Posture control device for robot and robot having the same

A posture control device for a robot comprising:

• a thruster configured to generate a propulsive force for supporting or hauling a load of a robot part;
• and
• a rotation mechanism installed between the robot part and the thruster so as to enable the robot part to rotate with respect to the thruster, or the thruster to rotate with respect to the robot part,
• wherein the rotation mechanism comprises rotation driving units that rotate the robot part or the thruster about at least two axes of rotation that form a right angle with respect to each other,
• the rotation driving units comprises a first rotation driving unit having a first axis of rotation that forms a right angle with respect to an axis of the thruster and a second rotation driving unit having a second axis of rotation that forms a right angle with respect to each of the axis of the thruster and the first axis of rotation,
• the rotation mechanism comprises a thruster coupling unit coupled to the thruster and a frame coupled with the robot part to be rotatable about the first axis of rotation,
• the thruster coupling unit and the frame are coupled to each other to be rotatable about the second axis of rotation by the second rotation driving unit, and
• the first rotation driving unit comprises a motor that is installed to be rotatable about the second axis of rotation and generates a rotational force, a driving unit body being rotated with respect to the thruster coupling unit together with the motor and the frame when the frame or the thruster coupling unit is rotated about the second axis of rotation, and a power transmission mechanism that transmits the rotational force of the motor to a rotation element, which is fixed to the robot part on the first axis of rotation, so that the robot part is rotated with respect to the frame or the frame is rotated with respect to the robot part about the first axis of rotation.