KR101415756B1 - Mobile Robot Having Link - Google Patents

Abstract

A movable robot having links is disclosed. According to an embodiment of the present invention, the movable robot is a robot capable of moving while being attached to a vertical wall or a horizontal wall. The movable robot comprises: four links (110, 120, 130, 140) having four joints (111, 121, 131, 141); four attachment parts (201, 202, 203, 204) having a plate-shaped conductive pad and mounted in the middle of the links; a driving part (300) mounted on one among the four joints (111, 121, 131, 141) and supplying driving force to the closely mounted link; and a power supply part (400) for supplying electricity to the conductive pad and the driving part (300). The movable robot is attached to the wall by the four attachment parts. When the robot is attached to a wall by the four attachment parts and electricity is supplied to one among the four attachment parts, the links are driven by the driving part. Accordingly, the movable robot can vertically and laterally driven by the links.

Description

Mobile Robot Having Link}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot including a link, and more particularly, to a mobile robot including a link having a specific structure and a plate-shaped electrostatic pad so as to more efficiently move a vertical wall or a horizontal wall.

Recently, much research has been conducted on a robot that can move on a wall. In particular, a conventional vertical wall-moving robot capable of moving a vertical wall surface utilizes an air compressor, an adhesive, a magnet, a sharp member, or an infinite-orbit electrostatic pad for attaching to a vertical wall surface.

1 is a perspective view of a vertical wall-moving robot according to the related art.

Referring to FIG. 1, a vertical wall-moving robot 10 according to the related art requires a plurality of devices 11, 12, 13, and 14 to be attached to a vertical wall surface. Specifically, as shown in FIG. 1, the conventional vertical wall-moving robot 10 includes a plurality of driving units 11 and a heavy-weight frame structure 12. Such a structure causes the increase in the weight of the robot, and consequently, a large amount of electric power is required for stable operation of the robot.

2 and 3 are perspective views of a vertical wall-moving robot according to the related art.

Referring to these drawings, the robot 20 utilizing the adhesive 21 can leave a foreign matter 22 on the wall surface. In addition, the robot 30 utilizing the sharp member 31 can cause physical damage 32 to the wall surface.

Therefore, it is difficult for such robots 20 and 30 to be applied to a building constituted by a building or a wall made of a glass material, which is important for aesthetics of appearance. As a result, the application fields of such robots 20 and 30 are extremely limited.

FIG. 4 is a perspective view of a vertical wall-moving robot according to still another prior art.

4, the vertical wall-surface-moving robot 40 utilizing the endless track electrostatic pad 42 attaches the electrostatic pad 42 to the endless track type vehicle 41 to show only one- Which shows only very limited movements.

Accordingly, there is a need for a vertical wall surface or a horizontal wall surface moving robot which can omit a plurality of driving parts and a heavy weight frame structure without leaving any foreign matter or physical damage on the wall surface, thereby minimizing the total weight of the robot. to be.

Korean Patent Publication No. 10-2011-0069768 (published on June 23, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-described problems of the prior art and the technical problems required from the past.

It is an object of the present invention to provide a mobile robot having a link structure of a specific structure, a plate-shaped electrostatic pad, and a driving part, and does not leave any foreign matter or physical damage on the wall surface in moving the vertical wall surface or the horizontal wall surface.

It is a further object of the present invention to provide a mobile robot capable of omitting a plurality of driving parts and a frame structure of a high weight so as to minimize the total weight of the robot and consequently to move the wall with very little power consumption .

According to an aspect of the present invention, there is provided a mobile robot including:

A robot attached to and movable on a vertical wall surface or a horizontal wall surface,

Four links containing four joints;

Four mounting portions each including a plate-shaped electrostatic pad and mounted at the center of each of the links;

A driving unit mounted on one of the four joints to supply a driving force to the adjacent mounted link;

A power supply unit for supplying electricity to the electrostatic pad and the driving unit;

, ≪ / RTI &

Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,

In a state in which only one of the four attachment portions is supplied with electric power, the link may be driven by driving of the driving portion, and the structure may be capable of driving up, down, left, and right by driving the link.

