KR102429255B1 - Module type robot arm for maintenance or diagnosis of surface of structure - Google Patents

Abstract

The present invention relates to a modular robot arm that can stably repair or diagnose the wall of a structure without interfering with the operation of a climbing device by being mounted in a module type on the climbing device that can move along the wall of the structure. The present invention comprises: a module base with a first motor and a second motor; a plurality of first and third links connected to the central axis of rotation of the first and second motors, respectively; a second link and a fourth link having one ends connected to the first link and the third link and the other ends connected to each other; and an end effector mounted on a connection portion between the third link and the fourth link. According to the rotation of the first motor and the second motor, the first to fourth links move in the same plane direction.

Description

A modular robot arm for repair or diagnosis on the wall of a structure

The present invention relates to a modular robot arm for repairing or diagnosing a structure wall, and more particularly, it is mounted in a module type on a back wall device that can move along the wall surface of a structure to stably repair or It is about a modular robotic arm that can diagnose.

In recent years, structures such as buildings and bridges have been enlarged and upgraded. In the past, when painting, cleaning, inspection, diagnosis, repair, etc. were performed on the outer or inner wall of a large structure wall, a person directly used a boarding means such as an elevator for work to ascend and descend in a suspended state.

However, the demand for wall repair is increasing, but there is no means of simplification or automation in the field work, so the demand cannot be met. Also, the cost of equipment such as scaffolding and gondolas, and the economic burden such as labor costs are also a problem. have.

In order to solve the problem of the conventional wall work, technologies are being developed that can be mounted on a wall traveling robot or a wall traveling robot that can run on a wall while being attached to the wall to perform the work.

In this regard, the prior art Korean Patent No. 10-1243599 (wall-mounted work robot) uses a magnetic field value of a switch to integrate the wall mounting means and the wall running means to run along the wall and perform repairs, etc. technology is disclosed.

However, according to the prior art described above, the work such as repair of the wall is performed in the work module, but the specific content of the work module is not disclosed. Therefore, there is a need for a technology for a robot that is mounted on a back wall device and can stably perform wall repair or diagnosis.

Korean Patent No. 10-1243599 (Wall-Attached Work Robot)

The object of the present invention is devised to solve the problems of the prior art, and it is mounted on the back wall device, can stably repair or diagnose the structure wall through the link movement, and can work without interference with the back wall device. It is to provide a new type of invention that can be carried out.

A modular robot arm for repairing or diagnosing a structure wall according to the present invention for achieving the above object includes: a module base on which a first motor and a second motor are mounted; a plurality of first and third links connected to the respective rotational axes of the first and second motors; a second link and a fourth link having one end connected to the first link and the third link and the other end connected to each other; and an end effector mounted on a connection portion between the third link and the fourth link, wherein the first to fourth links link movement in the same plane direction according to the rotation of the first motor and the second motor. characterized.

In one embodiment of the present invention, the module base is characterized in that the driving unit for supplying power to the robot arm or a control unit for controlling the movement is coupled.

In addition, in one embodiment of the present invention, the module base is characterized in that the case having an internal space is coupled.

In addition, in one embodiment of the present invention, the first motor or the second motor is characterized in that the encoder for measuring the rotation angle is mounted.

Further, in an embodiment of the present invention, the first link and the third link or the second link and the fourth link are rotatably connected to each other by a link connecting shaft.

In addition, in one embodiment of the present invention, the third link and the fourth link is characterized in that formed in an 'L' shape.

In addition, in one embodiment of the present invention, a third motor capable of rotating the end effector is mounted on the connection portion between the third link and the fourth link.

In addition, in one embodiment of the present invention, the lower portion of the third motor is formed in the direction perpendicular to the plane (P1), characterized in that the actuator is connected to the ascending and descending.

In addition, in an embodiment of the present invention, a connection part to which one end of the actuator of the third motor is connected is mounted on a lower portion of the third motor.

In addition, in one embodiment of the present invention, the connection portion is characterized in that the insertion groove is formed so that one end of the actuator is inserted.

In addition, in an embodiment of the present invention, the end effector is characterized in that it is detachably connected to the end of the actuator.

