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公开(公告)号：KR101154777B1
公开(公告)日：2012-06-18
申请号：KR1020090130909
申请日：2009-12-24
Applicant: 고려대학교 산학협력단
Abstract: 본 발명은 굴삭기의 직관적 조종장치에 관한 것으로서, 본 발명에 의한 직관적 조종장치는 굴삭기의 전후진 및 좌우회전 동작의 조종을 위한 이동조작부와, 스윙몸체의 좌우선회 동작의 조종을 위한 선회조작부와, 붐과 아암과 버킷의 굴삭 동작의 조종을 위한 굴삭동작조작부를 포함하여 구성되며, 상기 굴삭동작조작부는 상기 스윙몸체에 고정된 지지체에 회동가능하게 연결된 붐조작부와, 상기 붐조작부에 회동가능하게 연결된 아암조작부와, 상기 아암조작부에 회동가능하게 연결된 버킷조작부를 포함하여 구성되며, 상기 붐조작부와 상기 아암조작부와 상기 버킷조작부는 각각 인체의 상완과 하완과 손목의 동작에 매핑되어 인체의 상완과 하완과 손목의 회동 동작과 유사하게 회동되도록 구성되어, 굴삭기의 버킷, 아암, 붐의 움직임을 실제로 작업자의 손목, 하완, 상완의 움직임과 직관적으로 연관성을 갖도록 조종할 수 있으므로, 굴삭기의 유저 인터페이스 조종능력을 향상시켜 굴삭기를 자유롭게 조작함으로써 보다 빠르고 정확하게 능숙한 굴삭 작업을 구현할 수 있도록 도와주어 작업자의 굴삭기 조종 기술 습득을 빠르게 할 수 있고, 작업의 정확성 및 성공률을 높이고 작업 시간의 단축 효과를 얻을 수 있다.
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公开(公告)号：KR1020090030479A
公开(公告)日：2009-03-25
申请号：KR1020070095822
申请日：2007-09-20
Applicant: 고려대학교 산학협력단 , 두산인프라코어 주식회사
CPC classification number: E02F9/261 , B60Y2200/412 , E02F9/205 , G08C17/02
Abstract: A robot device for supporting the unmanned excavator is provided that the accuracy and stability of task are increased. A robot device for supporting the unmanned excavator comprises a body(110), a traveling unit(120) for moving the body, a GPS unit(130) equipped for the location of the position of the body in the body, a detection unit(140) which is equipped in the body in order to acquire the information about the geographic information of excavator and body neighboring and obstacle, a controller in which the information which obtains is input through the global positioning system part and detection station and controlling the traveling section and excavator, a communications unit which transmits the control signal of controller in excavator so that controller control excavator.
Abstract translation: 提供了一种用于支持无人驾驶挖掘机的机器人装置，其任务的精度和稳定性增加。 一种用于支撑无人驾驶挖掘机的机器人装置，包括主体（110），用于移动身体的行进单元（120），配备有用于身体位置位置的GPS单元（130），检测单元 140），以获取关于挖掘机和身体相邻和障碍物的地理信息的信息;控制器，其中通过全球定位系统部分和检测站输入获得的信息并控制行驶部分 和挖掘机，是在挖掘机中传送控制器的控制信号的通信单元，以便控制器控制挖掘机。
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公开(公告)号：KR101979294B1
公开(公告)日：2019-05-16
申请号：KR1020170013944
申请日：2017-01-31
Applicant: 고려대학교 산학협력단
IPC: A61B1/00
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公开(公告)号：KR101841197B1
公开(公告)日：2018-03-22
申请号：KR1020170063721
申请日：2017-05-23