Further, the mobile robot includes:

A receiver for receiving an operation command of the controller; And

A control unit for transmitting a control signal to the power supply unit according to a signal received from the receiving unit;

As shown in Fig.

According to an aspect of the present invention, the plate-

A first electrode and a second electrode that form an electric field with each other by electric application;

An insulating part made of a flexible material and electrically insulated from the first electrode and the second electrode at a predetermined interval; And

A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;

. ≪ / RTI >

In this case, a fastening protrusion or a fastening groove may be formed on the outer surface of the support portion so that the external mounting member can be mounted or assembled with another member.

The driving unit may be a servo motor, a linear actuator, or a DC motor.

A mobile robot according to another aspect of the present invention includes:

A robot attached to and movable on a vertical wall surface or a horizontal wall surface,

Four links containing four joints;

Two mounting portions each including a plate-shaped electrostatic pad and mounted at the center of two links facing each other among the four links;

A driving unit mounted on one of the four joints to supply a driving force to the adjacent mounted link;

A power supply unit for supplying electricity to the electrostatic pad and the driving unit;

, ≪ / RTI &

And is attached to the wall surface by the two attachment portions,

In a state in which only one of the two attachment portions is supplied with electric power, the link may be driven by driving of the drive portion, and the link may be driven to be vertically or horizontally driven.

In this case, the plate-

A first electrode and a second electrode that form an electric field with each other by electric application;

An insulating part made of a flexible material and electrically insulated from the first electrode and the second electrode at a predetermined interval; And

A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;

. ≪ / RTI >

A fastening protrusion or a fastening groove may be formed on the outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.

A mobile robot according to another aspect of the present invention includes:

A robot that can move attached to a vertical wall surface or a horizontal wall surface,

Four links containing four joints;

Four mounting portions each including a plate-shaped electrostatic pad and mounted at the center of each of the links;

A driving unit mounted on one of the four joints to supply a driving force to the adjacent mounted link;

And a horizontal reinforcement member and a vertical reinforcement member, both ends of which are hinged to each other at a center portion of two opposite links of the four links, wherein the horizontal reinforcement member and the vertical reinforcement member are bound by a hinge structure, A reinforcing frame portion which is manually deformed by deformation;

A moment counter part hinged to the hinge part of the vertical bar and the link in a hinge structure; And

A power supply unit for supplying electricity to the electrostatic pad and the driving unit;

, ≪ / RTI &

Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,

When electric power is supplied to only one of the four attachment portions, the links are driven by the driving of the driving portion, and the driving of the link enables vertical,

The moment counter section is a plate-shaped member extending in the longitudinally downward direction from the hinge section. Even if there are mechanical deformations of the four links, the moment counter section can always maintain a vertical state around the hinge structure by its own weight.

In this case, the plate-

A first electrode and a second electrode that form an electric field with each other by electric application;

An insulating part made of a flexible material and electrically insulated from the first electrode and the second electrode at a predetermined interval; And

A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;

. ≪ / RTI >

A fastening protrusion or a fastening groove may be formed on the outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.

The other end opposite to the hinge portion of the moment counter portion may be spaced apart from the wall surface by an interval (g) of 0 to 5 mm.

A mobile robot according to another aspect of the present invention includes:

A robot attached to and movable on a vertical wall surface or a horizontal wall surface,

Four links containing four joints;

Four mounting portions each including a plate-shaped electrostatic pad and mounted at the center of each of the links;

A driving unit mounted on one of the four joints to supply a driving force to the adjacent mounted link;

And a horizontal reinforcement member and a vertical reinforcement member, both ends of which are hinged to each other at a center portion of two opposite links of the four links, wherein the horizontal reinforcement member and the vertical reinforcement member are bound by a hinge structure, A reinforcing frame portion which is manually deformed by deformation;

A moment counter coupled to the hinge of the horizontal reinforcement and the vertical reinforcement in a hinge structure; And

A power supply unit for supplying electricity to the electrostatic pad and the driving unit;

, ≪ / RTI &

Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,

When electric power is supplied to only one of the four attachment portions, the links are driven by the driving of the driving portion, and the driving of the link enables vertical,

The moment counter section is a plate-shaped member extending in the longitudinally downward direction from the hinge section. Even if there are mechanical deformations of the four links, the moment counter section can always maintain a vertical state around the hinge structure by its own weight.

