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公开(公告)号：KR1020170028693A
公开(公告)日：2017-03-14
申请号：KR1020150125652
申请日：2015-09-04
Applicant: 한국해양과학기술원
Abstract: 본발명은심해저면의경사및 고도에따라채집장치부의높이를가변제어하는것에의해, 채집장치부를보호하고, 심해저광물의채집효율을향상시키는심해저광물집광로봇의채집장치부제어장치및 그방법에관한것으로, 상기심해저광물집광로봇의채집장치부제어장치는, 채집장치부의전면에장착되어해저지형으로음파를송신한후 반사된음파를수신하여, 송수신음파정보및 시간정보를출력하는음파검출부; 상기음파검출부의송수신음파정보및 시간정보를분석하여집광로봇의주행전면에위치하는해저지형정보를획득하는지형연산부; 및상기지형정보를이용하여해저지형의위치별로채집장치부가최적의코안다효과가발생하도록하는위치또는해저장애물과충돌하지않는위치를가지도록하는자세제어실린더구동신호를연산하여동력제어계측부로출력하는자세제어실린더구동연산부;를포함하여구성되어, 심해저광물의채집시 집광로봇의채집장치부를보호하고, 광물의채집효율을향상시키는효과를제공한다.
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公开(公告)号：KR101700393B1
公开(公告)日：2017-01-31
申请号：KR1020160050950
申请日：2016-04-26
Applicant: 한국해양과학기술원
Abstract: 심해저에서집광로봇으로부터채집되어파쇄된광물자원의슬러리를양광펌프로양광펌프의상부에연결되는제1 양광관을통해해상의수상선까지정방향으로이송하는심해저광물자원채광을위한바이패스양광관에있어서, 역방향의슬러리를배출하는배출구를구비하는하우징; 및양광펌프의압력가중을받으며제1 양광관으로의통로를폐쇄하는가압부가구비된밸브블록;을포함하는바이패스양광관에의하여정방향의슬러리는제2 양광관으로이송되고역방향의슬러리는배출구로이송되어낙하하는슬러리가양광펌프로역류하여양광펌프가파손되는것을방지할수 있게된다.
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公开(公告)号：KR101394172B1
公开(公告)日：2014-05-15
申请号：KR1020120104068
申请日：2012-09-19
Applicant: 한국해양과학기술원
IPC: G06F19/00
CPC classification number: G06F17/5095
Abstract: 본 발명은 컴퓨터 시뮬레이션 방법을 사용한 무한궤도 트랙 전단 변위 산출 방법을 제공한다. 상기 트랙 전단 변위 산출 방법은 서로 나란하게 연결되는 다수의 트랙 링크를 하나의 강체로 설정하는 제 1단계와, 상기 다수의 트랙 링크의 전체 구간에서 전단 변위가 변화되는 제 1구간과, 일정하게 형성되는 제 2구간을 설정하는 제 2단계와; 상기 제 1구간의 전단 변위를 직선을 산출하는 제 3단계와; 상기 트랙의 속도를 포함하여, 상기 제 1구간 및 상기 제 2구간에서의 전단 변위 변화를 상기 직선 상에서 추적하여 산출하는 제 4단계를 포함한다.
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公开(公告)号：KR101391635B1
公开(公告)日：2014-05-12
申请号：KR1020130123636
申请日：2013-10-16
Applicant: 한국해양과학기술원
IPC: E21C50/00
CPC classification number: E21C50/00
Abstract: The present invention relates to a motion control device and method of a buffer system for deep sea mineral mining, which controls the heading direction of the buffer system so as to a reference direction error occurring between a surface vehicle and the buffer system by means of a fastening error of a lifting pipe connected by a plurality of pipes and reduces the pendulum motion of the buffer system expected upon the turning motion of the buffer system or upon the variation of the mining processing speed. According to the present invention, the motion control device of a buffer system for deep sea mineral mining includes: a heading direction sensing part sensing the heading direction of the buffer system; a determination part receiving the heading direction information of the buffer system from the heading direction sensing part and comparing the received information with a set value; a controller conducting the control for the balancing of the buffer system if an error value determined from the determination part is more than the set value; and a first driving part or a second driving part actuated to maintain the balance of the buffer system under the control of the controller, wherein either the first driving part or the second driving part is actuated or both of the first driving part and the second driving part are actuated at the same time.