Applicant: 고려대학교 산학협력단
IPC: B62D55/00 , B60K31/00 , B60W30/14 , B60W40/105
Abstract: 본발명은지면의고저차가고르지못한험지에서의주행시 하중측정센서를통한데이터수집을통해지형의고저차에따라속도가가변할수 있는하중측정을통한속도조절이가능한이동체용트랙시스템을제공하기위한것이다. 본발명에따른이동체용트랙시스템은, 이동체의이동체바디에결합되고일측에포스플레이트가구비된휠 지지프레임과, 휠지지프레임에회전가능하게설치되는구동휠과, 구동휠에구동력을제공하는구동부와, 구동휠과이격되어휠 지지프레임에회전가능하게설치되는지지휠과, 구동휠 및지지휠에지지되어궤도운동하는트랙과, 포스플레이트의하면에상호이격되도록결합되는복수의하중측정센서와, 복수의하중측정센서에각각결합되는복수의하부가이드휠 연결부와, 복수의하부가이드휠 연결부에각각회전가능하게결합되는복수의하부가이드휠과, 복수의하중측정센서로부터측정신호를수신하고구동부를제어하여구동휠의회전속도를조절하는제어부를포함한다
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公开(公告)号：KR101696466B1
公开(公告)日：2017-01-23
申请号：KR1020100045560
申请日：2010-05-14
Applicant: 고려대학교 산학협력단
Abstract: 본발명은건물외벽의유지보수를위한외벽클라이밍로봇에관한것이다. 본발명에따른외벽클라이밍로봇은로봇본체와; 건물외벽의상하방향또는좌우방향중 어느한 방향인제1 방향을따라, 건물외벽에상호마주하게형성되는한 쌍의제1 가이드레일을따라슬라이딩이동가능한한 쌍의제1 슬라이딩유닛과; 각제1 슬라이딩유닛과로봇본체를각각연결하는한 쌍의제1 링크유닛과; 건물외벽에상호마주하게제1 방향과교차하는제2 방향을따라형성된한 쌍의제2 가이드레일을따라슬라이딩이동가능한한 쌍의제2 슬라이딩유닛과, 각제2 슬라이딩유닛과로봇본체를각각연결하는한 쌍의제2 링크유닛을포함하고, 건물외벽은복수의단위커튼월 유닛이설치되어형성되는커튼월 구조를가지며; 각단위커튼월 유닛은상호마주하며제1 방향을따라형성된한 쌍의제1 단위가이드레일과, 각단위커튼월 유닛은상호마주하며제2 방향을따라형성된한 쌍의제2 단위가이드레일을포함하고, 상호인접한한 쌍의제1 단위가이드레일은상호이격되도록설치되고, 상호인접한한 쌍의제2 단위가이드레일은상호이격되도록설치되며, 제1 슬라이딩유닛은상호인접한한 쌍의제2 단위가이드레일사이의이격공간을통해제1 방향으로인접한단위커튼월 유닛간을이동하며, 제2 슬라이딩유닛은상호인접한한 쌍의제1 단위가이드레일사이의이격공간을통해제2 방향으로인접한단위커튼월 유닛간을이동하는것을특징으로한다. 이에따라, 다양한건물외벽에적응적으로적용이가능하면서도추락등과같은안전사고의문제를현저히감소시킬수 있도록건물외벽을형성하는커튼월(Curtain wall)의설계에연동하여건물외벽의유지보수가가능한무인의외벽클라이밍로봇이제공된다.
Abstract translation: 目的：提供一种用于维护建筑物外墙的外墙攀登机器人，通过在幕墙设计中应用外墙攀登机器人来执行与幕墙设计相对应的维护任务。 构成：用于维护建筑物外墙的外墙攀登机器人（100）包括机器人本体（10），一对第一滑动单元（20a，20b）和一对第一连杆单元（40a，40b） 。 一对第一滑动单元沿着该对第一导轨滑动。 沿着第一方向形成一对第一导轨，以在建筑物的外壁面对。 一对第一连杆单元连接每个第一滑动单元和机器人本体。
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Patent Agency Ranking
公开(公告)号：KR101684789B1
公开(公告)日：2016-12-21
申请号：KR1020150084877
申请日：2015-06-16
Applicant: 고려대학교 산학협력단
IPC: A61B17/04
Abstract: 본발명의일 실시예에따른내시경용연속봉합기구의내시경관의내부에설치된봉합용바늘로봉합용비늘을공급하기위한내시경용연속봉합기구를위한비드공급장치는, 일측에연결된내시경관내의봉합용바늘로, 내부에적재된복수의봉합용비드를한개씩개별적으로공급하는비드공급부; 및비드공급부의타측에연결되고, 비드공급부를경유하여봉합용바늘로삽입되어봉합용비드를밀어내는비드밀대가구비된비드밀대부를포함하고, 비드밀대부는, 비드밀대가내시경관을향해전진이동되어봉합용비드를봉합용바늘에서밀어낸후, 비드밀대가원래위치로되돌아오도록작동되고, 비드공급부는, 외주면에복수의봉합용비드가적재된비드적재유닛; 내부에비드적재유닛이회전가능하게연결되고, 비드적재유닛의상부에봉합용비드또는비드밀대의이동을가이드하는가이드부재가구비된가이드유닛; 및가이드유닛에연결되어, 비드적재유닛의진입돌기와의접촉에의해가이드부재에마련된가이드홀을개방하고, 진입돌기와의접촉해제시가이드홀을덮는구조를가진커버를포함하고, 비드적재유닛은회전조작에의해진입돌기가커버와맞닿게위치되면복수의봉합용비드중 어느하나의봉합용비드를가이드홀으로공급하는것이바람직하다.
