KR102506473B1 - Suction pad retractable belt assembly, Suction pad retractable endless track module and Suction pad retractable vehicle - Google Patents

Abstract

The present invention relates to a suction pad emergence and retraction type belt bundle, a suction pad emergence and retraction type endless track module, and a suction pad emergence and retraction type movable body. The belt bundle 100 according to the present invention includes a belt 110, and The first rotating bodies 121a and 121b are provided in close contact with the belt 110 on one side to perform belt movement of the belt 110, and are provided in close contact with the belt 110 on the other side of the belt 110 to move the belt 110. A belt motor for forcibly rotationally driving at least one of the second rotating bodies 122a and 122b for belt movement and the first rotating body 121a and 121b and the second rotating body 122a and 122b ( 131a, 131b, 132a, 132b) and a suction pad 170 attached to the outer surface of the belt 110, and according to this, there is an advantage in that the suction pad can be selectively released as needed.

Description

Suction pad retractable belt assembly, Suction pad retractable endless track module and Suction pad retractable vehicle}

The present invention relates to a suction pad appearing and retracting belt bundle, a suction pad appearing and retracting track module, and a suction pad appearing and retracting movable body. Therefore, in case of movement, the adsorption pad that was hidden inside is exposed to the outside so that it can be moved by the adsorption force of the adsorption pad on the vertical wall. It is about the appearance-and-death type of mobile body.

In general, where a fire breaks out, it usually suffers great damage from toxic gases caused by hot flames and combustion. In addition, in case of severe flames, access to the fire site may not be possible.

In particular, there is a problem in that a person or firefighting equipment cannot access a place where people cannot enter because it is made up of a narrow space, so that the fire cannot be effectively extinguished.

In order to solve this problem, various firefighting robots or firefighting devices that can be put into the fire scene instead of humans have been disclosed, but various firefighting robots invented so far are not effective, so they can be properly used in the actual field. It is currently not possible.

In particular, when a fire occurs in a basement or a floor above the second floor, most firefighting robots cannot climb or descend stairs, making it difficult to enter the site.

And, as an example, Korean Patent Publication No. 10-2006-61579 (published date: 20060608) discloses a fire fighting robot for fire suppression.

As disclosed in Publication No. 10-2006-61579, this firefighting robot has a vehicle body 10 having a plurality of movable wheels, and a water supply hose 12 wound or unwound from the upper side of the vehicle body 10. A hose rotating cylinder 14 formed to be rotatable, a central rotating part 20 located on the inner diameter side of the hose rotating cylinder 14 and formed to be rotatable left and right separately from the hose rotating cylinder 14, and the central rotating part A telescopic arm having sliding parts (a), (b) and (c) capable of adjusting the vertical angle and adjusting the length while the water supply hose (12) is inserted and fixed to the inner diameter side in a state located in the center of (20) It consists of (30).

According to this firefighting robot, it is not only possible to easily extinguish the fire by putting it into a narrow area that is difficult for firefighters to access when extinguishing a fire, but also the length of the hose can be freely adjusted, and it is quickly operated and operated by a telescopic arm. Since the fire can be extinguished quickly by narrowing the radius, it was possible to prevent the fire from spreading significantly, but it was difficult to enter the fire site if there were stairs or obstacles, and when a rescuer occurred, relief was given to the rescued person. There was a problem that could not be

As a technique proposed to solve this problem, a fire lifesaving robot according to Patent Registration No. 10-1927265 (published date: 2019.03.12) is known.

The fire lifesaving robot according to Patent Registration No. 10-1927265 adopts an endless track, and in case of fire, it is a technology that solves the technical problem of being able to grasp the scale of the fire by entering the building and performing the firefighting function. .

However, the fire lifesaving robot according to Patent Registration No. 10-1927265 has a technical limitation that cannot be used when it is difficult to enter the building according to the situation of the fire scene.

Document 1: Patent Registration No. 10-1927265 (Announcement date: 2019.03.12) Document 2: Patent Registration No. 10-1289037 (Announcement date: 2013.07.23)

The present invention was created to solve the problems of the prior art as described above, and the purpose of the suction pad emergence and retraction type belt bundle, the suction pad emergence and retraction type endless track module and the suction pad emergence and retraction type movable body according to the present invention is,

First, by rotating the belt, the suction pad can be selectively hidden inside or exposed to the outside as needed, thereby providing a belt bundle that can be applied to various products or technologies,

Second, a plurality of belt bundles are connected by orbital links to form a closed orbital module, and all suction pads are selectively hidden inside or all suction pads are exposed to the outside as needed for this orbital module. enable it,

Third, if the driving surface or moving surface is flat, all belts are rotated at the same time so that all suction pads are located inside at the same time so that the suction pad provided on the belt does not interfere with the driving on the flat surface, and the moving surface is perpendicular to the building wall In the case of a wall, all belts are rotated at the same time so that all suction pads are exposed to the outside at the same time, and the exposed suction pads move smoothly and safely without falling from the building wall by the adsorption force on the vertical wall (building wall). and

Fourth, two caterpillar modules are used to move along the running surface, but when the running surface is smaller than the standard inclination angle, such as on a flat surface, all suction pads are located on the lower side of the belt and are inside, and the moving surface is a vertical wall (For example, the wall of a building or a house), if the inclination angle is higher than the standard, all the belts are rotated simultaneously by the rotation of the motor, and the suction pad located on the lower side is exposed to the upper side. When moving the above moving surface, it is adsorbed by the adsorption force of the adsorption pad to provide a vehicle that can move on the vertical wall,

Fifth, various activities (rescue activities, detection activities) by mounting various imaging devices and measuring instruments such as cameras, temperature sensors, earthquake detection sensors, etc. It is to provide a suction pad emergence and retraction type belt bundle, a suction pad emergence and retraction type endless track module, and a suction pad emergence and retraction type movable body suitable for application to the.

In order to achieve the above object, the suction pad protrusion type belt bundle of the present invention includes a belt, a first rotating body provided in close contact with the belt on one side of the belt to move the belt, and a belt on the other side of the belt. A second rotating body provided for belt movement of the belt, a belt motor for forcibly rotationally driving at least one of the first rotating body and the second rotating body, and a suction pad attached to the outer surface of the belt It is configured to include, characterized in that the position of the suction pad is varied according to the operation of the belt.

