公开(公告)号：KR100387119B1

公开(公告)日：2003-06-12

申请号：KR1020010032798

申请日：2001-06-12

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  김경대 ,  임헌영 ,  박종오

IPC: A61B1/00

Abstract: PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.

Abstract translation: 目的：提供微型机器人，以实现简单而高效的结构，同时使制造简单，成本和尺寸减小。 组成：微型机器人包括主体; 作为驱动部件的马达（2），其安装在主体内; 作为旋转力传递单元的蜗杆（1），其安装在所述主体内并传递从所述电机产生的力; 运动转换单元，所述运动转换单元安装到所述主体，并且通过从所述旋转力传递单元传递的力进行操作，并且具有偏心轴（17）; 和多个腿（10），每个腿（10）具有连接到运动转换单元的偏心轴的一端（10a）和另一端（10b）通过引导构件进行椭圆运动。 运动转换单元包括安装有偏心轴的盘（9） 与蜗杆啮合的齿轮（5,6），它们转动盘; 以及沿着主体的圆周设置的多个齿轮箱，以将盘和齿轮固定成可旋转。