In this case, the plate-

A first electrode and a second electrode that form an electric field with each other by electric application;

An insulating part made of a flexible material and electrically insulated from the first electrode and the second electrode at a predetermined interval; And

A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;

. ≪ / RTI >

A fastening protrusion or a fastening groove may be formed on the outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.

The other end opposite to the hinge portion of the moment counter portion may be spaced apart from the wall surface by an interval (g) of 0 to 5 mm.

The present invention also provides a wall moving device, wherein the wall moving device according to an aspect of the present invention includes:

And may include one or more of the mobile robots, and an external mounting member may be mounted on the mobile robot.

In this case,

Cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment.

As described above, the mobile robot according to the present invention includes a link structure of a specific structure, a plate-shaped electrostatic pad, and a driving unit, so that no foreign matter or physical damage is left on the wall surface when moving the vertical wall surface or the horizontal wall surface .

In addition, the mobile robot according to the present invention can omit a plurality of driving parts and a frame structure having a high weight, thereby minimizing the total weight of the robot, and consequently, the wall can be moved using very little power.

In addition, the wall surface moving apparatus according to the present invention can mount an external mounting member, and can be utilized in various fields.

1 to 4 are perspective views of a vertical wall-moving robot according to the related art.
5 is a plan view of a mobile robot according to an embodiment of the present invention.
6 is an enlarged perspective view of a portion A of Fig.
7 is a sectional view taken along the line B-B 'in Fig.
8 to 15 are schematic plan views showing a moving state of the mobile robot shown in Fig.
16 and 17 are plan views of a mobile robot according to another embodiment of the present invention.
18 is a plan view of a mobile robot according to another embodiment of the present invention.
19 is a sectional view taken along the line C-C 'in Fig.
Figs. 20 and 21 are schematic plan views showing the movement of the mobile robot shown in Fig. 18;
22 is a plan view of a mobile robot according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited thereto. In the description of the present invention, a detailed description of known configurations will be omitted, and a detailed description of configurations that may unnecessarily obscure the gist of the present invention will be omitted.

FIG. 5 is a plan view of a mobile robot according to an embodiment of the present invention, and FIG. 6 is an enlarged A perspective view of FIG.

5 and 6, the mobile robot 500 according to the present embodiment includes four links 110, 120, 130 and 140, four attachment parts 210, 220, 230 and 240, 300, and a power supply unit 400.

Specifically, the four links 110, 120, 130 and 140 may be composed of a first link 110, a second link 120, a third link 130 and a fourth link 140, Can be coupled to each other so as to be rotatable by a predetermined angle by the four joints (111, 121, 131, 141).

The driving unit 300 may be mounted on one of the four joints 111, 121, 131, and 141 to drive the adjacent links 110 and 120.

Specifically, the driving unit 300 mounted on the first joint 111 can provide a driving force to the first link 110 and the second link 120 bound by the first joint 111 . The driving unit 300 is not particularly limited as long as it is a motor capable of providing a driving force to the first link 110 and the second link 120. For example, A servo motor or a linear actuator, or a DC motor. The driving unit 300 may include a driving unit body 310 and a driving arm 320. The driving unit 320 may rotate the driving arm 320 to drive the adjacent links 120. [

The specific movement of the vertical wall-moving robot 500 by the driving unit 300 and the links 110, 120, 130, and 140 will be described later.

Although not shown in FIG. 5, the mobile robot 500 transmits a control signal to the power supply unit 400 by a signal received from a receiving unit (not shown) and a receiving unit (not shown) A control unit (not shown) for transmitting the image data can be additionally provided.

The four attachment portions 210, 220, 230, and 240 may include a first attachment portion 210, a second attachment portion 220, a third attachment portion 230, and a fourth attachment portion 240 And one each of the sheet-like electrostatic pads 210, and can be attached to the vertical wall surface or the horizontal wall surface. The specific operation principle of the sheet-like electrostatic pad 210 will be described with reference to FIG.

