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公开(公告)号：KR100426613B1
公开(公告)日：2004-04-08
申请号：KR1020010027496
申请日：2001-05-19
Applicant: 한국과학기술연구원
IPC: B25J7/00
CPC classification number: A61B1/00156 , A61B1/04 , A61B1/31 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/303
Abstract: A micro robot driving system for endoscope can move a micro robot forward, backward or changing the direction by transmitting rotation force generated by a driving means to a worm gear or a gear tooth shaped belt by a worm. The micro robot driving system in accordance with the present invention includes a micro robot body, rotational force transmitting means installed in the body, for transmitting rotational force generated by driving means and movement means which is connected with the rotational force transmitting means, protruded from the body, for moving the body by rotational force transmitted by the rotational force transmitting means.
Abstract translation: 用于内窥镜的微型机器人驱动系统能够通过由蜗杆将由驱动装置产生的旋转力传递到蜗轮或齿轮齿形带而使微型机器人向前，向后或改变方向。 根据本发明的微型机器人驱动系统包括微型机器人主体，安装在主体中用于传递由驱动装置产生的旋转力的旋转力传递装置，以及与旋转力传递装置连接的移动装置， 用于通过由旋转力传递装置传递的旋转力来移动主体。
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Patent Agency Ranking
公开(公告)号：KR1020020094528A
公开(公告)日：2002-12-18
申请号：KR1020010032798
申请日：2001-06-12
Applicant: 한국과학기술연구원
IPC: A61B1/00
Abstract: PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.
Abstract translation: 目的：提供微型机器人，以实现简单而高效的结构，同时可以方便生产，降低成本和减小尺寸。 构成：微型机器人包括主体; 用作驱动构件并安装在主体内的马达（2）; 用作旋转力传递单元的蜗杆（1），并且安装在主体内并传递从马达产生的力; 运动转换单元，其安装在主体上，并且通过从旋转力传递单元传递的力进行操作，并具有偏心轴（17）; 以及多个腿部（10），每个腿部具有连接到运动转换单元的偏心轴的端部（10a），另一端（10b）由引导构件执行椭圆形运动。 运动转换单元包括安装偏心轴的盘（9）; 齿轮（5,6）与蜗杆接合，并使盘旋转; 以及沿着主体的圆周布置的多个齿轮箱，以便将盘和齿轮固定成可转动。
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公开(公告)号：KR1020020088682A
公开(公告)日：2002-11-29
申请号：KR1020010027496
申请日：2001-05-19
Applicant: 한국과학기술연구원
IPC: B25J7/00
CPC classification number: A61B1/00156 , A61B1/04 , A61B1/31 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/303
Abstract: PURPOSE: A micro-robot driving system is provided to move a micro-robot in forward or backward direction by transferring a rotating force to a worm gear or a geared belt of the micro-robot. CONSTITUTION: A micro-robot driving system includes a body(6). A plurality of slots(6') is formed lengthwise in the body(6). A driving device is installed in the body(6) so as to generate a rotating force. The driving device includes a driving shaft and a coupling. A rotating force transferring device is installed in the body(6) in order to transfer the rotating force generated by the driving device. The rotating force transferring device includes a worm and a plurality of worm gears(2) for moving the body(6). The worm gear(2) is rotatably installed in the body(6). The rotating force generated from the driving device is transferred to the worm through the driving shaft and the coupling.
Abstract translation: 目的：提供一种微型机器人驱动系统，用于通过向微机器人的蜗轮或齿轮传动旋转力来向前或向后移动微型机器人。 构成：微型机器人驱动系统包括主体（6）。 多个槽（6'）在主体（6）中纵向地形成。 驱动装置安装在主体（6）中以产生旋转力。 驱动装置包括驱动轴和联轴器。 旋转力传递装置安装在主体（6）中，以便传递由驱动装置产生的旋转力。 旋转力传递装置包括蜗杆和用于移动主体（6）的多个蜗轮（2）。 蜗轮（2）可旋转地安装在主体（6）中。 从驱动装置产生的旋转力通过驱动轴和联轴器传递到蜗杆。
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公开(公告)号：KR100402920B1
公开(公告)日：2003-10-22
申请号：KR1020010027494
申请日：2001-05-19
Applicant: 한국과학기술연구원
IPC: A61B1/00
CPC classification number: B62D57/02 , A61B1/00156 , A61B1/041 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/303 , B25J7/00
Abstract: A micro robot that can move for itself is provided. The micro robot moves by moving a plurality of legs with a plurality of cams driven by a driving device, which comprises a micro robot body, a rotational shaft installed in the body and connected to driving device for generating rotational force, a plurality of cams positioned sequentially and connected to the rotational shaft having a certain phase difference centering around the rotational shaft, a plurality of legs installed in the body capable of moving by rotation of the cams, said legs being abutted to the respective cams at one end portion thereof and protruding outwardly from the body at the other end portion thereof, respectively and a locomotion device for moving the body.
