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公开(公告)号：KR101139342B1
公开(公告)日：2012-04-26
申请号：KR1020110030959
申请日：2011-04-05
Applicant: 국방과학연구소
IPC: B25J5/00 , B62D55/08 , B62D55/075
Abstract: PURPOSE: A flipper for a mobile robot is provided to improve pulling force by increasing the contact area of a drive belt and the ground and to improve the mobility of a mobile robot reagardless of topographcial conditions. CONSTITUTION: A flipper for a mobile robot comprises a main wheel assembly, a drive shaft(30), a main bracket(50), a sub wheel assembly(20), and a drive belt(40). The main wheel assembly is meshed with a main shaft of a robot body and is rotated. The drive shaft is integrally connected to a sub shaft of the robot body and rotatably supports the main wheel assembly. The main bracket supports the main wheel assembly and is rotated by the drive shaft. The sub wheel assembly is rotatably coupled to a driven shaft installed in the other side of the main bracket. The drive belt is coupled to the outer surfaces of the main and sub wheel assemblies and is moved along the outer surface of a guide(55) of the main bracket.
Abstract translation: 目的：提供移动机器人的导板，通过增加驱动皮带和地面的接触面积来提高拉力，并提高移动机器人的移动性，而不必考虑地形条件。 构成：用于移动机器人的导板包括主轮组件，驱动轴（30），主支架（50），子轮组件（20）和驱动带（40）。 主轮组件与机器人主体的主轴啮合并旋转。 驱动轴与机器人主体的副轴一体连接，可转动地支撑主轮组件。 主支架支撑主轮组件，并由驱动轴旋转。 子轮组件可旋转地联接到安装在主支架另一侧的从动轴。 传动皮带联接到主轮和副轮组件的外表面，并沿着主支架的引导件（55）的外表面移动。
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公开(公告)号：KR1020160119574A
公开(公告)日：2016-10-14
申请号：KR1020150048428
申请日：2015-04-06
Applicant: 국방과학연구소
Abstract: 본발명은로봇의예상경로를실시간으로스캐닝하여지면형상을분석하여예상경로에존재하는험지를인식하고, 인식한험지에대하여통과또는우회여부를결정함으로써, 로봇의주행안정성이향상되도록하는험지통과를위한로봇의이동시뮬레이션시스템에관한것이다. 본발명에따른험지통과를위한로봇의이동시뮬레이션시스템은, 바디(11)에이동플랫폼(12)이로봇에적용되고, 상기이동플랫폼(12)을자세를제어하여지면형상에대응하여상기로봇을주행하는로봇(10)의이동시뮬레이션시스템에있어서, 상기로봇의예상경로에대한지면을실시간으로스캐닝하여지면형상을분석하는지면형상분석부(21)와, 상기지면형상이상기로봇(10)의주행이불가능한험지인지를판단하는험지판단부(22)와, 상기험지판단부(22)에서상기예상경로가험지로판단되면, 상기예상경로를따라상기로봇(10)의이동을시뮬레이션하는시뮬레이션부(23)와, 상기예상경로를따라이동이시뮬레이션되는상기로봇(10)의안전여부를판단하는안전판단부(24)와, 상기험지판단부(22)와상기시뮬레이션부(23)에서필요한정보를제공하는데이터베이스(31)(32)를포함하는것을특징으로한다.
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公开(公告)号：KR101660361B1
公开(公告)日：2016-10-10
申请号：KR1020160013472
申请日：2016-02-03
Applicant: 국방과학연구소
IPC: F41H11/12 , F41H11/13 , F41H11/136 , F41H7/00
CPC classification number: F41H11/12 , F41H7/00 , F41H11/13 , F41H11/136
Abstract: 본발명의지뢰탐지센서장치는차량(300)에탈부착되는센서플렛폼(200)의전면에위치되어지뢰를검출하는센서모듈(10), 센서모듈(10)의일측끝부위구간과타측끝부위구간으로각각위치된한 쌍의제1,2모터(40-1,40-2), 센서모듈(10)과제1,2 모터(40-1,40-2)를연결하는한 쌍의제1,2 회전링크유닛(20-1,20-2), 센서모듈(10)의움직임과연계된서포트프레임(30)을포함함으로써액추에이터하나로센서모듈(10)을조작하는방식대비액추에이터의과도한용량을피하고결과적으로전체구동장치의중량을감소시키는특징이구현된다.
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公开(公告)号：KR101618676B1
公开(公告)日：2016-05-09
申请号：KR1020140037094
申请日：2014-03-28
Applicant: 국방과학연구소
Abstract: 본발명은하지와상지사이에형성되어충격및 진동을최소화하고, 상지및 하지를수동및 능동제어하도록형성되는직렬탄성구동기를포함한다. 구동모터의회전력을이용하여상지와하지를능동제어하고, 하우징내에배치되는독립적인스프링에의하여상지와하지사이에작용하는힘에따라상지와하지를수동제어할수 있다.
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Patent Agency Ranking
公开(公告)号：KR101451786B1
公开(公告)日：2014-10-16
申请号：KR1020140063922
申请日：2014-05-27
Applicant: 국방과학연구소
Abstract: The present invention provides a robot formed of an elastic material to a variable platform for supporting a body and including a load absorption device for absorbing an impact load transmitted from the body. Therefore, the load transmitted to the variable platform is reduced, minimizing the damage to the robot.