In order to achieve the above object, the present invention, the suction pad emergence and retraction type endless track module, is composed of a plurality of belt bundles described above and a track link connecting the adjacent belt bundles, so that each belt bundle is provided by the track link A connected and closed caterpillar, a front track rotating body provided in close contact with the caterpillar at the front side of the caterpillar to rotate the caterpillar, and a rear track provided in close contact with the caterpillar at the rear side of the belt to rotate the caterpillar A rotating body and an orbital motor for forcibly rotationally driving at least one of the forward orbital rotating body and the backward orbital rotating body, wherein the main controller outputs a drive control signal to the orbital motor to orbit Controls the rotational drive of the motor, and when the caterpillar travels on a driving surface having an inclination angle greater than a pre-stored reference angle with respect to the ground, the main controller controls the belt motor so that the suction pad is positioned above the belt. Controls the rotation of, and when the caterpillar travels on a driving surface having an inclination angle less than the set angle with respect to the ground, the main controller controls the rotation of the belt motor so that the position of the suction pad is located on the lower side of the belt characterized by

In order to achieve the above object, the present invention, a suction pad appearing and retracting movable body, is composed of a pair of the above-described caterpillar modules at intervals left and right, and a center body provided between the pair of caterpillar modules, The orbital motor is installed in the center body to forcibly rotate and drive at least one of the front orbital rotation body and the backward orbit rotation body, one side is connected to the orbital motor, and the other side is connected to the pair of crawler modules. It is connected to the orbital rotating body provided in, characterized in that it is configured to include an orbital rotation shaft for transmitting the rotational motion of the orbital motor to the orbital rotational body.

The suction pad protruding and retracting type belt bundle, the suction pad protruding and retracting type endless track module, and the suction pad protruding and retracting movable body having the above configuration have the following effects.

First, by rotating the belt, there is an effect of selectively hiding the suction pad inside or exposing it to the outside as needed, and as a result, it is possible to provide a belt bundle that can be applied to various products or technologies. there is

Second, a plurality of belt bundles are connected by orbital links to form a closed orbital module, and all suction pads are selectively hidden inside or all suction pads are exposed to the outside as needed for this orbital module. There are possible effects.

Third, if the driving surface or moving surface is flat, all belts are rotated at the same time so that all suction pads are located inside at the same time so that the suction pad provided on the belt does not interfere with the driving on the flat surface, and the moving surface is perpendicular to the building wall In the case of a wall, all belts are rotated at the same time so that all suction pads are exposed to the outside at the same time. It works.

Fourth, two caterpillar modules are used to move along the running surface, but when the running surface is smaller than the standard inclination angle, such as on a flat surface, all suction pads are located on the lower side of the belt and are inside, and the moving surface is a vertical wall (For example, the wall of a building or a house), if the inclination angle is higher than the standard, all the belts are rotated simultaneously by the rotation of the motor, and the suction pad located on the lower side is exposed to the upper side. When moving on the above moving surface, there is an effect of providing a movable vehicle (vehicle) capable of being adsorbed by the adsorption force of the adsorption pad and moving on the vertical wall.

Fifth, various activities (rescue activities, detection activities) by mounting various imaging devices and measuring instruments such as cameras, temperature sensors, earthquake detection sensors, etc. There is an effect that can be applied to.

1 is a conceptual diagram of the internal configuration of a suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention viewed from a plane.
2 is a conceptual diagram of the configuration seen from the side of the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, FIG. 2 (a) is an operation diagram when the suction pad 170 is exposed to the outside 2(b) is an operation diagram when the suction pad 170 enters the inside.
Figure 3 is a conceptual diagram of the internal configuration of the suction pad protruding and retracting belt bundle 100 as viewed from a plane of various modified embodiments according to an embodiment of the present invention.
Figure 4 is a conceptual diagram of the internal configuration of the suction pad protruding and retracting belt bundle 100 according to another embodiment of the present invention viewed from a plane.
5 is a schematic plan view of the configuration of a suction pad retractable movable body A according to an embodiment of the present invention.
6 is a conceptual diagram of the side configuration of the suction pad retractable movable body A according to an embodiment of the present invention.
FIG. 7 is a detailed configuration conceptual diagram of a main part of FIG. 5 .
8 is a conceptual diagram illustrating the configuration of a joint joint 240 that jointly connects the orbital link 210 and the support shaft 140 .
9 is a conceptual diagram showing a detailed configuration of the suction pad 170 when the vacuum suction member 18 is provided.
10 is a block diagram of a modified embodiment of a main part of a suction pad retractable movable body A according to an embodiment of the present invention.
11 is a block configuration diagram of another modified embodiment of the main part of the suction pad retractable movable body A according to an embodiment of the present invention.
Fig. 12 is a schematic diagram of an operation in which the suction pad protruding and retracting mobile body A travels or moves according to an embodiment of the present invention. 12(b) is an operation diagram of moving a vertical wall in a state in which all of the suction pads 170 are exposed to the outside (upper side).

Next, a preferred embodiment of the present invention, a suction pad retractable belt bundle, a suction pad retractable endless track module, and a suction pad retractable movable body will be described in detail with reference to the accompanying drawings.

If the direction described in this specification is defined, “forward” is the direction in which the moving body A moves.

The suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention is provided in close contact with the belt 110 and one side of the belt 110 to the belt 110 to rotate the belt 110 The first rotating bodies 121a and 121b for movement, and the second rotating bodies 122a and 122b provided in close contact with the belt 110 on the other side of the belt 110 to move the belt 110, Belt motors 131a, 131b, 132a, 132b forcibly rotating and driving at least one rotating body 121a, 121b, 122a, 122b of the first rotating body 121a, 121b or the second rotating body 122a, 122b ) and a suction pad 170 attached to the outer surface of the belt 110, and the position of the suction pad 170 varies according to the operation of the belt 110.

Depending on the embodiment, a reducer (not shown) may be configured in the belt motors 131a, 131b, 132a, and 132b.

Also, according to embodiments, the belt motors 131a, 131b, 132a, and 132b may further include motor housings (not shown).

In the suction pad protruding belt bundle 100 according to an embodiment of the present invention, the motor driving control signal for controlling the rotation of the belt motors 131a, 131b, 132a, 132b is transmitted to the belt motors 131a, 131b, 132a, 132b) is further included, and the belt motors 131a, 131b, 132a, 132b rotate according to the motor driving control signal output from the main controller, and the belt motors 131a and 131b , It is characterized in that the suction pad 170 is located on the upper side (upper side) of the belt 110 or on the lower side (lower side) of the belt 110 according to the rotation of 132a and 132b).

When the suction pad 170 is located on the upper side (upper side) of the belt 110, the suction pad 170 is exposed above the belt 110 and comes out (appears) to the outside.