In addition, in one embodiment of the present invention, it is characterized in that the imaging means is further included to determine the repair position.

According to the present invention, there is an effect that can stably perform repair or diagnosis of the wall of the structure in the state mounted on the back wall device by the link movement in the same plane direction with the link structure of the robot arm.

In addition, according to the present invention, the modular robot arm can be configured independently of the back wall device by using a separate power source.

In addition, according to the present invention, the robot arm can be stably driven without interfering with the driving of the back wall device.

1 is a perspective view showing the overall appearance of a modular robot arm for repair or diagnosis of a wall structure according to the present invention.
2 is an exploded perspective view showing the body part and the link part of the modular robot arm for repair or diagnosis of the structure wall according to the present invention.
Figure 3 is an exploded perspective view showing the structure of the main body of the modular robot arm for repair or diagnosis of the wall structure according to the present invention.
Figure 4 is an exploded perspective view showing the structure of the first passive joint part of the modular robot arm for repair or diagnosis of the wall structure according to the present invention.
5 is an exploded perspective view of the structure of the second active joint part of the modular robot arm for repair or diagnosis of the wall of the structure in accordance with the present invention as viewed obliquely from the top down.
6 is an exploded perspective view of the structure of the second active joint part of the modular robot arm for repair or diagnosis of the wall of the structure according to the present invention, as viewed obliquely from the bottom to the top.
7 is a view showing a folded state of the modular robot arm for repair or diagnosis of the wall of the structure according to the present invention.
8 is a view showing a kinematic model for analyzing the movement of a modular robot arm for repair or diagnosis of a structure wall according to an embodiment of the present invention.
9 is a view showing a kinematic model for analyzing the movement of a modular robot arm for repair or diagnosis of a structure wall according to another embodiment of the present invention.
Figure 10a is a view showing the movement state of the end effector according to the link operation of the modular robot arm according to an embodiment of the present invention, Figure 10b is a view showing the x and y direction position change of each end effect shown in Figure 10a It is a graph.
11A is a diagram illustrating a movement state of an end effector according to an actuator operation of a modular robopal according to an embodiment of the present invention, and FIG. 11B is a graph showing a change in the z-direction position of each end effector shown in FIG. 11A .

Hereinafter, with reference to the accompanying drawings, a detailed description of the modular robot arm for repairing or diagnosing the wall of a structure according to a preferred embodiment is as follows. Here, the same reference numerals are used for the same components, and repeated descriptions and detailed descriptions of well-known functions and configurations that may unnecessarily obscure the gist of the invention will be omitted. The embodiments of the present invention are provided in order to more completely explain the present invention to those of ordinary skill in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer description.

The modular robot arm for repairing or diagnosing the wall of a structure according to an embodiment of the present invention is mounted on a back wall device that can move along the wall of the structure. Examples of the back wall device include a drone-type device that can fly along the wall of a structure, a robot-type device that can be attached to the wall of a structure and can move.

In addition, the modular robot arm according to an embodiment of the present invention may be detachably mounted on the back wall device. Therefore, it is advantageous for repair or maintenance of the modular robot arm, and may be mounted with a different back wall device.

< Composition of modular robot arm >

1 is a perspective view showing an overall appearance of a modular robot arm for repair or diagnosis of a structure wall according to the present invention, and FIG. 2 is an exploded view showing the main body and a link portion of the modular robot arm for repair or diagnosis of a structure wall according to the present invention 3 is an exploded perspective view showing the structure of the main body of the modular robot arm for repair or diagnosis of the wall structure according to the present invention.

1 to 3 , the modular robot arm for repairing or diagnosing a structure wall according to an embodiment of the present invention includes a body part 100 and a link part 200 .

The body part 100 is mounted on the back wall device to drive and control the link part 200 , and the body part 100 includes a module base 110 , a first motor 142 and a second motor 144 . includes

A driving unit 132 that is a power source for driving the link unit 200 is mounted on the module base 110 . Therefore, the modular robot arm according to an embodiment of the present invention can be driven by a separate power supply from the back wall device. However, in a modified embodiment, the back wall device and the modular robot arm may be driven by an integrated power source.

