公开(公告)号：KR101386011B1

公开(公告)日：2014-04-16

申请号：KR1020120141875

申请日：2012-12-07

Applicant: 서울대학교산학협력단

Inventor： 김유석 ,  김한 ,  주종남 ,  정광필 ,  조규진

IPC: B60B33/04 ,  B25J5/00 ,  B25J19/00

CPC classification number: B62D57/028 ,  B60B19/02 ,  B60B25/02 ,  B60B2900/351 ,  Y10S901/01

Abstract: Disclosed are a passive transformable wheel and a robot having the same. The passive transformable wheel includes a wheel base having a transmission rotating shaft positioned at the center thereof, and at least one leg rotating shaft positioned at the perimeter thereof; a transmission part connected to an end portion of the transmission rotating shaft to be rotated, and having a trigger slide and at least one joint which are disposed apart from each other; a trigger leg connected to the leg rotating shaft between the wheel base and the transmission part to be rotated, and having a trigger joint to be fastened to the trigger slide; and at least one driven leg connected to the leg rotating shaft between the wheel base and the transmission part to be rotated to prevent interference with the trigger leg, and having a slide to be fastened to the joint of the transmission part.

Abstract translation: 公开了一种被动变形轮和具有该轮的机器人。 被动变形轮包括具有位于其中心的变速器旋转轴的车轮底座和位于其周边的至少一个腿部旋转轴; 连接到所述变速器旋转轴的端部以旋转的传动部，并且具有触发器滑动件和彼此分离设置的至少一个接头; 触发腿连接到车轮基座和传动部分之间的腿部旋转轴以旋转，并且具有紧固到触发器滑块的触发器接头; 以及至少一个被连接到所述车轮基座和所述变速器部分之间的腿部旋转轴的从动腿，以便防止与所述触发器腿的干涉，并且具有被固定到所述变速器部件的接头上的滑块。