7 is a sectional view of a plate-shaped electrostatic pad according to an embodiment of the present invention.

Referring to FIG. 7, the four attachment portions 201, 202, 203, and 204 may be plate-shaped electrostatic pads including a first electrode 211, a second electrode 212, and an insulation portion 213. Specifically, the insulating portion 213 may be formed of an electrically insulating material having flexibility. The first electrode 211 and the second electrode 212 may be spaced apart from each other by a predetermined distance d, .

6, when electricity is applied to the first electrode 211 and the second electrode 212, the surface of the vertical wall facing the first electrode 211 and the second electrode 212, An electrostatic force may be generated in which the opposite polarity is induced. This induced electrostatic force causes a force to be generated between the four attachment portions 201, 202, 203, 204 and the wall surface 50 and the four attachment portions 201, 202, 203, And can be attached to the vertical wall surface 50.

The insulating portion 213 surrounding the first electrode 211 and the second electrode 212 prevents a discharge of the first electrode 211 and the second electrode 212 that are charged with high resistivity, An electrostatic force can be generated by the dielectric polarization of the resulting dielectric. The thus generated electrostatic force can provide attraction force so that the four attachment portions 201, 202, 203, 204 can be attached to the wall surface 50.

Meanwhile, the four attachment portions 201, 202, 203, and 204 may further include a support portion 214 attached to one side of the insulation portion 213. The support portion 214 is made of a material having a predetermined rigidity, and can provide mechanical rigidity to the four attachment portions 201, 202, 203, and 204.

A coupling groove 215 having a structure in which a link (110, 120, 130, 140 in FIG. 5) can be coupled and a coupling projection 216 may be protruded.

For example, another member may be a cleaning tool for cleaning a wall surface, a camera device capable of capturing an image by the purpose of reconnaissance and surveillance, and a fire device capable of being armed for military purposes . Further, another member may be disaster relief equipment, weather measurement equipment, heat sensing equipment, or welding equipment. Accordingly, the mobile robot 500 including the fastening protrusion 216 can be easily utilized by mounting suitable equipment for various purposes.

Figs. 8 and 9 are schematic plan views showing the movement of the mobile robot shown in Fig.

Referring to FIGS. 8 and 9 together with FIG. 5, the mobile robot 500 can move in the right direction by driving the driving unit 300. FIG.

Specifically, as shown in FIG. 8, the second link 120 can be rotated clockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied to only the first attachment portion 201, and the first attachment portion 201 is in a fixed state, and the remaining four attachment portions 202, 203, 204 are not blocked because electricity is blocked. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a parallelogram shape that is tilted to the right by the rotational drive of the second link 120.

9, the combined form of the entire links 110, 120, 130, and 140 may be returned to the square shape again by driving the driving unit 300. [ Specifically, the second link 120 may be rotated counterclockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the third attaching portion 203, and the third attaching portion 203 is in a fixed state, and the remaining four attaching portions 201, 202, 204 are not blocked by electricity. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a square shape by the rotational drive of the second link 120. [

As a result, the mobile robot 500 can be moved to the right by a predetermined distance D1. The moved mobile robot 500 can be firmly attached to the vertical wall by applying electricity to the four attachment parts 201, 202, 203,

Figs. 10 and 11 are schematic plan views showing the movement of the mobile robot shown in Fig.

Referring to FIGS. 10 and 11 together with FIG. 5, the mobile robot 500 can move leftward by driving the driving unit 300. FIG.

Specifically, as shown in FIG. 10, the second link 120 can be rotated counterclockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the first attaching portion 201, so that the first attaching portion 201 is in a fixed state, and the remaining three attaching portions 202, 203, 204 are not blocked by electricity. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a parallelogram shape tilted to the left by the rotational drive of the second link 120.

