Two-far end supported actuator module for snake robot using inner wire

Patent metadata

Field	Value
Publication number	US-9387585-B2
Application number	US-201314135514-A
Country	US
Kind code	B2
Filing date	Dec 19, 2013
Priority date	Jan 24, 2013
Publication date	Jul 12, 2016
Grant date	Jul 12, 2016

Abstract

A two-far end supported actuator module for a snake robot using an inner wire includes: a module housing having a driving means and a reducer mounted therein, and having a plurality of accommodation portions on an outer surface thereof; an upper cover and a lower cover detachably installed at an upper part and a lower part of the module housing, respectively, wherein the upper cover has a rotation shaft passing hole for passing a rotation shaft therethrough, and the lower cover has a wire passing hole for passing a wire therethrough; a first connection bracket having one side coupled to one accommodation portion of the module housing, and another side coupled to a lower cover of another driving module, and configured to guide the wire thereinto; and a second connection bracket coupled to another accommodation portion of the module housing on the opposite side of the first connection bracket, and another side to which a rotation shaft is inserted to be supported.

First claim

The invention claimed is:

1. A two-far end supported first actuator module for a snake robot using an inner wire, comprising:
a first driving module housing having a driving means and a reducer mounted therein, and having a plurality of accommodation portions on an outer surface thereof;
an upper cover and a lower cover detachably installed at an upper part and a lower part of the module housing, respectively, wherein the upper cover has a rotation shaft passing hole for passing a rotation shaft therethrough, and the lower cover has a wire passing hole for passing a wire therethrough;
a first connection bracket having a first side coupled to a first accommodation portion of the module housing, and a second side coupled to a lower cover of a second driving module, and configured to guide the wire thereinto; and
a second connection bracket having a first side coupled to a second accommodation portion of the module housing on the opposite side of the module housing from the first connection bracket rotating together with the first connection bracket on the basis of a rotation shaft, and having a second side to which the rotation shaft protruding through an upper cover of a second actuator module is inserted to be supported;
the second actuator module adjacent to the first actuator module and having the same shape as the first actuator module, wherein the second connection bracket includes:
a second fixing portion inserted into the accommodation portion of the module housing, formed to have the same thickness as a depth of the accommodation portion, and having a plurality of coupling holes for coupling bolts; and
a second connection portion extending from the second fixing portion, and having a through hole for inserting the rotation shaft of said another driving module thereinto.

2. The two-far end supported actuator module for a snake robot using an inner wire of claim 1 , wherein each cover includes:
a protrusion portion having a semi-circular shape in a planar view;
a rotation portion outward extending from the protrusion portion with an inclination angle, and guiding the driving module to rotate with an angle of 90° right and left; and
a rolling portion having a curved shape in a side view, extending from the end of the rotation portion, and guiding the driving module to roll freely.

3. The two-far end supported actuator module for a snake robot using an inner wire of claim 1 , wherein a bearing is inserted into the wire passing hole of the lower cover.

4. The two-far end supported actuator module for a snake robot using an inner wire of claim 1 , wherein a groove is formed at an intermediate part on a surface of each of the upper cover, the lower cover, the first connection bracket and the second connection bracket, in a lengthwise direction.

5. The two-far end supported actuator module for a snake robot using an inner wire of claim 1 , wherein a rubber pad is attached to at least one of surfaces of the module housing, the upper cover and the lower cover, for prevention of damage of the surface due to friction with the floor, and for attenuation of an impact.

6. The two-far end supported actuator module for a snake robot using an inner wire of claim 1 , wherein the first connection bracket includes:
a first fixing portion inserted into the accommodation portion of the module housing, formed to have the same thickness as a depth of the accommodation portion, and having a plurality of coupling holes for coupling bolts;
a first connection portion extending from the first fixing portion, and having an inner side surface from which an insertion portion protrudes, the insertion portion to be inserted into the wire passing hole of the lower cover of said another driving module,
a wire inducing accommodation portion formed on an inner side surface of the first fixing portion and the first connection portion in a lengthwise direction, and inducing the wire to pass through inside of the first connection bracket without being exposed to outside.

Assignees

• Korea Atomic Energy Res

Inventors

• Shin Hocheol
• Kim Chang Hoi
• Eom Heung Seop

Classifications

• Y10T74/20317

  including electric motor · CPC title

• B25J9/065 Primary

  Snake robots · CPC title

• B25J19/0029

  arranged within the different robot elements · CPC title

• B25J9/08 Primary

  characterised by modular constructions · CPC title

• B25J17/00

  Joints · CPC title