Mobile robot for cable
AssigneeIndustry-Academic Cooperation Foundation, Yonsei University
InventorsHyun Seok Yang, E Noch Oh
Life of this patent
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Abstract
A mobile robot for a cable includes a first gripper unit including a first main body, a first driving wheel unit disposed over the first main body and configured to have its wheels changed up and down, and a first support wheel unit disposed under the first main body; a second gripper unit including a second main body, a second driving wheel unit disposed over the second main body and configured to have its wheels changed up and down, and a second support wheel unit disposed under the second main body; and a link unit including first links fixed to the first gripper unit, second links fixed to the second gripper unit, and a link driving unit configured to control the angle of the first links and the second links that are fixed together by a main hinge unit so that they rotate at an angle.
Claims9
A mobile robot capable of moving on a cable, comprising:
- a first gripper unit (100) configured to comprise a first main body (110), a first driving wheel unit (120) disposed over the first main body (110) and configured to have its wheels changed up and down, and a first support wheel unit (130) disposed under the first main body (110);
- a second gripper unit (200) configured to comprise a second main body (210), a second driving wheel unit (220) disposed over the second main body (210) and configured to have its wheels changed up and down, and a second support wheel unit (230) disposed under the second main body (210);
- and
- a link unit (300) configured to comprise first links (310) fixed to the first gripper unit (100), second links (320) fixed to the second gripper unit (200), and a link driving unit (340) configured to control an angle of the first links (310) and the second links (320), wherein the first links (310) and the second links (320) are fixed together by a main hinge unit (330) in such a way as to rotate at a specific angle,
- wherein the first driving wheel unit (120), together with the first support wheel unit (130), closely attaches the first gripper unit (100) to the cable or separates the first gripper unit (100) from the cable by gripping or releasing the cable through up and down movements,
- wherein the second driving wheel unit (220), together with the second support wheel unit (230), closely attaches the second gripper unit (200) to the cable or separates the second gripper unit (200) from the cable by gripping or releasing the cable through up and down movements, and
- wherein the link driving unit (340) comprises:
- a screw (343) mounted on the second links (320) and rotated by a link driving motor (344);
- a slider (342) mounted on the screw (343) and linearly moved by the rotation of the screw (343);
- and
- rods (341) configured to have first ends fixed to the first links (310) by first rod hinges (3411) in such a way as to rotate and to have second ends fixed to the slider (342) by second rod hinges (3412) in such a way as to rotate.
Dependencies are inferred from the claim text.