11, the combined form of the entire links 110, 120, 130, and 140 may be returned to the square shape again by driving the driving unit 300. As shown in FIG. Specifically, the second link 120 may be rotated clockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the third attaching portion 203, and the third attaching portion 203 is in a fixed state, and the remaining three attaching portions 201, 202, 204 are not blocked by electricity. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a square shape by the rotational drive of the second link 120. [

As a result, the mobile robot 500 can be moved to the left by a predetermined distance D2. The mobile robot 500 having completed the movement can be firmly attached to the wall by applying electricity to the four attachment parts 201, 202, 203 and 204.

Figs. 12 and 13 are schematic plan views showing the movement of the mobile robot shown in Fig.

Referring to FIGS. 12 and 13 together with FIG. 5, the mobile robot 500 can move upward by driving the driving unit 300.

Specifically, as shown in FIG. 12, the first link 110 can be rotated counterclockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the second attaching portion 202, so that the second attaching portion 202 is in a fixed state, and the remaining three attaching portions 201, 203, 204 are not blocked by electricity. Accordingly, the combined shape of the entire links 110, 120, 130, and 140 can be deformed into a parallelogram shape of the upper right side raised by the rotational driving of the first link 110. [

13, the combined form of the entire links 110, 120, 130, and 140 may be returned to the square shape again by driving the driving unit 300. [ Specifically, by driving the driving unit 300, the first link 110 can be rotated clockwise by a predetermined angle with respect to the first joint 111. At this time, electricity is applied only to the fourth attachment portion 204, and the fourth attachment portion 204 is in a fixed state, and the remaining three attachment portions 201, 202, and 203 are not blocked by electricity. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a square shape by the rotational drive of the first link 110. [

As a result, the mobile robot 500 can be moved upward by a predetermined distance D3. The mobile robot 500 having completed the movement can be firmly attached to the wall by applying electricity to the four attachment parts 201, 202, 203 and 204.

Figs. 14 and 15 are schematic plan views showing the movement of the mobile robot shown in Fig.

Referring to FIGS. 14 and 15 together with FIG. 5, the mobile robot 500 can move in the downward direction by driving the driving unit 300.

Specifically, as shown in FIG. 14, the first link 110 can be rotated clockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the second attaching portion 202, so that the second attaching portion 202 is in a fixed state, and the remaining three attaching portions 201, 203, 204 are not blocked by electricity. Accordingly, the combined shape of the entire links 110, 120, 130, and 140 can be transformed into a parallelogram shape of the lower side of the right side by the rotational driving of the first link 110. [

Then, the combined form of the entire links 110, 120, 130, and 140 may be returned to the square shape again by driving the driving unit 300, as shown in FIG. Specifically, the first link 110 can be rotated counterclockwise by a predetermined angle with respect to the first joint 111 by driving the driving unit 300. At this time, electricity is applied only to the fourth attachment portion 204, and the fourth attachment portion 204 is in a fixed state, and the remaining three attachment portions 201, 202, and 203 are not blocked by electricity. Thus, the combined form of the entire links 110, 120, 130, 140 can be transformed into a square shape by the rotational drive of the first link 110. [

As a result, the mobile robot 500 can be moved downward by a predetermined distance D4. The moved mobile robot 500 can be firmly attached to the vertical wall by applying electricity to the four attachment parts 201, 202, 203,

16 and 17 are plan views of a mobile robot according to another embodiment of the present invention.

16, the mobile robot 500A according to the present embodiment has a structure in which only two attachment portions 202 and 204 are attached to the center of two links 120 and 140 located opposite to each other Lt; / RTI > In this case, the mobile robot 500A can implement only upward and downward movement.

17, the mobile robot 500B according to the present embodiment has a structure in which only two attachment portions 201 and 203 are mounted at the centers of two links 110 and 130 positioned upside down. . In this case, the mobile robot 500B can implement only leftward and rightward movement.

18 is a plan view of a mobile robot according to another embodiment of the present invention. FIG. 19 is a sectional view taken along the line C-C 'of FIG. 18, and FIG. 20 and FIG. There is shown a plan view showing a moving state of the mobile robot.

5, the mobile robot 500C according to the present embodiment includes the reinforcing frame portions 150 and 160 and the moment counter portion 170 on the structure of the mobile robot 500 shown in FIG. 5, May be added.

