod portion and is rotatable by contact friction.

The robot traveling device may further include a restoration part that is supported by the body part and provides a restoring force to the moving part.

The robot traveling device may further include a power generation unit that is mounted on the body part and generates power, and a traveling belt part that surrounds the body part, is supported by the front end traveling part and the rear end traveling part, and moves the body part while moving in a caterpillar manner by the power generation unit.

The power generation unit may be driven in a wired or wireless manner.

The robot traveling device may further include a detection unit that detects deformation of the front end traveling part and the rear end traveling part, and a modeling unit that receives a detection signal of the detection unit to model a pipe shape.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, a robot traveling device according to embodiments of the present disclosure will be described with reference to the accompanying drawings. In this process, the thicknesses of lines or the sizes of components illustrated in the drawings may be exaggerated for clarity and convenience of description. Further, terms described below are terms defined in consideration of functions in the present disclosure and may change according to the intention or custom of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

FIG.1is a schematic view illustrating a robot traveling device according to an embodiment of the present disclosure. Referring toFIG.1, a robot traveling device1according to the embodiment of the present disclosure may include a body part10, a moving part20, a front end traveling part30, and a rear end traveling part40.

The body part10may form a frame of the robot traveling device1. In the body part10, a circuit board for operating a pipe robot may be embedded, and a sensor for detecting a state of a pipe may be installed.

The moving part20may slidably move in a longitudinal direction of the body part10. As an example, the body part10has a length in a left-right direction, and the moving part20may slidably move in the left-right direction.

The front end traveling part30is rotatably mounted on the body part10and the moving part20and is rotated by contact friction to guide traveling of the body part10. The rear end traveling part40is rotatably mounted on the body part10and the moving part20and is rotated by contact friction to guide traveling of the body part10.

The front end traveling part30and the rear end traveling part40may have shapes symmetrical to each other, and may be interchangeably called according to a traveling direction of the body part10. As an example, when the body part10travels in a leftward direction, the front end traveling part30may be disposed on a left side of the body part10, and the rear end traveling part40may be disposed on a right side of the body part10. When the body part10travels in a rightward direction, the front end traveling part30may be disposed on a right side of the body part10, and the rear end traveling part40may be disposed on a left side of the body part10. Meanwhile, one or more sets of the front end traveling part30and the rear end traveling part40may be mounted on the body part10. When the front end traveling part30and the rear end traveling part40are arranged as a plurality of sets of front end traveling parts30and rear end traveling parts40, a plurality of moving parts20may be arranged in the longitudinal direction of the body part10, and the front end traveling part30and the rear end traveling part40may be connected to the respective moving parts20.

When the body part10travels along the pipe or the ground, loads of the front end traveling part30and the rear end traveling part40are shared through the moving part20. That is, when the front end traveling part30raises while passing over an obstacle, the load may be distributed to the rear end traveling part40through the moving part20, and when the rear end traveling part40raises while passing over an obstacle, the load may be distributed to the front end traveling part30through the moving part20. Accordingly, the robot traveling device1may smoothly pass over an obstacle in the pipe and obtain high traction even on a curved surface.

Meanwhile, the moving parts20may be arranged on both sides of the body part10, the front end traveling part30and the rear end traveling part40are arranged in the respective moving parts20, and thus the body part10can be stably supported.

FIG.2is a schematic view illustrating a body part according to an embodiment of the present disclosure. Referring toFIG.2, the body part10according to the embodiment of the present disclosure includes a body housing portion11and a body space portion12.

The body housing portion11has a length in a left-right direction. As an example, a sensor for inspecting the pipe and a circuit board may be embedded in the body housing portion11.

The body space portion12is formed in a left-right direction of the body housing portion11and provides a movement space of the moving part20. As an example, the body space portion12may be a hole or groove formed in a longitudinal direction of the body housing portion11.

FIGS.3A and3Bare schematic views illustrating a moving part according to an embodiment of the present disclosure. Referring toFIGS.3A and3B, the moving part20according to the embodiment of the present disclosure includes a moving line portion21and a moving connection portion22.

The moving line portion21is disposed in the longitudinal direction of the body part10. As an example, the moving line portion21may be mounted on the body housing portion11and disposed on the body space portion12. The moving line portion21may be embedded in the body housing portion11or mounted outside the body housing portion11.