Abstract translation: 本发明提供了一种由弹性材料形成的机器人，用于支撑主体的可变平台，并且包括用于吸收从身体传递的冲击负荷的负载吸收装置。 因此，传递到可变平台的负载减少，从而最小化对机器人的损坏。
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公开(公告)号：KR1020140100772A
公开(公告)日：2014-08-18
申请号：KR1020130013931
申请日：2013-02-07
Applicant: 국방과학연구소
CPC classification number: Y02T10/7005 , B60L11/18
Abstract: An unmanned ground remote vehicle of the present invention includes a break control device. Constant pressure of a hydraulic brake is checked and the control mode of a motor is changed from an existing velocity mode to a toque mode, when the break control device allows a break system to stop a vehicle in a slope or flatland in case of necessity. The control mode of the motor is changed again from a toque mode to a velocity mode, when checking and reaching the constant velocity or less again, thereby minimizing and preventing the vehicle from being pushed in the slope by a motor break force.
Abstract translation: 本发明的无人地面遥控车辆包括断路控制装置。 检查液压制动器的恒定压力，并且当断路控制装置允许断裂系统在必要时在斜坡或平坦地方停车时，马达的控制模式从现有速度模式改变为转矩模式。 当检查并达到等速或更小时，电动机的控制模式从转矩模式再次改变到速度模式，从而最小化并防止车辆通过电动机断裂力被推入斜坡。
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公开(公告)号：KR101357691B1
公开(公告)日：2014-02-04
申请号：KR1020130119343
申请日：2013-10-07
Applicant: 국방과학연구소
IPC: H04N7/18
CPC classification number: H04N5/23248 , G01C15/008 , H04N7/18
Abstract: The present invention is connected to a monitoring sensor and includes: a mask main body which is formed to change height; and a stabilization device which is arranged between the upper end of the mask main body and the monitoring sensor. The stabilization device provides a vertical expandable device including: an upper plate which is connected to the monitoring sensor; a first driving unit which is formed to tilt the upper plate around a first axis; a second driving unit which is formed to tile the upper plate around a second axis which is vertical to the first axis; a sensing unit which senses the slope of the stabilization device; and a control unit which controls the first driving unit and the second driving unit by using the slope in order to compensate that the monitoring sensor is inclined to a horizontal line.
Abstract translation: 本发明与监视传感器相连，包括：形成为改变高度的面罩主体; 以及设置在面罩主体的上端和监视传感器之间的稳定装置。 稳定装置提供一种垂直可扩张装置，包括：连接到监测传感器的上板; 第一驱动单元，其被形成为围绕第一轴线倾斜上板; 第二驱动单元，其形成为围绕垂直于第一轴线的第二轴线平铺上板; 感测单元，其感测稳定装置的斜率; 以及控制单元，其通过使用斜率来控制第一驱动单元和第二驱动单元，以便补偿监视传感器对水平线的倾斜。
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公开(公告)号：KR101694686B1
公开(公告)日：2017-01-10
申请号：KR1020160013460
申请日：2016-02-03
Applicant: 국방과학연구소
IPC: F41H11/12 , F41H11/136 , F41H7/00
Abstract: 본발명의차량용지뢰위치표시세분화타입지뢰탐지장치는센서모듈경계면으로구분되어지뢰탐지영역에서지뢰를검출하는센서모듈(20), 포지션노즐(31)의용액분사로지뢰탐지영역을 3개의지뢰검출구간으로구분하면서동시에디렉션노즐(33-1,33-2)의용액분사로지뢰탐지영역을좌우방향으로구분하는분사노즐모듈(30)을포함함으로써탐지된지뢰에대한위치세분화가이루어지고, 특히탐지지뢰위치세분화에의한신속및 정확한위치판단이이루어짐으로써후방부대의후속처리시 인명혹은재산피해를근본적으로방지하면서지뢰제거작업의신속성도향상되는특징을갖는다.
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公开(公告)号：KR101416915B1
公开(公告)日：2014-07-08
申请号：KR1020130109936
申请日：2013-09-12
Applicant: 국방과학연구소
IPC: B60G17/044 , B60G17/056 , B60G17/015 , B60G15/06
CPC classification number: B60G17/056 , B60G15/06 , B60G17/015 , B60G17/018 , B60G2206/012 , B60G2206/8207 , B60G2500/302 , F16H25/20
Abstract: The present invention relates to a ground clearance adjusting device for adjusting ground clearance of a vehicle by supplying a fluid to a suspension system cylinder or discharging the fluid therefrom. The ground clearance adjusting device includes: an adjusting device cylinder having a piston arranged to move and having both ends sealed such that a plurality of chambers can be formed by the piston; first and second pipes configured to connect the adjusting device cylinder with the suspension system cylinder; first and second flow control valves arranged on the first and second pipes, respectively; a floating unit provided to allow the flow of a fluid between the chambers of the adjusting device cylinder; and a valve unit configured to control the flow of the fluid in the floating unit so as to control the oil pressure of the suspension system cylinder using the movement of the piston and the flow of the fluid.
Abstract translation: 本发明涉及一种用于通过向悬架系统气缸供给流体或从其排出流体来调节车辆的离地间隙的离地间隙调节装置。 离地间隙调节装置包括：调节装置气缸，其具有设置成移动并具有两端密封的活塞，使得可以由活塞形成多个室; 第一和第二管道，其构造成将调节装置缸体与悬架系统缸体连接; 第一和第二流量控制阀分别布置在第一和第二管上; 浮动单元，设置成允许流体在调节装置气缸的腔室之间流动; 以及阀单元，其构造成控制浮动单元中的流体的流动，以便使用活塞和流体的流动来控制悬架系统气缸的油压。
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