More specifically, the reinforcing frame portions 150 and 160 may include a horizontal reinforcing bar 150 and a vertical reinforcing bar 160. Both ends of the horizontal reinforcing bar 150 may include a second link 120 and a fourth link 140, And can be mounted with hinge structures 151 and 12 at their respective central portions. Both ends of the vertical bar 160 may be mounted on the central portions of the first link 110 and the third link 130 as hinge structures 161 and 162, respectively. Further, the horizontal reinforcing bars 150 and the vertical reinforcing bars 160 may be bound to the hinge structure 155.

Thus, the reinforcing frame portions 150 and 160 of this structure can be manually deformed by the mechanical deformation of the four links 110, 120, 130 and 140, and the four links 110, 120, 130 and 140 Can be more firmly reinforced.

The moment counter 170 is a plate-like member extending vertically downward from the hinge 171. The hinge structure 171 is provided on the vertical reinforcement band 160 and the hinge portion 162 of the first link 110. [ ). ≪ / RTI > Further, as shown in Figs. 18, 20, and 21, the hinge structure 171 may be kept in a vertical state at all times by its own weight.

The moment counter unit 170 having such a structure can prevent the first attachment unit 201 from being separated 201 'from the wall surface 50 by an unintended external force. 19, the moment counter 170 has a length L1 that is 110 to 500% longer than the extension length L2 of the first attachment portion 201 with respect to the hinge portion 171. In other words, As shown in FIG. The other end of the moment counter portion 170 opposite to the hinge portion 171 may be spaced apart from the wall surface by an interval g of 0 to 5 mm. Therefore, the moment counter portion 170 having such a structure can serve as a support for preventing the first attachment portion 201 from being separated 201 'from the wall surface 50. [ As a result, due to this role of the moment counter unit 170, the mobile robot 500C can more stably attach to the wall surface 50 and move.

A power supply unit (not shown), a receiving unit (not shown), a control unit (not shown), or the like may be mounted on the other end of the moment counter unit 170. [ In this case, since the center of gravity of the entire mobile robot 500C can be concentrated on the moment counter 170 serving as a support, the mobile robot 500C can be stably attached to the wall 50 and moved.

22 is a plan view of a mobile robot according to another embodiment of the present invention.

Referring to FIG. 22 together with FIG. 18, the mobile robot 500D according to the present embodiment has the same structure as the mobile robot 500C shown in FIG. 18, except that only the binding site position of the moment counter 170 ' This is different.

More specifically, the moment counter 171 'of the mobile robot 500D according to the present embodiment has a structure in which the horizontal reinforcement band 150 and the hinge portion 155 of the vertical reinforcement band 160 are bound to the hinge structure 171' Lt; / RTI > 22, the moment counter 170 'has a length L3 (length) of 110 to 500% longer than an extension length L4 of the first attachment portion 201' with respect to the hinge portion 171 ' ). The other end of the moment counter portion 170 'opposite to the hinge portion 171' may be spaced apart from the wall surface by an interval of 0 to 5 mm. Accordingly, the moment counter portion 170 'having such a structure can serve as a support for preventing the first attachment portion 201 from being detached from the wall surface. As a result, due to this role of the moment counter portion 170 ', the mobile robot 500D can more stably attach to the wall surface and move.

A power supply unit (not shown), a receiving unit (not shown), a control unit (not shown), or the like may be mounted on the other end of the moment counter unit 170 '. In this case, since the entire center of gravity of the mobile robot 500D can be concentrated on the moment counter portion 170 'serving as a support, the mobile robot 500D can stably attach to the wall surface and move.

Accordingly, the mobile robot according to the present embodiment may include a link structure of a specific structure, a plate-shaped electrostatic pad, and a driver so as not to cause foreign matter or physical damage to the wall surface when moving the vertical wall or the horizontal wall. In addition, the mobile robot according to the present embodiment can omit a plurality of driving units and a frame structure having a high weight, thereby minimizing the total weight of the robot. As a result, it is possible to use a very small amount of electric power to move vertically or horizontally It has a technical advantage.

