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公开(公告)号：KR101304229B1
公开(公告)日：2013-09-05
申请号：KR1020100080550
申请日：2010-08-19
Applicant: 한국과학기술원 , 덕산메카시스 주식회사
CPC classification number: F41H7/005 , B25J11/002 , F41G7/30 , F41H9/04 , F42B12/20 , F42B12/365 , F42B12/50 , F42B12/58 , F42B12/625 , F42B23/005
Abstract: 본 발명은 군용 또는 대테러용으로 사용되는 투척 및 발사 가능한 원격 조종 공격 로봇에 관한 것으로, 좀 더 자세하게는 로봇을 통하여 원격에서 상황을 판단하고 필요에 따라 무기로 설비화 된 원격 조작으로 폭발을 이용한 공격 또는 가스를 살포하는 기능이 구비된 원격 조종 공격 장치에 관한 것이다.
본 발명은 카메라(130)를 포함하는 원통형 본체(100)와 상기 본체(100) 양측에 배치되며 개별적으로 구동이 가능한 두개의 타이어(210)로 이루어진 구동부(200)를 포함하고, 전력 공급용 배터리부(300)가 상기 구동부(200)의 타이어(210)의 중심부 안쪽 공간에 배치되는 것이 특징인 원격 조종 공격장치에 있어서, 상기 공격장치의 내부에 복수개의 저장부(120,310)와 무선제어부(110)가 구비되어 있는 것을 특징으로 하는 원격 조종 공격장치를 제공한다.-
22.发明公开
公开(公告)号：KR1020130079777A
公开(公告)日：2013-07-11
申请号：KR1020120000476
申请日：2012-01-03
Applicant: 한국과학기술원
CPC classification number: B25J11/00 , B25J13/088 , H01F1/44
Abstract: PURPOSE: An underwater thrust device for adjusting the stiffness of a caudal fin is provided to stably improve a swimming property because the strength of the caudal fin of a fish robot is varied to actively cope with various underwater environments. CONSTITUTION: An underwater thrust device for adjusting the stiffness of a caudal fin comprises a fin housing (110), a magnetic field generating coil (130), and a control part (150). The fin housing has a receiving space (112) in which magneto-rheological fluid (MR) is charged. The magnetic field generating coil is installed inside the receiving space and generates a magnetic field. The control part controls the stiffness of the fin housing by changing the viscosity and shear characteristic of the magneto-rheological fluid. [Reference numerals] (150) Control part
Abstract translation: 目的：提供一种用于调节尾鳍刚度的水下推力装置，以稳定地改善游泳性能，因为鱼机器人的尾鳍的强度变化以主动应对各种水下环境。 构造：用于调节尾鳍刚度的水下推力装置包括翅片壳体（110），磁场产生线圈（130）和控制部分（150）。 翅片壳体具有磁流变流体（MR）带电的接收空间（112）。 磁场产生线圈安装在接收空间内，产生磁场。 控制部分通过改变磁流变流体的粘度和剪切特性来控制翅片壳体的刚度。 （附图标记）（150）控制部
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公开(公告)号：KR101274255B1
公开(公告)日：2013-06-17
申请号：KR1020120056318
申请日：2012-05-25
Applicant: 엘아이지넥스원 주식회사 , 한국과학기술원
Abstract: PURPOSE: A boss unit fixing type torque sensor and a robot with the same are provided to include a photo interrupt measuring the elastic displacement of spokes, thereby obtaining the torque sensor which is thin and strong against the noise. CONSTITUTION: A robot with a spoke type optical torque sensor(100) comprises a boss unit(110), a rim unit(120), a photo interrupt(130), spokes(140), and a blocking unit(150). The photo interrupt is formed in the inner periphery of the rim unit and includes a light emitting unit and a light receiving unit separately formed by facing in the direction of the thickness of the rim unit. The spokes are connected to the boss unit to the rim unit and elastically transforms in a rotational direction by the difference in relative displacement of the boss unit and the rim unit. The blocking unit is fixed to the boss unit and is formed to be faced to the rim unit. The blocking unit, which is arranged between the light emitting unit and the light receiving unit according to the displacement of the boss unit caused by the transformation of the spokes, blocks the lights emitted by the light emitting unit, thereby controlling the amount of received lights of the light receiving unit.