Abstract translation: 本发明涉及一种用于深海矿物开采的缓冲系统的运动控制装置和方法，其控制缓冲系统的行进方向，以便通过一个地面车辆和缓冲系统之间发生的参考方向误差 通过多个管道连接的提升管的紧固错误，并且减少了缓冲系统的转动运动时期望的缓冲系统的摆动运动，或者根据挖掘处理速度的变化。 根据本发明，用于深海矿物开采的缓冲系统的运动控制装置包括：检测缓冲系统的航向的航向方向检测部分; 确定部件，从所述航向方向检测部件接收所述缓冲系统的航向方向信息，并将所接收的信息与设定值进行比较; 如果从所述确定部确定的误差值大于所述设定值，则进行所述缓冲系统的平衡的控制的控制器; 以及第一驱动部分或第二驱动部分，其被致动以在控制器的控制下保持缓冲系统的平衡，其中第一驱动部分或第二驱动部分被致动，或者第一驱动部分和第二驱动 部件同时启动。
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公开(公告)号：KR101390291B1
公开(公告)日：2014-05-07
申请号：KR1020130123637
申请日：2013-10-16
Applicant: 한국해양과학기술원
IPC: E21C50/00
CPC classification number: E21C50/00
Abstract: The present invention relates to a buffer system and, more particularly, to a joint structure of a buffer system which reduces load applied to slurry conveying pipes connected to upper and lower ends of the buffer system and is disposed on the upper and lower ends of the buffer system to provide the degree of freedom in rotation, while being stably used in deep sea through a pressure compensation means. According to the present invention, the joint structure of the buffer system includes a first joint located on the uppermost end of the buffer system and having the lower end fastened to the buffer system and the upper end fastened to a mineral resource lifting pipe; a second joint located on the lower end of the buffer system and having the upper end fastened to the buffer system and the lower end fastened to the upper end of a third joint; and the third joint having the upper end fastened to the lower end of the second joint and the lower end fastened to a mineral resource conveying pipe, wherein the first to third joints have pressure in the deep sea compensated by the pressure compensator.
Abstract translation: 本发明涉及一种缓冲系统，更具体地说，涉及缓冲系统的接合结构，该缓冲系统减少施加到连接到缓冲系统的上端和下端的浆料输送管的负荷，并设置在缓冲系统的上端和下端 缓冲系统，以提供旋转自由度，同时通过压力补偿装置稳定地用于深海。 根据本发明，缓冲系统的接合结构包括位于缓冲系统的最上端的第一接头，其下端固定在缓冲系统上，上端固定在矿物质起重管上; 位于缓冲系统的下端的第二关节，其上端固定在缓冲系统上，下端固定在第三关节的上端; 所述第三关节的上端紧固在所述第二关节的下端，所述下端固定在矿物质输送管上，其中，所述第一至第三关节在所述深海的压力被所述压力补偿器补偿。
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Patent Agency Ranking
公开(公告)号：KR101309125B1
公开(公告)日：2013-09-16
申请号：KR1020110137891
申请日：2011-12-20
Applicant: 한국해양과학기술원
Abstract: 본 발명은 슬라이딩기구와 와유기진동에 의한 양력발전장치에 관한 것으로서, 더욱 상세하게는 조류, 해류, 하천 유동 등의 유체 유동에너지를 전기에너지 등의 유용한 에너지로 변환하는 기술로써, 오염원을 추가적으로 발생시키지 않고, 설치 및 운용시 환경에 영향이 거의 없는 친환경 에너지이며, 유체 유동이 실린더에 작용하는 와유기력에 의해 양력면 전,후부에 연결된 실린더가 회전 진동하여 양력면의 유체 받음각을 발생시킴으로써, 양력면에 상,하 기진력을 유도하며, 상,하 스프링으로 지지된 양력면이 공진함으로써 에너지추출효율을 최대화하는 특징이 있다.