In the foregoing detailed description of the present invention, only specific embodiments thereof have been described. 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. .

10: Vertical wall moving robot 11:
12: frame structure 13, 14:
20: Vertical wall moving robot 21: Adhesive
22: Foreign matter 30: Vertical wall moving robot
31: sharp member 32: physical damage
40: Vertical wall surface moving robot 41:
42: electrostatic pad 50: wall surface
110: first link 111: first joint
120: second link 121: second joint
130: third link 131: third joint
140: fourth link 141: fourth joint
150: horizontal reinforcement bar 151:
152: hinge part 155: hinge part
160: vertical reinforcement member 161:
162: Hinge section 170, 170 ': Moment counter section
171, 171 ': Hinge part 200: Attachment part
201: first attachment portion 202 second attachment portion
203: third attachment portion 204: fourth attachment portion
210: a plate-shaped electrostatic pad 211: a first electrode
212: second electrode 213: insulating portion
214: support part 215: fastening groove
216: fastening protrusion 300:
310: driving unit body 320:
400: Power unit 500: Vertical wall moving robot
500A, 500B, 500C, 500D: Vertical wall moving robot

Claims (18)

A robot attached to and movable on a vertical wall surface or a horizontal wall surface,
Four links 110, 120, 130, 140 including four joints 111, 121, 131, 141;
Four attachment portions (201, 202, 203, 204), each of which includes a plate-shaped electrostatic pad and is mounted at the center of each of the links;
One driver 300 mounted on one of the four joints 111, 121, 131, and 141 for supplying a driving force to the adjacent link;
A power supply unit 400 for supplying electricity to the electrostatic pad and the driving unit 300;
, ≪ / RTI &
Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,
Wherein the link is driven by driving of the driving unit when the electric power is supplied to only one of the four attachment portions, and the up, down, left, and right drive is possible by driving the link.
The method according to claim 1,
The mobile robot includes:
A receiver for receiving an operation command of the controller; And
A control unit for transmitting a control signal to the power supply unit according to a signal received from the receiving unit;
The mobile robot further comprising:
The method according to claim 1,
The plate-
A first electrode and a second electrode that form an electric field with each other by electric application;
An insulating part made of a flexible material for electrically isolating and separating the first electrode and the second electrode at a predetermined distance d; And
A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;
And a controller for controlling the robot.
The method of claim 3,
Wherein a fastening protrusion or a fastening groove is formed on an outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.
The method according to claim 1,
Wherein the driving unit is a servo motor, a linear actuator, or a DC motor.
A robot attached to and movable on a vertical wall surface or a horizontal wall surface,
Four links containing four joints;
Two mounting portions each including a plate-shaped electrostatic pad and mounted at the center of two links facing each other among the four links;
A driving unit mounted on one of the four joints to supply a driving force to the adjacent mounted link;
A power supply unit for supplying electricity to the electrostatic pad and the driving unit;
, ≪ / RTI &
And is attached to the wall surface by the two attachment portions,
Wherein the links are driven by driving of the driving unit when the electric power is supplied to only one of the two attachment portions, and the up / down or left / right drive is possible by driving the link.
The method according to claim 6,
The plate-
A first electrode and a second electrode that form an electric field with each other by electric application;
An insulating part made of a flexible material for electrically isolating and separating the first electrode and the second electrode at a predetermined distance d; And
A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;
And a controller for controlling the robot.
8. The method of claim 7,
Wherein a fastening protrusion or a fastening groove is formed on an outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.
A robot attached to and movable on a vertical wall surface or a horizontal wall surface,
Four links 110, 120, 130, 140 including four joints 111, 121, 131, 141;
Four attachment portions (201, 202, 203, 204), each of which includes a plate-shaped electrostatic pad and is mounted at the center of each of the links;
One driver 300 mounted on one of the four joints 111, 121, 131, and 141 for supplying a driving force to the adjacent link;
