公开(公告)号：KR101097831B1

公开(公告)日：2011-12-23

申请号：KR1020090058151

申请日：2009-06-29

Applicant: 서울과학기술대학교 산학협력단

Inventor： 김동환 ,  임충혁 ,  명호준 ,  최병걸 ,  배성진 ,  임은

IPC: B25J5/00 ,  B25J19/00

Abstract: 본발명은기존의점핑로봇이액츄에이터방식으로구동됨으로인해, 무게가무겁고, 배터리소비가많아, 자주충전해야하는문제점을개선하고자, 전방에설치된센서를이용하여주행시전방의장애물들을감지하고, 점핑시본체뒷면에배터리를장착하여안정된점핑자세를유지하며, 점핑을위하여윈치모터를통하여와이어를감아본체후단의점핑레그부에장착되어있는점핑스프링(65a)을인장시키고, 감겨진와이어를풀어인장된점핑스프링(65a)에점핑력을발생시켜, 본체가장애물을뛰어넘도록본체를점핑시키도록구성됨으로서, 로봇의점핑높이를장애물의종류에따라맞춤형으로제어할수 있고, 와이어를통한점핑스프링(65a)의점핑력과점핑레그부의바닥방향지지력에의해구동됨으로서, 동력의전달을자유자재로조절할수 있으며, 무엇보다무게가가볍고, 배터리소비가낮은점핑로봇을손쉽게제작할수 있는와이어구동형점핑레그부를통한점핑로봇을제공하는데그 목적이있다.

公开(公告)号：KR1020110000852A

公开(公告)日：2011-01-06

申请号：KR1020090058151

申请日：2009-06-29

Applicant: 서울과학기술대학교 산학협력단

Inventor： 김동환 ,  임충혁 ,  명호준 ,  최병걸 ,  배성진 ,  임은

IPC: B25J5/00 ,  B25J19/00

Abstract: PURPOSE: A jumping robot using a wire-driven jumping leg unit is provided to control jumping height by the jumping force of a spring and bearing power against the ground using wires without an actuator. CONSTITUTION: A jumping robot using a wire-driven jumping leg unit comprises a main body(10), a sensor unit(20), a battery unit(30), a controller, a jumping power generating unit(50), and a jumping leg(60). The main body is driven by a drive motor and a drive gear. The sensor unit senses frontal obstacles such as stairs or sills. The battery unit supplies power to the battery unit. The controller controls the operation of the units. The jumping power generating unit tensions a jumping spring mounted at the center of the jumping leg which winds up the wire through a winch motor under control of the controller. The jumping leg enables the main body to jump over obstacles using jumping power generated by the jumping spring.

Abstract translation: 目的：提供一种跳线机器人，使用线驱动的跳跃单元，以通过弹簧的跳跃力来控制跳跃高度，并使用没有执行器的导线将电力抵靠地面。 构成：使用线驱动跳跃腿单元的跳跃机器人包括主体（10），传感器单元（20），电池单元（30），控制器，跳跃发电单元（50）和跳跃 腿（60）。 主体由驱动电机和驱动齿轮驱动。 传感器单元感测楼梯或门槛等前方障碍物。 电池单元为电池单元供电。 控制器控制单元的操作。 跳跃发电单元使安装在跳跃腿的中心的跳跃弹力张紧，该控制器在控制器的控制下通过绞盘马达卷绕线。 跳跃腿使主体能够通过跳跃弹簧产生的跳跃力跳过障碍物。