A control unit 134 for controlling the link unit 200 is mounted on the module base 110 . The control unit 134 controls driving of the first motor 142 and the second motor 144 , or controls various driving devices (such as a third motor and an actuator to be described later) mounted on the link unit 200 . The controller 134 may be a mini-personal computer (PC).

The controller 134 may receive user input data (eg, rotation angle data of a motor) to drive the first to third motors 142 , 144 , and 257 .

The control unit 134 is connected to the main body 100 and the link unit 200 in a wired or wireless communication method. In an embodiment of the present invention, controller area network (CAN) communication is used, but there is no limitation on the communication method. Accordingly, the control unit 134 may know, for example, the current state of various driving devices of the driving unit 132 , the first motor 142 , the second motor 144 , and the link unit 200 .

On the other hand, the encoder (encoder) is built in the first motor 142 and the second motor 144. The encoder measures the rotation angles of the first motor 142 and the second motor 144 and transmits them to the controller 134 . An encoder may also be mounted on a third motor 257 to be described later.

A 1-1 hole 112 and a 1-2 hole 114 in which the first motor 142 and the second motor 144 can be respectively mounted are formed on one side of the module base 110 . However, a portion on the module base 110 to which the first motor 142 and the second motor 144 are mounted may have various shapes.

A case 120 having an inner space is coupled to the module base 110 . The driving unit 132 and the control unit 134 are accommodated in the inner space of the case 120 .

The first motor 142 and the second motor 144 are mounted in the 1-1 hole 112 and the 1-2 hole 114, respectively. Rotating parts 143 and 145 capable of rotating the motors 142 and 144 are formed in each of the first motor 142 and the second motor 144 .

Meanwhile, the first motor 142 and the second motor 144 may be further equipped with a reduction gear to increase the driving torque.

4 is an exploded perspective view showing the structure of the first passive joint part of the modular robot arm for repair or diagnosis of a structure wall according to the present invention, and FIG. 5 is a second active joint of the modular robot arm for repair or diagnosis of the structure wall according to the present invention. 6 is an exploded perspective view of the structure of the part viewed obliquely from the top down, and FIG. 6 is an exploded perspective view of the structure of the second active joint part of the modular robot arm for repair or diagnosis of the structure wall according to the present invention.

The link unit 200 is connected to the body unit 100 to perform a link movement, and includes a first link 210 , a second link 220 , a third link 230 , and a fourth link 240 . do.

In an embodiment of the present invention, the first link 210 and the second link 220 have the same shape, and the third link 230 and the fourth link 240 have the same shape. Accordingly, the shapes of the first link 210 and the third link 230 will be mainly described, and detailed descriptions of the second link 220 and the fourth link 240 will be omitted.

Meanwhile, portions to which the first to fourth links 210 , 220 , 230 , and 240 are connected may be divided into passive joint portions P1 and P2 and active joint portions A1 and A2 . The passive joint parts P1 and P2 are parts to which a link is connected without a driving device such as a motor, and the active joint parts A1 and A2 include a driving device, such as a motor, to the link connected part.

Referring to FIG. 4 , at one end of the first link 210 , a first motor connection unit 212 mounted with the same central axis (rotation axis) to the rotating unit 143 of the first motor 142 is formed, and at the other end of the first link 210 . A first link connecting portion 214 connected to the third link 230 is formed.

Here, a portion where the first link 210 and the second link 220 are connected to the first motor 142 and the second motor 144 is the first active joint part A1 . In the first active joint part A1 , the first link 210 and the second link 220 are moved by the driving of the first motor 142 and the second motor 144 .

Referring to FIG. 4 , a 3-1 link connection part 232a and a 3-2 link connection part 232b rotatably connected to the first link connection part 214 are formed at one end of the third link 230 , and , a third-third link connection part 236 is formed at the other end.

When the link connecting shaft 231 is inserted in a state where the first link connecting portion 214 is positioned between the 3-1 link connecting portion 232a and the 3-2 link connecting portion 232b, the first link 210 and the third Links 230 are rotatably connected. Bearings 233a and 233b are mounted on the link connecting shaft 231 to help the link rotate.

