公开(公告)号：WO2009148201A1

公开(公告)日：2009-12-10

申请号：PCT/KR2008/004267

申请日：2008-07-22

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  LEE, Woo Sub ,  KANG, Sung Chul ,  KIM, Mun Sang ,  CHOI, Jun Ho ,  CHUN, Chang Mook

Inventor： LEE, Woo Sub ,  KANG, Sung Chul ,  KIM, Mun Sang ,  CHOI, Jun Ho ,  CHUN, Chang Mook

IPC: B25J19/06

CPC classification number: B25J19/06 ,  F16D7/10

Abstract: The present invention relates to a device for generating limit torque, which generates a rotational displacement to protect a rotating device and automatically returns to the initial position when an external force is eliminated, and a rotating device using the same. The device includes a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft; an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft; and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole in which a rotational displacement is generated and through which the flexible member returns to the initial position. According to the present invention, the device for generating limit torque can generate limit torque with a relatively simple structure, and can secure stability.

Abstract translation: 本发明涉及一种用于产生限制转矩的装置，其产生旋转位移以保护旋转装置，并且当外力被消除时自动返回到初始位置，以及使用其的旋转装置。 该装置包括垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化; 弹性构件，其连接到所述柔性构件，并使所述柔性构件相对于所述旋转轴在向外的方向上受到弹力; 以及可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件的凸轮构件。 凸轮构件具有其中产生旋转位移的通孔，并且柔性构件通过该通孔返回到初始位置。 根据本发明，用于产生极限转矩的装置可以以相对简单的结构产生极限转矩，并且可以确保稳定性。

公开(公告)号：WO2005105388A1

公开(公告)日：2005-11-10

申请号：PCT/KR2004/001026

申请日：2004-04-30

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  KANG, Sung-chul ,  SHIN, Gyeong-cheol ,  LEE, Woo-sub ,  PARK, Chang-woo ,  KIM, Mun-sang

Inventor： KANG, Sung-chul ,  SHIN, Gyeong-cheol ,  LEE, Woo-sub ,  PARK, Chang-woo ,  KIM, Mun-sang

IPC: B25J5/00

CPC classification number: B62D55/065 ,  B25J5/005 ,  B62D55/02 ,  B62D55/075

Abstract: The present invention relates to a design of a driving mechanism for a vehicle to move through uneven terrain including stairways. The link-type double track mechanism in accordance with the present invention comprises: front and rear track driving sections; a built-in type control box; a set of angle-adjusting flippers, installed at front and rear ends of the control box, for adjusting the track angle; and high-speed driving wheels installed at the angle-adjusting tracks and imbedded inside. The link-type double track mechanism in accordance with the present invention does not require a complex terrain-adaptation mechanism, and thus it has advantages that the overall structure is simple and the control is very easy.

Abstract translation: 本发明涉及一种用于车辆在包括楼梯的不平坦地形上移动的驱动机构的设计。 根据本发明的连杆式双轨机构包括：前后轨道驱动部分; 内置式控制箱; 一组角度调节脚蹼，安装在控制箱的前端和后端，用于调整轨道角度; 和高速驱动轮安装在角度调整轨道并嵌入内部。 根据本发明的链式双轨机构不需要复杂的地形适应机制，因此具有整体结构简单且控制非常容易的优点。

公开(公告)号：WO2009102088A1

公开(公告)日：2009-08-20

申请号：PCT/KR2008/001492

申请日：2008-03-17

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY ,  CHOI, Jun Ho ,  KANG, Sung Chul ,  LEE, Woo Sub ,  KIM, Mun Sang

Inventor： CHOI, Jun Ho ,  KANG, Sung Chul ,  LEE, Woo Sub ,  KIM, Mun Sang

IPC: B25J17/00

CPC classification number: B25J17/00 ,  Y10T74/20329 ,  Y10T74/20341

Abstract: The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, re¬ spectively, and are connected to the elastic members so as to move.

Abstract translation: 本发明涉及一种用于产生刚度的装置和一种用于控制刚度的方法，其可以通过使用弹性构件产生刚度并且可以控制刚度，以及可以应用该装置和方法的机器人操纵器的关节。 用于产生刚度的装置包括旋转轴; 固定在所述旋转轴上的多个弹性部件; 分别通过其间的弹性构件彼此间隔设置的上下圆板分别通过其发电单元相对于旋转轴被驱动，并且分别具有数量相等的狭缝 到弹性构件的数量; 以及多个移动构件，其被插入形成在上下圆形板中的狭缝中，并且连接到弹性构件以便移动。