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公开(公告)号：KR1020150061554A
公开(公告)日：2015-06-04
申请号：KR1020140108495
申请日：2014-08-20
Applicant: 성균관대학교산학협력단
Abstract: 본발명은필요에따라선택적으로구동력을인가하거나차단할수 있는수 있는다중출력차동기어를이용한로봇에관한발명으로서, 구동력을인가받아상기구동력과연동되되상기구동력으로부터차동되는적어도 3개의출력을발생시키는차동기어부; 상기차동기어부에구동력을전달하며, 상기차동기어부로부터멀어지거나근접하는방향으로이동함으로써상기차동기어부에착탈되게마련되는구동부; 상기구동부와상기차동기어부사이의이격간격을조절하여상기구동부를상기차동기어부에착탈시키는구출부;를포함하는것을특징으로한다.
Abstract translation: 本发明涉及一种使用多输出差速齿轮的机器人，其能够根据需要选择性地施加或阻挡驱动力。 使用多输出差速齿轮的机器人包括：差速齿轮单元，其接收施加的驱动力并产生与驱动力不同的至少三个输出; 驱动单元，其将驱动力传递到差速齿轮单元，并且能够从差速齿轮单元分离，沿远离或接近差速齿轮单元的方向移动; 以及救援单元，通过调节驱动单元和差速器齿轮单元之间的分隔距离来将驱动单元从差速齿轮单元分离。
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公开(公告)号：KR1020130141866A
公开(公告)日：2013-12-27
申请号：KR1020120064925
申请日：2012-06-18
Applicant: 성균관대학교산학협력단
CPC classification number: F16H48/05
Abstract: The present invention relates to a multi-output differential gear. The multi-output differential gear of the present invention includes the following parts: a first output gear which receives power from the outside and generates first output having a rotation speed different from the external power when external resistance is applied; a first differential gear part equipped with an intermediate gear which is operated by being coupled with the first output gear and generates intermediate output; a second output gear which receives the intermediate output from the first differential gear part and generates second output having a rotation speed different from the intermediate output when external resistance is applied; and a second differential gear part equipped with a third output gear which is coupled with the second output gear and generates third output having a rotation speed different from the second output. Therefore, the present invention provides a multi-output differential gear which can generate three kinds of output through three output gears from single power input received from the outside.
Abstract translation: 本发明涉及一种多输出差动齿轮。 本发明的多输出差速齿轮包括以下部分：从外部接收动力并产生具有与外部电力不同的转速的第一输出的第一输出齿轮; 第一差速齿轮部件，配备有通过与第一输出齿轮联接而产生中间输出的中间齿轮; 第二输出齿轮，其接收来自所述第一差速齿轮部的所述中间输出，并且在施加外部电阻时产生具有与所述中间输出不同的转速的第二输出; 以及配备有与所述第二输出齿轮联接的第三输出齿轮并产生具有与所述第二输出不同的转速的第三输出的第二差速齿轮部。 因此，本发明提供一种多输出差速齿轮，其可以通过从外部接收的单个功率输入的三个输出齿轮产生三种输出。
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公开(公告)号：KR101301412B1
公开(公告)日：2013-08-28
申请号：KR1020110095760
申请日：2011-09-22
Applicant: 성균관대학교산학협력단
Abstract: 본 발명은 추락방지용 자동 제어형 감속장치에 관한 것으로서, 본 발명에 따른 추락방지용 자동 제어형 감속장치는 구동부와 연동하여 상기 구동부로부터 제공되는 동력을 출력축에 전달하여 상기 출력축을 회전시키는 차동기어부; 상기 차동기어부와 연결되되, 상기 구동부의 비정상 동작시에 작동함으로써 상기 출력축의 회전력 또는 회전속도를 감소시키는 감속부;를 포함하고, 상기 차동기어부는 상기 구동부의 정상동작시에만 선택적으로 회전하는 케이싱; 상기 케이싱의 내면에 회전가능하게 장착되며 베벨기어 형태로 마련되는 복수개의 내측기어부; 상기 케이싱에 장착되어 상기 구동부로부터 전달받은 회전력을 상기 케이싱에 제공하여 상기 케이싱과 일체로 회전하는 링기어;를 포함하는 것을 특징으로 한다.
이에 의하여, 사용자와 무선으로 작동하는 장치와 연결된 구동부의 비정상 동작시에 자중(自重)에 의한 하강 속도를 최소화하여 지면과의 충돌을 방지할 수 있는 추락방지용 자동 제어형 감속장치가 제공된다.-
公开(公告)号：KR101624015B1
公开(公告)日：2016-05-25
申请号：KR1020130165596
申请日：2013-12-27
Applicant: 성균관대학교산학협력단
Abstract: 본발명은다중출력차동기어로부터전달되는구동력을강제적으로차단하여로봇의이동을중단시킬수 있는다중출력차동기어를이용한로봇의브레이크메카니즘에관한것으로, 구동부; 상기구동부로부터구동력을인가받으며, 외부저항인가시상기구동력과연동하되상기구동력으로부터차동되는적어도 3개이상의출력을발생시키는차동기어부; 상기차동기어부와연결되어상기차동기어부로부터출력되는각각의출력과연동하는출력전달부; 상기출력전달부의일단에접촉또는접촉해제함으로써상기출력전달부의움직임을차단또는차단해제하는제동부;를포함하는것을특징으로한다.
