KR101829283B1 - Adsorption device for solar panel cleaning robots - Google Patents

Abstract

The present invention relates to an adsorption device for a solar panel cleaning robot, comprising: a first frame into which a rotary shaft is penetrated and inserted; a second frame disposed in a lower part of the first frame and coupled to an adsorption means on one side to be closely adhered to a solar cell panel; a link arm disposed between the first and second frames, linking one end with the first frame by a first shaft, and linking the other end with the second frame by a second shaft; and a driving unit disposed on the other side of the second frame and transferring a power source to the link arm. The other end of the link arm is fixated to the second shaft by a fixation means penetrated and coupled from one side, the second frame includes a bearing means coupled to one end of the second shaft. The driving unit includes: a driving motor disposed on the other side of the second frame; a main gear receiving the power source of the driving motor to be rotated; and a sub gear engaged with the main gear to transfer a rotational force to one end of the second shaft. Accordingly, as the first and second frames are linked through the link arm to be able to be interlocked, the second frame is lifted/lowered, thus allowing the solar cell panel cleaning robot to be easily adsorbed and moved on the solar cell panel, thereby being able to efficiently manage the solar cell panel.

Description

[0001] The present invention relates to a solar panel cleaning robots,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an adsorption apparatus for a solar panel cleaning robot, and more particularly, to an adsorption apparatus for a solar panel cleaning robot for efficiently advancing a cleaning operation in a solar panel.

In recent years, solar cell production in the world has been rapidly increasing. As a result, solar photovoltaic technology has already become an industry in advanced countries such as Japan, Germany, and the United States. Many companies in the related fields It is participating.

Generally, in photovoltaic power generation, solar light is condensed to a solar panel or a solar module to produce electric power.

In particular, solar panels are a kind of solar panel, which plays an important role in converting solar energy to electric energy in solar power generation.

For photovoltaic power generation, solar panels should be installed on sunny roofs and rooftops where they are sunny and clean.

The reason is that if one part of the solar panel is shaded, the power generation efficiency of one panel is not lowered, but the power generation efficiency of the entire panel connected in series is drastically lowered, and when the snow falls in winter, It is because there is not.

Also, if algae such as pigeons and organic animals sit on the solar panel and leave feces, the power production efficiency of the contaminated solar panel as well as the power production efficiency of the entire solar panel becomes very low until cleaned, If yellow dust, pollen, and autumn leaves are accumulated on the solar panel, it will cause the power generation to deteriorate.

Conventionally, in order to clean the photovoltaic panel, the cleaning work was carried out by a worker using a cleaning tool such as a spraying device.

However, since the height of the solar panel is high as well as the area is large, it is difficult for the operator to clean it directly, and there arises a problem that a safety accident occurs in the cleaning process or the solar panel is damaged.

To this end, Korean Patent Registration No. 10-1449399 has been proposed in the past.

However, the conventional cleaner can expect to clean not only the outer wall of the building but also the solar panel in place of the worker. However, since the position is fixed in response to a natural phenomenon such as strong wind or the means for momentarily fixing for the next movement is insufficient, .

Particularly, since a slip phenomenon occurs in the direction of the cleaning robot due to the inclined solar panel, it is necessary to adjust the orientation of the cleaning robot.

SUMMARY OF THE INVENTION An object of the present invention is to provide a suction device for a solar panel cleaning robot to efficiently perform a cleaning operation in a solar panel.

In order to achieve the above object, a first embodiment of the present invention is a suction apparatus for a solar panel cleaning robot, comprising: a first frame in which a rotation shaft is inserted and inserted; A first frame, a second frame, and a second frame, the second frame being coupled to the solar panel; and a second frame disposed between the first frame and the second frame and having one end connected to the first frame and the first shaft, And a driving unit disposed on the other side of the second frame for transmitting a power source to the link arm, wherein the other end of the link arm is fixed to the frame by a fixing means, And the second frame has a bearing means coupled to one end of the second shaft, the drive portion includes a drive motor disposed on the other side of the second frame, A main gear rotated by receiving a power source of the base motor, and a sub gear meshed with the main gear and transmitting rotational force to one end of the second shaft.

In the first embodiment of the present invention, the second frame may be moved up and down in cooperation with the link arm rotated according to the guide of the bearing means via the rotational force transmitted to one end of one second shaft.