Here, the portion where the first link 210 and the third link 230 are connected to each other is the first passive joint portion P1. In the first passive joint portion P1 , the third link 230 passively moves according to the movement of the first link 210 .

On the other hand, the second link 220 and the fourth link 240 have the same connection structure as the above-described first link 210 and the third link 230 , and the connection part at this time is the second passive joint part P2 . )to be.

The third link 230 and the fourth link 240 have an approximately 'L' shape. Accordingly, each end may meet in a state where the third link 230 and the fourth link 240 face each other. If one end of each of the third link 230 and the fourth link 240 can meet each other, a modified example in which the third link 230 and the fourth link 240 has various shapes is also possible.

Here, the portion where the third link 230 and the fourth link 240 are connected is the second active joint part A2 .

5 and 6 , the second active joint part A2 includes a third motor 257 , and a plurality of coupling parts for coupling the third link 230 and the fourth link 240 .

An actuator connection part 258 is mounted at the lower end of the third motor 257 . Accordingly, when the third motor 257 rotates, the actuator connection part 258 also rotates. On the other hand, the actuator connecting portion 258 is formed with an insertion groove into which the actuator 270, which will be described later, is inserted. An encoder may be embedded in the third motor 257 .

The coupling part includes a third link upper coupling part 251 , a third link lower coupling part 252 , a fourth link top coupling part 253 , and a fourth link lower coupling part 254 .

The third link upper coupling part 251 and the third link lower coupling part 252 are configured to be connected to the third link 230 , and the fourth link upper coupling part 253 and the fourth link lower coupling part 254 are connected. ) is a configuration connected to the fourth link 240 .

A joint shaft 255 is formed on one side of the third link upper coupling portion 251 . A hole through which the actuator connection part 258 passes is formed on the center of the third link lower coupling part 252 .

The third link upper coupling part 251 and the third link lower coupling part 252 may be coupled to each other while accommodating the third motor 257 .

The 3-3 link connection part 236 of the third link 230 is inserted and fixed between the third link top coupling part 251 and the third link bottom coupling part 252, so that the third link 230 is It is coupled to the second active joint part A2.

A hole is formed in one side of the fourth link upper coupling part 253 to be rotatably connected to being inserted into the joint shaft 255 . A hole is formed at one side of the fourth link lower coupling part 254 so that the actuator connection part 258 passes therethrough.

A joint shaft 255 is formed on one side of the third link upper coupling portion 251 . A hole is formed in the center of the third link lower coupling part 252 through which the actuator connection part 258 is inserted and rotatably connected.

By inserting and fixing the 4-3 link connection part 246 of the fourth link 240 between the fourth link upper coupling part 253 and the fourth link lower coupling part 254, the fourth link 240 is It is coupled to the second active joint part A2.

In summary, the third link 230 and the fourth link 240 are rotatably connected to the second active joint part A2, respectively.

The actuator 270 may be a linear motor that moves in a straight line. One end of the actuator 270 is inserted into the insertion groove formed in the actuator connection part 258 , and an end effector 280 is detachably mounted on the other end. As the third motor 257 rotates, the actuator 270 connected to the actuator connection part 258 also rotates.

The end effector 280 may be equipped with a device for repairing or diagnosing the wall of the structure. For example, the end effector may be equipped with a device capable of applying and compacting a crack coating material to a crack location on a wall of a structure. However, the present invention is not limited thereto, and various devices according to the purpose of work may be used as the end effector 280 .

Meanwhile, according to an embodiment of the present invention, an imaging means such as a camera and a vision system may be further mounted to photograph the working position. The imaging unit transmits the captured image to the control unit 134 .

As described above, since the present invention is mounted on the back wall device, it is preferable that the modular robot arm is light. In an embodiment of the present invention, the first to third motors 142, 144, and 257 were motors lighter than 1 kg, and the first to fourth links 210, 220, 230, and 240 were plastic materials. . However, when the modular robot arm is driven, each part must not exceed the yield stress of the material used.