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公开(公告)号：KR101542006B1
公开(公告)日：2015-08-05
申请号：KR1020140050766
申请日：2014-04-28
Applicant: 성균관대학교산학협력단
Abstract: 본발명은다중출력차동장치에관한것이며, 본발명의다중출력차동장치는외부로부터동력을인가받으며, 외부저항을인가받을시상기동력과상이한회전속도를갖는제1출력을발생하는제1출력기어, 상기제1출력기어와연동하며상기제1출력기어가외부저항을인가받을시에만상기동력과상이한회전속도를갖는중간출력을발생하는중간기어;를구비하는제1차동기어부; 상기중간출력을전달받으며, 외부저항을인가받을시상기중간출력과는상이하되서로다른회전속도를갖는제2 출력및 제3 출력을발생하는제2 출력기어및 제3 출력기어를구비하는제2차동기어부;를포함하며, 상기제1 출력기어, 중간기어, 제2 출력기어및 제3 출력기어는동일한중심축을가지는것을특징으로한다. 따라서, 본발명에의하면, 외부에서인가받는하나의동력으로부터 3개의출력기어들을통해 3개의출력을발생할수 있는다중출력차동장치가제공된다.
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Patent Agency Ranking
公开(公告)号：KR1020140056462A
公开(公告)日：2014-05-12
申请号：KR1020120119369
申请日：2012-10-26
Applicant: 성균관대학교산학협력단
CPC classification number: F16L55/30 , F16H3/721 , F16H37/08 , F16H48/10 , Y10S901/25 , Y10T74/20317
Abstract: The present invention relates to an in-pipe robot using a multi output differential gear, which comprises a driving part; a differential gear part which receives driving power from the driving part and generates at least three outputs differentiated from the driving power by integrating with the driving power; and a motion part which integrates with the output generated by the differential gear part and transmits an external resistance to the differential gear part. Therefore, the present invention provides the in-pipe robot that uses a multi output differential gear which receives driving power from one driving part, transmits the driving power to the motion part that integrates with different three output gears, respectively, and sends the external resistance transmitted from different motion parts to the output gears, respectively, in order to automatically differentiate and move along a path inside of a pipe.
Abstract translation: 本发明涉及一种使用多输出差速齿轮的管内机器人，其包括驱动部分; 差动齿轮部，其从所述驱动部接收驱动力，并且通过与所述驱动力积分而产生与所述驱动力不同的至少三个输出; 以及与由差速齿轮部产生的输出积分的运动部，并且将差动齿轮部的外部电阻传递。 因此，本发明提供一种使用从一个驱动部接收驱动力的多输出差速齿轮的管内机器人，分别将驱动力传递给与不同的三个输出齿轮集成的运动部，并将该外部电阻 分别从不同的运动部件传递到输出齿轮，以便沿管道内的路径自动地区分和移动。
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公开(公告)号：KR101563458B1
公开(公告)日：2015-10-27
申请号：KR1020150016161
申请日：2015-02-02
Applicant: 성균관대학교산학협력단
IPC: F16L55/32 , F16L101/30 , B25J5/00
CPC classification number: F16L55/32 , F16L2101/30 , B25J5/007
Abstract: 본발명은다중출력차동모듈을이용한배관탐사용로봇에관한것으로서, 본발명에따른다중출력차동모듈을이용한배관탐사용로봇은, 배관의내부에서이동되며주행동력공급부가구비되는로봇본체와, 로봇본체에회동가능하게연결되고배관의내벽을따라주행하는주행휠을구비하는복수의능동주행부를포함하는주행유닛과, 로봇본체에지지되고주행동력공급부에연결되어능동주행부에주행동력을전달하며능동주행부에전달되는주행동력을분배하는다중출력차동모듈을구비하는동력전달유닛을포함한다.
