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1. 发明申请

US20130087392A1 MULTI-LEGGED WALKING APPARATUS 有权
标题翻译：多功能跑步机
公开(公告)号：US20130087392A1
公开(公告)日：2013-04-11
申请号：US13703786
申请日：2011-11-16
申请人： Sang-Won Lee , Kwan-Young Joung , Jin-Young Kim , O-Hung Kwon
发明人： Sang-Won Lee , Kwan-Young Joung , Jin-Young Kim , O-Hung Kwon
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A multi-legged walking apparatus enables a multi-legged walking robot to walk in natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively, wherein the body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. Accordingly, by employing the first link and the driving portion, the body of the multi-legged walking robot is moved to and fro and left and right naturally in accordance with the movement of the legs during walking operation, in a similar walking pattern as that generally shown in actual multi-legged walking animals.
摘要翻译：多脚步行装置能够使多脚走路机器人自然走动，并且包括主体部分，其包括主体，前腿部分，其包括固定到主体的前固定部分，以及前旋转部分，其可旋转地连接到前固定部分，连接到主体的后腿部分和后腿部分，后腿部分包括可旋转地连接到后固定部分的后旋转部分，以及第一连杆，在两端处可旋转地连接到前后旋转部分，其中所述主体部分还包括使所述前后旋转部分中的一个旋转的驱动部。因此，通过使用第一连杆和驱动部分，多脚踏步行机器人的身体在步行操作期间根据腿部的移动而自然地前后移动，左右自由，以类似的行走模式一般显示在实际的多腿步行动物。

2. 发明授权

US09022151B2 Multi-legged walking apparatus 有权
标题翻译：多脚走路器具
公开(公告)号：US09022151B2
公开(公告)日：2015-05-05
申请号：US13703786
申请日：2011-11-16
申请人： Sang-Won Lee , Kwan-Young Joung , Jin-Young Kim , O-Hung Kwon
发明人： Sang-Won Lee , Kwan-Young Joung , Jin-Young Kim , O-Hung Kwon
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A multi-legged apparatus enables a multi-legged robot to provide a natural motion, and includes a body portion comprising a body, a front leg portion comprising a front fixing portion fixed to the body, and a front rotating portion rotatably connected to the front fixing portion, a rear leg portion connected to the body and a rear leg portion comprising a rear rotating portion rotatably connected to the rear fixing portion, and a first link rotatably connected, at both ends, to the front and rear rotating portions, respectively. The body portion additionally includes a driving portion which rotates one of the front and rear rotating portions. By employing the first link and the driving portion, the body of the multi-legged robot is moved to and fro and left and right naturally in accordance with the movement of the legs, in a similar pattern as that generally shown in actual multi-legged animals.
摘要翻译：一种多腿式装置使多腿机器人能够提供自然运动，并且包括主体部分，其包括主体，前腿部分，其包括固定到主体的前固定部分，以及前旋转部分，其可旋转地连接到前部固定部分，连接到主体的后腿部分和后腿部分，后腿部分包括可旋转地连接到后固定部分的后旋转部分，以及分别在前后旋转部分两端可旋转地连接的第一连杆。主体部分还包括使前后旋转部分中的一个旋转的驱动部。通过采用第一连杆和驱动部分，多腿机器人的主体根据腿部的运动自然地前后移动，并且以与实际多腿的通常所示的类似的模式自然地移动动物。