Meanwhile, in an embodiment of the present invention, four links 210 , 220 , 230 , and 240 are used, but the number, length, shape, and motor of the links are used to change the type of operation and the degree of freedom of the end effector 280 . The number and the like may be variously changed.

< Operation of modular robot arm >

7 is a view showing a folded state of the modular robot arm for repair or diagnosis of the wall of the structure according to the present invention.

Hereinafter, with reference to FIGS. 1 to 7, the operation of the modular robot arm for repairing or diagnosing the wall of a structure according to an embodiment of the present invention will be described.

The modular robot arm according to an embodiment of the present invention changes the position of the end effector 280 through the link movement of the link unit 200 . At this time, the link unit 200 performs a link movement on the same plane. That is, by driving at least one of the first motor 142 and the second motor 144 (eg, rotation angle control), the first to fourth links 210 , 220 , 230 , and 240 are coplanar The link movement is performed on the upper surface, and the position of the second active joint part A2 is changed according to the movement. Therefore, in the present invention, since each link (210, 220, 230, 240) moves on the same plane, the end effector 280 is easy to work while moving along the wall of the structure.

Meanwhile, the actuator 270 may move in a direction perpendicular to the plane direction of the above-described link movement. If the plane direction of the above-described link motion is the x-y plane direction, the actuator 270 may ascend and descend in the z direction. Therefore, after moving the second active joint part A2 to a specific position on the x-y plane through the link movement of the first link to the fourth link 210, 220, 230, 240, the actuator 270 is operated to the end The effector 280 may be moved in the z-direction to move to a working position.

In summary, the x and y coordinates of the end effector 280 according to an embodiment of the present invention may be controlled by the driving of the first motor 142 and/or the second motor 144 , and the z coordinate is the actuator It can be controlled by the actuation of 270 .

In addition, the actuator 270 may be rotated by the third motor 257 . Accordingly, it is possible to operate the end effector 280 by controlling the rotation angle of the third motor 257 at the work point.

According to the present invention, at least one of the first to third motors 142 , 144 , and 257 and the actuator 270 may be driven with reference to the maintenance position identified by an image means such as a camera.

1 shows a state in which the modular robot arm is fully unfolded according to an embodiment of the present invention, and FIG. 7 shows a state in which the modular robot arm is fully folded. The unfolded state of the modular robot arm may be a working state, and the folded state may be a state after completing the work.

As shown in Fig. 1, based on the state shown in Fig. 1, the first motor 142 rotates counterclockwise by the set rotation angle and the second motor 144 rotates clockwise by the set rotation angle. Each link (210, 220, 230, 240) is exercised to unfold.

Conversely, based on the state shown in FIG. 7 , when the first motor 142 rotates clockwise by a set rotation angle, and the second motor 144 rotates counterclockwise by the set rotation angle, each link 210 , 220, 230, 240) to be folded.

When the modular robot arm is fully folded, the volume occupied by the space is small, so it is easy to store the modular robot arm. Of course, it is also possible to store the modular robot arm by stopping after moving the links (210, 220, 230, 240) according to the shape of the space.

< Kinematic model of modular robot arm >

8 is a view showing a kinematic model for analyzing the movement of a modular robot arm for repair or diagnosis of a structure wall according to an embodiment of the present invention, and FIG. It is a diagram showing a kinematic model for analyzing the movement of a modular robot arm.

The modular robot arm according to an embodiment of the present invention is composed of a virtual link between the first to fourth links 210 , 220 , 230 , 240 , the first motor 142 and the second motor 144 . It can be interpreted as a clause link.

In order to move the position of the end effector 280 to the working position using the modular robot arm of the present invention, estimating the rotation angles of the first motor 142 and the second motor 144 through a kinematic model is It is possible.

,

,

,

,

가 계산될 수 있다. 이때, 제2 cos 법칙이 사용된다.Referring to FIG. 8, by the following <Equation 1>

,

,

,

,

can be calculated. In this case, the second cos law is used.

< Equation 1 >

Here, as shown in <Equation 2> below, four cases (case 1 to case 4) occur according to the sign of each angle.

