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

Inventor： 김병규 ,  박지상 ,  김경대 ,  홍예선 ,  김수현 ,  박종오

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。

公开(公告)号：KR100380181B1

公开(公告)日：2003-04-11

申请号：KR1020010006630

申请日：2001-02-10

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  임영모 ,  이진희 ,  박지상 ,  김수현 ,  박종오

IPC: A61B1/04

CPC classification number: A61B1/041 ,  A61B1/00156

Abstract: A self-propelled endoscopic micro-robot, comprising a head for obtaining the errorless information of an interior of a tubular organ; an impact force generating unit connected the head generating an impact force according to a pneumatic pressure externally supplied and sucked by a air pressure supplier and making the self-propelled endoscopic micro-robot move in the tubular organ; and a plurality of supporting arms connected the head with end of the impact force for covering the impact force generating unit, making a housing of the self-propelled endoscopic micro-robot, and adjusting frictional force between the interior of the tubular organ and the housing as desired.

Abstract translation: 一种自走式内窥镜微型机器人，包括：头部，用于获取管状器官内部的无误信息; 碰撞力产生单元，连接所述头部，根据由外部供给的气压和由气压供给器抽吸的气压产生碰撞力，并使所述自推进的内窥镜微型机器人在所述管状器官内移动; 以及多个支撑臂，该多个支撑臂以冲击力的一端连接头部以覆盖冲击力产生单元，形成自行式内窥镜微型机器人的壳体，并且调整管状器官的内部与壳体之间的摩擦力 如预期的。

公开(公告)号：KR1020020066453A

公开(公告)日：2002-08-17

申请号：KR1020010006630

申请日：2001-02-10

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  임영모 ,  이진희 ,  박지상 ,  김수현 ,  박종오

IPC: A61B1/04

CPC classification number: A61B1/041 ,  A61B1/00156

Abstract: PURPOSE: A micro robot is provided to relieve pain from patient and allow examination of larger intestine to be easily performed by permitting micro robot equipped with a photographing and illuminating device to automatically move in the larger intestine of patient through the use of external air pressure. CONSTITUTION: A micro robot comprises an intestine photographing robot(100) including a camera device(2) equipped with a light emitting diode(3) so as to photograph an interior of a large intestine(1), a cylinder having an impact element(5) for moving the micro robot, an impact buffering device(4) for protecting the camera device and other equipment from the impact generated from the impact element, a plurality of body supports(6) for regulating friction between the large intestine and the micro robot, and a linear driver(7) for controlling direction by independently controlling the body supports; and an air pressure feed unit for determining forward or rearward movement of the micro robot by moving the impact element through suction or charging of air pressure into the cylinder of the intestine photographing robot.

Abstract translation: 目的：提供微型机器人，以减轻患者的疼痛，并允许通过允许具有拍摄和照明装置的微型机器人通过使用外部空气压力自动移动到患者的较大肠中来容易地进行较大肠的检查。 构成：微型机器人包括肠内摄影机器人（100），其包括配备有发光二极管（3）的相机装置（2），以便拍摄大肠（1）的内部，具有冲击元件 5），用于移动微机器人;冲击缓冲装置（4），用于保护相机装置和其他设备免受冲击元件产生的冲击;多个主体支撑件（6），用于调节大肠和微型机器之间的摩擦 机器人和用于通过独立地控制身体支撑来控制方向的线性驱动器（7） 以及空气压力进给单元，用于通过将冲击元件通过吸入或充入空气压力进入肠内摄影机器人的气缸来确定微机器人的向前或向后运动。

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

Inventor： 김병규 ,  박지상 ,  김경대 ,  홍예선 ,  김수현 ,  박종오

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。