When the suction pad 170 is located on the lower side (lower side) of the belt 110, it is a case where the suction pad 170 hides under the belt 110 and goes inside.

Therefore, according to the rotation of the belt 110, the suction pad 170 is exposed to the outside or enters the inside so that it appears and disappears.

On the other hand, the suction pad 170 has been described by taking, for example, one provided on the belt 110, but is not limited thereto, and even when provided with two or three or more, the technical scope of the present invention is not limited thereto. belongs to, of course.

In addition, the drive of the belt for protruding and retracting the suction pad 170 is performed by driving control of the belt motor, and the control of the belt motor is performed by the motor driving control signal output from the main controller.

In addition, the main controller may detect, for example, the slope of the driving surface (moving surface) received from an external sensor (not shown) and output a motor driving control signal based on the slope detection signal output according to the detected slope, or may be remotely controlled. A motor driving control signal may be output according to a remote control signal output from the remote control of the controller, and a motor driving control signal for driving the motor may be output according to various known methods.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the first rotating bodies 121a and 121b are connected to be rotatable according to the rotation of the belt motors 131a and 131b, thereby driving the rotation It acts as a whole, and the second rotating bodies 122a and 122b are characterized in that they act as idle rotating bodies that passively rotate according to the rotation of the first rotating bodies 121a and 121b.

According to this, there is an advantage in that the number of parts can be reduced because only one rotating body needs to be driven.

The belt 110 may be composed of a belt, which is a general rotation transmission member, or may be composed of a timing belt.

Depending on the embodiment, the first rotating bodies 121a and 121b may be configured as gears.

Depending on the embodiment, the first rotating bodies 121a and 121b may be composed of rollers.

In addition, in the suction pad protruding and retracting belt assembly 100 according to an embodiment of the present invention, the first rotating bodies 121a and 121b are rotatably provided on the front side of one side of the belt 110 A first front rotating body 121a, and a first rear rotating body rotatably provided at the rear of one side of the belt 110 by being spaced apart from the first front rotating body 121a in the front-back direction, which is a direction perpendicular to the rotational direction. It is characterized in that it is composed of a rotating body (121b).

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the second rotating bodies 122a and 122b are rotatably provided on the front side of the other side of the belt 110. 2 rotating bodies 122a, and a rear second rotating body rotatably provided at the rear of the other side of the belt 110 by being spaced apart from the front second rotating body 122a in the front-back direction, which is a direction perpendicular to the rotational direction. It is characterized in that it consists of (122b).

In the suction pad protruding and retracting belt assembly 100 according to an embodiment of the present invention, the belt motors 131a, 131b, 132a, and 132b include the four rotating bodies 121a, 121b, 122a, and 122b, that is, The four rotational bodies ( It is characterized in that it is rotatably connected to at least one rotating body (121a, 121b, 122a, 122b) among 121a, 121b, 122a, 122b.

Now, the specific configuration of the belt motor and the rotating body will be described.

As shown in FIG. 1, the belt motor 131a is rotatably connected to the front first rotating body 121a in order to rotationally drive the front first rotating body 121a (eg, shaft connection, or At this time, the front first rotating body 121a is rotatably connected according to the rotation of the belt motor 131a to act as a driving rotating body, and the remaining three rotating bodies (121b, 122a, 122b), the rear first rotating body 121b, the front second rotating body 122a, and the rear second rotating body 122b passively according to the rotation of the front first rotating body 121a. It is characterized in that it acts as a rotating idle (idle) rotating body.

And, as shown in (a) of FIG. 3, the belt motors 131a and 131b are rotatable to the first front rotating body 121a in order to rotationally drive the first front rotating body 121a. In order to rotationally drive the front first belt motor 131a, which is connected (for example, by a shaft connection or a reduction gear connection, etc.) and the rear first rotation body 121b, the rear first rotation body ( 121b) characterized in that it is configured to include a rear first belt motor (131b) rotatably connected to.

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the rear first rotating body 121b is connected to the rear first rotating body 121b. 1-belt motor 131b is rotatably connected and acts as a driving rotating body, and the remaining two rotating bodies 122a and 122b, the front second rotating body 122a and the rear second rotating body 122b is characterized in that it acts as an idle rotating body that passively rotates according to the rotation of the first front rotating body 121a and the first rear rotating body 121b.

And, as shown in FIG. 3(b) and FIG. 3(c), the belt motors 131a and 131b rotate the front first rotating body 121a to drive the front first rotation. In order to rotationally drive the front first belt motor 131a, which is rotatably connected to the whole 121a (for example, connected by a shaft connection or a reduction gear, etc.), and the front second rotating body 122a. It is characterized in that it is configured to include a front second belt motor (132a) rotatably connected to the front second rotating body (122a).

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the front second rotating body 122a is connected to the front first rotating body 122a. The rear first rotating body 121b and the rear second rotating body 122b, which are the remaining two rotating bodies 121b and 122b, are rotatably connected according to the rotation of the two-belt motor 132a and act as a driving rotating body. is characterized in that it acts as an idle rotating body that passively rotates according to the rotation of the first front rotating body 121a and the second front rotating body 122a.

And, as shown in (d) of FIG. 3, the belt motors 131a, 131b, 132a, and 132b rotate the front first rotating body 121a to drive the front first rotating body 121a. In order to rotationally drive the front first belt motor 131a, which is rotatably connected (for example, connected by a shaft connection or a connection by a reduction gear) to the rear first rotating body 121b, The rear first belt motor 131b rotatably connected to the rear first rotating body 121b rotates to the front second rotating body 122a in order to drive the front second rotating body 122a to rotate. A front second belt motor 132a operably connected, and a rear second belt motor rotatably connected to the rear second rotation body 122b to rotationally drive the rear second rotation body 122b. It is characterized in that it is configured to include (132b).

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the rear first rotating body 121b is connected to the rear first rotating body 121b. It is connected to be rotatable according to the rotation of one belt motor (131b) and acts as a prime mover, and the second front rotating body (122a) is connected to be rotatable according to the rotation of the second front belt motor (132a) It acts as a driving rotation body, and the rear second rotation body (122b) is rotatably connected according to the rotation of the rear second belt motor (132b), characterized in that it acts as a driving rotation body.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the rotational force of the belt motors 131a, 131b, 132a, and 132b is applied to the four rotating bodies 121a, 121b, 122a, and 122b, that is, , The belt motor 131a, to transmit to at least one of the front first rotating body 121a, the rear first rotating body 121b, the front second rotating body 122a, or the rear second rotating body 122b. 131b, 132a, 132b) and a power transmission member rotatably connected to at least one rotating body 121a, 121b, 122a, 122b among the four rotating bodies 121a, 121b, 122a, 122b. It is characterized in that it is composed of.

