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1. 发明申请

WO2010013935A3 SMALL MOBILE ROBOT WITH BUILT-IN AUXILIARY WHEEL FOR OVERCOMING TOPOGRAPHY 审中-公开
标题翻译：具有内置辅助轮的小型机器人，用于覆盖地形
公开(公告)号：WO2010013935A3
公开(公告)日：2010-06-10
申请号：PCT/KR2009004214
申请日：2009-07-29
申请人： HOYA ROBOT CO LTD , LEE SO-YOUNG , KANG JEONG-HO , KIM MIN-KYU
发明人： LEE SO-YOUNG , KANG JEONG-HO , KIM MIN-KYU
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J13/081
摘要： The present invention is a small mobile robot which moves back and forth and left and right while keeping posture by two wheels, and the small mobile robot system can overcome topographical elevation differences through two built-in auxiliary wheels. The auxiliary wheels placed in the small mobile robot of the present invention are attached to a servomotor to drive the servomotor by remote control, and can move to the position required for operation. The auxiliary wheels are hidden inside the robot when the robot is in normal motion and are lowered to contact the surface when the robot meets changes in elevation, then supports main wheels, when the main wheels come across high elevations. In addition, the small mobile robot of the present invention comprises a sensor for sensing obstacles and a control module to make a detour around obstacles during the journey to the destination. The small mobile robot has functions for grasping the position thereof through wireless communication between robots during the movement and transmitting environmental information through a camera. The small mobile robot of the present invention is capable of moving smoothly even on the topography with an elevation difference through a slight change of the posture including the auxiliary wheels. Therefore, there can be an excellent economical advantage, due to a simple structure.
摘要翻译：本发明是一种小型移动机器人，其通过两个轮保持姿态来回左右移动，小型移动机器人系统可以通过两个内置的辅助轮来克服地形高程差。放置在本发明的小型可动机器人中的辅助轮安装在伺服电动机上，通过远程控制来驱动伺服电动机，并且可以移动到操作所需的位置。当机器人处于正常运动状态时，辅助轮被隐藏在机器人内部，当机器人满足高度变化时，辅助轮被降低以接触表面，然后当主轮遇到高度时，支撑主轮。此外，本发明的小型移动机器人包括用于感测障碍物的传感器和控制模块，以在到达目的地的行程期间围绕障碍物绕行。小型移动机器人具有通过移动期间机器人之间的无线通信来抓取其位置的功能，并通过相机发送环境信息。本发明的小型移动机器人能够通过包括辅助轮的姿势的轻微变化，在具有高差的地形上顺利地移动。因此，由于结构简单，所以具有优异的经济性。

2. 发明申请

WO2012121506A3 ROBOT EQUIPPED WITH LOCOMOTION ASSISTANCE DEVICE 审中-公开
标题翻译：装备有机车辅助装置的机器人
公开(公告)号：WO2012121506A3
公开(公告)日：2012-12-20
申请号：PCT/KR2012001520
申请日：2012-02-29
申请人： HOYA ROBOT CO LTD , KANG JEONG HO , KIM JOO GON , KANG YONG SU , KIM YOUNG HOON , JANG TAEK YOUNG
发明人： KANG JEONG HO , KIM JOO GON , KANG YONG SU , KIM YOUNG HOON , JANG TAEK YOUNG
IPC分类号： B25J5/00 , B25J19/00
CPC分类号： B25J19/023 , B25J5/007 , B25J15/0213
摘要： In one embodiment, a locomotive robot, the movement of which is enabled by remote control, and which is equipped with a locomotion assistance device, comprises: a main body wherein a front camera images the front view of the robot; main wheels provided on both sides of the main body, and rotated by a driving means provided inside the main body; an auxiliary arm connection unit having a predetermined thickness that protrudes from the body; and an auxiliary arm which is connected to the auxiliary arm connection unit, and is mounted in the center of the auxiliary arm connection unit to allow rotation, wherein the auxiliary arm includes a first auxiliary arm member connected to the auxiliary arm connection unit, a second auxiliary arm member connected to the first auxiliary arm member, and a locomotion assistance device connected to the second auxiliary arm member, and is rotatable by a rotation means provided inside the secondary member.
摘要翻译：在一个实施例中，其机动机器人的运动通过遥控实现并且装备有运动辅助装置，该机车机器人包括：主体，其中前照相机拍摄机器人的前视图; 主轮，设置在主体的两侧，并由设置在主体内的驱动装置旋转; 具有从本体突出的预定厚度的辅助臂连接单元; 以及辅助臂，其连接到所述辅助臂连接单元，并且安装在所述辅助臂连接单元的中心以允许旋转，其中，所述辅助臂包括连接到所述辅助臂连接单元的第一辅助臂构件，连接到第一辅助臂构件的辅助臂构件以及连接到第二辅助臂构件的运动辅助装置，并且可通过设置在辅助构件内部的旋转装置旋转。

3. 发明申请

WO2010013935A4 SMALL MOBILE ROBOT WITH BUILT-IN AUXILIARY WHEEL FOR OVERCOMING TOPOGRAPHY 审中-公开
标题翻译：内置辅助轮的小型移动机器人用于覆盖地形
公开(公告)号：WO2010013935A4
公开(公告)日：2010-07-29
申请号：PCT/KR2009004214
申请日：2009-07-29
申请人： HOYA ROBOT CO LTD , LEE SO-YOUNG , KANG JEONG-HO , KIM MIN-KYU
发明人： LEE SO-YOUNG , KANG JEONG-HO , KIM MIN-KYU
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J13/081
摘要： The present invention is a small mobile robot which moves back and forth and left and right while keeping posture by two wheels, and the small mobile robot system can overcome topographical elevation differences through two built-in auxiliary wheels. The auxiliary wheels placed in the small mobile robot of the present invention are attached to a servomotor to drive the servomotor by remote control, and can move to the position required for operation. The auxiliary wheels are hidden inside the robot when the robot is in normal motion and are lowered to contact the surface when the robot meets changes in elevation, then supports main wheels, when the main wheels come across high elevations. In addition, the small mobile robot of the present invention comprises a sensor for sensing obstacles and a control module to make a detour around obstacles during the journey to the destination. The small mobile robot has functions for grasping the position thereof through wireless communication between robots during the movement and transmitting environmental information through a camera. The small mobile robot of the present invention is capable of moving smoothly even on the topography with an elevation difference through a slight change of the posture including the auxiliary wheels. Therefore, there can be an excellent economical advantage, due to a simple structure.
摘要翻译：本发明是一种小型移动机器人，其通过两个轮子保持姿势前后左右移动，小型移动机器人系统可通过两个内置辅助轮克服地形高差。放置在本发明的小型移动机器人中的辅助轮安装在伺服电机上以通过遥控来驱动伺服电机，并且可以移动到操作所需的位置。当机器人处于正常运动时，辅助轮隐藏在机器人内部，当机器人遇到仰角变化时，辅助轮被降低以接触表面，然后在主轮遇到高海拔时支撑主轮。另外，本发明的小型移动机器人包括用于感测障碍物的传感器和用于在到达目的地的路途中绕过障碍物的控制模块。小型移动机器人具有通过移动期间机器人之间的无线通信来抓握其位置的功能并通过照相机传输环境信息。本发明的小型移动机器人即使在具有高度差的地形上也能够通过包括辅助轮在内的姿势的轻微变化而平稳地移动。因此，由于结构简单，可以具有极好的经济优势。

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