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公开(公告)号：KR101387764B1
公开(公告)日：2014-04-21
申请号：KR1020130008584
申请日：2013-01-25
Applicant: 고려대학교 산학협력단
CPC classification number: F03D80/55 , B08B3/04 , B66C23/18 , F05B2230/80 , F05B2240/30 , Y02E10/721
Abstract: A device for washing a blade of a wind generator of the present invention moves along the length direction of the blade of the wind generator so as to wash the surface of the blade. The device comprises: an ascending unit that includes an ascending plate having a through-hole formed at the center thereof so as to enable a blade to penetrate therethrough, a rope operating member provided so as to enable the ascending plate to ascend along the length direction of the blade, and a rope having one end connected with the ascending plate and the other end passing through a nacelle of the wind generator in order to be connected with the rope operating member; and a washing unit that is installed in order to be able to move right and left on a guide rail installed on the ascending plate to be adjacent to the through-hole and is operated to move towards another position in order to be able to contact the surface of the blade so as to wash the surface of the blade. The washing unit comprises: a washing body installed in order to be able to move right and left along the guide rail; a driveshaft that has one end connected with the washing body in order to be able to move forwards and backwards and provides a rotating force to a rotating member installed in the other end; a first interval adjusting unit that is disposed horizontally with respect to the driveshaft to be separated at a particular interval from the driveshaft, is installed in order to be able to move forwards and backwards on the washing body, and is equipped with a first rubber roller that is formed at the longitudinal end thereof in order to come in contact with the surface of the blade; and a second interval adjusting unit that is disposed horizontally with respect to the driveshaft to be separated at a particular interval from the driveshaft, is installed in order to be able to move forwards and backwards on the washing body, and is equipped with a second rubber roller that is formed at the longitudinal end thereof in order to come in contact with the surface of the blade. By means of the first rubber roller and second rubber roller, the rotating member is preferably provided in order not to directly contact the surface of the blade.
Abstract translation: 用于清洗本发明的风力发电机的叶片的装置沿着风力发电机的叶片的长度方向移动，以便清洗叶片的表面。 该装置包括：上升单元，其包括具有形成在其中心的通孔的上升板，以使得叶片能够穿过其中;绳索操作构件，其设置成使得上升板能够沿着长度方向上升 以及绳索，其一端与上升板连接，另一端穿过风力发电机的机舱，以便与绳索操作构件连接; 以及洗涤单元，其安装成能够在安装在上升板上的导轨上左右移动以邻近通孔，并且被操作以向另一位置移动，以便能够接触 叶片的表面以便清洗叶片的表面。 洗涤单元包括：洗涤体，其安装成能够沿着导轨左右移动; 驱动轴，其一端与洗涤体连接，以便能够向前和向后移动，并向安装在另一端的旋转构件提供旋转力; 为了能够在洗涤体上前后移动，相对于驱动轴以与特定间隔分离的驱动轴水平设置的第一间隔调整单元被安装，并且配备有第一橡胶辊 其形成在其纵向端部以与叶片的表面接触; 并且相对于与驱动轴以特定间隔分离的驱动轴水平设置的第二间隔调节单元，以便能够在洗涤体上向前和向后移动，并且配备有第二橡胶 辊的纵向端部形成，以便与叶片的表面接触。 通过第一橡胶辊和第二橡胶辊，优选地设置旋转构件以便不直接接触叶片的表面。
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公开(公告)号：KR101356901B1
公开(公告)日：2014-01-29
申请号：KR1020130008582
申请日：2013-01-25
Applicant: 고려대학교 산학협력단
CPC classification number: F03D13/40 , F05B2230/50 , F05B2240/30 , Y02E10/721
Abstract: A transfer apparatus which has adaptability to the surface change of an object according to an embodiment of the present invention includes: a base plate which has a structure capable of being stably put on a bottom surface; a tube accommodating unit which is installed in the base plate and has a tube stacked inside; a first air pressure providing unit which provides an air pressure by a tube in order to expand the tube; the tube which has one end fixated on the upper part of the first air pressure providing unit, has the other end fixated on the lower part of the first air pressure providing unit, and is accommodated inside the tube accommodating unit; a second air pressure providing unit which provides air for the internal space of the tube accommodating unit and prevents a contact between the tube and the inner surface of the tube accommodating unit in a process of the growth of the tube by providing a first air pressure for the tube; and a tube growth guiding unit which is installed in the base plate and guides the tube so that the tube stably ascends and descends in the growth process of the tube. It is desirable for the tube to perform the growth movement while being in contact with an object which is inserted into the inside of the tube when the first and second air pressure providing units operate.
