公开(公告)号：KR1020110072535A

公开(公告)日：2011-06-29

申请号：KR1020090129512

申请日：2009-12-23

Applicant: 재단법인대구경북과학기술원

Inventor： 김윤구 ,  김진욱 ,  안진웅 ,  이동하 ,  이재원 ,  이혁진

IPC: B62D55/075 ,  B62D55/04

Abstract: PURPOSE: A wheel and track hybrid mobile platform apparatus employing an off-road driving mechanism for a special service robot is provided to enable fast and quiet driving of a robot on a flat surface and climbing on stairs. CONSTITUTION: A wheel and track hybrid mobile platform apparatus employing an off-road driving mechanism for a special service robot comprises a main frame, motor units which are installed inside the main frame, moving wheels(126_1~126_4) and sprockets which are driven with the power from the motor, tracks(122_1,122_2) which are located outside the sprockets and rotated along with the sprockets, track arms(120_1~120_5) which change the vertical width of the tracks, and a control device which controls the motor unit to keep the track arms horizontal during traveling on a flat surface.

Abstract translation: 目的：提供一种使用专用服务机器人的越野驾驶机构的轮轨混合动力平台装置，能够在平坦的表面上快速，安静地驾驶机器人，并在楼梯上攀爬。 构成：采用特殊服务机器人的越野驱动机构的车轮和轨道混合动力平台装置包括主框架，安装在主框架内的电动机单元，移动轮（126_1〜126_4）和链轮，其由 来自马达的动力，位于链轮外部并与链轮一起旋转的轨道（122_1,122_2），改变轨道的垂直宽度的轨道臂（120_1〜120_5）以及控制马达单元 在平坦的表面行驶期间保持轨道臂水平。

公开(公告)号：KR101072398B1

公开(公告)日：2011-10-11

申请号：KR1020090129512

申请日：2009-12-23

Applicant: 재단법인대구경북과학기술원

Inventor： 김윤구 ,  김진욱 ,  안진웅 ,  이동하 ,  이재원 ,  이혁진

IPC: B62D55/075 ,  B62D55/04

Abstract: 본발명의험지극복메카니즘이적용된전문서비스로봇용휠 및트랙하이브리드형모바일플랫폼장치는, 메인프레임; 상기메인프레임의내부에설치된모터부; 상기모터부로부터의동력을제공받아구동하는다수의주행용바퀴; 상기모터부로부터의동력을제공받아구동하는다수의스프라켓; 상기다수의스프라켓의외부에위치하여상기다수의스프라켓의구동에따라회전하는다수의트랙; 상기다수의스프라켓을지지하며, 상기모터부의동력을제공받아상기트랙의수직폭을상기주행용바퀴의원주보다크게되도록세로로세워지게이동하여, 상기트랙의수직폭이상기주행용바퀴의원주보다작게변형하기위해가로로누워지게이동하여, 상기트랙의수직폭을변형함과아울러계단승강또는하강을위한트랙진입각을계단의높이에따라조정하는다수의트랙암; 평지주행시에는상기다수의트랙암이가로로누워지게이동되도록상기모터부를제어하고, 험지주행시에는상기다수의트랙암이상기트랙의수직폭이상기주행용바퀴의원주보다크게되도록변형하기위해세로로세워지게이동되도록상기모터부를제어하는제어장치;를구비하여, 평지주행시에는상기다수의주행용바퀴가상기트랙외부로드러나주행용바퀴에의해주행하고, 험지주행시에는상기다수의주행용바퀴가상기트랙내부로들어가상기트랙에의해주행되게함을특징으로한다.