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公开(公告)号：KR101246722B1
公开(公告)日：2013-03-25
申请号：KR1020120094572
申请日：2012-08-28
Applicant: 한국해양과학기술원
Abstract: PURPOSE: An extraction device for vortex induced vibration energy with an ellipsoidal cross section cylinder is provided to provide a vortex generation cylinder which is formed in an optimal aspect ratio of a cross section for obtaining improved energy extraction efficiency through hydrostatic analysis. CONSTITUTION: An extraction device for vortex induced vibration energy with an ellipsoidal cross section cylinder comprises a vortex generation cylinder(100), an energy transmission device(200), and a power generation device(300). The vortex generation cylinder vertically vibrates by generating a vortex on the surface by the vortex exfoliation due to the flow of fluid. The aspect ratio of the ellipsoidal cross section is 0.3-0.5. The energy transmission device transmits kinetic energy of a vortex vibration which is generated in the vortex generation cylinder. The power generation device converts the kinetic energy of the vortex vibration which is transmitted through the energy transmission device to electric power. The cross section of the vortex generation cylinder has an ellipsoidal shape. The power generation device converts kinetic energy of a linear reciprocating which is transmitted due to the vortex vibration generated by the vortex generation cylinder to electric energy. The energy transmission device connects the power generating device with the vortex generation cylinder and transmits linear reciprocating kinetic energy to the power generation device which is generated by the vortex vibration of the vortex generation cylinder. [Reference numerals] (200) Energy transmission device; (300) Power generation device
Abstract translation: 目的：提供一种具有椭圆截面圆筒的涡流引起的振动能的提取装置，以提供一种涡流产生气缸，该气缸以横截面的最佳纵横比形成，以通过静水分析获得改进的能量提取效率。 构成：具有椭圆截面圆柱体的涡流引起的振动能的提取装置，包括涡流产生气缸（100），能量传输装置（200）和发电装置（300）。 涡流产生气缸通过由于流体流动引起的涡流剥离在表面上产生涡流而垂直振动。 椭圆截面的纵横比为0.3-0.5。 能量传递装置传递在涡流产生气缸中产生的涡流振动的动能。 发电装置将通过能量传输装置传递的涡流振动的动能转换成电力。 涡流发生圆筒的截面具有椭圆形状。 发电装置将由涡流发生气缸产生的涡旋振动传递的线性往复运动的动能转换为电能。 能量传递装置将发电装置与涡流发生气缸连接，并将线性往复动能传递给由涡流发生气缸的涡流振动产生的发电装置。 （附图标记）（200）能量传输装置; （300）发电装置
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公开(公告)号：KR101728136B1
公开(公告)日：2017-04-19
申请号：KR1020150125652
申请日：2015-09-04
Applicant: 한국해양과학기술원
Abstract: 본발명은심해저면의경사및 고도에따라채집장치부의높이를가변제어하는것에의해, 채집장치부를보호하고, 심해저광물의채집효율을향상시키는심해저광물집광로봇의채집장치부제어장치및 그방법에관한것으로, 상기심해저광물집광로봇의채집장치부제어장치는, 채집장치부의전면에장착되어해저지형으로음파를송신한후 반사된음파를수신하여, 송수신음파정보및 시간정보를출력하는음파검출부; 상기음파검출부의송수신음파정보및 시간정보를분석하여집광로봇의주행전면에위치하는해저지형정보를획득하는지형연산부; 및상기지형정보를이용하여해저지형의위치별로채집장치부가최적의코안다효과가발생하도록하는위치또는해저장애물과충돌하지않는위치를가지도록하는자세제어실린더구동신호를연산하여동력제어계측부로출력하는자세제어실린더구동연산부;를포함하여구성되어, 심해저광물의채집시 집광로봇의채집장치부를보호하고, 광물의채집효율을향상시키는효과를제공한다.