In the first embodiment of the present invention, the first and second shafts are provided in pairs so that the first shaft and the second shaft are opposed to each other, They can be arranged in pairs.

In the first embodiment of the present invention, the second shaft is provided with a fixing groove for facing the front end of the fixing means, and the other end of the link arm can be inserted through the fixing groove of the second shaft.

In the first embodiment of the present invention, the link arm may have a rotation range around the first axis, and the other side of the second frame may further include a detection sensor for limiting the rising range of the second frame have.

According to a second aspect of the present invention, there is provided an adsorption apparatus for a solar panel cleaning robot, comprising: a first frame having a rotation shaft inserted therethrough; a first frame disposed below the first frame, And a second frame having a first end connected to the first frame and a second end connected to the first frame and a second end connected to the second frame, And a driving unit that is disposed on the other side of the second frame and transmits the power source to the link arm, wherein the first shaft and the second shaft are each provided as a pair, and the link arm is connected to the hinge coupling Wherein one end of each of the first link and the second link is coupled to the first shaft and the other end of the first link and the second link is coupled to the second shaft, A ball screw for receiving a power source of the driving motor and converting the driving force into a linear motion, a driving motor for driving the driving motor, Lt; / RTI >

In the second embodiment of the present invention, the first shaft and the second shaft are arranged to face each other, and the link arm is formed as a pair so that both ends of the first frame and the second frame are mutually connected, The first frame and the second frame may be formed with guide rails for linearly moving one first axis and the other second axis interlocked with each other in accordance with folding of the first link and the second link.

In the second embodiment of the present invention, the second frame is linked with the first link and the second link folded in accordance with the guide rail guide through the linear feed force transmitted to one second axis, Can be operated.

In the second embodiment of the present invention, the link arm has a folding range around the hinge, and on the other side of the second frame, a pair of detection sensors for restricting the ascending / The distance between the pair of detection sensors may correspond to the length of the guide rail.

In the second embodiment of the present invention, the first frame further includes a third frame through which the rotation shaft is inserted, and the third frame includes a driving motor disposed on one side of the third frame, And a sub gear which is arranged to mesh with the main gear between the first frame and the third frame and transmits rotational force to the rotation shaft, The two frames can be rotated by interlocking with each other via the rotational force of the rotary shaft.

As described above, according to the first embodiment of the present invention, since the first frame and the second frame are linked with each other via the link arm so as to be interlocked with each other, the second frame is moved up and down, So that the solar panel can be efficiently managed.

Further, according to the second embodiment of the present invention, the first frame and the second frame are interlockingly linked through the cross link arm, so that the solar panel cleaning robot can easily perform the suction and elevation operation on the solar panel So that the solar panel can be efficiently managed.

According to the first embodiment and the second embodiment of the present invention, since the first frame and the second frame can be rotated by interlocking with each other via the rotational force transmitted to the rotary shaft, It may be easy to perform the direction switching operation.

FIG. 1 is a view schematically showing a state in which a suction device of a solar panel cleaning robot according to a first embodiment of the present invention is coupled to a solar panel cleaning robot.
2 is a perspective view showing an adsorption apparatus for a solar panel cleaning robot according to the first embodiment of the present invention.
3 is a view showing a state in which the first frame is removed from the adsorption apparatus of the solar panel cleaning robot according to the first embodiment of the present invention.
4 is a perspective view showing a first axis and a second axis of the adsorption apparatus of the solar panel cleaning robot according to the first embodiment of the present invention.
5A and 5B are views showing the operation principle of the adsorption apparatus of the solar panel cleaning robot according to the first embodiment of the present invention.
6 is a perspective view showing an adsorption apparatus for a solar panel cleaning robot according to a second embodiment of the present invention.
7 is a front view showing an adsorption apparatus for a solar panel cleaning robot according to a second embodiment of the present invention.
8 is a view illustrating a state in which the first frame is removed from the adsorption apparatus of the solar panel cleaning robot according to the second embodiment of the present invention.
FIGS. 9A, 9B, and 10 are views showing an operation principle of an adsorption apparatus of a solar panel cleaning robot according to a second embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings.

However, it is to be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It is intended that the disclosure of the present invention be limited only by the terms of the appended claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, a description will be made of an adsorption apparatus for a solar panel cleaning robot according to embodiments of the present invention, but a detailed description of a configuration of a solar panel cleaning robot that can obscure the gist of the embodiments of the present invention will be omitted.

