Line-driven exoskeleton manipulator and robot dust collector with same

Abstract

The manipulator includes: a base link having an annular shape; a first annular link having an annular shape and mounted on a front end of the base link to be rotatable by a certain angle; a second annular link having an annular shape and mounted on a front end of the first annular link to be rotatable by a certain angle; a first Bowden cable and a second Bowden cable connected to the first annular link and rotating the first annular link; a third Bowden cable and a fourth Bowden cable connected to the second annular link and rotating the second annular link; and a driving device operating the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable.

Description

Technical Field

[0001] The present disclosure relates to a wire-driven exoskeleton manipulator and a robotic vacuum cleaner having the same. Background Art

[0002] Typically, the manipulator may include a plurality of connecting rods connected to each other. Each of the plurality of connecting rods may include an actuator capable of rotating the corresponding connecting rod. The actuator may be disposed adjacent to the corresponding connecting rod. Thus, the manipulator may position its front end at different positions using a plurality of connecting rods driven by a plurality of actuators.

[0003] Generally, a robot cleaner is formed to perform cleaning of a surface to be cleaned while autonomously driving. The robot cleaner includes a suction device that generates a suction force, and by using the suction force, dust can be sucked from the surface to be cleaned and collected in the dust collection device.

[0004] The robot cleaner is formed to travel on the surface to be cleaned, and may include a suction nozzle provided to face the surface to be cleaned. Therefore, the robot cleaner can suck dust on the surface to be cleaned through the suction nozzle while moving on the surface to be cleaned. Summary of the invention

[0005] Technical issues

[0006] A manipulator according to one or more embodiments of the present disclosure may include: a base link having an annular shape; a first annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the base link; a second annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the first annular link; a first Bowden cable and a second Bowden cable directly or indirectly connected to the first annular link and formed to rotate the first annular link; a third Bowden cable and a fourth Bowden cable directly or indirectly connected to the second annular link and formed to rotate the second annular link; and a driving device that can directly or indirectly operate the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable.

[0007] The first Bowden cable may include: a first flexible conduit having one end directly or indirectly connected to the drive device and the other end directly or indirectly connected to the base link; and a first wire accommodated inside the first flexible conduit and having one end directly or indirectly connected to the drive device and the other end directly or indirectly fixed to the first annular link.

[0008] The second Bowden cable may include: a second flexible conduit having one end directly or indirectly connected to the drive device and the other end directly or indirectly connected to the base link opposite to the first flexible conduit based on the rotation axis of the first annular link; and a second wire accommodated inside the second flexible conduit and having one end directly or indirectly connected to the drive device and the other end fixed to the first annular link opposite to the first wire based on the rotation axis of the first annular link.

[0009] The third Bowden cable may include: a third flexible conduit having one end directly or indirectly connected to the drive device and the other end directly or indirectly connected to the first annular link; and a third wire accommodated in the third flexible conduit and having one end directly or indirectly connected to the drive device and the other end directly or indirectly fixed to the second annular link.

[0010] The fourth Bowden cable may include: a fourth flexible conduit having one end directly or indirectly connected to the driving device and the other end directly or indirectly connected to the first annular link opposite to the third flexible conduit based on the rotation axis of the second annular link; and a fourth wire accommodated inside the fourth flexible conduit and having one end directly or indirectly connected to the driving device and the other end fixed to the second annular link opposite to the third wire based on the rotation axis of the second annular link.

[0011] The driving device may include: a first motor including a first motor shaft; a first roller configured to rotate integrally with the first motor shaft; a second motor including a second motor shaft; and a second roller configured to rotate integrally with the second motor shaft. One end of the first wire and one end of the second wire may be fixed to the first roller. One end of the third wire and one end of the fourth wire may be fixed to the second roller.

[0012] The driving device may include: a motor; a first roller, to which one end of the first wire and one end of the second wire are fixed; a second roller, to which one end of the third wire and one end of the fourth wire are fixed; and a clutch formed to selectively transmit the rotational force of the motor to one of the first roller and the second roller.

[0013] The first annular link may be directly or indirectly rotatably connected to the base link via a pair of first hinges.The second annular link may be directly or indirectly rotatably connected to the first annular link via at least a pair of second hinges.

[0014] The rotation axes of the pair of first hinges and the rotation axes of the pair of second hinges may not be parallel to each other.

[0015] The manipulator may include: a first angle sensor configured to detect a rotation angle of the first annular link; and a second angle sensor configured to detect a rotation angle of the second annular link.

[0016] Each of the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable may include a tension adjuster.

[0017] According to another aspect of the present disclosure, a robot vacuum cleaner may include: a main body; a manipulator, directly or indirectly disposed on the front surface of the main body and including any one of the above-mentioned features; a tilting device, configured to rotate the manipulator at a predetermined angle relative to the main body; a lifting device, configured to lift the manipulator and the tilting device; a suction pipe, disposed inside the manipulator; a suction device, directly or indirectly connected to the suction pipe and configured to collect dust by generating a suction force; a moving device, configured to move the main body; and a processor, configured to control the manipulator, the tilting device, the lifting device, the suction device and the moving device.

[0018] The lifting device may include: a lifting guide vertically provided on a base of the main body and behind the manipulator; a lifting block provided to move up and down along the lifting guide; and a lifting driver configured to move the lifting block up and down relative to the lifting guide.

[0019] The lifting driver may include: a rack gear disposed in a direction perpendicular to the lifting guide; a lifting pinion gear meshing with the rack gear; and a lifting motor disposed on the lifting block and configured to rotate the lifting pinion gear.

[0020] The tilt device may include: a tilt base provided directly or indirectly on the lifting block; a tilt shaft provided on a base link of the manipulator; and a tilt driver configured to rotate the tilt shaft.

[0021] The tilt driver may include: a tilt motor configured to generate a rotational force; and a power transmission device provided on one surface of the tilt base and formed to transmit the rotational force of the tilt motor to the tilt shaft.

[0022] Each of the first annular link and the second annular link may include a retainer which is provided at a center of each of the first annular link and the second annular link and fixes the suction pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] These and / or other aspects, features and advantages of certain embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 is a perspective view illustrating a manipulator according to one or more embodiments of the present disclosure.

[0025] Figure 2 is an exploded perspective view illustrating a plurality of annular links according to one or more embodiments of the present disclosure.

[0026] Figure 3 is a perspective view illustrating an annular link according to one or more embodiments of the present disclosure.

[0027] Figure 4 is a conceptual diagram for explaining the arrangement of a plurality of Bowden cables of a manipulator according to one or more embodiments of the present disclosure.

[0028] Figure 5 Observed from the top Figure 4 A conceptual diagram of a manipulator for illustrating an arrangement of multiple Bowden cables according to one or more embodiments of the present disclosure.

[0029] Figure 6 is a conceptual diagram for explaining another example of arrangement of a plurality of Bowden cables of a manipulator according to one or more embodiments of the present disclosure.

[0030] Figure 7 It is shown in Figure 1 A perspective view of the motor assembly used in the manipulator.

[0031] Figure 8 It is shown Figure 7 A cross-sectional view of the motor assembly taken along line AA.

[0032] Fig. 9 It is shown Figure 7 A cross-sectional view of the motor assembly taken along line BB.

[0033] Fig.10 is a perspective view showing a tension adjuster used in a manipulator according to one or more embodiments of the present disclosure.

[0034] Fig.11 is a conceptual diagram illustrating a driving device used in a manipulator according to one or more embodiments of the present disclosure.

[0035] Fig.12 2 is a view for explaining the operation of the manipulator according to one or more embodiments of the present disclosure.

[0036] Fig.13 2 is a view for explaining the operation of the manipulator according to one or more embodiments of the present disclosure.

[0037] Fig.14 is a perspective view illustrating a robot cleaner according to one or more embodiments of the present disclosure.

[0038] Fig.15 is a functional block diagram of a robot cleaner according to one or more embodiments of the present disclosure.

[0039] Fig.16 is a cross-sectional view illustrating a robot cleaner according to one or more embodiments of the present disclosure.

[0040] Fig.17 is a perspective view illustrating a lifting device and a tilting device of a robot cleaner according to one or more embodiments of the present disclosure.

[0041] Fig.18 is a partial perspective view illustrating a lifting device and a tilting device of a robot cleaner according to one or more embodiments of the present disclosure.

[0042] Fig.19 It is shown Fig.17 A sectional view of the lifting device and the tilting device taken along line CC.

[0043] Fig. 20 It is shown Fig.19 A cross-sectional view of the lifting device and the tilting device taken along line DD.

[0044] Fig.21 2 is a view illustrating a state in which a manipulator of the robot cleaner according to one or more embodiments of the present disclosure moves upward and rotates at a certain angle. DETAILED DESCRIPTION

[0045] Since the embodiments of the present disclosure can be applied with various transformations and have various embodiments, specific embodiments will be shown in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope to specific embodiments, and should be understood to include various modifications, equivalents and / or substitutes of the embodiments of the present disclosure. In conjunction with the description of the drawings, the same reference numerals may be used for the same elements.

[0046] In describing the present disclosure, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present disclosure, the detailed description thereof will be omitted.

[0047] In addition, the following embodiments can be modified in many different forms, and the scope of the technical idea of ​​the present disclosure is not limited to the following embodiments. Instead, these embodiments are provided so that the present disclosure will be thorough and complete, and the spirit of the present disclosure will be fully conveyed to those skilled in the art.

[0048] The terms used in the present disclosure are only used to describe specific embodiments and are not intended to limit the scope of rights. A singular expression includes a plural expression unless the context clearly dictates otherwise.

[0049] In the present disclosure, expressions such as “have”, “may have”, “include” or “may include” indicate the existence of corresponding features (eg, values, functions, operations, or components such as parts), and do not exclude the existence of additional features.

[0050] In the present disclosure, expressions such as "A or B", "at least one of A or / and B", or "one or more of A or / and B" may include all possible combinations of the items listed together. For example, "A or B", "at least one of A or / and B", or "one or more of A or / and B" may mean all cases that (1) include at least one A, (2) include at least one B, or (3) include both at least one A and at least one B.

[0051] As used in the present disclosure, expressions such as “first,” “second,” “primary,” or “secondary” may modify various components regardless of order and / or importance and are merely used to distinguish one component from other components without limiting the corresponding components.

[0052] Furthermore, terms such as "front end", "rear end", "upper side", "lower side", "top end", "bottom end" etc. used in the present disclosure are defined with reference to the drawings. However, the shape and position of each component are not limited by these terms.

[0053] Hereinafter, an embodiment of a manipulator 1 according to the present disclosure will be described in detail with reference to the accompanying drawings.

[0054] Figure 1 is a perspective view illustrating a manipulator according to one or more embodiments of the present disclosure. Figure 2 is an exploded perspective view illustrating a plurality of annular links according to one or more embodiments of the present disclosure. Figure 3 is a perspective view illustrating an annular link according to one or more embodiments of the present disclosure.

[0055] Reference Figure 1 The manipulator 1 according to one or more embodiments of the present disclosure may include a base link 3 , a plurality of annular links 10 , 20 , 30 , and 40 , a plurality of Bowden cables 60 , and a driving device 80 .

[0056] The base link 3 may be fixed to the base 5. The base 5 refers to an object on which the manipulator 1 is disposed, and may support various operations of the manipulator 1. For example, in the case of a robot cleaner 100 (see, for example, Fig.14 ), the main body 110 of the robot cleaner 100 may be the base 5. Alternatively, the base 5 may be the main body of a retail robot. Alternatively, the base 5 may be a fixed wall or ground.

[0057] The base link 3 may have an annular shape. In other words, the base link 3 may have a hollow cylindrical shape. The rear end of the base link 3 may be fixed to the base 5, and the plurality of annular links 10, 20, 30 and 40 may be rotatably coupled to the front end of the base link 3.

[0058] A pair of convex portions 3a and a pair of concave portions 3b may be provided at the front end of the base link 3. The pair of convex portions 3a and the pair of concave portions 3b may be alternately arranged in the circumferential direction of the base link 3. Therefore, the pair of convex portions 3a may face each other, and the pair of concave portions 3b may face each other.

[0059] The plurality of annular links 10, 20, 30 and 40 may be directly or indirectly connected to the front end of the base link 3. The plurality of annular links 10, 20, 30 and 40 may be directly or indirectly connected to the pair of raised portions 3a of the base link 3. The plurality of annular links 10, 20, 30 and 40 may be disposed to rotate at a predetermined angle relative to the base link 3.

[0060] The plurality of annular links 10, 20, 30 and 40 may include a number corresponding to the purpose of the manipulator 1. For example, Figure 1 In the case of the embodiment shown, the manipulator 1 comprises four annular links 10 , 20 , 30 and 40 .

[0061] Reference Figure 1 and Figure 2 , the first annular link 10 may be arranged to rotate a predetermined angle at the front end of the base link 3. The first annular link 10 may be hinge-connected to the front end of the base link 3 directly or indirectly.

[0062] Reference Figures 1 to 3 , the first annular link 10 may be formed in an annular shape. In other words, the first annular link 10 may have a hollow cylindrical shape. The rear end of the first annular link 10 may be directly or indirectly rotatably connected to the base link 3, and the front end thereof may be directly or indirectly rotatably connected to the second annular link 20.