Abstract translation: 目的：提供一种凸台单元固定式扭矩传感器和具有该凸轮单元固定型扭矩传感器的机器人，以包括测量辐条的弹性位移的光中断，从而获得抵抗噪声的薄而强的扭矩传感器。 构成：具有轮辐型光学扭矩传感器（100）的机器人包括凸台单元（110），轮辋单元（120），照片中断（130），辐条（140）和阻挡单元（150）。 照片中断形成在边缘单元的内周边，并且包括发光单元和光接收单元，其分别形成为沿着边缘单元的厚度方向。 轮辐与凸台单元连接到轮辋单元，并通过凸台单元和轮辋单元的相对位移的差异沿旋转方向弹性变形。 阻挡单元固定到凸台单元并且形成为面向边缘单元。 根据由辐条的变形引起的凸起单元的位移，布置在发光单元和光接收单元之间的阻挡单元阻挡由发光单元发射的光，从而控制接收到的光的量 的光接收单元。
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公开(公告)号：KR101264122B1
公开(公告)日：2013-05-14
申请号：KR1020120067575
申请日：2012-06-22
Applicant: 엘아이지넥스원 주식회사 , 한국과학기술원
Abstract: PURPOSE: A variable rigidity device and a robot including the same are provided to control rigidity with low power by vertically forming an input side power and an output side power through selecting one among multiple pulleys with a different diameter from one another. CONSTITUTION: A variable rigidity device comprises a cable(110), an input side pulley assembly(120), an output side pulley(130), and a rigidity control unit(140). The input side pulley assembly includes two or more pulleys where the cable is input and the diameter gradually increases or decreases in an axial direction. The output side pulley is connected to the same rotary shaft as an input side pulley and outputs the cable in a different direction from the input direction of the cable. The rigidity control unit guides the cable to one of the pulleys.
Abstract translation: 目的：提供一种可变刚性装置和包括该刚性装置的机器人，通过在彼此具有不同直径的多个皮带轮中选择一个，通过垂直地形成输入侧功率和输出侧电力来控制低功率的刚度。 构成：可变刚度装置包括电缆（110），输入侧滑轮组件（120），输出侧滑轮（130）和刚性控制单元（140）。 输入侧滑轮组件包括两个或更多个滑轮，其中电缆被输入并且直径在轴向方向上逐渐增加或减小。 输出侧滑轮连接到与输入侧滑轮相同的旋转轴，并且沿与电缆的输入方向不同的方向输出电缆。 刚性控制单元将电缆引导到其中一个滑轮。
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公开(公告)号：KR1020130039837A
公开(公告)日：2013-04-23
申请号：KR1020110104446
申请日：2011-10-13
Applicant: 한국과학기술원
CPC classification number: F15B11/06 , F15B3/00 , F15B13/02 , F15B2211/21
Abstract: PURPOSE: A monopropellant-based pneumatic pressure generating device with an injector is provided to operate without using a large valve and high-pressure inert gas. CONSTITUTION: A monopropellant-based pneumatic pressure generating device comprises a monopropellant storage container(1), a reactor(3), a pneumatic tank(4), and an injector. The reactor receives monopropellants from the monopropellant storage container and provides catalysts for the reaction of the monopropellants to the reactor. The pneumatic tank stores gas generated in the reactor. The injector supplies the monopropellants of the monopropellant storage container to the reactor. [Reference numerals] (1) Monopropellant storage container; (3) Reactor; (4) Pneumatic tank;
Abstract translation: 目的：提供一种具有喷射器的基于单组元推进剂的气动压力发生装置，可在不使用大阀和高压惰性气体的情况下进行操作。 构成：一种基于单组分推进剂的气压产生装置，包括单组分推进剂储存容器（1），反应器（3），气动罐（4）和注射器。 反应器接收来自单一推进剂储存容器的单一推进剂，并提供催化剂用于将单一推进剂与反应器反应。 气动罐储存在反应器中产生的气体。 注射器将单一推进剂储存容器的单组元装置供应到反应器。 （附图标记）（1）单组分推进剂储存容器; （3）反应器; （4）气动箱;
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Patent Agency Ranking
公开(公告)号：KR1020130002071A
公开(公告)日：2013-01-07
申请号：KR1020110063081
申请日：2011-06-28
Applicant: 한국과학기술원
