Patent ID: 9387585
Filing Date: 2016-07-12
CPC Classification: B25J,Y10T

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