[0063] A pair of front convex portions 11 and a pair of front concave portions 12 may be provided at the front end of the first annular connecting rod 10. The pair of front convex portions 11 and the pair of front concave portions 12 may be alternately arranged in the circumferential direction of the first annular connecting rod 10. Therefore, the pair of front convex portions 11 may face each other, and the pair of front concave portions 12 may face each other. The pair of front convex portions 11 may be formed as a convex curve, and the pair of front concave portions 12 may be formed as a concave curve. The front convex portions 11 and the front concave portions 12 adjacent to each other may be smoothly connected.

[0064] A pair of rear convex portions 13 and a pair of rear concave portions 14 may be provided at the rear end of the first annular link 10. The pair of rear convex portions 13 and the pair of rear concave portions 14 may be alternately arranged in the circumferential direction of the first annular link 10. The pair of rear convex portions 13 provided at the rear end of the first annular link 10 may be formed to correspond to the pair of front concave portions 12 provided at the front end thereof.

[0065] In addition, the pair of rear concave portions 14 provided at the rear end of the first annular link 10 may be formed to correspond to the pair of front convex portions 11 provided at the front end thereof. The pair of rear convex portions 13 may be formed as convex curves, and the pair of rear concave portions 14 may be formed as concave curves. The rear convex portions 13 and the rear concave portions 14 adjacent to each other may be smoothly connected.

[0066] Therefore, the first annular link 10 may be formed in a hollow cylindrical shape having substantially wavy front and rear ends and substantially the same length in the circumferential direction.

[0067] The first annular link 10 may be rotatably connected to the base link 3 directly or indirectly through a pair of first hinges 51 .

[0068] The pair of first hinges 51 may be provided between the pair of rear protrusions 13 of the first annular link 10 and the pair of protrusions 3a of the base link 3. The pair of first hinges 51 may be arranged to face each other. In other words, the first hinges 51 may be arranged at the lower end of the first annular link 10 at intervals of 180 degrees.

[0069] Each of the pair of first hinges 51 may include a rear hinge plate 512 provided at the lower end of the rear raised portion 13 of the first annular link 10, a front hinge plate 511 provided at the upper end of the raised portion 3a of the base link 3, and a hinge pin 513 connecting the front hinge plate 511 and the rear hinge plate 512.

[0070] Therefore, the first annular link 10 can rotate at a predetermined angle relative to the base link 3 around the hinge pins 513 of the pair of first hinges 51. In other words, the first annular link 10 can rotate at a predetermined angle around the rotation axis 51a formed by the two hinge pins 513 of the pair of first hinges 51. Therefore, the rotation axis 51a of the pair of first hinges 51 can form the rotation axis of the first annular link 10.

[0071] The rotation of the first annular link 10 may be restricted by the rear concave portion 14 of the first annular link 10 and the concave portion 3 b of the base link 3 .

[0072] A first angle sensor 514 capable of detecting a rotation angle of the first annular link 10 may be provided in the first hinge 51. The first angle sensor 514 may be configured to detect a rotation angle of the first annular link 10 relative to the base link 3. A potentiometer may be used as the first angle sensor 514.

[0073] The second annular link 20 may be provided at the front end of the first annular link 10 so as to rotate at a predetermined angle. The second annular link 20 may be hinge-connected to the front end of the first annular link 10.

[0074] The second annular link 20 may be formed in an annular shape. In other words, the second annular link 20 may have a hollow cylindrical shape. The rear end of the second annular link 20 may be directly or indirectly rotatably connected to the first annular link 10, and the front end thereof may be directly or indirectly rotatably connected to the third annular link 30.

[0075] The second annular link 20 may be formed identically or similarly to the first annular link 10 .

[0076] A pair of front convex portions 21 and a pair of front concave portions 22 may be provided at the front end of the second annular connecting rod 20. The pair of front convex portions 21 and the pair of front concave portions 22 may be alternately arranged in the circumferential direction of the second annular connecting rod 20. Therefore, the pair of front convex portions 21 may face each other, and the pair of front concave portions 22 may face each other. The pair of front convex portions 21 may be formed as a convex curve, and the pair of front concave portions 22 may be formed as a concave curve. The front convex portions 21 and the front concave portions 22 adjacent to each other may be smoothly connected.

[0077] A pair of rear convex portions 23 and a pair of rear concave portions 24 may be provided at the rear end of the second annular link 20. The pair of rear convex portions 23 and the pair of rear concave portions 24 may be alternately arranged in the circumferential direction of the second annular link 20. The pair of rear convex portions 23 provided at the rear end of the second annular link 20 may be formed to correspond to the pair of front concave portions 22 provided at the front end thereof. In addition, the pair of rear concave portions 24 provided at the rear end of the second annular link 20 may be formed to correspond to the pair of front convex portions 21 provided at the front end thereof.

[0078] The pair of rear convex portions 23 may be formed as convex curves, and the pair of rear concave portions 24 may be formed as concave curves. The rear convex portions 23 and the rear concave portions 24 adjacent to each other may be smoothly connected.

[0079] Therefore, the second annular link 20 may be formed in a hollow cylindrical shape having substantially wavy front and rear ends and substantially the same length in the circumferential direction.

[0080] The second annular link 20 may be directly or indirectly rotatably connected to the first annular link 10 through a pair of second hinges 52. The second hinges 52 may be formed identically or similarly to the pair of first hinges 51 described above.

[0081] The pair of second hinges 52 may be provided between the pair of rear convex portions 23 of the second annular link 20 and the pair of front convex portions 11 of the first annular link 10. The pair of second hinges 52 may be arranged to face each other. In other words, the pair of second hinges 52 may be arranged at the lower end of the second annular link 20 at intervals of 180 degrees.

[0082] Each of the pair of second hinges 52 may include a rear hinge plate 522 provided at the lower end of the rear protrusion 23 of the second annular link 20, a front hinge plate 521 provided at the upper end of the front protrusion 11 of the first annular link 10, and a hinge pin 523 connecting the rear hinge plate 522 of the second annular link 20 and the front hinge plate 521 of the first annular link 10.

[0083] Therefore, the second annular link 20 can rotate at a predetermined angle relative to the first annular link 10 around the hinge pins 523 of the pair of second hinges 52. In other words, the second annular link 20 can rotate at a predetermined angle around the rotation axis 52a formed by the two hinge pins 523 of the pair of second hinges 52. Therefore, the rotation axis 52a of the pair of second hinges 52 can form the rotation axis of the second annular link 20.

[0084] The rotation of the second annular link 20 may be restricted by the rear concave portion 24 of the second annular link 20 and the front concave portion 12 of the first annular link 10 .

[0085] A second angle sensor 524 capable of detecting a rotation angle of the second annular link 20 may be provided in the second hinge 52. The second angle sensor 524 may be configured to detect a rotation angle of the second annular link 20 relative to the first annular link 10. A potentiometer may be used as the second angle sensor 524.

[0086] The rotation axis 52a of the pair of second hinges 52 may be arranged to be non-parallel to the rotation axis 51a of the pair of first hinges 51. Figure 1 As shown, the rotation axes 52 a of the pair of second hinges 52 may be arranged substantially perpendicular to the rotation axes 51 a of the pair of first hinges 51 .

[0087] The third annular link 30 may be provided at the front end of the second annular link 20 so as to rotate at a predetermined angle. The third annular link 30 may be hinge-connected to the front end of the second annular link 20 directly or indirectly.

[0088] The third annular link 30 may have an annular shape, ie, a hollow cylindrical shape. The rear end of the third annular link 30 may be directly or indirectly rotatably connected to the second annular link 20 , and the front end thereof may be directly or indirectly rotatably connected to the fourth annular link 40 .

[0089] The third annular link 30 may be formed identically or similarly to the first annular link 10 or the second annular link 20 .

[0090] A pair of front convex portions 31 and a pair of front concave portions 32 may be provided at a front end of the third annular link 30 .

[0091] A pair of rear convex portions 33 and a pair of rear concave portions 34 may be provided at a rear end of the third annular link 30 .

[0092] Therefore, the third annular link 30 may be formed in a hollow cylindrical shape having substantially wavy front and rear ends and substantially the same length in the circumferential direction.

[0093] The third annular link 30 may be rotatably connected to the second annular link 20 by a pair of third hinges 53. The pair of third hinges 53 may be formed identically or similarly to the pair of first hinges 51 described above.

[0094] The pair of third hinges 53 may be provided between the pair of rear protrusions 33 of the third annular link 30 and the pair of front protrusions 21 of the second annular link 20. The pair of third hinges 53 may be arranged to face each other. In other words, the pair of third hinges 53 may be arranged at the lower end of the third annular link 30 at intervals of 180 degrees.

[0095] Each of the pair of third hinges 53 may include a rear hinge plate 532 provided at the lower end of the rear protrusion 33 of the third annular link 30, a front hinge plate 531 provided at the upper end of the front protrusion 21 of the second annular link 20, and a hinge pin 533 connecting the rear hinge plate 532 of the third annular link 30 and the front hinge plate 531 of the second annular link 20.

[0096] Therefore, the third annular link 30 can rotate at a predetermined angle relative to the second annular link 20 around the hinge pins 533 of the pair of third hinges 53. In other words, the third annular link 30 can rotate at a predetermined angle around the rotation axis 53a of the pair of third hinges 53 formed by the two hinge pins 533. Therefore, the rotation axis 53a of the pair of third hinges 53 can form the rotation axis of the third annular link 30.

[0097] The rotation of the third annular link 30 may be limited by the rear concave portion 34 of the third annular link 30 and the front concave portion 22 of the second annular link 20 .

[0098] A third angle sensor 534 capable of detecting a rotation angle of the third annular link 30 may be provided in the third hinge 53. The third angle sensor 534 may be configured to detect a rotation angle of the third annular link 30 relative to the second annular link 20. A potentiometer may be used as the third angle sensor 534.

[0099] The rotation axis 53a of the pair of third hinges 53 may be arranged to be non-parallel to the rotation axis 52a of the pair of second hinges 52. Figure 1 As shown, the rotation axis 53a of the pair of third hinges 53 can be arranged substantially perpendicular to the rotation axis 52a of the pair of second hinges 52. In this case, the rotation axis 53a of the pair of third hinges 53 can be arranged substantially parallel to the rotation axis 51a of the pair of first hinges 51.

[0100] The fourth annular link 40 may be provided at the front end of the third annular link 30 so as to rotate at a predetermined angle. The fourth annular link 40 may be hinge-connected to the front end of the third annular link 30.

[0101] The fourth annular link 40 may be formed in an annular shape. In other words, the fourth annular link 40 may have a hollow cylindrical shape. The rear end of the fourth annular link 40 may be rotatably connected to the third annular link 30, and the working tool 45 may be provided at the front end of the fourth annular link 40.

[0102] For example, in the case of the robot cleaner 100, the suction nozzle may be provided at the front end of the fourth annular link 40. However, the working tool 45 is not limited thereto. The working tool 45 may include various devices according to the purpose of the manipulator 1.

[0103] The fourth annular link 40 may be formed similarly to the first annular link 10 .

[0104] A pair of rear convex portions 43 and a pair of rear concave portions 44 may be provided at the rear end of the fourth annular connecting rod 40. The pair of rear convex portions 43 and the pair of rear concave portions 44 may be alternately arranged in the circumferential direction of the fourth annular connecting rod 40. Therefore, the pair of rear convex portions 43 may face each other, and the pair of rear concave portions 44 may face each other. The pair of rear convex portions 43 may be formed as a convex curve, and the pair of rear concave portions 44 may be formed as a concave curve. The rear convex portions 43 and the rear concave portions 44 adjacent to each other may be smoothly connected.

[0105] The working tool 45 may be provided at the front end 41 of the fourth annular link 40. The front end 41 of the fourth annular link 40 may be formed in a shape corresponding to the working tool 45 so as to fix the working tool 45.

[0106] The fourth annular link 40 may be rotatably connected to the third annular link 30 by a pair of fourth hinges 54. The pair of fourth hinges 54 may be formed identically or similarly to the pair of first hinges 51 described above.

[0107] The pair of fourth hinges 54 may be provided between the pair of rear protrusions 43 of the fourth annular link 40 and the pair of front protrusions 31 of the third annular link 30. The pair of fourth hinges 54 may be arranged to face each other. In other words, the pair of fourth hinges 54 may be arranged at the lower end of the fourth annular link 40 at intervals of 180 degrees.

[0108] Each of the pair of fourth hinges 54 may include a rear hinge plate 542 provided at the lower end of the rear protrusion 43 of the fourth annular link 40, a front hinge plate 541 provided at the upper end of the front protrusion 31 of the third annular link 30, and a hinge pin 543 connecting the rear hinge plate 542 of the fourth annular link 40 and the front hinge plate 541 of the third annular link 30.

[0109] Therefore, the fourth annular link 40 can rotate at a predetermined angle relative to the third annular link 30 around the hinge pins 543 of the pair of fourth hinges 54. In other words, the fourth annular link 40 can rotate at a predetermined angle around the rotation axis 54a formed by the two hinge pins 543 of the pair of fourth hinges 54. Therefore, the rotation axis 54a of the pair of fourth hinges 54 can form the rotation axis of the fourth annular link 40.

[0110] The rotation of the fourth annular link 40 may be restricted by the rear concave portion 44 of the fourth annular link 40 and the front concave portion 32 of the third annular link 30 .

[0111] A fourth angle sensor 544 capable of detecting a rotation angle of the fourth annular link 40 may be provided in the fourth hinge 54. The fourth angle sensor 544 may be configured to detect a rotation angle of the fourth annular link 40 relative to the third annular link 30. A potentiometer may be used as the fourth angle sensor 544. The fourth angle sensor 544 may be configured in the same manner as the first to third angle sensors 514, 524, and 534 described above.