3. 发明授权

US09010733B2 Three-dimensional wire flying system 有权
标题翻译：三维电线飞行系统
公开(公告)号：US09010733B2
公开(公告)日：2015-04-21
申请号：US13702867
申请日：2012-01-31
申请人： O-Hung Kwon , Dae-Hee Won , Sang-Won Lee , Kwan-Young Joung , Dong-Wook Lee
发明人： O-Hung Kwon , Dae-Hee Won , Sang-Won Lee , Kwan-Young Joung , Dong-Wook Lee
IPC分类号： B66D1/26 , B66D1/48 , B66C15/04 , B66C21/00 , B66D1/54
CPC分类号： B66D1/48 , B66C15/045 , B66C21/00 , B66D1/485 , B66D1/54
摘要： A three dimensional wire flying system includes a plurality of winches collectively hanging an object and a control unit for controlling the plurality of winches and the main safety device. Each of the plurality of winches includes a drum unit, a wire wound on the drum unit, a motor unit which provides power to the drum unit, a brake module which stops rotation of the drum unit, a limit switch which operates upon detecting a hardware limit state, and a servo-system. Each of the plurality of winches operates to move the object in a three dimensional space in three directions, including an up-down direction, a left-right direction and a forward-backward direction, and each winch provides a multi-level safety protection.
摘要翻译：三维线飞行系统包括多个共同悬挂物体的绞盘和用于控制多个绞盘和主安全装置的控制单元。多个绞盘中的每一个包括鼓单元，缠绕在鼓单元上的线，向鼓单元提供电力的马达单元，停止滚筒单元旋转的制动模块，限制开关，其在检测到硬件时工作极限状态和伺服系统。多个绞盘中的每一个操作用于在包括上下方向，左右方向和前后方向的三个方向上的三维空间中移动物体，并且每个绞盘提供多级安全保护。

4. 发明申请

US20130087751A1 THREE-DIMENSIONAL WIRE FLYING SYSTEM 有权
标题翻译：三维电线飞行系统
公开(公告)号：US20130087751A1
公开(公告)日：2013-04-11
申请号：US13702867
申请日：2012-01-31
申请人： O-Hung Kwon , Dae-Hee Won , Sang-Won Lee , Kwan-Young Joung , Dong-Wook Lee
发明人： O-Hung Kwon , Dae-Hee Won , Sang-Won Lee , Kwan-Young Joung , Dong-Wook Lee
IPC分类号： B66D1/48
CPC分类号： B66D1/48 , B66C15/045 , B66C21/00 , B66D1/485 , B66D1/54
摘要： According to one embodiment of the present invention, a wire flying system is constituted as follows: an object is hung on a wire such that said object is moved in a three dimensional space, wherein the length of the wire is adjusted by a winch; the three dimensional space includes a first range, a second range in which the length of the wire is within a preset safe length, and a third range in which the length of the wire is within a preset permissible length; a local safe device delivers information on a deviation from the first range to a control unit, if a local safe logic determines that an operating range of the wire is deviated from only the first range; the control unit controls a motor unit by delivering a software limit signal to a servo system unit, so that the operating range of the wire is set to be within the first range again; the local safe device delivers information on a deviation from the second range to the control unit, if the local safe logic determines that the length of the wire is deviated from the second range; the control unit stops the operation of the motor unit by delivering the software limit signal to the servo system unit; and a limit switch senses a hardware limit state and stops rotation of a drum unit by mechanically stopping the operation of the motor unit such that hardware safe control is performed, if the local safe logic determines that the length of the wire is deviated from the third range.
摘要翻译：根据本发明的一个实施例，电线飞行系统的结构如下：将物体悬挂在电线上，使得所述物体在三维空间中移动，其中电线的长度由绞盘调节; 所述三维空间包括第一范围，所述电线的长度在预设的安全长度内的第二范围和所述电线的长度在预设的允许长度内的第三范围; 如果本地安全逻辑确定线的操作范围仅偏离第一范围，则本地安全装置将关于从第一范围偏离的信息传送到控制单元; 控制单元通过向伺服系统单元递送软件限制信号来控制电动机单元，使得电线的工作范围再次设定在第一范围内; 如果本地安全逻辑确定线的长度偏离第二范围，则本地安全装置将与第二范围的偏差的信息传送到控制单元; 控制单元通过将软件限制信号传递到伺服系统单元来停止电动机单元的操作; 并且限位开关通过机械地停止马达单元的操作来检测硬件极限状态并停止滚筒单元的旋转，从而执行硬件安全控制，如果本地安全逻辑确定线的长度偏离第三范围。

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