The moving connection portion22slidably moves along the moving line portion21. As an example, the moving connection portion22may be slidably connected to the moving line portion21and may move along the moving line portion21due to an external force. A bearing for suppressing friction when the moving connection portion22is in contact with the moving line portion21may be provided in the moving connection portion22.

Meanwhile, the front end traveling part30and the rear end traveling part40may be simultaneously connected to the moving connection portion22. That is, the front end traveling part30and the rear end traveling part40may be connected to the moving connection portion22and may be rotatable on the same axis (seeFIG.3A). In this case, according to a design, the front end traveling part30and the rear end traveling part40may be arranged on different axes.

In addition, the front end traveling part30and the rear end traveling part40may each be rotatably connected to one of a pair of moving connection portions22(seeFIG.3B). In this case, the pair of moving connection portions22may be arranged consecutively or connected through a separate connection member.

FIG.4is a schematic view illustrating a front end traveling part according to an embodiment of the present disclosure. Referring toFIG.4, the front end traveling part30according to the embodiment of the present disclosure includes a front end main rod portion31, a front end support rod portion32, a front end connection rod portion33, and a front end wheel portion34.

The front end main rod portion31is rotatably mounted on the moving part20. As an example, an upper end of the front end main rod portion31may be rotatably mounted on the moving connection portion22and may be disposed obliquely downward in a leftward (frontward) direction of the body housing portion11.

Both ends of the front end support rod portion32are rotatably connected to a front end of the body part10and the front end main rod portion31. As an example, the front end support rod portion32may rotate in a state in which a position thereof is fixed to a front end of the body housing portion11and may be rotatably connected to a central portion of the front end main rod portion31. Accordingly, a lower end of the front end main rod portion31may move in a vertical direction.

The front end connection rod portion33is rotatably connected to the front end main rod portion31. As an example, a central portion of the front end connection rod portion33may be connected to a lower end of the front end main rod portion31. A pin spring for restoration may be embedded in the front end connection rod portion33.

The front end wheel portion34is rotatably mounted on the front end connection rod portion33and may rotate by contact friction. As an example, the front end wheel portions34may be rotatably mounted on both ends of the front end connection rod portion33and have a wheel shape to be in close contact with the ground or an inner wall of the pipe. The front end wheel portion34may rotate by friction when the body part10moves by an external force, and a motor may be directly provided in the front end wheel portion34to guide traveling as needed.

FIG.5is a schematic view illustrating a rear end traveling part according to an embodiment of the present disclosure. Referring toFIG.5, the rear end traveling part40according to the embodiment of the present disclosure includes a rear end main rod portion41, a rear end support rod portion42, a rear end connection rod portion43, and a rear end wheel portion44.

The rear end main rod portion41is rotatably mounted on the moving part20. As an example, an upper end of the rear end main rod portion41may be rotatably mounted on the moving connection portion22and may be disposed obliquely downward in a rightward (rearward) direction of the body housing portion11.

Both ends of the rear end support rod portion42are rotatably connected to a rear end of the body part10and the rear end main rod portion41. As an example, the rear end support rod portion42may rotate in a state in which a position thereof is fixed to a rear end of the body housing portion11and may be rotatably connected to a central portion of the rear end main rod portion41. Accordingly, a lower end of the rear end main rod portion41may move in a vertical direction.

The rear end connection rod portion43is rotatably connected to the rear end main rod portion41. As an example, a central portion of the rear end connection rod portion43may be connected to a lower end of the rear end main rod portion41. A pin spring for restoration may be embedded in the rear end connection rod portion43.

The rear end wheel portion44is rotatably mounted on the rear end connection rod portion43and may rotate by contact friction. As an example, the rear end wheel portions44may be rotatably mounted on both ends of the rear end connection rod portion43and have a wheel shape to bring into close contact with the ground or an inner wall of the pipe. The rear end wheel portion44may rotate by friction when the body part10moves by an external force, and a motor may be directly provided in the rear end wheel portion44to guide traveling as needed.

FIG.6is a schematic view illustrating a restoration part according to an embodiment of the present disclosure. Referring toFIG.6, the robot traveling device1according to the embodiment of the present disclosure may further include a restoration part50.