[0112] The rotation axis 54a of the pair of fourth hinges 54 may be arranged to be non-parallel to the rotation axis 53a of the pair of third hinges 53. Figure 1 As shown, the rotation axes 54 a of the pair of fourth hinges 54 may be arranged substantially perpendicular to the rotation axes 53 a of the pair of third hinges 53 .

[0113] The retainer 49 may be provided inside each of the plurality of annular links 10, 20, 30, and 40. The retainer 49 may be formed to be fixedly connected to a portion of the working tool 45 provided at the front end of the fourth annular link 40. For example, when the working tool 45 is a suction nozzle, the retainer 49 may be formed to be fixedly connected to the suction pipe 140 of the suction nozzle.

[0114] A plurality of Bowden cables 60 may be provided to operate the plurality of annular links 10, 20, 30, and 40. The plurality of Bowden cables 60 may be provided to correspond to the plurality of annular links 10, 20, 30, and 40. Each of the plurality of Bowden cables 60 may include a flexible conduit and a wire at least partially accommodated inside the flexible conduit. The wire may slide inside the flexible conduit.

[0115] A circular link can be rotated at a certain angle by two Bowden cables. Figure 1 The manipulator 1 in the illustrated embodiment may include four annular links 10, 20, 30, and 40 and eight Bowden cables 61 to 68. The plurality of Bowden cables 60 may be disposed inside the plurality of annular links 10, 20, 30, and 40.

[0116] In the following, reference will be made to Figure 4 and Figure 5 The arrangement of the plurality of annular links 10 , 20 , 30 , and 40 and the plurality of Bowden cables 60 is described.

[0117] Figure 4 is a conceptual diagram for explaining the arrangement of a plurality of Bowden cables 60 of the manipulator 1 according to one or more embodiments of the present disclosure. Figure 5 Observed from the top Figure 4 1 is a conceptual diagram for explaining the arrangement of the plurality of Bowden cables 60 of the manipulator 1 according to one or more embodiments of the present disclosure.

[0118] Reference Figure 4 and Figure 5 , the plurality of Bowden cables 60 may include a first Bowden cable 61 to an eighth Bowden cable 68 .

[0119] The first and second Bowden cables 61 and 62 may be connected to the first annular link 10 so that the first annular link 10 rotates at a predetermined angle.

[0120] The first Bowden cable 61 may include a first flexible conduit 611 and a first wire 612 .

[0121] One end of the first flexible conduit 611 may be connected to the driving device 80 , and the other end 611 b thereof may be connected to the base link 3 .

[0122] The first wire 612 may be at least partially accommodated inside the first flexible conduit 611. One end of the first wire 612 may be connected to the driving device 80, and the other end 612b thereof may be directly or indirectly fixed to the first annular link 10. The other end 612b of the first wire 612 may protrude from the other end 611b of the first flexible conduit 611 directly or indirectly fixed to the base link 3, pass through the base link 3, and be directly or indirectly fixed to the first annular link 10. Therefore, the first wire 612 is longer than the first flexible conduit 611.

[0123] The second Bowden cable 62 may include a second flexible conduit 621 and a second wire 622 .

[0124] One end of the second flexible conduit 621 may be connected to the driving device 80, and the other end 621b thereof may be connected to the base link 3. The other end 621b of the second flexible conduit 621 may be connected to the base link 3 opposite to the first flexible conduit 611 based on the rotation axis 51a of the first annular link 10.

[0125] The second wire 622 may be at least partially accommodated inside the second flexible conduit 621. One end of the second wire 622 may be connected to the driving device 80, and the other end 622b thereof may be fixed to the first annular link 10. The other end 622b of the second wire 622 may protrude from the other end 621b of the second flexible conduit 621 fixed to the base link 3, pass through the base link 3, and be fixed to the first annular link 10. Therefore, the second wire 622 is longer than the second flexible conduit 621.

[0126] The other end 622b of the second wire 622 may be connected to the first annular link 10 opposite to the first wire 612 based on the rotation axis 51a of the first annular link 10. The other end 612b of the first wire 612 and the other end 622b of the second wire 622 may be fixed to the first annular link 10 to form about 90 degrees relative to the rotation axis 51a of the first annular link 10.

[0127] A first wire fixing portion 612c to which the other end 612b of the first wire 612 is fixed and a second wire fixing portion 622c to which the other end 622b of the second wire 622 is fixed may be provided inside the first annular link 10. The first wire fixing portion 612c and the second wire fixing portion 622c may be provided on the inner surface of the first annular link 10 so as to face each other. For example, the first wire fixing portion 612c and the second wire fixing portion 622c may be provided on the inner circumferential surface of the first annular link 10 at intervals of approximately 180 degrees.

[0128] A first conduit fixing portion 611c to which the other end 611b of the first flexible conduit 611 is fixed and a second conduit fixing portion 621c to which the other end 621b of the second flexible conduit 621 is fixed may be provided inside the base link 3. The first conduit fixing portion 611c and the second conduit fixing portion 621c may be disposed inside the base link 3 so as to face each other. For example, the first conduit fixing portion 611c and the second conduit fixing portion 621c may be disposed inside the base link 3 at intervals of about 180 degrees.

[0129] Therefore, when the driving device 80 operates the first wire 612 and the second wire 622 , the first annular link 10 may rotate in a clockwise direction or in a counterclockwise direction about the rotation axis 51 a of the first hinge 51 .

[0130] The third Bowden cable 63 and the fourth Bowden cable 64 may be connected to the second endless link 20 to rotate the second endless link 20 at a predetermined angle.

[0131] The third Bowden cable 63 may include a third flexible conduit 631 and a third wire 632 .

[0132] One end of the third flexible conduit 631 may be connected to the driving device 80 , and the other end 631 b thereof may pass through the base link 3 and be connected to the first annular link 10 .

[0133] The third wire 632 may be at least partially accommodated inside the third flexible conduit 631. One end of the third wire 632 may be connected to the driving device 80, and the other end 632b thereof may be fixed to the second annular link 20. The other end 632b of the third wire 632 may protrude from the other end 631b of the third flexible conduit 631 fixed to the first annular link 10, pass through the first annular link 10, and be fixed to the second annular link 20. Therefore, the third wire 632 is longer than the third flexible conduit 631.

[0134] The fourth Bowden cable 64 may include a fourth flexible conduit 641 and a fourth wire 642 .

[0135] One end of the fourth flexible conduit 641 may be connected to the driving device 80, and the other end 641b thereof may pass through the base link 3 and be connected to the first annular link 10. The other end 641b of the fourth flexible conduit 641 may be connected to the first annular link 10 opposite to the third flexible conduit 631 based on the rotation axis 52a of the second annular link 20.

[0136] The fourth wire 642 may be at least partially accommodated inside the fourth flexible conduit 641. One end of the fourth wire 642 may be connected to the driving device 80, and the other end 642b thereof may be fixed to the second annular link 20. The other end 642b of the fourth wire 642 may protrude from the other end 641b of the fourth flexible conduit 641 fixed to the first annular link 10, pass through the first annular link 10, and be fixed to the second annular link 20. Therefore, the fourth wire 642 is longer than the fourth flexible conduit 641.

[0137] The other end 642b of the fourth wire 642 can be fixed to the second annular link 20 relative to the third wire 632 based on the rotation axis 52a of the second annular link 20. The other end 632b of the third wire 632 and the other end 642b of the fourth wire 642 can be fixed to the second annular link 20 so as to form about 90 degrees relative to the rotation axis 52a of the second annular link 20.

[0138] A third wire fixing portion 632c to which the other end 632b of the third wire 632 is fixed and a fourth wire fixing portion 642c to which the other end 642b of the fourth wire 642 is fixed may be provided inside the second annular link 20. The third wire fixing portion 632c and the fourth wire fixing portion 642c may be disposed on the inner surface of the second annular link 20 so as to face each other. For example, the third wire fixing portion 632c and the fourth wire fixing portion 642c may be disposed on the inner circumferential surface of the second annular link 20 at intervals of about 180 degrees.

[0139] The third conduit fixing portion 631c to which the other end 631b of the third flexible conduit 631 is fixed and the fourth conduit fixing portion 641c to which the other end 641b of the fourth flexible conduit 641 is fixed may be provided inside the first annular link 10. The third conduit fixing portion 631c and the fourth conduit fixing portion 641c may be disposed inside the first annular link 10 so as to face each other. For example, the third conduit fixing portion 631c and the fourth conduit fixing portion 641c may be disposed inside the first annular link 10 at intervals of about 180 degrees.

[0140] Therefore, when the driving device 80 operates the third wire 632 and the fourth wire 642, the second annular link 20 can rotate in a clockwise direction or in a counterclockwise direction around the rotation axis 52a of the second hinge 52. At this time, the third wire 632 and the fourth wire 642 can rotate the second annular link 20 relative to the first annular link 10 without interfering with the first Bowden cable 61 and the second Bowden cable 62.

[0141] The fifth Bowden cable 65 and the sixth Bowden cable 66 may be connected to the third endless link 30 to rotate the third endless link 30 at a predetermined angle.

[0142] The fifth Bowden cable 65 may include a fifth flexible conduit 651 and a fifth wire 652 .

[0143] One end of the fifth flexible conduit 651 may be connected to the driving device 80 , and the other end 651 b thereof may pass through the base link 3 and the first annular link 10 and be connected to the second annular link 20 .

[0144] The fifth wire 652 may be at least partially accommodated inside the fifth flexible conduit 651. One end of the fifth wire 652 may be directly or indirectly connected to the driving device 80, and the other end 652b thereof may be fixed to the third annular link 30. The other end 652b of the fifth wire 652 may protrude from the other end 651b of the fifth flexible conduit 651 fixed to the second annular link 20, pass through the second annular link 20, and be fixed to the third annular link 30. Therefore, the fifth wire 652 is longer than the fifth flexible conduit 651.

[0145] The sixth Bowden cable 66 may include a sixth flexible conduit 661 and a sixth wire 662 .

[0146] One end of the sixth flexible conduit 661 may be connected to the driving device 80, and the other end 661b thereof may pass through the base link 3 and the first annular link 10, and be connected to the second annular link 20. The other end 661b of the sixth flexible conduit 661 may be connected to the second annular link 20 opposite to the fifth flexible conduit 651 based on the rotation axis 53a of the third annular link 30.

[0147] The sixth wire 662 may be at least partially accommodated inside the sixth flexible conduit 661. One end of the sixth wire 662 may be connected to the driving device 80, and the other end 662b thereof may be fixed to the third annular link 30. The other end 662b of the sixth wire 662 may protrude from the other end 661b of the sixth flexible conduit 661 fixed to the second annular link 20, pass through the second annular link 20, and be fixed to the third annular link 30. Therefore, the sixth wire 662 is longer than the sixth flexible conduit 661.

[0148] The other end 662b of the sixth wire 662 may be fixed to the third annular link 30 relative to the fifth wire 662 based on the rotation axis 53a of the third annular link 30. The other end 652b of the fifth wire 652 and the other end 662b of the sixth wire 662 may be fixed to the third annular link 30 so as to form about 90 degrees relative to the rotation axis 53a of the third annular link 30.

[0149] A fifth wire fixing portion 652c to which the other end 652b of the fifth wire 652 is fixed and a sixth wire fixing portion 662c to which the other end 662b of the sixth wire 662 is fixed may be provided inside the third annular link 30. The fifth wire fixing portion 652c and the sixth wire fixing portion 662c may be disposed on the inner surface of the third annular link 30 so as to face each other. For example, the fifth wire fixing portion 652c and the sixth wire fixing portion 662c may be disposed on the inner circumferential surface of the third annular link 30 at intervals of approximately 180 degrees.

[0150] A fifth conduit fixing portion 651c to which the other end 651b of the fifth flexible conduit 651 is fixed and a sixth conduit fixing portion 661c to which the other end 661b of the sixth flexible conduit 661 is fixed may be provided inside the second annular link 20. The fifth conduit fixing portion 651c and the sixth conduit fixing portion 661c may be disposed inside the second annular connector 20 so as to face each other. For example, the fifth conduit fixing portion 651c and the sixth conduit fixing portion 661c may be disposed inside the second annular link 20 at intervals of about 180 degrees.

[0151] Therefore, when the driving device 80 operates the fifth wire 652 and the sixth wire 662, the third annular link 30 can rotate in a clockwise direction or in a counterclockwise direction around the rotation axis 53a of the third hinge 53. At this time, the fifth wire 652 and the sixth wire 662 can rotate the third annular link 30 relative to the second annular link 20 without interfering with the first Bowden cable 61, the second Bowden cable 62, the third Bowden cable 63, and the fourth Bowden cable 64.

[0152] The seventh and eighth Bowden cables 67 and 68 may be connected to the fourth annular link 40 to rotate the fourth annular link 40 at a predetermined angle.

[0153] The seventh Bowden cable 67 may include a seventh flexible conduit 671 and a seventh wire 672 .

[0154] One end of the seventh flexible conduit 671 may be connected to the driving device 80 , and the other end 671 b thereof may pass through the base link 3 , the first annular link 10 , and the second annular link 20 and be connected to the third annular link 30 .