The power transmission member may be composed of, for example, a transmission gear 135.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, it is connected between the first rotating bodies 121a and 121b and the second rotating bodies 122a and 122b, and the first rotating body 121a , 121b) and the second rotating bodies 122a and 122b are characterized in that the support shaft 140 is further included to maintain a constant interval.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the first rotating bodies 121a and 121b are rotatably provided on the front side of one side of the belt 110. 1 rotating body 121a, and a rear first rotating body rotatably provided at the rear of one side of the belt 110 by being spaced apart from the front first rotating body 121a in the front-back direction, which is a direction perpendicular to the rotational direction. (121b), and the second rotating bodies 122a and 122b include a front second rotating body 122a rotatably provided on the front side of the other side of the belt 110, and the front second rotating body 122a. It is spaced apart from the whole 122a in the front-back direction, which is a direction perpendicular to the rotational direction, and is composed of a rear second rotating body 122b rotatably provided at the rear of the other side of the belt 110, and the front end is the front first A first arm stand 151 connected to the rotating body 121a and having a rear end connected to the first rear rotating body 121b, and a first arm 151 having a front end connected to the second front rotating body 122a and having a rear end connected to the rear second rotating body 122a. It is configured to further include a second arm stand 152 connected to the rotating body 122b, one end (left end) of the support shaft 140 is fixedly connected to the first arm stand 151, and the support shaft ( 140) is fixedly connected to the second arm stand 152, the front first rotation body 121a is rotatably connected to the front end of the first arm stand 151, and the rear first arm stand 121a is rotatably connected to the front end of the first arm stand 151. The first rotating body 121b is rotatably connected to the rear end of the first arm stage 151, and the front second rotating body 122a is rotatably connected to the front end of the second arm stage 152. The rear second rotating body 122b is characterized in that it is rotatably connected to the rear end of the second arm stand 152.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the belt motors 131a and 131b are at least among the first front rotating body 121a and the first rear rotating body 121b. At least one of the front first rotating body 121a and the rear first rotating body 121b is provided between the front first rotating body 121a and the rear first rotating body 121b to rotationally drive either one. One is rotatably connected to the rotating bodies 121a and 121b, and at this time, the first arm 151 is provided between the first front rotating body 121a and the first rear rotating body 121b It is characterized in that any one of the belt motors 131a and 131b and the front first rotating body 121a and the rear first rotating body 121b are connected.

Similarly, depending on the embodiment, the belt motors 132a and 132b are configured to rotate and drive at least one of the front second rotating body 122a and the rear second rotating body 122b. It is provided between the 122a and the rear second rotating body 122b so that at least one of the front second rotating body 122a and the rear second rotating body 122b is rotatable to the rotating bodies 122a and 122b. At this time, the second arm 152 is provided between the front second rotating body 122a and the rear second rotating body 122b and the belt motors 131a, 131b, 132a, 132b and the front It is characterized in that the second rotating body 122a or the rear second rotating body 122b is connected, and the second belt motors 132a and 132b are provided in the second arm stand 152.

And according to another embodiment, as shown in FIG. 4, one first rotating body 121 rotatably provided on one side of the belt 110 and rotatable on the other side of the belt 110 One second rotating body 122 provided, a power transmission member 135 connected to the first rotating body 121, a first belt motor 131 for rotating the power transmission member, and one side The rotation of the first rotation body 121 is rotatably connected to the first rotation body 121 and the other side is rotatably connected to the second rotation body 122 so that the rotation of the first rotation body 121 is transmitted to the second rotation body 122. It is characterized in that it is configured to include a rotational force transmission member 145 to.

According to this, there is an advantage in that the number of parts can be reduced because the belt can be rotated and driven with only one motor.

Hereinafter, the connection relationship of the first arm stand 151 will be described in detail.

As shown in FIG. 3, the belt motor 131a is rotatably connected (eg, shaft-connected, or In this case, it is composed of a front first belt motor 131a, and the first arm 151 includes a first belt motor 131a [strictly, a first belt motor (131a) casing] and the rear first rotating body 121b are connected.

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the belt motor 131a and acts as a driving rotating body, and the remaining three rotating bodies 121b, 122a, and 122b are the rear first rotating body. The entire 121b, the front second rotating body 122a, and the rear second rotating body 122b act as idle rotating bodies that passively rotate according to the rotation of the front first rotating body 121a. As described above.

And, as shown in (a) of FIG. 3, the belt motors 131a and 131b are rotatable to the first front rotating body 121a in order to rotationally drive the first front rotating body 121a. In order to rotationally drive the front first belt motor 131a, which is connected (for example, by a shaft connection or a reduction gear connection, etc.) and the rear first rotation body 121b, the rear first rotation body ( 121b) and a rear first belt motor 131b rotatably connected to the first arm stand 151, the front first belt motor 131a (strictly, the front first belt motor ( 131a) and the rear first belt motor 131b (strictly, the casing of the rear first belt motor 131b) are connected.

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the rear first rotating body 121b is connected to the rear first rotating body 121b. 1-belt motor 131b is rotatably connected and acts as a driving rotating body, and the remaining two rotating bodies 122a and 122b, the front second rotating body 122a and the rear second rotating body 122b Acts as an idle rotating body that passively rotates according to the rotation of the front first rotating body 121a and the rear first rotating body 121b, as described above.

In the case of the configuration shown in (b) of FIG. 3 , the first arm stage 151 and the second arm stage 152 are connected to the rotating body, respectively.

And, as shown in (c) of FIG. 3, the belt motors 131a and 132a are rotatable to the first front rotating body 121a in order to rotationally drive the first front rotating body 121a. In order to rotationally drive the front first belt motor 131a that is connected (for example, by a shaft connection or a reduction gear connection) and the front second rotation body 122a, the front second rotation body ( 122a) and a second front belt motor 132a rotatably connected to the front belt motor 132a, and the first arm 151 includes a front first belt motor 131a (strictly, a front first belt motor ( 131a)] and the rear first rotating body 121b are connected, and the second arm 152 is the front second belt motor 132a (strictly, the casing of the front second belt motor 132a). And it is characterized by connecting the rear second rotation body (122b).

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the front second rotating body 122a is connected to the front first rotating body 122a. The rear first rotating body 121b and the rear second rotating body 122b, which are the remaining two rotating bodies 121b and 122b, are rotatably connected according to the rotation of the two-belt motor 132a and act as a driving rotating body. Acts as an idle rotating body that passively rotates according to the rotation of the first front rotating body 121a and the second front rotating body 122a, as described above.