Abstract translation: 提供可以自行移动的微型机器人。 微型机器人通过利用由驱动装置驱动的多个凸轮移动多个腿而移动，所述驱动装置包括微型机器人主体，安装在主体中并连接到用于产生旋转力的驱动装置的旋转轴，多个凸轮定位 依次连接到以旋转轴为中心具有一定相位差的旋转轴;多个支腿，其安装在主体中，能够通过凸轮的旋转而移动，所述支腿在其一个端部抵接到相应的凸轮并且突出 在其另一个端部处分别从身体向外伸出，并具有用于移动身体的移动装置。
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公开(公告)号：KR100387119B1
公开(公告)日：2003-06-12
申请号：KR1020010032798
申请日：2001-06-12
Applicant: 한국과학기술연구원
IPC: A61B1/00
Abstract: PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.
Abstract translation: 目的：提供微型机器人，以实现简单而高效的结构，同时使制造简单，成本和尺寸减小。 组成：微型机器人包括主体; 作为驱动部件的马达（2），其安装在主体内; 作为旋转力传递单元的蜗杆（1），其安装在所述主体内并传递从所述电机产生的力; 运动转换单元，所述运动转换单元安装到所述主体，并且通过从所述旋转力传递单元传递的力进行操作，并且具有偏心轴（17）; 和多个腿（10），每个腿（10）具有连接到运动转换单元的偏心轴的一端（10a）和另一端（10b）通过引导构件进行椭圆运动。 运动转换单元包括安装有偏心轴的盘（9） 与蜗杆啮合的齿轮（5,6），它们转动盘; 以及沿着主体的圆周设置的多个齿轮箱，以将盘和齿轮固定成可旋转。
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公开(公告)号：KR1020020088681A
公开(公告)日：2002-11-29
申请号：KR1020010027494
申请日：2001-05-19
Applicant: 한국과학기술연구원
IPC: A61B1/00
CPC classification number: B62D57/02 , A61B1/00156 , A61B1/041 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/303 , B25J7/00
Abstract: PURPOSE: A micro robot is provided to achieve improved efficiency of structure, while reducing manufacturing cost and size and allowing ease of manufacture. CONSTITUTION: A micro robot comprises a main body; a rotating shaft(6') mounted within the main body and connected to a drive unit(6) for generating rotating force; a plurality of cams(5) sequentially arranged within the main body, at a predetermined phase difference, and coupled to the rotating shaft; a plurality of legs(3) each of which has an end contacting each cam and the other end protruded outward from the main body, wherein legs are mounted to the main body in such a manner that legs are movable by the rotation of cams; and a unit for moving the main body. The cam has, at an outer periphery thereof, a U-shaped groove, and the inner end of the leg contacting the cam contacts the U-shaped grooved.
Abstract translation: 目的：提供微型机器人，以提高结构效率，同时降低制造成本和尺寸，并且易于制造。 构成：微型机器人包括主体; 安装在主体内并连接到用于产生旋转力的驱动单元（6）的旋转轴（6'）; 多个凸轮（5），其以预定的相位顺序地布置在所述主体内，并且联接到所述旋转轴; 多个腿部（3）各自具有接触每个凸轮的端部，另一端从主体向外突出，其中腿部以通过凸轮的旋转可移动的方式安装到主体; 以及用于移动主体的单元。 凸轮在其外周具有U形槽，并且与凸轮接触的脚的内端接触U形槽。
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