FIG. 1 is a view schematically showing a state in which a suction device of a solar panel cleaning robot according to a first embodiment of the present invention is coupled to a solar panel cleaning robot, and FIG. 2 is a schematic view of a solar panel cleaning robot according to a first embodiment of the present invention. FIG. 3 is a view showing a state in which a first frame is removed from a suction device of a solar panel cleaning robot according to the first embodiment of the present invention, FIG. 4 is a cross- 1 is a perspective view showing a first axis and a second axis of the adsorption apparatus of the solar panel cleaning robot according to the first embodiment of the present invention.

A suction device 100 of the cleaning panel 10 according to the first embodiment of the present invention is connected to the main body 13 of the cleaning robot 10 and is connected to the cleaning robot 10, It is possible to induce adsorption, movement and direction change on the solar panel easily.

The adsorption apparatus 100 according to the first embodiment of the present invention includes a first frame 110, a second frame 130, a link arm 150, and a driving unit 170.

The first frame 110 is rotatable in the forward or reverse direction through the rotation axis 111 by passing the rotation axis 111 through the central portion.

The second frame 130 has a plate shape as a whole and is not limited to any one. The second frame 130 is provided with a plurality of bearing means B and is spaced apart from the bottom of the first frame 110 by a predetermined distance.

On one side of the second frame (130), a plurality of suction means (131) for close contact with the solar panel are arranged in the outer peripheral direction.

A suction motor 132, a distributor 133, and a connection pipe (not shown) are provided on the other side of the second frame 130 to allow the plurality of suction means 131 to perform the vacuum suction operation.

The adsorption motor 132 provides a power source for the vacuum adsorption operation of the adsorption means 131 to the distributor 133.

The distributor 133 provides a separate vacuum attraction force to the connector tube based on the power source of the suction motor 132. [

The distributor 133 provides a vacuum attraction force to the connection pipe through the connection hose and a connection port (not shown) proportional to the number of connection pipes is formed in the distributor 133 and connected to each connection hose (not shown).

At this time, the connecting hose may be made of a rubber or urethane-like material having a light weight and facilitating mutual detachment between the connecting pipe of the distributor 133 and the connecting pipe.

The connection pipe may be made of a metal material having durability and is provided in proportion to the number of the suction means 131 so that the vacuum suction force transmitted to the connection hose is individually provided to the plurality of suction means 131.

The connection pipe may be screwed to the second frame 130 to prevent the second frame 130 from being separated or separated from the second frame 130 by the influence of the vacuum suction force transmitted through the connection hose.

Further, a sensing sensor 134 is further provided on the other side of the second frame 130 to limit the operation range of the second frame 130.

At this time, the detection sensor 134 is a sensor means for detecting an operation such as a limit switch and a photo interrupter, and is not limited to any one.

The detection range of the second frame 130 interlocked with the rotation of the link arm 150 can be limited by providing the detection sensor 134 on the other side of the second frame 130, .

The link arm 150 is disposed between the first frame 110 and the second frame 130 and has one end connected to the first frame 110 and the first shaft 120, The first frame 110 and the second frame 130 are connected to each other so that the first frame 110 and the second frame 130 interlock with each other through the second shaft 130 and the second shaft 140.

In this case, the first and second shafts 120 and 140 are provided in pairs so that the first and second shafts 120 and 140 are opposed to each other. The link arm 150 is rotatably supported by a second shaft 120a opposed to the first shaft 120a. 140a, respectively.

The other end of the link arm 150 is fixed to the second shaft 140 by means of a fixing means A which is inserted through one end of the link arm 150 and the other end of the link arm 150 is fixed to the second frame 130 at one end of the pair of second axles 140 The bearing means B is engaged.

The second shaft 140 is formed with a fixing groove 141 for facing the front end of the fixing means A and the other end of the link arm 150 is coupled to the fixing groove 141 of the second shaft 140 So that the other end of the link arm 150 and the fixing groove 141 of the second shaft 140 are maintained in a mutually fixed relationship.

On the other hand, since one end of the link arm 150 maintains a pivotable connection relation with the first shaft 120, the link arm 150 has a pivot range around the first axis 120.

At this time, both ends of the first shaft 120 may be formed with hooking protrusions 121 for preventing the link arm 150 from being separated from the link arm 150 in a rotating relationship.