[0155] The seventh wire 672 may be at least partially accommodated inside the seventh flexible conduit 671. One end of the seventh wire 672 may be connected to the driving device 80, and the other end 672b thereof may be fixed to the fourth annular link 40. The other end 672b of the seventh wire 672 may protrude from the other end 671b of the seventh flexible conduit 671 fixed to the third annular link 30, pass through the third annular link 30, and be fixed to the fourth annular link 40. Therefore, the seventh wire 672 is longer than the seventh flexible conduit 671.

[0156] The eighth Bowden cable 68 may include an eighth flexible conduit 681 and an eighth wire 682 .

[0157] One end of the eighth flexible conduit 681 may be connected to the driving device 80, and the other end 681b thereof may pass through the base link 3, the first annular link 10, and the second annular link 20 and be connected to the third annular link 30. The other end 681b of the eighth flexible conduit 681 may be connected to the third annular link 30 opposite to the seventh flexible conduit 671 based on the rotation axis 53a of the third annular link 30.

[0158] The eighth wire 682 may be at least partially accommodated inside the eighth flexible conduit 681. One end of the eighth wire 682 may be connected to the driving device 80, and the other end 682b thereof may be fixed to the fourth annular link 40. The other end 682b of the eighth wire 682 may protrude from the other end 681b of the eighth flexible conduit 681 fixed to the third annular link 30, pass through the third annular link 30, and be fixed to the fourth annular link 40. Therefore, the eighth wire 682 is longer than the eighth flexible conduit 681.

[0159] The other end 682b of the eighth wire 682 may be fixed to the fourth annular link 40 relative to the seventh wire 672 based on the rotation axis 54a of the fourth annular link 40. The other end 672b of the seventh wire 672 and the other end 682b of the eighth wire 682 may be fixed to the fourth annular link 40 so as to form approximately 90 degrees relative to the rotation axis 54a of the fourth annular link 40.

[0160] The seventh wire fixing portion 672c to which the other end 672b of the seventh wire 672 is fixed and the eighth wire fixing portion 682c to which the other end 682b of the eighth wire 682 is fixed may be provided inside the fourth annular link 40. The seventh wire fixing portion 672c and the eighth wire fixing portion 682c may be disposed on the inner surface of the fourth annular link 40 so as to face each other. For example, the seventh wire fixing portion 672c and the eighth wire fixing portion 682c may be disposed on the inner circumferential surface of the fourth annular link 40 at intervals of approximately 180 degrees.

[0161] A seventh conduit fixing portion 671c to which the other end 671b of the seventh flexible conduit 671 is fixed and an eighth conduit fixing portion 681c to which the other end 681b of the eighth flexible conduit 681 is fixed may be provided inside the third annular link 30. The seventh conduit fixing portion 671c and the eighth conduit fixing portion 681c may be disposed inside the third annular link 30 so as to face each other. For example, the seventh conduit fixing portion 671c and the eighth conduit fixing portion 681c may be disposed inside the third annular link 30 at intervals of about 180 degrees.

[0162] Therefore, when the driving device 80 operates the seventh wire 672 and the eighth wire 682, the fourth annular link 40 can rotate in the clockwise direction or in the counterclockwise direction around the rotation axis 54a of the fourth hinge 54. At this time, the seventh wire 672 and the eighth wire 682 can rotate the fourth annular link 40 relative to the third annular link 30 without interfering with the first Bowden cable 61, the second Bowden cable 62, the third Bowden cable 63, the fourth Bowden cable 64, the fifth Bowden cable 65, and the sixth Bowden cable 66.

[0163] In the above, a structure has been described in which a flexible conduit is fixed to an annular link located directly below an annular link driven by a wire. However, the present disclosure is not limited thereto. In the present disclosure, for ease of assembly, the other ends of the plurality of wires may be fixed near the fourth annular link, and the other ends of the plurality of flexible conduits may be fixed near the base link.

[0164] Figure 6 is a conceptual diagram for explaining another example of the arrangement of the plurality of Bowden cables 60 of the manipulator 1 according to one or more embodiments of the present disclosure.

[0165] Reference Figure 6 , the first Bowden cable 61 and the second Bowden cable 62 may be connected to the first annular link 10 so that the first annular link 10 rotates at a predetermined angle.

[0166] The first Bowden cable 61 may include a first flexible conduit 611 and a first wire 612 .

[0167] One end of the first flexible conduit 611 may be connected to the driving device 80 , and the other end 611 b thereof may be fixed to the base link 3 .

[0168] The first wire 612 may be accommodated inside the first flexible conduit 611. One end of the first wire 612 may be connected to the driving device 80, and the other end 612b thereof may be fixed to the upper portion of the second annular link 20. The other end 612b of the first wire 612 may protrude from the other end 611b of the first flexible conduit 611 fixed to the base link 3, pass through the base link 3 and the first annular link 10, and be fixed to the second annular link 20.

[0169] At this time, the first wire 612 may pass through the wire holder 60a provided on the rear surface of the second hinge 52 connecting the first annular link 10 and the second annular link 20, and be fixed to the second annular link 20. A wire guide 60b for supporting the first wire 612 may be provided on the inner surface of the first annular link 10.

[0170] Reference Figure 3, the wire holder 60a may be formed in a hollow cylindrical shape and may be fixed to the inner surface of the hinge plate 521. The first wire 612 may be provided through the hole 60a1 of the wire holder 60a. The wire guide 60b is provided on the inner surface of the first annular link 10 and may include a plurality of wire guide holes 60b1 formed in the longitudinal direction of the first annular link 10. The first wire 612 may be provided through one of the plurality of wire guide holes 60b1 of the wire guide 60b.

[0171] The second Bowden cable 62 may include a second flexible conduit 621 and a second wire 622 .

[0172] One end of the second flexible conduit 621 may be connected to the driving device 80, and the other end 621b thereof may be connected to the base link 3. The other end 621b of the second flexible conduit 621 may be connected to the base link 3 opposite to the first flexible conduit 611 based on the rotation axis 51a of the first annular link 10.

[0173] The second wire 622 may be accommodated inside the second flexible conduit 621. One end of the second wire 622 may be connected to the driving device 80, and the other end 622b thereof may be fixed to the upper portion of the second annular link 20. The other end 622b of the second wire 622 may protrude from the other end 621b of the second flexible conduit 621 fixed to the base link 3, pass through the base link 3 and the first annular link 10, and be fixed to the second annular link 20.

[0174] At this time, the second wire 622 may pass through the wire holder 60a provided on the rear surface of the second hinge 52 connecting the first annular link 10 and the second annular link 20, and be fixed to the second annular link 20. A wire guide 60b for supporting the second wire 622 may be provided on the inner surface of the first annular link 10.

[0175] The other end 622b of the second wire 622 may be fixed to the second annular link 20 opposite to the first wire 612 based on the rotation axis 51a of the first annular link 10. The other end 612b of the first wire 612 and the other end 622b of the second wire 622 may be fixed to the second annular link 20 to form about 90 degrees relative to the rotation axis 51a of the first annular link 10.

[0176] A first wire fixing portion 612c to which the other end 612b of the first wire 612 is fixed and a second wire fixing portion 622c to which the other end 622b of the second wire 622 is fixed may be provided at an upper portion of the second annular link 20. The first wire fixing portion 612c and the second wire fixing portion 622c may be disposed on an upper portion of the second annular link 20 so as to face each other. For example, the first wire fixing portion 612c and the second wire fixing portion 622c may be disposed on an upper portion of the second annular link 20 at intervals of about 180 degrees.

[0177] A first conduit fixing portion 611c to which the other end 611b of the first flexible conduit 611 is fixed and a second conduit fixing portion 621c to which the other end 621b of the second flexible conduit 621 is fixed may be provided inside the base link 3. The first conduit fixing portion 611c and the second conduit fixing portion 621c may be disposed inside the base link 3 so as to face each other. For example, the first conduit fixing portion 611c and the second conduit fixing portion 621c may be disposed inside the base link 3 at intervals of about 180 degrees.

[0178] Therefore, when the driving device 80 operates the first wire 612 and the second wire 622, the first annular link 10 can rotate in the clockwise direction or in the counterclockwise direction around the rotation axis 51a of the first hinge 51. At this time, since the pair of second hinges 52 connecting the first annular link 10 and the second annular link 20 are set to be about 90 degrees with the pair of first hinges 51 connecting the first annular link 10 and the base link 3, when the first annular link 10 rotates relative to the base link 3, the second annular link 20 can rotate relative to the base link 3 integrally with the first annular link 10. In other words, the second annular link 20 does not rotate relative to the first annular link 10 due to the first wire 612 and the second wire 622.

[0179] The third Bowden cable 63 and the fourth Bowden cable 64 may be connected to the second endless link 20 to rotate the second endless link 20 at a predetermined angle.

[0180] The third Bowden cable 63 may include a third flexible conduit 631 and a third wire 632 .

[0181] One end of the third flexible conduit 631 may be connected to the driving device 80 , and the other end 631 b thereof may be fixed to the base link 3 .

[0182] The third wire 632 may be accommodated inside the third flexible conduit 631. One end of the third wire 632 may be connected to the driving device 80, and the other end 632b thereof may be fixed to the upper portion of the third annular link 30. The other end 632b of the third wire 632 may protrude from the other end 631b of the third flexible conduit 631 fixed to the base link 3, pass through the first annular link 10 and the second annular link 20, and be fixed to the upper portion of the third annular link 30.

[0183] At this time, the third wire 632 may pass through a wire holder 60a provided on a rear surface of the third hinge 53 connecting the second annular link 20 and the third annular link 30, and be fixed to the third annular link 30. A wire guide 60b for supporting the third wire 632 may be provided on the inner surface of the first annular link 10 and the inner surface of the second annular link 20.

[0184] The fourth Bowden cable 64 may include a fourth flexible conduit 641 and a fourth wire 642 .

[0185] One end of the fourth flexible conduit 641 may be connected to the driving device 80, and the other end 641b thereof may be connected to the base link 3. The other end 641b of the fourth flexible conduit 641 may be fixed to the base link 3 opposite to the third flexible conduit 631 based on the rotation axis 52a of the second annular link 20.

[0186] The fourth wire 642 may be accommodated inside the fourth flexible conduit 641. One end of the fourth wire 642 may be connected to the driving device 80, and the other end 642b thereof may be fixed to the upper portion of the third annular link 30. The other end 642b of the fourth wire 642 may protrude from the other end 641b of the fourth flexible conduit 641 fixed to the base link 3, pass through the first annular link 10 and the second annular link 20, and be fixed to the upper portion of the third annular link 30.

[0187] The other end 642b of the fourth wire 642 can be fixed to the third annular link 30 relative to the third wire 632 based on the rotation axis 52a of the second annular link 20. The other end 632b of the third wire 632 and the other end 642b of the fourth wire 642 can be fixed to the third annular link 30 so as to form about 90 degrees relative to the rotation axis 52a of the second annular link 20.

[0188] A third wire fixing portion 632c to which the other end 632b of the third wire 632 is fixed and a fourth wire fixing portion 642c to which the other end 642b of the fourth wire 642 is fixed may be provided at an upper portion of the third annular link 30. The third wire fixing portion 632c and the fourth wire fixing portion 642c may be disposed on an upper portion of the third annular link 30 so as to face each other. For example, the third wire fixing portion 632c and the fourth wire fixing portion 642c may be disposed on an upper portion of the third annular link 30 at intervals of about 180 degrees.

[0189] At this time, the fourth wire 622 may pass through a wire holder 60a provided on a rear surface of the third hinge 53 connecting the second annular link 20 and the third annular link 30, and be fixed to the third annular link 30. A wire guide 60b for supporting the fourth wire 642 may be provided on the inner surface of the first annular link 10 and the inner surface of the second annular link 20.

[0190] A third conduit fixing portion 631c to which the other end 631b of the third flexible conduit 631 is fixed and a fourth conduit fixing portion 641c to which the other end 641b of the fourth flexible conduit 641 is fixed may be provided inside the base link 3. The third conduit fixing portion 631c and the fourth conduit fixing portion 641c may be disposed inside the base link 3 so as to face each other. For example, the third conduit fixing portion 631c and the fourth conduit fixing portion 641c may be disposed inside the base link 3 at intervals of about 180 degrees.

[0191] Therefore, when the driving device 80 operates the third wire 632 and the fourth wire 642, the second annular link 20 can rotate in the clockwise direction or in the counterclockwise direction around the rotation axis 52a of the second hinge 52. At this time, since the pair of third hinges 53 connecting the second annular link 20 and the third annular link 30 are set to be about 90 degrees with the pair of second hinges 52 connecting the first annular link 10 and the second annular link 20, when the second annular link 20 rotates relative to the first annular link 10, the third annular link 30 can rotate relative to the first annular link 10 integrally with the second annular link 20. In other words, the third annular link 30 does not rotate relative to the second annular link 20 through the third wire 632 and the fourth wire 642.

[0192] The fifth and sixth Bowden cables 65 and 66 may be connected to the fourth endless link 40 to rotate the third endless link 30 at a predetermined angle.

[0193] The fifth Bowden cable 65 may include a fifth flexible conduit 651 and a fifth wire 652 .

[0194] One end of the fifth flexible conduit 651 may be connected to the driving device 80 , and the other end 651 b thereof may pass through the base link 3 and be connected to the lower portion of the first annular link 10 .

[0195] The fifth wire 652 may be accommodated inside the fifth flexible conduit 651. One end of the fifth wire 652 may be connected to the driving device 80, and the other end 652b thereof may be fixed to the fourth annular link 40. The other end 652b of the fifth wire 652 may protrude from the other end 651b of the fifth flexible conduit 651 fixed to the first annular link 10, pass through the second annular link 20 and the third annular link 30, and be fixed to the upper portion of the fourth annular link 40.