< Equation 2 >

Case 1

Case 2

Case 3

Case 4

Here, a means an inverse trigonometric function symbol.

On the other hand, when considering Case 3, the angle is measured with the built-in encoders of the first motor 142 and the second motor 144, and the relative position of the end effector 280 is calculated through regular kinematic analysis using this. estimate In this case, the x and y coordinates of the end effector 280 may be calculated as shown in Equation 3 below.

< Equation 3 >

Meanwhile, referring to FIG. 9 , the position of the end effector 280 may be calculated according to another embodiment of the present invention.

< Equation 4 >

By using the m and n values, the angles of the passive joint parts P1 and P2 without a motor can be obtained as shown in Equation 5 below. In this case, the second cos law is used.

< Equation 5 >

In this case, the following two cases (case 1 and case 2) occur according to the angles of the first motor 142 and the second motor 144 , and the position of the end effector 280 may be calculated in each case.

Case 1

Case 2

Meanwhile, the value obtained according to the above-described embodiments is moved to a 1-cos trajectory to make the initial speed of the motor 0.

< Driving experiment of modular robot arm >

Figure 10a is a view showing the movement state of the end effector according to the link operation of the modular robot arm according to an embodiment of the present invention, Figure 10b is a view showing the x and y direction position change of each end effect shown in Figure 10a It is a graph, and Fig. 11a is a view showing the movement state of the end effector according to the actuator operation of the modular robopal according to an embodiment of the present invention, and Fig. 11b is the z-direction position change of each end effector shown in Fig. 11a is the graph shown.

The inventor of the present invention measured the position change of the end effector 280 by manufacturing a real modular robot arm and driving each link 210 , 220 , 230 , 240 or actuator 270 . At this time, the position of the end effector 280 was measured using a motion capture device.

10A (a), (b), (c), the first motor 142 and the second motor 144 are driven so that the end effector 280 is 0 mm in the y-direction, respectively (Fig. 10a (a)) , 100 mm ((b) of FIG. 10A), and 0 mm ((c) of FIG. 10) were inputted to the modular robot arm to move the data. At this time, the actuator 270 is in a stopped state.

FIG. 10B is a graph showing changes in the x and y directions of the actual movement of the end effector 280 using the motion capture device in each of the states shown in (a), (b) and (c) of FIG. 10A .

Considering only the y-direction of the end effector 280, looking at the results measured by the actual motion capture device, the y-direction coordinates in the state shown in (a) of FIG. 10A are 0.005005 mm, shown in (b) of FIG. 10A In the state shown in (c) of FIG. 10A, the y-direction coordinate was 101.796 mm, and the y-direction coordinate was -0.379944 mm in the state shown in (c) of FIG. 10A. That is, when the end effector 280 was commanded to move from 0 mm to 100 mm in the y-direction, the control error was about 1.796 mm.

11A (a), (b), (c), the actuator 270 is driven so that the end effector 280 is 0 mm ((a) of FIG. 11 a), -50 mm ((b) of FIG. 11 a) in the z direction. ), data was input to the modular robot arm to move to 0 mm (Fig. 11a (c)). At this time, the other motors (142, 144, 257) are in a stopped state.

11B is a graph showing a change in the z-direction position in which the end effector 280 actually moves using a motion capture device in each of the states shown in (a), (b), and (c) of FIG. 11A .

Considering only the z-direction of the end effector 280, looking at the results measured by the actual motion capture device, the z-direction coordinates in the state shown in (a) of FIG. 11a are 0.011139 mm, shown in (b) of FIG. 11a In the state shown in (c) of FIG. 11a, the z-direction coordinate was -50.0591 mm, and the z-direction coordinate was 0.017639 mm in the state shown in (c) of FIG. 11A. That is, when the end effector 280 was commanded to move from 0 mm to -50 mm in the z direction, the control error was about 0.0591 mm.

As can be seen from the above experimental results, it can be seen that according to the present invention, the end effector 280 can move while maintaining a stable state in the x, y, and z directions. Therefore, the modular robot arm according to the present invention can stably repair or diagnose the wall of the structure even in a state mounted on the back wall device.

