公开(公告)号：KR101262934B1

公开(公告)日：2013-05-09

申请号：KR1020110066119

申请日：2011-07-04

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  서근찬 ,  박준환 ,  김태균 ,  조선미

IPC: B25J5/00 ,  B62D55/075 ,  A47L11/38

Abstract: 본발명의목적은벽면의재질에관계없이등반이가능하고, 벽면상에서의이동중에방향전환이가능하며, 벽면에불연속적인구간이나장애물이있는경우에도이를극복하고주행이가능한새로운등반로봇을개발하는것이다. 이를위하여본 발명에서는메인바디; 상기메인바디에회전가능하게고정된캐터필러휠들; 상기메인바디에연결된것으로, 로프를이송할수 있도록로프를물고회전하도록배치된두 개의풀리를포함하는등강기조립체; 및상기메인바디에배치되어상기메인바디가벽면을향하여밀착되는방향으로공기유동을형성하는프로펠러유닛을포함하는등반로봇을제공한다.

公开(公告)号：KR1020130004825A

公开(公告)日：2013-01-14

申请号：KR1020110066119

申请日：2011-07-04

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  서근찬 ,  박준환 ,  김태균 ,  조선미

IPC: B25J5/00 ,  B62D55/075 ,  A47L11/38

Abstract: PURPOSE: A climbing robot having a rope ascender is provided to enable the climbing robot to change a direction on a wall surface as the robot goes up and down the wall surface while the robot is in contact with the wall surface so that a route can be corrected or a posture of a mounting body can be changed. CONSTITUTION: A climbing robot(1000) having a rope ascender comprises a main body(500), caterpillar wheels(610,620,630,640), an ascender assembly(100), and propeller units(210,220). The caterpillar wheels are rotatably fixed to the main body. Caterpillars of the caterpillar wheels are in contact to a wall surface so that the caterpillar wheels are transferred. The ascender assembly is joined to the main body and comprises two pulleys rotating while engaging a rope. The propeller units are arranged in the main body and form an air flow in a direction of moving the main body closely to the wall surface. [Reference numerals] (AA) Front; (BB) Back; (CC) Right; (DD) Left

Abstract translation: 目的：提供一种具有绳索上升器的攀爬机器人，使机器人能够随着机器人在壁面上下移动而改变壁面上的方向，同时机器人与墙壁表面接触，使得路线可以 可以改变校正或安装体的姿势。 构成：具有绳索上升器的攀爬机器人（1000）包括主体（500），履带轮（610,620,630,640），上升组件（100）和螺旋桨单元（210,220）。 履带轮可旋转地固定在主体上。 毛毛虫轮的毛毛虫与墙壁表面接触，使得履带轮被转移。 升降组件连接到主体并且包括在接合绳索的同时旋转的两个滑轮。 螺旋桨单元布置在主体中，并且在主体紧密靠近壁表面的方向上形成气流。 （附图标记）（AA）前面; （BB）返回; （CC）权利; （DD）左

公开(公告)号：KR1020100085342A

公开(公告)日：2010-07-29

申请号：KR1020090004567

申请日：2009-01-20

Applicant: 서울대학교산학협력단

Inventor： 김종원 ,  김황 ,  서근찬 ,  이규희

IPC: B25J5/00 ,  B25J19/00

Abstract: PURPOSE: An interface unit and a climbing robot including the same are provided to reduce the use of power of a vacuum pump by applying vacuum pressure to the vacuum pump. CONSTITUTION: An interface unit(100) comprises a housing(8), a piston(4), a bellows assembly, a spool(17), and a center rod. The piston comprises a piston head and a piston rod. The piston head divides the housing into first and second chambers. The bellows assembly comprises bellows top and bottom plates(26,32) and a bellows. The bellows connects the bellows top and bottom plates. The spool selectively applies vacuum pressure to the first and second chambers and controls the movement of the piston.

Abstract translation: 目的：提供一种接口单元和包括该接口单元的攀爬机器，以通过向真空泵施加真空压力来减少真空泵的功率的使用。 构成：接口单元（100）包括壳体（8），活塞（4），波纹管组件，线轴（17）和中心杆。 活塞包括活塞头和活塞杆。 活塞头将壳体分成第一和第二腔室。 波纹管组件包括波纹管顶板和底板（26,32）和波纹管。 波纹管连接波纹管顶板和底板。 阀芯选择性地向第一和第二腔室施加真空压力并控制活塞的运动。