[0196] At this time, the fifth wire 652 may pass through the wire holder 60a provided on the rear surface of the second hinge 52 and the rear surface of the fourth hinge 54, and be fixed to the fourth annular link 40. A wire guide 60b for supporting the fifth wire 652 may be provided on the inner surface of the first annular link 10, the inner surface of the second annular link 20, and the inner surface of the third annular link 30.

[0197] The sixth Bowden cable 66 may include a sixth flexible conduit 661 and a sixth wire 662 .

[0198] One end of the sixth flexible conduit 661 may be connected to the driving device 80, and the other end 661b thereof may pass through the base link 3 and be connected to the lower portion of the first annular link 10. The other end 661b of the sixth flexible conduit 661 may be connected to the first annular link 10 opposite to the fifth flexible conduit 651 based on the rotation axis 53a of the third annular link 30.

[0199] The sixth wire 662 may be accommodated inside the sixth flexible conduit 661. One end of the sixth wire 662 may be connected to the driving device 80, and the other end 662b thereof may be fixed to the fourth annular link 40. The other end 662b of the sixth wire 662 may protrude from the other end 661b of the sixth flexible conduit 661 fixed to the first annular link 10, pass through the second annular link 20 and the third annular link 30, and be fixed to the fourth annular link 40.

[0200] The other end 662b of the sixth wire 662 may be fixed to the fourth annular link 40 relative to the fifth wire 662 based on the rotation axis 53a of the third annular link 30. The other end 652b of the fifth wire 652 and the other end 662b of the sixth wire 662 may be fixed to the fourth annular link 40 to form about 90 degrees relative to the rotation axis 53a of the third annular link 30.

[0201] At this time, the sixth wire 662 may pass through the wire holder 60a provided on the rear surface of the second hinge 52 and the rear surface of the fourth hinge 54, and be fixed to the fourth annular link 40. A wire guide 60b for supporting and guiding the movement of the sixth wire 662 may be provided on the inner surface of the first annular link 10, the inner surface of the second annular link 20, and the inner surface of the third annular link 30.

[0202] A fifth wire fixing portion 652c to which the other end 652b of the fifth wire 652 is fixed and a sixth wire fixing portion 662c to which the other end 662b of the sixth wire 662 is fixed may be provided at an upper portion of the fourth annular link 40. The fifth wire fixing portion 652c and the sixth wire fixing portion 662c may be disposed on an inner surface of the fourth annular link 40 so as to face each other. For example, the fifth wire fixing portion 652c and the sixth wire fixing portion 662c may be disposed on an upper portion of the fourth annular link 40 at intervals of approximately 180 degrees.

[0203] A fifth conduit fixing portion 651c to which the other end 651b of the fifth flexible conduit 651 is fixed and a sixth conduit fixing portion 661c to which the other end 661b of the sixth flexible conduit 661 is fixed may be provided at the lower portion of the first annular link 10. The fifth conduit fixing portion 651c and the sixth conduit fixing portion 661c may be disposed at the lower portion of the first annular link 10 so as to face each other. For example, the fifth conduit fixing portion 651c and the sixth conduit fixing portion 661c may be disposed at the lower portion of the first annular link 10 at intervals of about 180 degrees.

[0204] Therefore, when the driving device 80 operates the fifth wire 652 and the sixth wire 662, the third annular link 30 can rotate in the clockwise direction or in the counterclockwise direction around the rotation axis 53a of the third hinge 53. At this time, since the pair of fourth hinges 54 connecting the third annular link 30 and the fourth annular link 40 are set to be about 90 degrees with the pair of third hinges 53 connecting the second annular link 20 and the third annular link 30, when the third annular link 30 rotates relative to the second annular link 20, the fourth annular link 40 can rotate relative to the second annular link 20 integrally with the third annular link 30. In other words, the fourth annular link 40 does not rotate relative to the third annular link 30 through the fifth wire 652 and the sixth wire 662.

[0205] The seventh and eighth Bowden cables 67 and 68 may be connected to the fourth annular link 40 to rotate the fourth annular link 40 at a predetermined angle.

[0206] The seventh Bowden cable 67 may include a seventh flexible conduit 671 and a seventh wire 672 .

[0207] One end of the seventh flexible conduit 671 may be connected to the driving device 80 , and the other end 671 b thereof may pass through the base link 3 and the first annular link 10 , and be connected to the lower portion of the second annular link 20 .

[0208] The seventh wire 672 may be accommodated inside the seventh flexible conduit 671. One end of the seventh wire 672 may be connected to the driving device 80, and the other end 672b thereof may be fixed to the fourth annular link 40. The other end 672b of the seventh wire 672 may protrude from the other end 671b of the seventh flexible conduit 671 fixed to the lower portion of the second annular link 20, pass through the second annular link 20 and the third annular link 30, and be fixed to the upper portion of the fourth annular link 40.

[0209] At this time, the seventh wire 672 may pass through the wire holder 60a provided on the rear surface of the third hinge 53 and be fixed to the fourth annular link 40. A wire guide 60b for supporting the seventh wire 672 may be provided on the inner surface of the third annular link 30.

[0210] The eighth Bowden cable 68 may include an eighth flexible conduit 681 and an eighth wire 682 .

[0211] One end of the eighth flexible conduit 681 may be connected to the driving device 80, and the other end 681b thereof may pass through the base link 3 and the first annular link 10, and be connected to the lower portion of the second annular link 20. The other end 681b of the eighth flexible conduit 681 may be connected to the lower portion of the second annular link 20 opposite to the seventh flexible conduit 671 based on the rotation axis 53a of the third annular link 30.

[0212] The eighth wire 682 may be accommodated inside the eighth flexible conduit 681. One end of the eighth wire 682 may be connected to the driving device 80, and the other end 682b thereof may be fixed to the upper portion of the fourth annular link 40. The other end 682b of the eighth wire 682 may protrude from the other end 681b of the eighth flexible conduit 681 fixed to the lower portion of the second annular link 20, pass through the second annular link 20 and the third annular link 30, and be fixed to the fourth annular link 40.

[0213] At this time, the eighth wire 682 may pass through the wire holder 60a provided on the rear surface of the third hinge 53 and be fixed to the fourth annular link 40. A wire guide 60b for supporting and guiding the eighth wire 682 may be provided on the inner surface of the third annular link 30.

[0214] The other end 682b of the eighth wire 682 may be fixed to the fourth annular link 40 relative to the seventh wire 672 based on the rotation axis 54a of the fourth annular link 40. The other end 672b of the seventh wire 672 and the other end 682b of the eighth wire 682 may be fixed to the fourth annular link 40 so as to form approximately 90 degrees relative to the rotation axis 54a of the fourth annular link 40.

[0215] The seventh wire fixing portion 672c to which the other end 672b of the seventh wire 672 is fixed and the eighth wire fixing portion 682c to which the other end 682b of the eighth wire 682 is fixed may be provided at the upper portion of the fourth annular link 40. The seventh wire fixing portion 672c and the eighth wire fixing portion 682c may be disposed on the upper portion of the fourth annular link 40 so as to face each other. For example, the seventh wire fixing portion 672c and the eighth wire fixing portion 682c may be disposed on the upper portion of the fourth annular link 40 at intervals of about 180 degrees.

[0216] A seventh conduit fixing portion 671c to which the other end 671b of the seventh flexible conduit 671 is fixed and an eighth conduit fixing portion 681c to which the other end 681b of the eighth flexible conduit 681 is fixed may be provided at the lower portion of the second annular link 20. The seventh conduit fixing portion 671c and the eighth conduit fixing portion 681c may be disposed at the lower portion of the second annular connector 20 so as to face each other. For example, the seventh conduit fixing portion 671c and the eighth conduit fixing portion 681c may be disposed at the lower portion of the second annular link 20 at intervals of about 180 degrees.

[0217] Therefore, when the driving device 80 operates the seventh wire 672 and the eighth wire 682, the fourth annular link 40 can rotate in the clockwise direction or in the counterclockwise direction around the rotation axis 54a of the fourth hinge 54. At this time, the seventh wire 672 and the eighth wire 682 can rotate the fourth annular link 40 relative to the third annular link 30 without interfering with the first Bowden cable 61, the second Bowden cable 62, the third Bowden cable 63, the fourth Bowden cable 64, the fifth Bowden cable 65, and the sixth Bowden cable 66.

[0218] The driving device 80 may be configured to operate the first to eighth Bowden cables 61 to 68. The driving device 80 may include a plurality of motor assemblies to operate the first to eighth Bowden cables 61 to 68.

[0219] For example, the driving device 80 may include a first motor assembly 81 configured to operate the first Bowden cable 61 and the second Bowden cable 62, a second motor assembly 82 configured to operate the third Bowden cable 63 and the fourth Bowden cable 64, a third motor assembly 83 configured to operate the fifth Bowden cable 65 and the sixth Bowden cable 66, and a fourth motor assembly 84 configured to operate the seventh Bowden cable 67 and the eighth Bowden cable 68. In other words, one motor assembly can operate two Bowden cables antagonistically.

[0220] The first motor assembly 81 to the fourth motor assembly 84 are configured to have the same structure. Figures 7 to 9 The first motor assembly 81 is described in detail. Hereinafter, for convenience of explanation, the first motor assembly 81 may be referred to as a motor assembly.

[0221] Figure 7 It is shown Figure 1 A perspective view of the motor assembly used in manipulator 1. Figure 8 It is shown Figure 7 A cross-sectional view of the motor assembly taken along line AA. Fig. 9 It is shown Figure 7 A cross-sectional view of the motor assembly taken along line BB.

[0222] Reference Figures 7 to 9The motor assembly 81 may include a motor 811 , a roller 812 and a housing 813 .

[0223] The motor 811 is formed to generate a rotation force, and may include a motor shaft 811a that can rotate in two directions. Therefore, the motor shaft 811a may rotate in a clockwise direction or in a counterclockwise direction.

[0224] The roller 812 is disposed on the motor shaft 811a and can rotate integrally with the motor shaft 811a. The roller 812 can be formed into a cylindrical shape, and one end of the pair of wires can be fixed to the outer circumferential surface of the roller 812. One end of the pair of wires can be fixed to the outer circumferential surface of the roller 812 at about 180 degrees apart.

[0225] The housing 813 may be formed to support the motor 811. The roller 812 disposed on the motor shaft 811a may be accommodated inside the housing 813. One surface of the housing 813 may be provided with two wire holes through which the pair of wires fixed to the roller 812 pass. One end of the flexible conduit may be coupled to each of the two wire holes.

[0226] When the drum 812 rotates in one direction by the motor shaft 811a, one of the pair of wires is pulled and wound around the drum 812, and the other of the pair of wires is pushed in the opposite direction. When the drum 812 rotates in the opposite direction, the other of the pair of wires is pulled and wound around the drum 812, and one of the pair of wires is unwound from the drum 812 and pushed in the opposite direction. In other words, the motor 811 can operate the pair of wires antagonistically.

[0227] For example, one end 612a of the first wire 612 and one end 622a of the second wire 622 may be fixed to the outer circumferential surface of the first roller 812 integrally provided on the first motor shaft 811a of the first motor 811 while being spaced apart by about 180 degrees. One end 611a of the first flexible conduit 611 and one end 622a of the second flexible conduit 621 may be coupled to the two wire holes of the first housing 813. The first wire 612 has one end 612a fixed to the first roller 812 through the first flexible conduit 611, and the second wire 622 has one end 622a fixed to the first roller 812 through the second flexible conduit 621.

[0228] Therefore, when the first roller 812 rotates in one direction by the first motor shaft 811a, the first wire 612 moving along the first flexible conduit 611 is wound around the outer circumferential surface of the first roller 812, and the second wire 622 is pushed by the first roller 812 and moves along the second flexible conduit 621 in the opposite direction to the first wire 612.

[0229] One end 632a of the third wire 632 and one end 642a of the fourth wire 642 may be fixed to the outer circumferential surface of the second drum 822 integrally provided on the second motor shaft 821a of the second motor 821 while being spaced apart by about 180 degrees. One end 631a of the third flexible conduit 631 and one end 641a of the fourth flexible conduit 641 may be coupled to two wire holes of the second housing 823. The third wire 632 may be fixed to the second drum 822 through the third flexible conduit 631, and the fourth wire 642 may be fixed to the second drum 822 through the fourth flexible conduit 641.

[0230] Therefore, when the second roller 822 rotates in one direction through the second motor shaft 821a, the third wire 632 moving along the third flexible conduit 631 is wound around the outer circumferential surface of the second roller 822, and the fourth wire 642 is pushed by the second roller 822 and moves along the fourth flexible conduit 641 in the opposite direction to the third wire 632.

[0231] One end 652a of the fifth wire 652 and one end 662a of the sixth wire 662 may be fixed to the outer circumferential surface of the third roller 832 integrally provided on the third motor shaft 831a of the third motor 831 while being spaced apart by about 180 degrees. One end 651a of the fifth flexible conduit 651 and one end 661a of the sixth flexible conduit 661 may be coupled to two wire holes of the third housing 833. The fifth wire 652 may be fixed to the third roller 832 through the fifth flexible conduit 651, and the sixth wire 662 may be fixed to the third roller 832 through the sixth flexible conduit 661.