The driving unit 170 is disposed on the other side of the second frame 130 and includes a driving motor 171, a main gear 172 and a sub gear 173 for transmitting a power source to the link arm 150.

The driving motor 171 is a power source generating means disposed on the other side of the second frame 130 and transmits a rotational force while keeping a distance that prevents interference due to the operation of the link arm 150.

The main gear 172 is axially coupled to the driving motor 171 and rotates forward or backward through a power source.

The sub gear 173 meshes with the main gear 172 and transmits a rotational force to one end of the second shaft 140b while one end of the second shaft 140b is coupled to the center portion.

Hereinafter, the principle of operation of the adsorption apparatus according to the first embodiment of the present invention will be described. However, since the structure of the adsorption apparatus has already been described, a specific illustration is omitted.

5A and 5B are views showing the operation principle of the adsorption apparatus of the solar panel cleaning robot according to the first embodiment of the present invention.

5A and 5B, the absorption apparatus 100 according to the first embodiment of the present invention transmits a power source to the link arm 150 to rotate the first frame 110 and the second frame 110 in accordance with the rotation of the link arm 150, The second frame 130 is interlocked.

First, when the main gear 172 is rotated through the power source of the drive motor 171, the sub gear 173 engaged with the main gear 172 is rotated.

The rotation force of the sub gear 173 is transmitted to only one end of the one second shaft 140b and is rotated according to the guidance of the bearing means B. [

Since the other end of the link arm 150 is fixed to the one second shaft 140b through the fixing means A, the link arm 150 is fixed to the link arm 150 via the rotational force transmitted to one end of the second shaft 140b 150) is rotatable.

The second frame 130 is moved up and down in conjunction with the link arm 150 which is rotated in accordance with the guide of the bearing means B via the rotational force transmitted to one end of the second shaft 140b.

When the second frame 130 is lifted up, as the distance between the first frame 110 and the second frame 130 becomes narrower, the pressure of the second frame 130 is increased through the operation of the sensing sensor 134, Is limited.

Meanwhile, as shown in FIG. 1, the cleaning robot 10 may include a pair of moving means 15 for driving.

The moving means 15 may include a wheel member and an infinite orbit so that the cleaning robot 10 can move.

The first frame 110 and the second frame 130 are rotatable relative to each other through the rotational force of the rotary shaft 111 as one moving means 15 is operated in the forward or reverse direction.

The rotating shaft 111 is rotatably connected to the main body of the cleaning robot 10 so that only one moving means 15 is operated so that the main body of the cleaning robot 10 is reversed and the first frame 110 and the second The frame 130 can be rotated in association with each other.

At this time, the adsorption apparatus 100 maintains the second frame 130 in an elevated state according to the operation of the link arm 150 to prevent unnecessary interference to the operation of the moving means 15 of the cleaning robot 10 .

According to the operating principle of the adsorption apparatus 100 according to the first embodiment of the present invention, the first frame 110 and the second frame 130 are linked to each other via the link arm 150 in a mutually interlocking manner.

Accordingly, since the second frame 130 of the adsorption apparatus 100 is lifted and lowered, the cleaning robot 10 can easily perform the adsorption and movement operation on the solar panel, thereby effectively managing the solar panel.

Further, since the first frame 110 and the second frame 130 can rotate by interlocking with each other via the rotational force transmitted to the rotary shaft 111, the cleaning robot 10 can easily perform the direction switching operation on the solar panel can do.

Next, an adsorption apparatus according to a second embodiment of the present invention will be described, focusing on differences from the adsorption apparatus according to the first embodiment of the present invention.

FIG. 6 is a perspective view showing an adsorption apparatus for a solar panel cleaning robot according to a second embodiment of the present invention, FIG. 7 is a front view showing an adsorption apparatus for a solar panel cleaning robot according to a second embodiment of the present invention, 8 is a view showing a state in which the first frame is removed from the adsorption apparatus of the solar panel cleaning robot according to the second embodiment of the present invention.

6 to 8, the absorption apparatus 200 according to the second embodiment of the present invention includes a first frame 210, a second frame 230, a link arm 250, and a driver 270 can do.

The second frame 230 has a plate shape as a whole but is not limited to any one shape and is disposed to be spaced apart from the bottom of the first frame 210 by a certain distance.

The first shaft 220 and the second shaft 240 are disposed in pairs and are arranged to face each other.

The link arm 250 is disposed in a pair such that both ends of the first frame 210 and the second frame 230 are interconnected.

