Active joint module and robot for inspection of pipeline with this module

Patent metadata

Field	Value
Publication number	US-10132713-B2
Application number	US-201514931098-A
Country	US
Kind code	B2
Filing date	Nov 3, 2015
Priority date	Nov 13, 2014
Publication date	Nov 20, 2018
Grant date	Nov 20, 2018

Abstract

Provided herein is an active joint module, and a robot for inspecting pipelines having the active joint module, the active joint module including a frame unit; a first bracket connected to one side of the frame unit in a rotatable manner, and to which a first module is coupled; a second bracket connected to another side of the frame unit in a rotatable manner, and to which a second module is coupled; and a bracket rotating unit supported to the frame unit, and is configured to rotate the first bracket and second bracket independently from each other in response to receiving an operating signal, and to unconstrain rotation of the first bracket and second bracket in response to there being no operating signal received.

First claim

What is claimed is:

1. An active joint module comprising:
a frame unit;
a first bracket connected to one side of the frame unit in a rotatable manner, and coupled to a first module;
a second bracket connected to another side of the frame unit in a rotatable manner, and coupled to a second module; and
a bracket rotating unit supported to the frame unit, and configured to selectively control between respective independent controlled rotations of the first bracket and second bracket and respective not constraining of rotations of the first bracket and second bracket.

2. The active joint module of claim 1 , wherein the bracket rotating unit performs the selective control, in response to an operating signal received from a controller, between the respective independent rotations of the first bracket and second bracket and the respective not constraining of rotation of the first bracket and second bracket.

3. The active joint module of claim 1 , wherein the bracket rotating unit comprises:
a first bracket rotating unit connected to the first bracket and configured to rotate the first bracket; and
a second bracket rotating unit arranged near the first bracket rotating unit and connected to the second bracket, and configured to rotate the second bracket.

4. The active joint module of claim 3 , wherein the first bracket rotating unit and second bracket rotating unit comprise:
a main pulley connected to the frame unit in a rotatable manner, and to which the first bracket and second bracket are coupled, respectively; and
a pulley rotating unit connected to the main pulley, and configured to rotate the main pulley.

5. The active joint module of claim 4 , wherein the pulley rotating unit comprises:
a sub pulley connected to the frame unit in a rotatable manner, and arranged in a distanced position from the main pulley;
a wire connected to the main pulley and sub pulley, and configured to rotate the main pulley and sub pulley; and
a wire motion unit connected to the wire, and configured to move the wire.

6. The active joint module of claim 5 , wherein the wire motion unit comprises:
a block to which the wire is coupled;
a guide configured to guide a motion of the block; and
a block driving unit configured to move the block.

7. The active joint module of claim 6 , wherein the block driving unit comprises:
a driving motor;
a ball screw connected to the driving motor, and configured to be rotated by the driving motor; and
a moving nut coupled to the block, and configured to be geared to the ball screw.

8. The active joint module of claim 7 , wherein the block driving unit comprises a plurality of power transmission gears configured to connect the driving motor and ball screw, and to transmit driving force of the driving motor to the ball screw.

9. The active joint module of claim 5 , wherein the frame unit comprises:
a main frame; and
a tension adjusting unit coupled to the main frame, and configured to move the sub pulley in a direction approaching or distancing from the main pulley so as to adjust tension of the wire.

10. The active joint module of claim 9 , wherein the tension adjusting unit comprises:
a motion block to which the sub pulley is coupled in a rotatable manner, the motion block being connected to the main frame in a movable manner;
a motion block guide unit configured to guide a motion of the motion block; and
a motion block driving unit configured to move the motion block.

11. The active joint module of claim 10 , wherein in the motion block guide unit, a guide hole is formed through which a guide arm protruding from the motion block passes.

12. The active joint module of claim 11 , wherein the motion block driving unit comprises an adjusting screw geared to the motion block guide unit and configured to press the motion block.

13. A robot for inspecting pipelines having an active joint module comprising:
a frame unit;
a first bracket connected to one side of the frame unit in a rotatable manner, and coupled to a first module;
a second bracket connected to another side of the frame unit in a rotatable manner, and coupled to a second module; and
a bracket rotating unit comprising a main pulley and coupled to the frame unit,
wherein the main pulley comprises a first main pulley and a second main pulley configured to rotate the first bracket and second bracket independently from each other.

14. The robot according to claim 13 , wherein the bracket rotating unit rotates the first bracket and second bracket independently from each other in response to an operating signal received from a controller.

15. The robot according to claim 13 , wherein the bracket rotating unit comprises:
a first bracket rotating unit connected to the first bracket, and configured to rotate the first bracket; and
a second bracket rotating unit arranged near the first bracket rotating unit, connected to the second bracket, and configured to rotate the second bracket.

16. The robot according to claim 15 , further comprising:
a pulley rotating unit comprising a first pulley rotating unit configured to rotate the first main pulley and a second pulley rotating unit configured to rotate the second main pulley.

17. The robot according to claim 16 , wherein the pulley rotating unit comprises:
a sub pulley connected to the frame unit in a rotatable manner, and arranged in a distanced position from the main pulley;
a wire connected to the main pulley and sub pulley, and configured to rotate the main pulley and sub pulley; and
a wire motion unit connected to the wire, and configured to move the wire.

18. The robot according to claim 17 , wherein the wire motion unit comprises:
a block to which the wire is coupled;
a guide configured to guide a motion of the block; and
a block driving unit configured to move the block.

19. The robot according to claim 18 , wherein the block driving unit comprises:
a driving motor;
a ball screw connected to the driving motor, and configured to be rotated by the driving motor; and
a moving nut coupled to the block, and configured to be geared to the ball screw.

20. The robot according to claim 19 , wherein the block driving unit comprises a plurality of power transmission gears configured to connect the driving motor and ball screw, and to transmit driving force of the driving motor to the ball screw.

Assignees

• Research & Business Found Sungkyunkwan Univ

Inventors

• Choi Hyouk Ryeol
• Kim Homoon
• Moon Hyeong Min
• Park Chanmin
• Yang Seung Ung
• Choi Yun Seok

Classifications

• F17D5/02 Primary

  Preventing, monitoring, or locating loss · CPC title

• G01M3/005 Primary

  using pigs or moles (G01M3/246, G01M3/2823 take precedence) · CPC title

• F16L2101/30

  Inspecting, measuring or testing · CPC title

• F16L55/40

  of the body · CPC title

• Y10S901/28

  Joint · CPC title