Abstract translation: 根据本发明实施例的对物体的表面变化具有适应性的转印装置包括：具有能够稳定地放置在底面上的结构的基板; 管容纳单元，其安装在基板中并具有堆叠在其中的管; 第一空气压力提供单元，其通过管提供空气压力以使管膨胀; 一端固定在第一空气压力提供单元的上部的管，另一端固定在第一空气压力提供单元的下部，并容纳在管容纳单元内; 第二空气压力提供单元，其为管容纳单元的内部空间提供空气，并且在管的生长过程中通过提供第一空气压力来防止管与管容纳单元的内表面之间的接触， 管子 以及管生长引导单元，其安装在基板中并引导管，使得管在管的生长过程中稳定地上升和下降。 当第一和第二空气压力提供单元操作时，管子与被插入到管内部的物体接触时执行生长运动是理想的。
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公开(公告)号：KR1020140006155A
公开(公告)日：2014-01-16
申请号：KR1020120068693
申请日：2012-06-26
Applicant: 고려대학교 산학협력단
CPC classification number: A61B17/0469 , A61B2017/00296 , A61B2017/00876 , A61B2017/0474
Abstract: The present invention relates to a suturing device for suturing an incision site inside organs using endoscopy and a suturing method using the same and, more specifically, to a suturing device for endoscopy using magnetic force for performing a sewing mode in an endoscope and a suturing method using the same. The suturing device for endoscopy using magnetic force of the present invention comprises the following: a suturing needle in a size capable of passing through a channel of a general-purpose endoscope; a push stick located inside the suturing needle to be moved freely; a magnet unit located on the front side of the push stick with magnetic force; a ball unit connected to a suturing thread, capable of being attached to the magnet unit; and a jamming unit for jamming the ball unit to the inside of the suturing needle.
Abstract translation: 本发明涉及使用内窥镜检查用于缝合器官内的切口部位的缝合装置及使用其的缝合方法，更具体地，涉及使用磁力进行内窥镜用缝合装置的缝合装置，所述缝合装置在内窥镜中进行缝合模式，以及缝合方法 使用相同 本发明的使用磁力的内窥镜用缝合装置包括以下：能够通过通用内窥镜的通道的尺寸的缝合针; 位于缝合针内的推杆可自由移动; 位于推杆前侧的磁铁单元，具有磁力; 连接到缝合线的球单元，能够附接到磁体单元; 以及用于将球单元卡住到缝合针内侧的卡住单元。
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公开(公告)号：KR1020130121579A
公开(公告)日：2013-11-06
申请号：KR1020120044913
申请日：2012-04-27
Applicant: 고려대학교 산학협력단
CPC classification number: A61B17/0482 , A61B17/0401 , A61B17/0469 , A61B17/06166 , A61B2017/00296 , A61B2017/0034 , A61B2017/0409 , A61B2017/0417 , A61B2017/047 , A61B2017/0474 , A61B2017/0475 , A61B2017/06052 , A61B2017/06176 , A61B2017/306
Abstract: The present invention relates to a bead for stitching, a needle for stitching, a side suction cap and an internal organ stitching apparatus for endoscopes using the same, and more specifically to a bead for stitching that allows naturally lying down against an organ wall upon discharge, a needle for stitching that allows control of discharge of the bead for stitching, and an internal organ stitching apparatus for endoscopes provided with a side suction cap configured to prevent damages to other organs upon surgical procedure. The present invention provides an internal organ stitching apparatus for endoscopes, and comprises; a bead for stitching capable of discharging a bead for stitching; and an endoscope tube with the needle for stitching provided inside; and a member for prevention of being pushed with support for the organ not to be pushed through formation on one side of a combining part to be combined with an endoscope and of an inlet in a direction of intersection with the combining part, and through being positioned on the opposite side of the combining part for installation at the end of the inlet, and is characterized by being provided with a side suction cap with formation of a mirror part arranged in a diagonal direction on the opposite side wall of the combining part.
Abstract translation: 本发明涉及一种用于缝合的针，用于缝合的针，侧吸盖和用于使用其的内窥镜的内脏装置缝合装置，更具体地涉及在排出时允许自然躺在器官壁处的缝合的胎圈 ，用于缝合的针，用于缝合的胎圈的排出的控制;以及内窥镜的内部器具缝合装置，其具有构造成防止外科手术时对其他器官的损害的侧吸头。 本发明提供一种内窥镜用内脏装置缝合装置， 用于缝合的胎圈，其能够排出用于缝合的胎圈; 以及内侧管，其内部具有缝合针。 以及用于防止被推动的构件的支撑件，以便在与组合部件组合的组合部分的一侧上不被推动的装置和与组合部件的交叉方向的入口，并且通过定位 在组合部分的相对侧，用于安装在入口的端部，并且其特征在于设置有侧吸力盖，其形成在组合部分的相对侧壁上沿对角线方向布置的反射镜部分。
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