Abstract translation: 本发明涉及一种通过使用多输出差动齿轮的模块来探索管道的机器人。 根据本发明，通过使用多输出差速齿轮的模块来探索管道的机器人包括：机器人主体，其配备有用于在管内移动的驱动力供应单元; 驱动单元，包括多个主动驱动单元，所述主动驱动单元配备有驱动轮，用于沿着所述管的内壁驱动并且可旋转地连接到所述机器人主体; 以及动力传递单元，其配备有多输出差速齿轮模块，用于通过被支撑到所述机器人主体而将驱动力发送到所述主动驱动单元，并且连接到所述驱动电源单元并且用于分配传递到所述主动式 驾驶单位
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公开(公告)号：KR1020150077554A
公开(公告)日：2015-07-08
申请号：KR1020130165596
申请日：2013-12-27
Applicant: 성균관대학교산학협력단
Abstract: 본발명은다중출력차동기어로부터전달되는구동력을강제적으로차단하여로봇의이동을중단시킬수 있는다중출력차동기어를이용한로봇의브레이크메카니즘에관한것으로, 구동부; 상기구동부로부터구동력을인가받으며, 외부저항인가시상기구동력과연동하되상기구동력으로부터차동되는적어도 3개이상의출력을발생시키는차동기어부; 상기차동기어부와연결되어상기차동기어부로부터출력되는각각의출력과연동하는출력전달부; 상기출력전달부의일단에접촉또는접촉해제함으로써상기출력전달부의움직임을차단또는차단해제하는제동부;를포함하는것을특징으로한다.
Abstract translation: 本发明涉及使用多输出差速齿轮强制切断从多输出差动齿轮传递的驱动力以便中断机器人运动的机器人制动机构。 使用多输出差速齿轮的机器人制动机构包括：驱动部; 差动齿轮部分，从驱动部分向其施加驱动力，并产生与驱动力相连的三个或更多个输出，并通过施加外部电阻从驱动力驱动; 输出传动部分，连接到差速齿轮部分，以与差速齿轮部分的每个输出连接; 以及制动部件，以与输出传动部件的一端接触或不接触，以便锁定或解锁输出传动部件的运动。
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公开(公告)号：KR1020140066134A
公开(公告)日：2014-05-30
申请号：KR1020140050772
申请日：2014-04-28
Applicant: 성균관대학교산학협력단
Abstract: The present invention relates to a multi-output differential gear comprising: a first differential gear part which receives driving power from the outside and includes a first output gear generating a first output having a rotational speed different from the outside driving power when external resistance is applied and an intermediate gear operated in interlock with the first output gear to generate intermediate output; and a second differential gear part which receives the intermediate output from the first differential gear part and includes a second output gear generating a second output having a rotational speed different from the intermediate output when external resistance is applied and a third output gear generating a third output operated in interlock with the second output gear and having a rotational speed different from the second output. Therefore, the multiple output differential gear system according to the present invention can generate three outputs through the three output gears from a driving power applied from the outside.
Abstract translation: 多输出差速齿轮技术领域本发明涉及一种多输出差速齿轮，包括：第一差速齿轮部，其从外部接收驱动力，并且包括第一输出齿轮，其在施加外部电阻时产生具有与外部驱动力不同的转速的第一输出 以及与所述第一输出齿轮互锁操作的中间齿轮，以产生中间输出; 以及第二差速齿轮部，其从所述第一差速齿轮部接收所述中间输出，并且包括第二输出齿轮，所述第二输出齿轮在施加外部电阻时产生具有与所述中间输出不同的转速的第二输出，以及产生第三输出的第三输出齿轮 与第二输出齿轮互锁操作并且具有与第二输出不同的转速。 因此，根据本发明的多输出差速齿轮系可以通过从外部施加的驱动力通过三个输出齿轮生成三个输出。
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公开(公告)号：KR1020140036419A
公开(公告)日：2014-03-26
申请号：KR1020120101919
申请日：2012-09-14
Applicant: 성균관대학교산학협력단
Abstract: The present invention relates to an individual suspension type in-pipe robot, which comprises: a main body unit having a central axis, and an elastic member whose one end is fixated to both ends of the central axis respectively and whose the other end elastically moves on the central axis; a pair of cross links which is placed to cross each other, is individually controlled, and whose one end is installed to be able to slide on the central axis in a direction of being separated or approaching toward the central direction of the central axis; and a driving unit having a pair of driving wheels which is separated from each other, and is connected with the other end of the cross links respectively in order to individually control the separation distance from the central axis. Therefore, provided in the present invention is the individual suspension type in-pipe robot which can be in contact with a pipe at an excellent adhesion even in a curved pipe by individually suspending the front driving wheel and the rear driving wheel.
Abstract translation: 本发明涉及一种单独的悬挂式管内机器人，其包括：具有中心轴线的主体单元和一端分别固定在中心轴线的两端并且另一端弹性移动的弹性件 在中轴线上 彼此交叉放置的一对交叉连接件被单独控制，并且其一端安装成能够在朝向中心轴线的中心方向分离或接近的方向上在中心轴线上滑动; 以及驱动单元，其具有彼此分离的一对驱动轮，并且分别与所述交叉连接的另一端连接，以分别控制与所述中心轴的间隔距离。 因此，本发明提供的是单独悬挂式管内机器人，通过单独悬挂前驱动轮和后驱动轮，即使在弯曲管中也能够以优异的粘附力与管接触。
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