And, as shown in (d) of FIG. 3, the belt motors 131a, 131b, 132a, and 132b rotate the front first rotating body 121a to drive the front first rotating body 121a. ) to the rear first belt motor 131a, which is rotatably connected (for example, connected by a shaft connection or a reduction gear, etc.), and the rear first rotating body 121b to be rotationally driven. The first rear belt motor 131b rotatably connected to the first rotating body 121b and the second front rotating body 122a are rotatably driven in order to rotationally drive the second front rotating body 122a. The connected front second belt motor 132a and the rear second belt motor 132b rotatably connected to the rear second rotating body 122b to rotate and drive the rear second rotating body 122b. ), wherein the first arm stand 151 connects the front first belt motor 131a and the rear first belt motor 131b, and the second arm stand 152, It is characterized by connecting the two-belt motor (132a) and the rear second belt motor (132b).

At this time, the front first rotating body 121a is rotatably connected according to the rotation of the front first belt motor 131a and acts as a driving rotating body, and the rear first rotating body 121b is connected to the rear first rotating body 121b. It is connected to be rotatable according to the rotation of one belt motor (131b) and acts as a prime mover, and the second front rotating body (122a) is connected to be rotatable according to the rotation of the second front belt motor (132a) As described above, the rear second rotating body 122b is rotatably connected according to the rotation of the rear second belt motor 132b and serves as a driving rotating body.

In the suction pad protruding and retracting belt bundle 100 according to an embodiment of the present invention, the suction pad 170 attached to the outer surface of the belt 110 is attached to the inner surface of the attached belt, so that the suction pad ( 170) is characterized in that it is configured to further include a vacuum suction member 180 for forcibly sucking air so that it can be adsorbed.

According to this, the adsorption force of the adsorption pad 170 becomes very strong, so that even if the weight of the belt bundle 100, the orbital module 200 described below, or the movable body A described below is heavy, it can be moved while sticking well without falling off.

And, in the suction pad protruding and retractable belt bundle 100 according to an embodiment of the present invention, the suction pad 170 provides a path through which air is sucked when the vacuum suction member 180 sucks air It is characterized in that the orifice 171 is formed.

The vacuum suction member 180 may be configured as a vacuum suction pump that forcibly sucks air so that the suction pad 170 can absorb it.

On the other hand, the vacuum suction pump itself for forcibly sucking air so as to adsorb the suction pad is a known configuration prior to filing the application of the present invention, so a detailed description thereof will be omitted.

Next, the suction pad emergence and retraction type caterpillar module 200 according to an embodiment of the present invention will be described.

The suction pad emergence and retraction type endless track module 200 according to an embodiment of the present invention is provided with a plurality of belt bundles 100, and the track link 210 connecting the front and rear adjacent belt bundles 100 Consisting of, each of the belt bundles 100 are connected by the track link 210 to the closed track (100,210), and provided in close contact with the track (100,210) at the front side of the track (100,210) to the track ( 100 and 210), and a rear orbit rotating body 222 and 232 that is provided in close contact with the caterpillar 100 and 210 at the rear side of the caterpillar 100 and 210 to rotate the caterpillar 100 and 210, and , The orbital motor 320 forcibly rotating and driving at least one of the forward orbital rotators 221 and 231 and the rear orbital rotator 222 and 232 is characterized in that it is configured.

At this time, the main controller outputs a driving control signal to the orbital motors 321a, 321b, 322a, and 322b to control the rotational driving of the orbital motors 321a, 321b, 322a, and 322b, and the endless orbits 100 and 210 are on the ground. When driving on a driving surface having an inclination angle (θ) equal to or greater than the pre-stored reference angle (θ1), the main controller is positioned so that all of the suction pads 170 are located on the upper side (upper side) of the belt 110. controls the rotation of the belt motors 131a, 131b, 132a, 132b, and when the caterpillars 100 and 210 travel on a running surface having an inclination angle θ less than the set angle with respect to the ground, all the suction pads 170 ) is located on the lower side of the belt 110, characterized in that the main controller controls the rotation of the belt motors (131a, 131b, 132a, 132b).

When the belt motors 131a, 131b, 132a, and 132b rotate, all the belts 110 constituting the crawler module 200 rotate simultaneously, so that all the suction pads 170 are exposed to the outside at the same time or go inside at the same time. .

Here, when the suction pad 170 is located on the upper side (upper side) of the belt 110, the suction pad 170 is exposed on the belt 110 and comes out (appears) to the outside, and the suction pad ( 170) is located on the lower side of the belt 110, the case where the suction pad 170 hides under the belt 110 and enters the inside is the same as described for the belt bundle 100 described above.

Therefore, as all the belts 110 constituting the caterpillar module 200 rotate simultaneously, all the suction pads 170 are simultaneously exposed to the outside or go inside at the same time and appear and disappear.

In the suction pad emergence and retraction type caterpillar module 200 according to an embodiment of the present invention, the track link 210 includes a plurality of joints connected so that the caterpillars 100 and 210 can form a curved track. It is characterized in that it consists of joint nodes (211a, 211b).

The orbital link 210 may be composed of a plurality of joint nodes 211a and 211b, for example, it may be composed of two joint nodes of a first joint node 211a and a second joint node 211b. It may be composed of a chukpin (211c) for axially connecting the first joint node (211a) and the second joint node (211b).

Of course, depending on the embodiment, the orbital link 210 may be composed of three joint nodes 211a and 211b, and each joint joint may be rotatably connected by a shaft pin.

In the suction pad emergence and retraction type endless track module 200 according to an embodiment of the present invention, the track link 210 is capable of joint motion with respect to the support shaft 140 of the belt bundle 100 adjacent to each other It is characterized by joint connection.

In the suction pad retractable crawler module 200 according to an embodiment of the present invention, the joint joint 240 for jointly connecting the orbit link 210 with respect to the support shaft 140 is further included. to be characterized

Next, a suction pad protruding/retracting movable body (A) that can selectively use the suction pad according to the inclination angle of the running surface will be described.