[0232] Therefore, when the third roller 832 rotates in one direction through the third motor shaft 831a, the fifth wire 652 moving along the fifth flexible conduit 651 is wound around the outer circumferential surface of the third roller 832, and the sixth wire 662 is pushed by the third roller 832 and moves along the sixth flexible conduit 661 in the opposite direction to the fifth wire 652.

[0233] One end 672a of the seventh wire 672 and one end 682a of the eighth wire 682 may be fixed to the outer circumferential surface of the fourth roller 842 integrally provided on the fourth motor shaft 841a of the fourth motor 841 while being spaced apart by about 180 degrees. One end 671a of the seventh flexible conduit 671 and one end 681a of the eighth flexible conduit 681 may be coupled to two wire holes of the fourth housing 843. The seventh wire 672 may be fixed to the fourth roller 842 through the seventh flexible conduit 671, and the eighth wire 682 may be fixed to the fourth roller 842 through the eighth flexible conduit 681.

[0234] Therefore, when the fourth roller 842 rotates in one direction through the fourth motor shaft 841a, the seventh wire 672 moving along the seventh flexible conduit 671 is wound around the outer circumferential surface of the fourth roller 842, and the eighth wire 682 is pushed by the fourth roller 842 and moves along the eighth flexible conduit 681 in the opposite direction to the seventh wire 672.

[0235] The Bowden cable 60 may include a tension adjuster for adjusting the tension of the cable.

[0236] Fig.10 is a perspective view showing a tension adjuster 70 used in the manipulator 1 according to one or more embodiments of the present disclosure.

[0237] Reference Fig.10 The tension adjuster 70 may include a fixing bracket 71 and an adjuster unit 72 .

[0238] The fixing bracket 71 may be formed in a U-shape having a substantially flat bottom. The fixing bracket 71 may include a fixing plate 711 and a pair of support plates 712 extending vertically from both ends of the fixing plate 711. Each of the pair of support plates 712 may be provided with a fixing hole 713. The flexible conduit 611 may be fixed to the fixing hole 713.

[0239] The adjuster unit 72 is formed to adjust the tension of the wire 612. The adjuster unit 72 may include a rotating portion 721 and a pair of bolts 722 coupled to both ends of the rotating portion 721. A pair of internal threads 723 into which the pair of bolts 722 are fastened may be provided at both ends of the rotating portion 721.

[0240] The rotating portion 721 may be formed in a substantially track shape or an elliptical shape. One end of the wire 612 may be coupled to one end of each of the pair of bolts 722. Therefore, in a state where the wire 612 is coupled to the pair of bolts 722 (which are fastened to the internal threads 723 of the rotating portion 721), when the rotating portion 721 rotates, the tension of the wire 612 may be adjusted.

[0241] The length of the regulator unit 72 may be smaller than the distance between the pair of support plates 712 of the fixed bracket 71. When the wire 612 moves inside the flexible conduit 611 by the driving device 80, the regulator unit 72 moves together with the wire 612. Therefore, the length of the regulator unit 72 and the distance between the pair of support plates 712 may be defined so as not to interfere with the movement of the wire 612.

[0242] Fig.10 A state in which the tension adjuster 70 is provided in the first Bowden cable 61 is shown as an example. Figure 1As shown, the same tension adjuster 70 may be provided in the second Bowden cable 62 to the eighth Bowden cable 68. A fixing bracket 71 of the tension adjuster 70 may be fixed to the base 5.

[0243] In the above description, reference is made to Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 , the three annular links 10, 20, and 30 are provided between the base link 3 and the fourth annular link 40. However, the manipulator 1 according to the present disclosure is not limited thereto.

[0244] As an example, the manipulator 1 according to one or more embodiments of the present disclosure may include only one annular link 10 between the base link 3 and the fourth annular link 40. In other words, the manipulator 1 may include two annular links 10 and 40. When the manipulator 1 includes two annular links 10 and 40, the two annular links 10 and 40 may be operated using four Bowden cables 60 and two motor assemblies.

[0245] As another example, the manipulator 1 according to one or more embodiments of the present disclosure may include two annular links 10 and 20 between the base link 3 and the fourth annular link 40. In other words, the manipulator 1 may include three annular links 10, 20, and 40. When the manipulator 1 includes three annular links 10, 20, and 40, the three annular links 10, 20, and 40 may be operated using six Bowden cables 60 and three motor assemblies.

[0246] As another example, the manipulator 1 according to one or more embodiments of the present disclosure may include four or more annular links between the base link 3 and the fourth annular link 40. In other words, the manipulator 1 may include five or more annular links. When the manipulator 1 includes five or more annular links, the five or more annular links may be operated using Bowden cables twice the number of the annular links and five or more motor assemblies.

[0247] In the above, the driving device 80 formed so that one motor operates one annular link has been described. However, the driving device 80 of the present disclosure is not limited thereto. For example, the driving device 80 may be configured so that one motor operates two annular links.

[0248] Fig.11 is a conceptual diagram illustrating a driving device 80 used in the manipulator 1 according to one or more embodiments of the present disclosure.

[0249] Reference Fig.11 The driving device 80 may include a motor 801 , a first roller 802 , a second roller 803 and a clutch 804 .

[0250] The motor 801 is configured to generate a rotational force and may include a motor shaft 801a that can rotate in two directions. Therefore, the motor shaft 801a may rotate in a clockwise direction or in a counterclockwise direction.

[0251] The first roller 802 is formed in a cylindrical shape, and one end of each of the first and second wires 612 and 622 may be fixed to the outer circumferential surface of the first roller 802. One end of each of the first and second wires 612 and 622 may be fixed to the outer circumferential surface of the first roller 802 while being spaced apart by about 180 degrees.

[0252] The second roller 803 is formed into a cylindrical shape and can have the same diameter as the first roller 802. The first roller 802 can rotate around the first rotation axis 802a, and the second roller 803 can rotate around the second rotation axis 803a. The first rotation axis 802a and the second rotation axis 803a can form a straight line. However, the first roller 802 and the second roller 803 are arranged to rotate separately.

[0253] One end of each of the third wire 632 and the fourth wire 642 may be fixed to the outer circumferential surface of the second drum 803. One end of the third wire 632 and one end of the fourth wire 642 may be fixed to the outer circumferential surface of the second drum 803 while being spaced apart by about 180 degrees.

[0254] The clutch 804 may be formed to selectively transmit the rotational force of the motor 801 to one of the first roller 802 and the second roller 803. In other words, the clutch 804 may be formed to selectively rotate the first roller 802 and the second roller 803.

[0255] The clutch 804 may include a first gear 802 b coaxially disposed with the first roller 802 at one side of the first roller 802 and a second gear 803 b coaxially disposed with the second roller 803 at one side of the second roller 803 .

[0256] The clutch 804 may include a drive gear 805 selectively meshed with one of the first gear 802b and the second gear 803b. The drive gear 805 may be configured to rotate integrally with the drive shaft 806. The drive shaft 806 may be coupled to the motor shaft 801a via a coupling 809. Therefore, when the motor shaft 801a rotates, the drive shaft 806 and the drive gear 805 may rotate.

[0257] The clutch 804 may include a support bracket 807 that rotatably supports the driving shaft 806. The support bracket 807 may be formed to support both ends of the driving shaft 806.

[0258] The driving gear 805 may be arranged to move along the driving shaft 806 in the longitudinal direction of the driving shaft 806. The clutch 804 may include an actuator to move the driving gear 805 in the longitudinal direction of the driving shaft 806. The actuator may be formed to position the driving gear 805 in one of the first position and the second position.

[0259] For example, the actuator can be implemented with two electromagnets 808a and 808b. In this case, the drive gear 805 can be formed of metal. When the first electromagnet 808a is turned on and the second electromagnet 808b is turned off, the drive gear 805 can be positioned in the first position by the magnetic force of the first electromagnet 808a. When the second electromagnet 808b is turned on and the first electromagnet 808a is turned off, the drive gear 805 can be positioned in the second position by the magnetic force of the second electromagnet 808b.

[0260] In the first position, the driving gear 805 may be meshed with the first gear 802b, and in the second position, the driving gear 805 may be meshed with the second gear 803b.

[0261] When the driving gear 805 is engaged with the first gear 802b, the first roller 802 can rotate. Therefore, the first annular link 10 can rotate at a predetermined angle by the first wire 612 and the second wire 622 fixed to the first roller 802. At this time, since the power is not transmitted to the second roller 803 to which the third wire 632 and the fourth wire 642 are fixed, the second annular link 20 connected to the third wire 632 and the fourth wire 642 does not operate.

[0262] When the driving gear 805 is meshed with the second gear 803b, the second roller 803 can rotate. Therefore, the second annular link 20 can rotate at a predetermined angle by the third wire 632 and the fourth wire 642 fixed to the second roller 803. At this time, since the power is not transmitted to the first roller 802 to which the first wire 612 and the second wire 622 are fixed, the first annular link 10 connected to the first wire 612 and the second wire 622 does not operate.

[0263] In the above, the case where the driving device 80 selectively operates the first annular link 10 and the second annular link 20 has been described, but the present disclosure is not limited thereto. The driving device 80 according to the present disclosure may be configured to selectively operate the second annular link 20 and the third annular link 30. Alternatively, the driving device 80 according to the present disclosure may be configured to selectively operate the third annular link 30 and the fourth annular link 40.

[0264] In the following, reference will be made to Figure 1 , Figure 4 , Figure 5 , Figure 8 , Fig. 9 , Fig.12and Fig.13 The operation of the manipulator 1 according to one or more embodiments of the present disclosure is described.

[0265] Fig.12 1 is a view for explaining the operation of the manipulator 1 according to one or more embodiments of the present disclosure. Fig.13 is a view for explaining the operation of the manipulator 1 according to one or more embodiments of the present disclosure. Fig.12 and Fig.13 In the figure, for the convenience of illustration, only one working line among multiple Bowden cables is shown.

[0266] Reference Figure 1 , Figure 4 , Figure 5 , Figure 8 , Fig. 9 and Fig.12 , the first annular link 10 rotates at a certain angle in one direction relative to the base link 3 .

[0267] Specifically, when the first motor shaft 811a of the first motor 811 rotates in one direction, the first roller 802 fixed to the first motor shaft 811a also rotates in one direction. When the first roller 802 rotates in one direction, the first wire 612 moves in one direction and is wound around the outer circumferential surface of the first roller 802, and the second wire 622 moves a certain distance in the opposite direction of the first wire 612 through the first roller 802.

[0268] The first wire 612 passes through the first flexible conduit 611 fixed to the base link 3, and the other end of the first wire 612 is fixed to the first annular link 10. The second wire 622 passes through the second flexible conduit 621 fixed to the base link 3, and the other end of the second wire 622 is fixed to the first annular link 10.

[0269] Therefore, when the first wire 612 is wound around the first roller 802, the first wire 612 sliding inside the first flexible conduit 611 pulls the first annular link 10, and the second wire 622 sliding inside the second flexible conduit 621 pushes the first annular link 10, so that the first annular link 10 can rotate around the pair of first hinges 51 in one direction at a predetermined angle.

[0270] At this time, the second annular link 20, the third annular link 30, and the fourth annular link 40 connected to the front end of the first annular link 10 maintain a straight line.

[0271] When the first motor shaft 811a of the first motor 811 rotates in the opposite direction, the first roller 802 rotates in the opposite direction. Therefore, by fixing one end to the first roller 800 and the other end to the first wire 612 and the second wire 622 of the first annular link 10, the first annular link 10 can be rotated in the opposite direction. Fig.12 Rotate in opposite direction.

[0272] Reference Fig.13 , when the first annular link 10 is rotated at a certain angle in one direction relative to the base link 3 (such as Fig.12 As shown), the second annular link 20 rotates at a certain angle in different directions relative to the first annular link 10.

[0273] Specifically, when the second motor shaft 821a of the second motor 821 rotates in one direction, the second roller 822 fixed to the second motor shaft 821a also rotates in one direction. When the second roller 822 rotates in one direction, the third wire 632 moves in one direction and is wound around the outer circumferential surface of the second roller 822, and the fourth wire 642 moves a certain distance in the opposite direction to the third wire 632 through the second roller 822.

[0274] The third wire 632 passes through the third flexible conduit 631 fixed to the first annular link 10, and the other end 632b of the third wire 632 is fixed to the second annular link 20. The fourth wire 642 passes through the fourth flexible conduit 641 fixed to the first annular link 10, and the other end 642b of the fourth wire 642 is fixed to the second annular link 20.

[0275] Therefore, when the third wire 632 is wound around the second roller 822, the third wire 632 sliding inside the third flexible conduit 631 pulls the second annular link 20 and the fourth wire 642 sliding inside the fourth flexible conduit 641 pushes the second annular link 20, so that the second annular link 20 can rotate around the pair of second hinges 52 in one direction at a predetermined angle.

[0276] At this time, the first annular link 10 is not affected by the rotation of the second annular link 20 and maintains the previous rotation state as it is. In addition, the third annular link 30 and the fourth annular link 40 directly or indirectly connected to the front end of the second annular link 20 maintain a straight line.

[0277] As described above, since the manipulator 1 according to one or more embodiments of the present disclosure includes a plurality of annular links directly or indirectly connected by a plurality of hinges and the plurality of annular links are driven by a plurality of Bowden cables 60 and a plurality of motor assemblies, the manipulator 1 can take a variety of postures. Therefore, the front end of the manipulator 1 can be positioned at a target point in a complex space.