The link arm 250 is composed of a first link 251 and a second link 252 which are hingedly connected to each other and have a folding range around the hinge C and are foldable at mutually intersections.

One end of each of the first link 251 and the second link 252 is coupled to the first axis 220 and the other end is coupled to the second axis 240.

The first frame 210 and the second frame 230 are provided with one first shaft 220 and one second shaft 240 according to the folding of the first link 251 and the second link 252 Guide rails 210a and 230a for linearly transporting are formed.

A pair of sensing sensors 232a and 232b for limiting the range of movement of the second frame 230 are further provided on the other side of the second frame 230, (210a, 230a).

At this time, the detection sensors 232a and 232b are sensor means for detecting an operation such as a limit switch and a photo interrupter, and are not limited to any one.

The driving unit 270 includes a driving motor 271, a ball screw, and a holder to transmit a power source to the link arm 250.

The driving motor 271 is disposed on the other side of the second frame 230 to transmit the power source.

The ball screw 272 is composed of a ball screw bolt and a ball screw nut, and the rotational force of the ball screw bolt coupled with the driving motor 271 can be converted into linear motion through the ball screw nut.

One end of the holder 273 is coupled with the ball screw 272 and the other end is coupled with one second shaft 241 to transmit the linear motion of the ball screw nut to one second shaft 241.

The link arm 250 receives a power source from the driving unit 270 so that the one second shaft 241 has a linear motion range within a distance of the pair of the sensors 232a and 232b.

The other end of the first link 251 is connected to one second shaft 241 and is guided by a guide rail 230a corresponding to a linear motion range of the one second shaft 240, .

Hereinafter, the principle of operation of the adsorption apparatus according to the first embodiment of the present invention will be described. However, since the structure of the adsorption apparatus has already been described, a specific illustration is omitted.

FIGS. 9A, 9B, and 10 are views showing an operation principle of an adsorption apparatus of a solar panel cleaning robot according to a second embodiment of the present invention.

9A and 9B, the absorption apparatus 200 according to the second embodiment of the present invention transmits a power source to the intersecting link arm 250, 210 and the second frame 230 are interlocked.

First, when the ball screw bolt is rotated through the power source of the driving motor 271, the ball screw nut having a threaded engagement with the ball screw bolt linearly moves.

One second shaft 241 is operated in the range of linear motion within a distance of the pair of sensors 232a and 232b while the linear motion force of the ball screw nut is transmitted.

The other end of the first link 251 is connected to one second shaft 241 and is linearly transported through a guide rail 230a corresponding to a linear motion range of the one second shaft 241.

Since the first link 251 and the second link 252 can be folded in an intersecting manner, one end of the second link 252 is interlocked with the linear motion of the other end of the first link 251, And is linearly moved along the guide rail 210a of the first frame 210 while being connected to the first axis 221. [

That is, the second frame 230 includes a first link 251 and a second link 252 that are folded in accordance with the guide rail 230a through a linear feed force transmitted to one second shaft 241, ).

As shown in FIG. 10, a third frame 280 may be further provided on the upper portion of the first frame 210, through which the rotation shaft 211 is inserted.

The third frame 280 includes a driving motor 281, a main gear 281a and a sub gear 211a to transmit the power source to the first frame 210. [

The drive motor 281 is disposed on one side of the third frame 280 to transmit a power source.

The main gear 281a is axially coupled to the drive motor 281 and receives the power source of the drive motor 281 to rotate.

The sub gear 211a is disposed to mesh with the main gear 281a between the first frame 210 and the third frame 280 and transmits the rotational force to the rotating shaft 211. [

The first frame 210 and the second frame 230 are rotatable by interlocking with each other via the rotational force of the rotary shaft 211.

According to the operating principle of the adsorption apparatus 200 according to the second embodiment of the present invention, the first frame 210 and the second frame 230 are interlockingly linked through the cross link arm 250.

Accordingly, since the second frame 230 of the adsorption apparatus 200 is lifted and lowered, the cleaning robot 10 can easily perform adsorption and movement operations on the solar panel, thereby effectively managing the solar panel.

In addition, since the first frame 210 and the second frame 230 can rotate by interlocking with each other via the rotational force transmitted to the rotary shaft 211, the cleaning robot 10 can easily perform the direction switching operation on the solar panel .

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and scope of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.