As shown in FIG. 5, in the suction pad retractable movable body A according to an embodiment of the present invention, the above-described crawler modules 200 are configured in pairs at a left and right interval D1, and the A center body 310 provided between a pair of caterpillar modules 200 and 200', and the orbit motors 321a, 321b, 322a, and 322b are installed on the center body 310, so that the forward orbit rotating body (221,231) or at least one of the rear orbital rotating bodies (222,232) is forcibly rotated, one side is connected to the orbital motors (321a, 321b, 322a, 322b), and the other side is the pair of crawler modules ( 200, 200 ') is connected to the orbital rotating bodies 221, 231, 222, 232, and transmits the rotational motion of the orbital motors 321a, 321b, 322a, 322b to the orbital rotating bodies 221, 231, 222, 232. characterized by

The suction pad retractable movable body A according to an embodiment of the present invention can move along the running surface using the two endless track modules 200 and 200' as described above. If small, the suction pad 170 is on the lower side of the belt 110 and is inside, and when the driving surface is at least a standard inclination angle, such as a vertical wall (eg, a wall of a building or a house), a number of belts are rotated by a motor. 110 rotates at the same time and the lower suction pad 170 is exposed to the upper side, for example, when moving on a running surface of a standard inclination angle or higher, such as a vertical wall (eg, a wall of a building or a house), it is adsorbed and can be moved on a vertical wall. will do

As shown in FIG. 11, in the suction pad protruding and retracting movable body A according to an embodiment of the present invention, the orbital motor is installed on the center body 310, and the pair of left and right forward orbits rotate. It consists of a forward orbital motor 321 that rotates and drives the entirety 221 and 231, and the orbit rotation shafts 331 and 332 are connected to the forward orbital motors 321a and 321b and a pair of forward orbital rotating bodies 221 and 231, respectively. A pair of forward orbit rotating shafts 331 that rotate the pair of forward orbit rotating bodies 221 and 231 according to the rotation of the forward orbit motors 321a and 321b, and one end and the other end of the pair of rear orbit rotating bodies ( 222 and 232), and a power transmission member 340 for transmitting the rotation of the front orbital rotation shaft 221 and 231 to the rear orbit rotation shaft 222 and 232 is further included, It is characterized by being composed.

At this time, the pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the forward orbit motors 321a and 321b, and the rear orbital rotators 222 and 232 are the forward orbital rotators. It is characterized in that it acts as an idle rotating body that passively rotates by receiving rotational force from the power transmission member according to the rotation of (221, 231).

As shown in FIG. 12, in the suction pad retractable moving body A according to an embodiment of the present invention, the orbital motors 321 and 322 are installed on the center body 310, and the pair of left and right A forward orbital motor 321 for rotationally driving the forward orbital rotators 221 and 231, spaced apart from the front orbital motors 321a and 321b backward and installed on the center body 310, and a pair of left and right rear orbits It consists of a rear orbital motor 322 that rotationally drives the rotating bodies 222 and 232, and the orbital rotation shafts 331 and 332 are connected to the forward orbital motors 321a and 321b and a pair of forward orbital rotating bodies 221 and 231, respectively. A pair of forward orbital rotation shafts 331 for rotating the pair of forward orbital rotating bodies 221 and 231 according to the rotation of the forward orbital motors 321a and 321b, and a pair of the rear orbital motors 322a and 322b Characterized in that it consists of a pair of rear orbit rotating shafts 332 that are connected to the rear orbit rotating bodies 222 and 232 and rotate the pair of rear orbit rotating bodies 222 and 232 according to the rotation of the rear orbit motors 322a and 322b. to be

At this time, the pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the forward orbital motors 321a and 321b, and the rear orbital rotators 222 and 232 are the rear orbital motors ( 322a, 322b) characterized in that it acts as a motive rotating body that rotates according to the rotation.

And, in the suction pad retractable movable body A according to an embodiment of the present invention, as shown in FIG. 5, the orbital motors 321 and 322 are installed on the front side of the center body 310, and the A first forward orbit motor 321a rotationally drives the left forward orbit rotary body 221 among the left and right pair of forward orbit rotary bodies 221 and 231, and from the first front orbit motor 321a to the right in the horizontal direction. A second forward orbital motor 321b spaced apart from each other and installed on the front side of the center body 310, rotationally driving the right forward orbital rotating body 231 among the pair of left and right forward orbital rotating bodies 221 and 231; A first rear orbital motor 322a installed on the rear side of the center body 310 and rotationally driving the left rear orbital rotator 222 among the pair of left and right rear orbital rotators 222 and 232; It is spaced apart from the rear orbit motor 232a to the right side in the horizontal direction and is installed on the rear side of the center body 310, and rotates the right rear orbit rotating body 232 among the pair of left and right rear orbit rotating bodies 222 and 232. It is characterized in that it consists of a second rear orbit motor (322b) for driving.

And, in the suction pad retractable movable body A according to an embodiment of the present invention, one end of the orbit rotation shafts 331 and 332 is connected to the first forward orbit motor 321a and the other end rotates in a leftward forward orbit. A first forward orbit rotating shaft 331a connected to the whole 221 and rotating the left forward orbit rotating body 221 according to the rotation of the first forward orbit motor 321a, and one end of the second forward orbit motor (321b) and the other end is connected to the right forward orbit rotating body 231 so as to rotate the right forward orbit rotating body 231 according to the rotation of the second forward orbit motor 321b. (331b), one end connected to the first rear orbit motor 232a and the other end connected to the left rear orbit rotating body 222, so that the left rear orbit according to the rotation of the first rear orbit motor 232a A first rear orbit rotating shaft 332a for rotating the rotating body 222, one end connected to the second rear orbit motor 322b and the other end connected to the right rear orbit rotating body 232, the second rear orbit rotating shaft 332a It is characterized in that it is composed of a second rear orbit rotating shaft 332b that rotates the right rear orbit rotation body 232 according to the rotation of the orbit motor 322 b.

At this time, the pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the first and second forward orbital motors 321a and 321b, and the pair of rear orbital rotators 222 and 232 ) is characterized in that it acts as a driving rotating body that rotates according to the rotation of the first and second rear orbit motors 322a and 322b.

Thus, preferred embodiments according to the present invention have been reviewed, and it is common knowledge in the art that the present invention can be implemented in other specific forms other than the above-described embodiments without changing its technical spirit or essential characteristics. It is self-evident to those who have Therefore, the foregoing embodiments should be understood as illustrative rather than restrictive.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof should be construed as being included in the scope of the present invention.