Although the present invention has been described with reference to an embodiment shown in the accompanying drawings, which is only exemplary, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. will be able Accordingly, the true protection scope of the present invention should be defined only by the appended claims.

100: main body 110: module base
112: Hall 1-1 114: Hall 1-2
120: case 132: driving unit
134: control unit 142: first motor
143: rotating part 144: second motor
145: rotating part 200: link part
210: first link 212: first motor connection part
214: first link connection unit 220: second link
231: link connecting shaft 233a, 233b: bearing
230: third link 232a: 3-1 link connection unit
232b: 3-2 link connection part 236: 3-3 link connection part
240: fourth link 242a: 4-1 link connection unit
242b: 4-2 link connection part 246: 4-3 link connection part
251: third link upper coupling part 252: third link lower coupling part
253: fourth link upper coupling part 254: fourth link lower coupling part
255: joint shaft 257: third motor
258: actuator connection part 270: actuator
280: end effector

Claims (12)

a module base on which the first motor and the second motor are mounted;
a first link connected to the central axis of rotation of the first motor and a second link connected to the central axis of rotation of the second motor;
a third link and a fourth link having one end connected to the first link and the second link, respectively, and the other end connected to each other; and
Including;;
The coupling part,
a third link upper coupling part and a third link lower coupling part respectively formed at the upper end and the lower end so that the other end of the third link is inserted and connected; and
and a fourth link upper coupling part and a fourth link lower coupling part respectively formed at the upper end and the lower end so that the other end of the fourth link is inserted and connected.
A third motor is mounted on the coupling part,
An actuator is connected to a lower portion of the third motor in the direction of the central axis of rotation of the third motor,
The actuator rotates by driving the third motor,
The end effector is mounted on one end of the actuator,
The third link upper coupling portion and the third link lower coupling portion are coupled to each other while accommodating the third motor,
A joint shaft is formed on the upper surface of the third link upper coupling part,
The fourth link upper coupling portion is rotatably coupled to the joint shaft,
The fourth link lower coupling portion is rotatably coupled to a lower portion of the third link lower coupling portion,
A hole is formed in the third and fourth link lower coupling portions to allow the actuator to pass therethrough,
In the coupling part, the third link upper coupling part and the third link lower coupling part or the fourth link upper coupling part and the fourth link lower coupling part are rotatable based on the same central axis of the coupling part,
The first to fourth links link motion in the same plane direction according to the rotation of the first motor and the second motor,
The first to third motors have a central axis of rotation in the same direction,
The actuator is characterized in that it moves the end effector in a direction perpendicular to the plane direction,
Modular robotic arm for structural wall repair or diagnostics. The method of claim 1,
A modular robot arm for repairing or diagnosing a structure wall, characterized in that a driving unit for supplying power to the robot arm or a control unit for controlling the movement is coupled to the module base. The method of claim 1,
A modular robot arm for repairing or diagnosing a structure wall, characterized in that a case having an internal space is coupled to the module base. The method of claim 1,
The first motor or the second motor is a modular robot arm for repair or diagnosis of a wall structure, characterized in that the encoder for measuring the rotation angle is mounted. The method of claim 1,
The first link and the third link or the second link and the fourth link is a modular robot arm for repairing or diagnosing a structure wall, characterized in that it is rotatably connected to each other by a link connecting shaft. The method of claim 1,
The third link and the fourth link is a modular robot arm for repair or diagnosis of a wall structure, characterized in that formed in an 'L' shape. delete delete The method of claim 1,
A modular robot arm for repair or diagnosis of a structure wall, characterized in that a connection part to which one end of the actuator of the third motor is connected is mounted on a lower portion of the third motor. 10. The method of claim 9,
A modular robot arm for repair or diagnosis of a wall structure, characterized in that an insertion groove is formed in the connection part so that one end of the actuator is inserted. The method of claim 1,
The end effector is a modular robot arm for repair or diagnosis of a structure wall, characterized in that detachably connected to the end of the actuator. The method of claim 1,
A modular robot arm for repairing or diagnosing a structure wall, characterized in that it further comprises an imaging means to determine the repair position.

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