Abstract translation: 深海矿物通过根据深海表面的倾斜和高度可变地控制高收集装置的一部分，收集装置的部分，提高了深海矿物的收集效率收集装置单元控制设备和方法会聚为保护机器人的发明 到，对于深海矿物会聚收集装置单元，控制所述机器人装置，然后安装在前面收集装置部发送的声波入海底地形用于接收反射声波，并且输出接收声波信息和时间信息的声学检测器; 用于分析所述声波传输和接收信息，所述声波检测部的时间信息地形单元获得其位于行进机器人冷凝器前面的海底地形信息; 并与最佳附壁效应，它位于或海底障碍物的海底地形采集装置的每一个位置有一个与姿态控制滚筒驱动非冲突位置信号计算出输出到功率控制仪表使用地形信息发生 姿态控制缸驱动操作单元，用于在收集深海矿物时保护集光机器人的收集单元，以提高矿物质的收集效率。
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公开(公告)号：KR1020160080947A
公开(公告)日：2016-07-08
申请号：KR1020140193628
申请日：2014-12-30
Applicant: 한국해양과학기술원
Abstract: 본발명은수중로봇에유압을인가하는전자비례제어밸브를수심에따른수압에따라가변제어할수 있도록하는것에의해수중로봇의차속제어및 자세제어를원활히수행할수 있도록하는수중로봇의전자비례제어밸브제어장치및 그제어방법에관한것으로, 상기수중로봇의전자비례제어밸브제어장치는, 유압장치에가압된적정의유량이공급되도록전자비례제어밸브로인가되는 PWM신호의듀티값을보정하는가변기준파의주파수값을설정하는주파수설정부; 및상기주파수설정부로부터수신된가변기준파의주파수값에따라발진하여가변기준파를생성한후, 상기가변기준파에의해가변된듀티값을가지는 PWM신호를생성하여상기전자비례제어밸브로출력하는 PWM드라이버제어부;를포함하여구성되어, 수심에따른수압에따라 PWM신호의듀티값을보정하는것에의해수중로봇의차속제어및 자세제어를원활히수행할수 있도록하는효과를제공한다.
Abstract translation: 本发明涉及一种水下机器人电子比例控制阀的控制装置，其能够通过根据水可变地控制向水下机器人施加油压的电子比例控制阀来平滑地控制水下机器人的速度和姿势 与水位成比例的压力及其控制方法。 水下机器人电子比例控制阀的控制装置包括：频率设定单元，设定校正施加到电子比例控制阀的PWM信号的占空比值的可变参考波的频率值，以将期望量的加压油供应到 液压装置; 以及PWM驱动器控制单元，其通过根据从频率设定单元接收到的可变参考波的频率振荡生成可变参考波，生成具有由可变参考波变化的占空比值的PWM信号，并将PWM信号输出到 电子比例控制阀。 水下机器人的电子比例控制阀的控制装置通过根据与水位成比例的水压校正PWM信号的占空比值，平滑地控制水下机器人的速度和姿势的效果。
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公开(公告)号：KR101391634B1
公开(公告)日：2014-05-12
申请号：KR1020130123634
申请日：2013-10-16
Applicant: 한국해양과학기술원
IPC: E21C50/00
Abstract: The present invention relates to a robot for collecting deep sea manganese nodules using a Coanda effect, and more particularly, to a robot for collecting deep sea manganese nodules using a Coanda effect through collecting units, while running deep sea. According to the present invention, the robot for collecting deep sea manganese nodules using a Coanda effect includes: a plurality of running units detachably mounted on the lower portion thereof in a parallel relation with each other; collecting units disposed on the front end of the running units, forming hydraulic jet flowing to cause the Coanda effect by diffusion, and floating the manganese nodules to introduce the manganese nodules into the robot; transmitting units disposed on the top of the running units and pulverizing the collected manganese nodules to a given size or less to transmit the pulverized manganese nodules to the outside; a power control measuring unit disposed on the top of the running units so as to supply power to the running units and control the driving of the collecting units and the transmitting units; structure frames supporting the collecting units, the transmitting units and the power control measuring unit; and buoyancy units disposed on the top ends of the structure frames.
Abstract translation: 本发明涉及一种使用柯恩达效应收集深海锰结核的机器人，更具体地说，涉及一种在深海运行的同时通过收集单元采用柯恩达效应收集深海锰结核的机器人。 根据本发明，使用柯安达效应收集深海锰结核的机器人包括：多个运行单元，其以彼此平行的关系可拆卸地安装在其下部; 收集单元设置在运行单元的前端，形成液压喷射流动，通过扩散引起柯恩达效应，并浮动锰结核以将锰结核引入机器人; 设置在运行单元的顶部的传送单元，将收集的锰结核粉碎至规定尺寸以下，将粉碎的锰结核传递到外部; 功率控制测量单元，设置在运行单元的顶部，以向运行单元供电并控制收集单元和发送单元的驱动; 支撑收集单元的结构框架，发送单元和功率控制测量单元; 以及布置在结构框架的顶端上的浮力单元。
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