100: Suction pad protruding and retracting belt bundle according to an embodiment of the present invention
110: belt
121a: front first rotating body 121b: rear first rotating body
122a: front second rotating body 122b: rear second rotating body
131: first belt motor 145: rotational force transmission member
131a: front first belt motor 131b: rear first belt motor
132a: front second belt motor 132b: rear second belt motor
135: transmission gear 140: support shaft
151: first arm belt 152: second arm belt
170: suction pad 171: orifice
180: vacuum suction member
200: Suction pad appearance and retraction type caterpillar module according to an embodiment of the present invention
100,210: caterpillar 210: orbital link
211a: first joint joint 211b: second joint joint
211c: axis pin
221,231: forward orbit rotating body 222,232: rear orbit rotating body
240: joint joint
A: Suction pad protruding and retracting movable body according to an embodiment of the present invention
310: center body
320 (321a, 321b, 322a, 322b): orbital motor
321: front orbital motor 322: rear orbital motor
321a: first forward orbit motor 321b: second forward orbit motor
322a: first rear orbit motor 322b: second rear orbit motor
330: orbit rotation axis
331: forward orbit axis of rotation 331a: first forward orbit axis of rotation
331b: second forward orbit axis of rotation 332: rear orbit axis of rotation
332a: first rear orbit axis of rotation 332b: second rear orbit axis of rotation
340: power transmission member
θ: Inclination angle θ1: Reference angle

Claims (15)