[0278] Furthermore, in the manipulator 1 according to one or more embodiments of the present disclosure, since the plurality of annular links 10, 20, 30, and 40 and the drive device 80 are connected by the Bowden cable 60, it is not necessary to arrange the drive device 80 adjacent to the annular links. Therefore, the drive device 80 can be arranged at various positions regardless of the annular links. In other words, the degree of freedom of arrangement of the drive device 80 for the plurality of annular links is high.

[0279] Hereinafter, a robot cleaner 100 including a manipulator 1 according to one or more embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0280] Fig.14 is a perspective view illustrating a robot cleaner 100 according to one or more embodiments of the present disclosure. Fig.15 is a functional block diagram of the robot cleaner 100 according to one or more embodiments of the present disclosure.

[0281] Reference Fig.14 and Fig.15 , the robot cleaner 100 according to one or more embodiments of the present disclosure may include a main body 110, a manipulator 1, a lifting device 120, a tilting device 130, a suction pipe 140, a suction device 150, a moving device 160, and a processor 200 including a processing circuit.

[0282] The body 110 forms an exterior of the robot cleaner 100. The manipulator 1, the tilting device 130, the lifting device 120, the suction device 150, the moving device 160, and the processor 200 may be provided inside the body 110.

[0283] The manipulator accommodation portion 111 accommodating the plurality of annular links of the manipulator 1 may be directly or indirectly provided on the front surface of the body 110. The manipulator accommodation portion 111 may be formed to have a substantially semicircular cross-section to correspond to the manipulator 1.

[0284] The manipulator 1 can move up and down along the manipulator accommodation portion 111. The manipulator 1 can rotate relative to the manipulator accommodation portion 111 within a predetermined angle range.

[0285] The manipulator 1 may include the plurality of annular links 10, 20, 30, and 40. The plurality of annular links 10, 20, 30, and 40 of the manipulator 1 may be operated by a driving device 80.

[0286] The driving device 80 may include motors and angle sensors corresponding to the number of the plurality of annular links 10 , 20 , 30 , and 40 .

[0287] In this embodiment, since the manipulator 1 includes four annular connecting rods, the driving device 80 may include four motors 811 , 821 , 831 , and 841 and four angle sensors 514 , 524 , 534 , and 544 .

[0288] In other words, the driving device 80 may include a first motor 811 for rotating the first annular link 10 and a first angle sensor 514 configured to detect the rotation angle of the first annular link 10. The driving device 80 may include a second motor 821 for rotating the second annular link 20 and a second angle sensor 524 configured to detect the rotation angle of the second annular link 20. The driving device 80 may include a third motor 831 for rotating the third annular link 30 and a third angle sensor 534 configured to detect the rotation angle of the third annular link 30. The driving device 80 may include a fourth motor 841 for rotating the fourth annular link 40 and a fourth angle sensor 544 configured to detect the rotation angle of the fourth annular link 40.

[0289] The processor 200 may control the plurality of motors 811 , 821 , 831 , and 841 and the plurality of angle sensors 514 , 524 , 534 , and 544 to position the working tool 45 provided at the front end of the manipulator 1 at an arbitrary position.

[0290] The lifting device 120 may be formed to move the manipulator 1 up and down. The lifting device 120 may include a lifting block 121 to which the manipulator 1 is fixed and a lifting motor 122 for lifting the lifting block 121. The lifting device 120 may include a lifting sensor 123 configured to detect the position of the lifting block 121 (i.e., the position of the manipulator 1).

[0291] When the manipulator 1 is moved up and down relative to the main body 110 by the lifting device 120, the driving device 80 of the manipulator 1 is fixed in the main body 110. The driving device 80 is connected to the plurality of annular links 10, 20, 30 and 40 through a plurality of Bowden cables 60. Therefore, when the manipulator 1 is moved up and down by the lifting device 120, the manipulator 1 can be operated by the driving device 80.

[0292] The tilting device 130 may be formed to rotate the manipulator 1 within a predetermined angle range relative to the main body 110. The tilting device 130 may be formed to rotate the base link 3 of the manipulator 1 at a predetermined angle. The tilting device 130 may include a tilting motor 134 for rotating the base link 3 of the manipulator 1 and a tilting sensor 136 configured to detect the rotation angle of the base link 3.

[0293] The tilting device 130 may be moved up and down by the lifting device 120 together with the manipulator 1. Therefore, the tilting device 130 may be provided on the lifting block 121 of the lifting device 120.

[0294] The suction pipe 140 may be provided inside the manipulator 1. In other words, the suction pipe 140 may be provided inside the base link 3, the first annular link 10, the second annular link 20, the third annular link 30, and the fourth annular link 40.

[0295] The suction pipe 140 may be supported by a retainer 49 provided inside each of the first annular link 10, the second annular link 20, the third annular link 30, and the fourth annular link 40. Figure 2 The holder 49 may be formed in a ring shape and may be fixed to the inner circumferential surface of the annular links 10, 20, 30, and 40 with a plurality of arms. Therefore, the suction pipe 140 may not interfere with the plurality of Bowden cables 60 driving the plurality of annular links 10, 20, 30, and 40.

[0296] One end of the suction pipe 140 may be directly or indirectly connected to the suction nozzle 45 provided at the front end of the fourth annular link 40. The other end of the suction pipe 140 may be directly or indirectly connected to the suction device 150 provided inside the body 110.

[0297] The suction device 150 can collect dust by generating suction force. The suction device 150 may include a suction motor 151 and a dust collecting device 152. The suction motor 151 may be configured to generate suction force. The dust collecting device 152 may be disposed in front of the suction motor 151 and may be directly or indirectly connected to the other end of the suction pipe 140. The dust collecting device 152 may be formed to separate and collect dust sucked together with air via the suction pipe 140 by the suction force of the suction motor 151.

[0298] Therefore, when the processor 200 controls the manipulator 1 to place the suction nozzle 45 in the working area, the dust in the working area can be introduced into the suction nozzle 45 by the suction force generated by the suction device 150. The dust introduced into the suction nozzle 45 can move along the suction pipe 140 and be collected in the dust collection device 152.

[0299] The suction device 150 may include a lower suction nozzle 153 (see Fig.21 ). The lower suction nozzle 153 may be formed below the base 112 of the body 110 to face the ground on which the robot cleaner 100 is placed. Therefore, when the suction device 150 operates, dust on the ground may be sucked by the lower suction nozzle 153.

[0300] The moving device 160 may be formed to move the main body 110 on a flat ground. The moving device 160 may include a pair of wheels 161 and 162. The pair of wheels (ie, the first wheel 161 and the second wheel 162) may be rotatably disposed on the left and right surfaces of the main body 110.

[0301] The first wheel 161 may be formed to be rotated by the first moving motor 163. The first moving motor 163 may be provided inside the body 110. In other words, the first moving motor 163 may be provided on the base 112 provided on the lower portion of the body 110 directly or indirectly.

[0302] The second wheel 162 may be formed to be rotated by the second moving motor 164. The second moving motor 164 may be provided inside the body 110. The second moving motor 164 may be provided on the base 112 of the body 110 to be symmetrical with the first moving motor 163.

[0303] The auxiliary wheels 165 may be provided on a lower surface of the base 112 of the body 110. The auxiliary wheels 165 may be provided below the manipulator accommodation portion 111.

[0304] The processor 200 may control the first moving motor 163 and the second moving motor 164 to move the robot cleaner 100 forward, backward, leftward, and rightward.

[0305] The robot cleaner 100 may include a position recognition sensor 170 to recognize its own position. For example, a sensor capable of recognizing the current position of the robot cleaner 100 (such as an image sensor) may be used as the position recognition sensor 170 .

[0306] The robot cleaner 100 may include a work area recognition sensor 172. The work area recognition sensor 172 may be configured to recognize a work area in which the front end of the manipulator 1 is to be located. The work area recognition sensor 172 may be configured to recognize a work area in a three-dimensional space in front of the robot cleaner 100. For example, an image sensor such as a camera may be used as the work area recognition sensor 172.

[0307] For example, the working area may be a surface to be cleaned that is higher than the ground on which the robot cleaner 100 moves. Alternatively, the working area may be a narrow space that the robot cleaner 100 cannot enter but the manipulator 1 can enter.

[0308] The processor 200 may control the position recognition sensor 170 and the moving device 160 to move the robot cleaner 100 near the working area. The processor 200 may control the driving device 80 of the manipulator 1 to position the suction nozzle 45 provided at the front end of the manipulator 1 in the working area.

[0309] The robot cleaner 100 may include a user interface 180. The user interface 180 may be formed so that a user controls the robot cleaner 100. The user interface 180 may be formed as a touch display, a plurality of buttons, etc. provided directly or indirectly on the body 110. The user interface 180 may include a power switch configured to turn on / off the power of the robot cleaner 100 and a start button configured to start or stop the operation of the robot cleaner 100.

[0310] The user interface 180 may be implemented as a remote controller provided separately from the robot cleaner 100. In this case, the body 110 may be provided with a remote controller receiver configured to receive a signal from the remote controller. The processor 200 is directly or indirectly electrically connected to the remote controller receiver and may control the robot cleaner 100 based on the signal from the remote controller.

[0311] The user interface 180 may include a robot vacuum cleaner application installed on a mobile device such as a smartphone. In this case, the processor 200 of the robot vacuum cleaner 100 may be connected to the mobile device via various mobile communication methods such as Bluetooth, WiFi, 4G, 5G, etc.

[0312] The robot cleaner 100 may include a power source 190. The power source 190 may be formed to supply power to components constituting the robot cleaner 100. A rechargeable battery may be used as the power source 190.

[0313] The processor 200 may be configured to control the manipulator 1 , the tilting device 130 , the lifting device 120 , the suction device 150 , and the moving device 160 .

[0314] The processor 200 may identify the state of the power source 190 and control the robot cleaner 100 to automatically charge when power is insufficient.

[0315] The processor 200 may control the robot cleaner 100 based on a command input through the user interface 180 .

[0316] In the following, reference will be made to Figures 16 to 20 The lifting device 120 and the tilting device 130 are described in detail.

[0317] Fig.16 is a cross-sectional view illustrating a robot cleaner 100 according to one or more embodiments of the present disclosure. Fig.17 1 is a perspective view illustrating a lifting device 120 and a tilting device 130 of the robot cleaner 100 according to one or more embodiments of the present disclosure. Fig.18 1 is a partial perspective view illustrating a lifting device 120 and a tilting device 130 of the robot cleaner 100 according to one or more embodiments of the present disclosure. Fig.19 It is shown Fig.17 A cross-sectional view of the lifting device 120 and the tilting device 130 taken along line CC. Fig. 20 It is shown Fig.19 sectional view of the lifting device 120 and the tilting device 130 taken along line DD.

[0318] Reference Figures 16 to 20 The lifting device 120 may include a lifting guide 124 , a lifting block 121 and a lifting driver 125 .

[0319] The lifting guide 124 may be provided behind the manipulator accommodating portion 111 provided on the front surface of the body 110. In other words, the lifting guide 124 may be provided behind the manipulator 1.

[0320] The lifting guide 124 may be vertically disposed on the base 112 of the body 110. The lifting guide 124 may include a first column 1241 and a second column 1242 disposed side by side at a predetermined interval on the base 112 and a connection plate 1243 disposed on the upper ends of the first column 1241 and the second column 1242. Therefore, the lifting guide 124 may be formed in a rectangular frame shape.

[0321] A pair of linear motion guides (LM guides) may be provided in parallel on one surface of the lifting guide 124. In other words, the first LM guide 1244 may be provided on the first column 1241, and the second LM guide 1245 may be provided on the second column 1242.

[0322] The lifting block 121 may move up and down along the lifting guide 124. A pair of linear motion blocks (LM blocks) may be provided on one side of the lifting block 121. The pair of LM blocks may be slidably coupled to the pair of LM guides provided on the lifting guide 124 directly or indirectly.

[0323] In other words, the lifting block 121 may include a first LM block 1214 coupled to the first LM guide 1244 and a second LM block 1215 coupled to the second LM guide 1245. Therefore, the lifting block 121 may slide up and down along the lifting guide 124.

[0324] The lifting block 121 may be moved up and down by the lifting driver 125. In other words, the lifting driver 125 may be formed to move the lifting block 121 up and down relative to the lifting guide 124.

[0325] For example, the lifting driver 125 may include a rack gear 1251 provided on the lifting guide 124 in a vertical direction, a lifting pinion 1252 engaged with the rack gear 1251 , and a lifting motor 122 for rotating the lifting pinion 1252 .

[0326] The rack gear 1251 may be disposed on one surface of the first column 1241 perpendicularly to the base 112 of the body 110. The rack gear 1251 may be disposed on one surface of the first column 1241 in parallel with the first LM guide 1244.

[0327] The lifting motor 122 may be provided on the lifting block 121. The lifting motor 122 may rotate in two directions. The lifting pinion 1252 may be coupled to the shaft of the lifting motor 122. The lifting pinion 1252 may be provided to rotate integrally with the shaft of the lifting motor 122.

[0328] The lifting pinion 1252 may be configured to mesh with the rack gear 1251. Therefore, when the shaft of the lifting motor 122 rotates, the lifting pinion 1252 rotates. When the lifting pinion 1252 rotates, the lifting block 121 moves along the rack gear 1251. For example, when the lifting motor 122 rotates in one direction, the lifting block 121 rises along the rack gear 1251, and when the lifting motor 122 rotates in the opposite direction, the lifting block 121 may descend along the rack gear 1251.