The restoration part50according to the embodiment of the present disclosure is supported by the body part10and provides a restoring force to the moving part20. As an example, the restoration part50may be a spring-shaped elastic body or a cylinder of which a length may be adjusted by a hydraulic pressure or a pneumatic pressure and may be embedded in the body space portion12to elastically support both sides of the moving connection portion22. The restoration part50may guide the moving connection portion22so that the moving connection portion22returns quickly.

FIG.7is a schematic view illustrating a power generation unit and a traveling belt part according to an embodiment of the present disclosure. Referring toFIG.7, the robot traveling device1according to the embodiment of the present disclosure may further include a power generation unit60and a traveling belt part70.

The power generation unit60is mounted on the body part10to generate power. As an example, the power generation unit60may be mounted on each of left and right ends of the body housing portion11.

The traveling belt part70surrounds the body part10, is supported by the front end traveling part30and the rear end traveling part40, and moves the body part10while moving in a caterpillar manner by the power generation unit60. As an example, the traveling belt part70may be a caterpillar surrounding the body housing portion11and supported by the front end wheel portion34and the rear end wheel portion44. The traveling belt part70is engaged with the power generation unit60, and when power is applied to the power generation unit60, while supported by the front end wheel portion34and the rear end wheel portion44, the traveling belt part70may move in a caterpillar manner to guide traveling of the body part10.

FIG.8is a schematic view illustrating a state in which the power generation unit is driven in a wired manner according to an embodiment of the present disclosure. Referring toFIG.8, the power generation unit60is driven in a wired manner. As an example, the power generation unit60may be connected to a cable part100and may be driven by power supplied from the cable part100. In this case, the cable part100may directly transmit a control signal to the power generation unit60or may be connected to a circuit board provided in the body housing portion11to transmit a control signal.

FIG.9is a schematic view illustrating a state in which the power generation unit is driven in a wireless manner according to an embodiment of the present disclosure. Referring toFIG.9, the power generation unit60is driven in a wireless manner. As an example, the power generation unit60may be connected to a battery part200provided in the body housing portion11, and the circuit board may receive a remote signal provided from the outside to control the power generation unit60.

FIG.10is a schematic view illustrating a detection unit and a modeling unit according to an embodiment of the present disclosure. Referring toFIG.10, the robot traveling device1according to the embodiment of the present disclosure may further include a detection unit80and a modeling unit90.

The detection unit80detects deformation of the front end traveling part30and the rear end traveling part40. As an example, the detection unit80may detect heights of the front end traveling part30and the rear end traveling part40that raise or lower or rotational angles thereof.

The modeling unit90receives a detection signal of the detection unit80to model a pipe shape. As an example, the modeling unit90may model the pipe shape on a display device so that a user may visually identify the pipe shape.

An operation of the robot traveling device having the above structure according to an embodiment of the present disclosure will be described below.

The body space portion12is formed in the body housing portion11, and the moving connection portion22is slidably connected to the moving line portion21disposed on the body space portion12. The front end traveling part30and the rear end traveling part40are rotatably mounted on the moving connection portion.22. The front end traveling part30and the rear end traveling part40support the traveling belt part70, and the power generation unit60is engaged with the traveling belt part70.

In this state, when the control signal is transmitted and the power generation unit60is operated, the body part10travels while the traveling belt part70moves in a caterpillar manner.

Meanwhile, when the front end traveling part30passes over an obstacle, the front end traveling part30raises while coming into contact with a protruding obstacle. Accordingly, while the moving connection portion22is pushed and moved, the load is distributed to the rear end traveling part40.

Thus, since the load is automatically distributed to the front end traveling part30and the rear end traveling part40, flexibility and a gripping force can be simultaneously satisfied during traveling even when a user encounters various obstacles, and an adhesive force with the traveling belt part70can be stably maintained. Further, the front end traveling part30and the rear end traveling part40are deformed according to a state of a traveling pipe, and the detection unit80may detect this deformation to predict the pipe shape.

In the robot traveling device1according to the embodiment of the present disclosure, the front end traveling part30and the rear end traveling part40are connected to the moving part20that slidably moves in the body part10, the load applied to any one of the front end traveling part30and the rear end traveling part40is distributed to the other one thereof through the moving part20, and thus the flexibility and gripping force of the module can be improved.

Although the present disclosure has been described with reference to embodiments illustrated in the drawings, the description is merely illustrative, and those skilled in the art to which the technology belongs could understand that various modifications and other equivalent embodiments may be made. Thus, the true technical scope of the present disclosure should be determined by the appended claims.