belt 110,
First rotating bodies 121a and 121b provided in close contact with the belt 110 at one side of the belt 110 to move the belt 110 as a belt,
Second rotating bodies 122a and 122b provided in close contact with the belt 110 on the other side of the belt 110 to move the belt 110 as a belt,
Belt motors 131a, 131b, and 132a forcibly rotationally driving at least one of the first rotating bodies 121a and 121b and the second rotating bodies 122a and 122b. ,132b) and,
It is configured to include a suction pad 170 attached to the outer surface of the belt 110,
Suction pad protrusion type belt bundle, characterized in that the position of the suction pad 170 is varied according to the operation of the belt 110.
The method of claim 1,
A main controller for outputting a motor driving control signal for controlling rotation of the belt motors 131a, 131b, 132a, 132b to the belt motors 131a, 131b, 132a, 132b is further included,
According to the rotation of the belt motors 131a, 131b, 132a, 132b according to the motor driving control signal output from the main controller, the suction pad 170 is located on the upper side of the belt 110 or the belt 110 Suction pad emergence type belt bundle, characterized in that located on the lower side.
The method of claim 1,
The first rotating bodies 121a and 121b are formed by a front first rotating body 121a rotatably provided on the front side of one side of the belt 110 and a rotational direction from the front first rotating body 121a. It is composed of a rear first rotating body 121b rotatably provided at the rear of one side of the belt 110 and spaced apart in the front-back direction, which is a direction perpendicular to
The second rotating bodies 122a and 122b are formed by the front second rotating body 122a rotatably provided on the front side of the other side of the belt 110 and the rotational direction from the front second rotating body 122a. Is spaced apart in the front-rear direction, which is a direction perpendicular to the belt 110, the suction pad protruding and retracting type belt bundle, characterized in that consisting of a rear second rotation body (122b) rotatably provided at the rear of the other side of the belt (110).
The method of claim 1,
It is connected between the first rotating bodies 121a and 121b and the second rotating bodies 122a and 122b so that the first rotating bodies 121a and 121b and the second rotating bodies 122a and 122b maintain a constant distance. Suction pad protruding and retracting belt bundle, characterized in that the support shaft 140 is further included.
The method of claim 4,
The first rotating bodies 121a and 121b are formed by a front first rotating body 121a rotatably provided on the front side of one side of the belt 110 and a rotational direction from the front first rotating body 121a. It is composed of a rear first rotating body 121b rotatably provided at the rear of one side of the belt 110 and spaced apart in the front-back direction, which is a direction perpendicular to
The second rotating bodies 122a and 122b are formed by the front second rotating body 122a rotatably provided on the front side of the other side of the belt 110 and the rotational direction from the front second rotating body 122a. It is spaced apart in the front-back direction, which is a direction perpendicular to , and is composed of a rear second rotating body 122b rotatably provided at the rear of the other side of the belt 110,
A first arm stand 151 having the front end connected to the front first rotation body 121a and the rear end connected to the rear first rotation body 121b;
It is configured to further include a second arm 152 having the front end connected to the front second rotation body 122a and the rear end connected to the rear second rotation body 122b,
One end of the support shaft 140 is fixedly connected to the first arm stand 151,
The other end of the support shaft 140 is fixedly connected to the second arm stand 152,
The front first rotation body 121a is rotatably connected to the front end of the first arm stage 151, and the rear first rotation body 121 b is rotatably connected to the rear end of the first arm stage 151. becomes,
The front second rotation body 122a is rotatably connected to the front end of the second arm stage 152, and the rear second rotation body 122 b is rotatably connected to the rear end of the second arm stage 152. Suction pad intrusive belt bundle, characterized in that.
The method of claim 5,
The belt motors 131a and 131b,
It is provided between the front first rotating body 121a and the rear first rotating body 121b to rotationally drive at least one of the front first rotating body 121a and the rear first rotating body 121b. At least one of the front first rotating body 121a and the rear first rotating body 121b is rotatably connected to the rotating bodies 121a and 121b,
The first arm stage 151 includes belt motors 131a, 131b, 132a, 132b provided between the first front rotation body 121a and the first rear rotation body 121b and the front first rotation body ( 121a) and the suction pad protruding and retracting type belt bundle, characterized in that connecting any one of the rear first rotating body (121b).
The method of claim 1,
A vacuum suction member 180 is attached to the inner surface of the belt to which the suction pad 170 attached to the outer surface of the belt 110 is attached and forcibly sucks air so that the suction pad 170 can adsorb it. Suction pad intrusive belt bundle, characterized in that included in the configuration.
It consists of a plurality of belt bundles 100 according to any one of claims 1 to 7 and a track link 210 connecting the adjacent belt bundles 100, so that each belt bundle 100 is a track link The closed endless orbits 100 and 210 connected by 210,
Front orbit rotating bodies 221 and 231 provided in close contact with the caterpillars 100 and 210 at the front side of the caterpillars 100 and 210 to rotate the caterpillars 100 and 210;
A rear orbit rotating body (222, 232) provided in close contact with the caterpillar (100, 210) at the rear side of the caterpillar (100, 210) to rotate the caterpillar (100, 210);
It is configured to include an orbital motor 320 for forcibly rotationally driving at least one of the forward orbital rotators 221 and 231 and the rear orbital rotator 222 and 232,
The main controller outputs a driving control signal to the orbital motors 321a, 321b, 322a, and 322b to control rotational driving of the orbital motors 321a, 321b, 322a, and 322b,
When the caterpillars 100 and 210 travel on a driving surface having an inclination angle θ greater than or equal to the pre-stored reference angle θ1 with respect to the ground, the suction pad 170 is positioned above the belt 110 The main controller controls the rotation of the belt motors 131a, 131b, 132a, 132b so as to
When the caterpillars 100 and 210 travel on a driving surface having an inclination angle θ less than the set angle with respect to the ground, the main controller adjusts the belt so that the suction pad 170 is positioned below the belt 110. Suction pad emergence and retraction type crawler module, characterized in that for controlling the rotation of the motors (131a, 131b, 132a, 132b).
The method of claim 8,
The orbit link 210,
Suction pad emergence and retraction type caterpillar module, characterized in that composed of a plurality of joint joints (211a, 211b) so that the caterpillars (100, 210) can form a curved trajectory.
The method of claim 8,
The orbital link 210 is a suction pad emergence and retraction type crawler module, characterized in that the joints are connected so as to be articulated with respect to the support shaft 140 of the belt bundle 100 adjacent to each other.
The method of claim 10,
Suction pad emergence and retraction type endless track module, characterized in that the joint joint 240 for jointly connecting the orbit link 210 with respect to the support shaft 140 is further included.
The caterpillar module 200 according to claim 8 is configured in pairs with an interval D1 left and right,
A center body 310 provided between the pair of caterpillar modules 200 and 200';
The orbital motors 321a, 321b, 322a, and 322b are installed in the center body 310 to forcibly rotate and drive at least one of the forward orbital rotating bodies 221 and 231 and the backward orbital rotating bodies 222 and 232,
One side is connected to the orbital motors 321a, 321b, 322a, and 322b, and the other side is connected to the orbital rotating bodies 221, 231, 222, and 232 provided in the pair of crawler modules 200 and 200', so that the orbital motors 321a and 321b , 322a, 322b) to the orbital rotating body (221, 231, 222, 232) to transfer the rotational motion of the orbital rotation shaft 330 characterized in that it is configured to include a suction pad appearing and retracting movable body.
The method of claim 12,
The orbital motor is installed on the center body 310 and is composed of a forward orbital motor 321 that rotationally drives the pair of left and right forward orbital rotating bodies 221 and 231,
The orbit rotation shafts 331 and 332,
As long as they are connected to the forward orbit motors 321a and 321b and the pair of forward orbit rotary bodies 221 and 231, respectively, the pair of forward orbit rotary bodies 221 and 231 rotate according to the rotation of the forward orbit motors 321a and 321b. A pair of forward orbit rotation axes 331;
One end and the other end are composed of a rear orbit rotation shaft 332 directly connected to the pair of rear orbit rotation bodies 222 and 232, respectively,
A power transmission member 340 for transmitting the rotation of the front orbit rotation shafts 221 and 231 to the rear orbit rotation shafts 222 and 232 is further included,
The pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the forward orbital motors 321a and 321b, and the rear orbital rotators 222 and 232 are the forward orbital rotators 221 and 231 ) Receives the rotational force from the power transmission member according to the rotation of the suction pad, characterized in that it acts as an idle rotation body that rotates passively.
The method of claim 12,
The orbital motors 321 and 322,
A forward orbit motor 321 installed on the center body 310 and rotationally driving the pair of left and right forward orbit rotating bodies 221 and 231;
It is spaced apart from the forward orbit motors 321a and 321b backward and installed on the center body 310, and rotates and drives the pair of left and right rear orbit rotation bodies 222 and 232. Consists of a rear orbit motor 322,
The orbit rotation shafts 331 and 332,
As long as they are connected to the forward orbit motors 321a and 321b and the pair of forward orbit rotary bodies 221 and 231, respectively, the pair of forward orbit rotary bodies 221 and 231 rotate according to the rotation of the forward orbit motors 321a and 321b. A pair of forward orbit rotation axes 331;
As long as they are connected to the rear orbit motors 322a and 322b and the pair of rear orbit rotators 222 and 232, the pair of rear orbit rotators 222 and 232 rotate according to the rotation of the rear orbit motors 322a and 322b. It consists of a pair of rear orbital rotational axes 332,
The pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the forward orbital motors 321a and 321b, and the rear orbital rotators 222 and 232 are the rear orbital motors 322a and 321b. 322b), a suction pad appearing and retracting moving body characterized in that it acts as a driving force rotating body that rotates according to the rotation of 322b).
The method of claim 12,
The orbital motors 321 and 322,
A first forward orbital motor 321a installed on the front side of the center body 310 and rotationally driving the left forward orbital rotator 221 among the pair of left and right forward orbital rotators 221 and 231;
It is spaced apart from the first forward orbit motor 321a to the right in the horizontal direction and is installed on the front side of the center body 310, and among the pair of left and right forward orbit rotary bodies 221 and 231, the right forward orbit rotary body 231 A second front orbital motor 321b for rotationally driving the;
A first rear orbital motor 322a installed on the rear side of the center body 310 and rotationally driving the left rear orbital rotator 222 among the pair of left and right rear orbital rotators 222 and 232;
It is spaced apart from the first rear orbit motor 232a to the right side in the horizontal direction and is installed on the rear side of the center body 310, and among the pair of left and right rear orbit rotary bodies 222 and 232, the right rear orbit rotary body 232 ) is composed of a second rear orbit motor 322b for rotationally driving,
The orbit rotation shafts 331 and 332,
One end is connected to the first forward orbit motor 321a and the other end is connected to the left front orbit rotating body 221, so that the left forward orbit rotating body 221 rotates according to the rotation of the first front orbit motor 321a. A first forward trajectory rotational shaft 331a for rotating;
One end is connected to the second forward orbit motor 321b and the other end is connected to the right forward orbit rotating body 231, so that the right forward orbit rotating body 231 rotates according to the rotation of the second front orbit motor 321b. A second forward trajectory rotational shaft 331b for rotating;
One end is connected to the first rear orbit motor 232a and the other end is connected to the left rear orbit rotating body 222, so that the left rear orbit rotating body 222 rotates according to the rotation of the first rear orbit motor 232a. A first rear orbit rotation shaft 332a for rotating the;
One end is connected to the second rear orbit motor 322b and the other end is connected to the right rear orbit rotation body 232, so that the right rear orbit rotation body 232 rotates according to the rotation of the second rear orbit motor 322 b. It is composed of a second rear orbital axis of rotation (332b) that rotates,
The pair of forward orbital rotators 221 and 231 act as a driving rotator that rotates according to the rotation of the first and second forward orbital motors 321a and 321b, and the pair of rear orbital rotators 222 and 232 A suction pad retractable movable body characterized in that it acts as a motive rotating body that rotates according to the rotation of the first and second rear orbit motors 322a and 322b.

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