[0329] The tilting device 130 may be provided to be moved up and down by the lifting device 120. In other words, the tilting device 130 may be provided on the lifting block 121 of the lifting device 120.

[0330] The tilting device 130 may include a tilting base 131 , a tilting shaft 132 , and a tilting driver 133 .

[0331] The tilting base 131 may be provided on the lifting block 121. The tilting base 131 may be fixed to a rear surface of the lifting block 121.

[0332] A pair of LM blocks (i.e., a third LM block 1311 and a fourth LM block 1312) may be provided on both sides of the inclined base 131. The middle portion between the two sides of the inclined base 131 may be formed as a curved surface 131a. In other words, the middle portion of the inclined base 131 may be formed as a curved plate having a curvature corresponding to the manipulator accommodating portion 111. An opening 131b may be formed in the curved plate. The opening 131b may be formed so that a plurality of Bowden cables 60 and the suction tube 140 pass through the opening 131b.

[0333] A pair of LM guides for guiding the vertical movement of the tilt base 131 may be provided on the other surface of the lifting guide 124. In other words, the third LM guide 1313 may be provided on a surface opposite to a surface of the first column 1241 on which the first LM guide 1244 is provided, and the fourth LM guide 1314 may be provided on a surface opposite to a surface of the second column 1242 on which the second LM guide 1245 is provided.

[0334] The third LM block 1311 and the fourth LM block 1312 of the tilting base 131 may be directly or indirectly coupled to the third LM guide 1313 and the fourth LM guide 1314 of the lifting guide 124 , respectively. Therefore, the tilting base 131 may linearly move up and down along the lifting guide 124 .

[0335] The tilt shaft 132 may be provided on the base link 3 of the manipulator 1. The tilt shaft 132 may be provided to protrude outward from both side surfaces of the base link 3. The tilt shaft 132 may include a left tilt shaft and a right tilt shaft. The left tilt shaft and the right tilt shaft may be provided to be located on a straight line.

[0336] The tilt shaft 132 may be rotatably supported by the tilt base 131. Therefore, the base link 3 of the manipulator 1 may rotate about the tilt shaft 132 relative to the tilt base 131.

[0337] The tilt shaft 132 may be rotated by a tilt driver 133. Fig.17 and Fig.19 , the right tilt shaft 132 is provided to be rotated by the tilt driver 133. Therefore, when the tilt driver 133 rotates the right tilt shaft 132, the base link 3 can rotate at a certain angle around the tilt shaft 132 relative to the tilt base 131. Since the base link 3 is integrated with the manipulator 1, when the base link 3 rotates, the manipulator 1 can rotate at a certain angle around the tilt shaft 132.

[0338] The tilt driver 133 may be configured to rotate the tilt shaft 132. For example, the tilt driver 133 may include a tilt motor 134 and a power transmission device 135.

[0339] The tilt motor 134 may be disposed on the lifting block 121. The tilt motor 134 may be configured to rotate in two directions. Fig.19 ) may be disposed at the shaft of the tilt motor 134. The first bevel gear 1351 may be disposed to rotate integrally with the shaft of the tilt motor 134.

[0340] The power transmission device 135 may be formed to transmit the rotational force of the tilt motor 134 to the tilt shaft 132. The power transmission device 135 may be formed by a plurality of gears. The power transmission device 135 may be appropriately formed according to the arrangement of the tilt motor 134 and the tilt shaft 132, the number of revolutions of the tilt motor 134, etc.

[0341] For example, in Fig.19 and Fig. 20 In the illustrated embodiment, the power transmission device 135 may include a second bevel gear 1352 meshed with a first bevel gear 1351 directly or indirectly coupled to the tilt motor 134, a first spur gear 1353 coaxially and integrally formed with the second bevel gear 1352, a second spur gear 1354 meshed with the first spur gear 1353, a third spur gear 1355 coaxially and integrally formed with the second spur gear 1354, and a tilt gear 1356 meshed with the third spur gear 1355 and fixed to the tilt shaft 132. Therefore, when the tilt motor 134 rotates, the tilt gear 1356 may rotate. When the tilt gear 1356 rotates, the tilt shaft 132 integrally provided with the tilt gear 1356 may rotate. When the tilt shaft 132 rotates, the manipulator 1 may rotate relative to the main body 110 of the robot cleaner 100 around the tilt shaft 132.

[0342] The tilt device 130 may include a tilt sensor 136 configured to detect the rotation angle of the tilt axis 132. Therefore, the processor 200 may use the tilt sensor 136 to identify the rotation angle of the tilt axis 132. In other words, the processor 200 may use the tilt sensor 136 to identify the tilt angle of the manipulator 1 relative to the body 110.

[0343] In the following, reference will be made to Fig.14 , Fig.16 and Fig.21 Operations of the lifting device 120 and the tilting device 130 of the robot cleaner 100 according to one or more embodiments of the present disclosure are described.

[0344] Fig.21 1 is a view illustrating a state in which the manipulator 1 of the robot cleaner 100 according to one or more embodiments of the present disclosure moves upward and rotates at a certain angle.

[0345] Reference Fig.14 and Fig.16 , the manipulator 1 is located at the lower end of the manipulator accommodating portion 111 and maintains a vertical state relative to the base 112 of the main body 110 .

[0346] In this state, when the processor 200 operates the lifting motor 122, the lifting block 121 moves upward along the lifting guide 124. When the lifting block 121 rises, the manipulator 1 fixed to the lifting block 121 moves upward. Fig.21 As shown, the suction nozzle 45 of the manipulator 1 moves upward and protrudes further above the main body 110.

[0347] In this state, when the processor 200 operates the tilt motor 134, the tilt shaft 132 rotates. Since the tilt shaft 132 is fixed to the base link 3 of the manipulator 1, when the tilt shaft 132 rotates, the manipulator 1 rotates around the tilt shaft 132. Then, as shown in FIG. Fig.21 As shown, the manipulator 1 is tilted at a certain angle relative to the ground.

[0348] In this state, the processor 200 operates the plurality of annular links 10 , 20 , 30 , and 40 of the manipulator 1 to position the suction nozzle 45 provided at the front end of the fourth annular link 40 to a working position.

[0349] Hereinafter, an operation of the robot cleaner 100 according to one or more embodiments of the present disclosure to clean a target cleaning point in a space above the floor will be described The target cleaning point may be recognized to the robot cleaner 100 by a user using the user interface 180 .

[0350] The user turns on the power of the robot cleaner 100 and presses a start button.

[0351] Then, the processor 200 may control the moving device 160 to position the robot cleaner 100 near the target cleaning point.

[0352] Next, the processor 200 may identify a target cleaning point using the work area identification sensor 172 .

[0353] Then, the processor 200 can control the manipulator 1 to position the suction nozzle 45 at the target cleaning point. In this case, in order to approach the target cleaning point, the processor 200 can identify the rotation angle of each of the plurality of annular links 10, 20, 30 and 40 based on inverse kinematics. Subsequently, the processor 200 can control the drive device 80 to rotate each of the plurality of annular links 10, 20, 30 and 40 at the identified rotation angle. Then, the suction nozzle 45 can be located at the target cleaning point.

[0354] When the suction nozzle 45 reaches the target cleaning point, the processor 200 may control the suction device 150 to clean the target cleaning point.

[0355] When the cleaning operation of the current target cleaning point is completed, the processor 200 may control the robot cleaner 100 and move it to the next target cleaning point. When the robot cleaner 100 reaches the next target cleaning point, the processor 200 may control the manipulator 1 to perform cleaning.

[0356] Each embodiment herein may be used in combination with any other embodiment described herein.

[0357] As described above, since the robot cleaner 100 according to one or more embodiments of the present disclosure includes the manipulator 1 capable of taking various postures, the robot cleaner 100 can clean corners that a conventional robot cleaner cannot clean.

[0358] In addition, since the robot vacuum cleaner 100 according to one or more embodiments of the present disclosure can suck in dust using the suction nozzle 45 attached to the front end of the manipulator 1 and the suction tube 140 accommodated inside the manipulator 1, the robot vacuum cleaner 100 can suck in dust that is higher than the ground on which the robot vacuum cleaner 100 travels.

[0359] In addition, since the robot vacuum cleaner 100 according to one or more embodiments of the present disclosure can move the manipulator 1 up and down using the lifting device 120 and can rotate the manipulator 1 within a predetermined angle range using the tilting device 130, the robot vacuum cleaner 100 can have a very wide cleaning working area compared to a conventional robot vacuum cleaner that can only clean the floor.

[0360] In the foregoing, the present disclosure has been shown and described with reference to various embodiments. However, it will be understood by those skilled in the art that various changes in form and details may be made without departing from the scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. A manipulator, comprising: a base link having a ring shape; a first annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the base link; a second annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the first annular link; a first Bowden cable and a second Bowden cable connected to the first annular link and formed to rotate the first annular link; a third Bowden cable and a fourth Bowden cable connected to the second annular link and formed to rotate the second annular link; as well as A driving device operates the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable.

2. The manipulator according to claim 1, wherein The first Bowden cable comprises: a first flexible conduit having one end connected to the drive device and another end connected to the base link; as well as a first wire at least partially contained within the first flexible conduit and having one end connected to the drive device and another end fixed to the first annular link, and The second Bowden cable comprises: a second flexible conduit having one end connected to the drive device and another end connected to the base link opposite to the first flexible conduit based on the rotation axis of the first annular link; as well as A second wire is at least partially housed within the second flexible conduit and has one end connected to the drive device and another end fixed to the first annular link opposite to the first wire based on the rotation axis of the first annular link.

3. The manipulator according to claim 2, wherein The third Bowden cable comprises: a third flexible conduit having one end connected to the drive device and another end connected to the first annular link; as well as a third wire, at least partially housed within said third flexible conduit and having one end connected to said drive means and another end fixed to said second annular link, and The fourth Bowden cable comprises: a fourth flexible conduit having one end connected to the driving device and the other end connected to the first annular link opposite to the third flexible conduit based on the rotation axis of the second annular link; as well as A fourth wire is at least partially housed within the fourth flexible conduit and has one end connected to the drive device and the other end fixed to the second annular link opposite to the third wire based on the rotation axis of the second annular link.

4. The manipulator according to claim 3, wherein The driving device comprises: A first motor including a first motor shaft; a first roller, configured to rotate together with the first motor shaft; a second motor including a second motor shaft; as well as a second roller, arranged to rotate together with the second motor shaft, wherein the one end of the first wire and the one end of the second wire are fixed to the first roller, and wherein the one end of the third wire and the one end of the fourth wire are fixed to the second drum.

5. The manipulator according to claim 3, wherein The driving device comprises: Motor; a first roller to which the one end of the first wire and the one end of the second wire are fixed; a second roller to which the one end of the third wire and the one end of the fourth wire are fixed; as well as The clutch is formed to selectively transmit the rotational force of the motor to one of the first roller and the second roller.

6. The manipulator according to claim 1, wherein The first annular link is rotatably connected to the base link by at least a pair of first hinges, and The second annular link is rotatably connected to the first annular link by at least a pair of second hinges.

7. The manipulator according to claim 6, wherein The rotation axes of the pair of first hinges and the rotation axes of the pair of second hinges are not parallel to each other.

8. The manipulator according to claim 1, further comprising: a first angle sensor configured to detect a rotation angle of the first annular connecting rod; as well as The second angle sensor is configured to detect the rotation angle of the second annular link.

9. The manipulator according to claim 1, wherein Each of the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable includes a tension adjuster.

10. A robot vacuum cleaner comprising: main body; a manipulator disposed on the front surface of the body; A suction tube, disposed inside the manipulator; a suction device connected to the suction pipe and configured to collect dust by generating a suction force; a moving device configured to move the body; as well as a processor configured to control the manipulator and the suction device, The manipulator comprises: a base link having a ring shape; a first annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the base link; a second annular link having an annular shape and configured to rotate at a predetermined angle at a front end of the first annular link; a first Bowden cable and a second Bowden cable connected to the first annular link and formed to rotate the first annular link; a third Bowden cable and a fourth Bowden cable connected to the second annular link and formed to rotate the second annular link; and A driving device operates the first Bowden cable, the second Bowden cable, the third Bowden cable, and the fourth Bowden cable.

11. The robot vacuum cleaner according to claim 10, wherein the robot vacuum cleaner further comprises: a lifting device configured to lift the manipulator and the tilting device, The lifting device comprises: a lifting guide disposed vertically on the base of the body and behind the manipulator; a lifting block provided to move up and down along the lifting guide; and The lifting driver is configured to move the lifting block up and down relative to the lifting guide.

12. The robot vacuum cleaner according to claim 11, wherein The lifting drive comprises: a rack gear, arranged in a direction perpendicular to the lifting guide; A lifting pinion gear meshing with the rack gear; as well as A lifting motor is configured to rotate the lifting pinion.

13. The robot vacuum cleaner according to claim 11, wherein The tilting device comprises: an inclined base provided on said lifting block; a tilt axis disposed on the base link of the manipulator; as well as A tilt drive is configured to rotate the tilt shaft.

14. The robot vacuum cleaner according to claim 13, wherein The tilt drive comprises: a tilt motor configured to generate a rotational force; as well as A power transmission device is provided on one surface of the tilt base and is formed to transmit the rotational force of the tilt motor to the tilt shaft.

15. The robot vacuum cleaner according to claim 10, wherein Each of the first and second annular links includes a retainer that is provided at a center of each of the first and second annular links and fixes the suction pipe.

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