10: a solar panel cleaning robot 13:
15: Moving means
100, 200: Adsorption device of solar panel cleaning robots
110, 210: first frame 111, 211:
120, 220: first axis 121:
130, 230: second frame 131, 231: suction means
132: suction motor 133: distributor
134, 232: detection sensor 140, 240: second axis
141: fixing groove 150, 250: link arm
170, 270: Driving parts 171, 271, 281: Driving motor
172, 281a: main gear 173, 211a: sub gear
280: Third frame
A: Fixing means B: Bearing means
C: Hinge

Claims (10)

1. A suction device for a solar panel cleaning robot,
A first frame through which a rotating shaft is inserted;
A second frame disposed at a lower portion of the first frame and having one side coupled to a suction means for close contact with the solar panel;
A link arm disposed between the first frame and the second frame and having one end connected to the first frame and the other end connected to the second frame and the second axis; And
A driving unit disposed on the other side of the second frame for transmitting a power source to the link arm;
, ≪ / RTI &
The other end of the link arm is fixed to the second shaft by means of fixing means penetratingly engaged in one direction and the second frame has a bearing means coupled to one end of the second shaft,
The driving unit includes a driving motor disposed on the other side of the second frame, a main gear rotated by receiving a power source of the driving motor, and a sub gear engaged with the main gear to transmit rotational force to one end of the second shaft Including,
The second frame is operated to move up and down in cooperation with the link arm which is rotated in accordance with the guide of the bearing means via a rotational force transmitted to one end of one second shaft,
Wherein the first shaft and the second shaft are provided in pairs so that the first shaft and the second shaft are opposed to each other, and the link arm is disposed in a pair so that one of the second shafts opposed to the first shaft is linked with each other,
Wherein the second shaft is provided with a fixing groove for facing the tip of the fixing means, the other end of the link arm is inserted through the fixing groove of the second shaft,
Wherein the link arm has a pivotal range around the first axis and the other side of the second frame further includes a detection sensor for limiting a rising range of the second frame,
Wherein the detection sensor senses a pressure corresponding to a rising operation of the second frame to limit a rise of the second frame.
delete delete delete delete 1. A suction device for a solar panel cleaning robot,
A first frame through which a rotating shaft is inserted;
A second frame disposed at a lower portion of the first frame and having one side coupled to a suction means for close contact with the solar panel;
A link arm disposed between the first frame and the second frame and having one end connected to the first frame and the other end connected to the second frame and the second axis; And
A driving unit disposed on the other side of the second frame for transmitting a power source to the link arm;
Lt; / RTI >
Wherein each of the first and second links has a pair of first and second links that are hinged to each other so that they can be folded at an intersection with each other, A second shaft coupled to the first shaft, and the other end coupled to the second shaft,
The driving unit includes a driving motor disposed on the other side of the second frame, a ball screw for receiving a power source of the driving motor and converting the driving force into linear motion, and a ball screw having one end coupled to the ball screw, And a holder coupled to the housing,
Wherein the ball screw is composed of a ball screw bolt and a ball screw nut so that the rotational force of the ball screw bolt axially coupled to the driving motor can be converted into linear motion through the ball screw nut,
Wherein the first shaft and the second shaft are disposed opposite to each other such that the link arm connects the opposite ends of the first frame and the second frame to each other,
Wherein the first frame and the second frame are formed with guide rails for linearly transporting one first axis and the other second axis in accordance with the folding of the first link and the second link,
Wherein the second frame is moved up and down in cooperation with the first link and the second link which are folded in accordance with the guide rail guide through a linear feed force transmitted to one second axis,
Wherein the link arm has a folding range around the hinge and a pair of detection sensors for restricting an elevation range of the second frame is further provided on the other side of the second frame,
Wherein the second axis is linearly moved along a linear motion of the ball screw nut within a distance between the pair of sensing sensors, wherein a distance between the pair of sensing sensors corresponds to a length of the guide rail And,
And a third frame through which the rotation shaft is inserted through the upper portion of the first frame,
The third frame includes:
A driving motor disposed on one side of the third frame;
A main gear which is rotated by receiving a power source of the driving motor; And
A sub gear disposed to mesh with the main gear between the first frame and the third frame and transmit rotational force to the rotation shaft; Lt; / RTI >
Wherein the first frame and the second frame are rotatable relative to each other through a rotational force of the rotating shaft. delete delete delete delete

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