A horizontal reinforcing bar 150 and a vertical reinforcing bar 160 mounted at two opposite center portions of the four links 110, 120, 130 and 140 with hinge structures 151, 152, 161 and 162 at both ends, Wherein the horizontal reinforcement band 150 and the vertical reinforcement band 160 are bound by a hinge structure 155 and are reinforced by passive deformation by mechanical deformation of the four links 110, 120, 130, Frame parts (150, 160);
A moment counter 170 coupled to the vertical bar 160 and the hinge 162 of the link 110 by a hinge structure 171; And
A power supply unit 400 for supplying electricity to the electrostatic pad and the driving unit 300;
, ≪ / RTI &
Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,
When electric power is supplied to only one of the four attachment portions, the links are driven by the driving of the driving portion, and the driving of the link enables vertical,
The moment counter 170 is a plate-like member extending in the vertical downward and longitudinal direction from the hinge 171. Even though there are mechanical deformations of the four links 110, 120, 130 and 140, And maintains a vertical state at all times around the hinge structure (171).
10. The method of claim 9,
The plate-
A first electrode and a second electrode that form an electric field with each other by electric application;
An insulating part made of a flexible material for electrically isolating and separating the first electrode and the second electrode at a predetermined distance d; And
A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;
And a controller for controlling the robot.
11. The method of claim 10,
Wherein a fastening protrusion or a fastening groove is formed on an outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.
10. The method of claim 9,
And the other end portion of the moment counter portion (170) opposite to the hinge portion (171) is spaced apart from the wall surface by an interval (g) of 0 to 5 mm.
A robot attached to and movable on a vertical wall surface or a horizontal wall surface,
Four links 110, 120, 130, 140 including four joints 111, 121, 131, 141;
Four attachment portions (201, 202, 203, 204), each of which includes a plate-shaped electrostatic pad and is mounted at the center of each of the links;
One driver 300 mounted on one of the four joints 111, 121, 131, and 141 for supplying a driving force to the adjacent link;
A horizontal reinforcing bar 150 and a vertical reinforcing bar 160 mounted at two opposite center portions of the four links 110, 120, 130 and 140 with hinge structures 151, 152, 161 and 162 at both ends, Wherein the horizontal reinforcement band 150 and the vertical reinforcement band 160 are bound by a hinge structure 155 and are reinforced by passive deformation by mechanical deformation of the four links 110, 120, 130, Frame parts (150, 160);
A moment counter 170 coupled to the horizontal reinforcement 150 and the hinge 155 of the vertical reinforcement 160 by a hinge structure 171 '; And
A power supply unit 400 for supplying electricity to the electrostatic pad and the driving unit 300;
, ≪ / RTI &
Wherein the first and second mounting portions are attached to the wall surface by the four attachment portions,
When electric power is supplied to only one of the four attachment portions, the links are driven by the driving of the driving portion, and the driving of the link enables vertical,
The moment counter portion 170 'is a plate-like member extending vertically downward from the hinge portion 171' in the longitudinal direction. Even if there is a mechanical deformation of the four links 110, 120, 130 and 140, And the hinge structure (171) is maintained in a vertical state at all times with respect to the hinge structure (171).
14. The method of claim 13,
The plate-
A first electrode and a second electrode that form an electric field with each other by electric application;
An insulating part made of a flexible material for electrically isolating and separating the first electrode and the second electrode at a predetermined distance d; And
A supporting part attached to one side of the insulating part and made of a material having a predetermined rigidity to provide mechanical rigidity of the entire electrostatic pad;
And a controller for controlling the robot.
15. The method of claim 14,
Wherein a fastening protrusion or a fastening groove is formed on an outer surface of the support portion so as to mount the external mounting member or to be assembled with another member.
14. The method of claim 13,
, And the other end of the moment counter portion (170 ') opposite to the hinge portion (171') is spaced apart from the wall surface by an interval (g) of 0 to 5 mm.
17. A wall movement apparatus comprising at least one wall-moving robot according to any one of claims 1 to 16, wherein an external mounting member is mounted to the mobile robot.
18. The method of claim 17,
Wherein the external mounting member comprises:
Wherein at least one member selected from the group consisting of cleaning equipment, camera equipment, fire equipment, disaster relief equipment, weather measurement equipment, heat sensing equipment and welding equipment is selected.

Images