Abstract: PURPOSE: A spreader pose control crane using a smart device and a spreader control method is provided to measure inclination and vibration in real time and to facilitate the control of multi degree-of-freedom movement. CONSTITUTION: A spreader control method includes processes below. The movement information measured is sent to the smart device(400) using a spreader sensor unit(300) which includes a tilt sensor and a vibration sensor(320) and measuring the six degree of freedom of the spreader(140). The spreader movement information received is displayed on the screen(410) of the smart device. The movement information is generated using a smart device sensor unit(420) which includes a motion sensor and a touch sensor and measuring the six degree of freedom of the smart device. The operational information of the six degree of freedom is generated based on the measured movement information of the smart device. In a spreader driving unit(200), the spreader pose is controlled according to the operational information receiving the operational information generated. [Reference numerals] (120) Sway, Surge movement control; (140) Roll, Pitch, Skew, Haave movement control; (200) Wire; (AA) Information display; (BB) Motion sensor; (CC) Touch screen; (DD) Trolley; (EE) Spreader
Abstract translation: 目的：提供使用智能装置和吊具控制方式的吊具姿势控制起重机，实时测量倾斜和振动，并有助于多自由度运动的控制。 构成：撒布机控制方法包括以下过程。 测量的运动信息使用包括倾斜传感器和振动传感器（320）的扩展传感器单元（300）发送到智能设备（400），并测量扩展器（140）的六个自由度。 接收到的吊具移动信息被显示在智能装置的屏幕（410）上。 使用包括运动传感器和触摸传感器的智能设备传感器单元（420）生成移动信息，并测量智能设备的六个自由度。 基于所测量的智能设备的移动信息，生成六自由度的操作信息。 在扩展器驱动单元（200）中，根据接收到生成的操作信息的操作信息来控制展开姿势。 （附图标记）（120）摆动，浪涌运动控制; （140）滚动，俯仰，倾斜，Haave运动控制; （200）电线; （AA）信息显示; （BB）运动传感器; （CC）触摸屏; （DD）手推车; （EE）撒布机
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公开(公告)号：KR1020120110759A
公开(公告)日：2012-10-10
申请号：KR1020110028832
申请日：2011-03-30
Applicant: 한국과학기술원
IPC: F16F6/00
Abstract: PURPOSE: A variable stiffness elastic material is provided to be composed by a small elastic material without a spring operator. CONSTITUTION: A variable stiffness elastic material comprises an elastomer(10), a magnetic body(20), a first electromagnet member(31), a second electromagnet member(32), a first control unit(41), and a second control unit(42). The elastomer comprises a predetermined space(50). The magnetic body is formed in a metal plate and arranged in the predetermined space in the elastomer. The first electromagnet member and the second electromagnet member are arranged to apply magnetic field to the magnetic member. The first and the second control units control the current applied to the first and the second electromagnet members respectively. [Reference numerals] (41) First control unit; (42) Second control unit
Abstract translation: 目的：提供可变刚度弹性材料，由弹性不大的弹性材料组成。 构成：可变刚度弹性材料包括弹性体（10），磁体（20），第一电磁体构件（31），第二电磁体构件（32），第一控制单元（41）和第二控制单元 （42）。 弹性体包括预定的空间（50）。 磁体形成在金属板中并且布置在弹性体的预定空间中。 第一电磁体构件和第二电磁体构件被布置成向磁性构件施加磁场。 第一和第二控制单元分别控制施加到第一和第二电磁体的电流。 （附图标记）（41）第一控制单元; （42）第二控制单元
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公开(公告)号：KR1020120110753A
公开(公告)日：2012-10-10
申请号：KR1020110028820
申请日：2011-03-30
Applicant: 한국과학기술원
Abstract: PURPOSE: A driver of varying stiffness is provided to be driven as various types while changing stiffness. CONSTITUTION: A plurality of permanent magnets(20) is included in an elastomer(10). The plurality of permanent magnets is comprised of magnetic powder. The plurality of permanent magnets is arranged as a single layer or a multi-layer. A plurality of electromagnet members is arranged in a location which corresponds to the plurality of permanent magnets. A controller(40) independently controls a current flowing in the plurality of electromagnet members. [Reference numerals] (40) Controller
Abstract translation: 目的：提供变化刚度的驱动器，以便在改变刚度的同时以各种类型进行驱动。 构成：弹性体（10）中包括多个永磁体（20）。 多个永磁体由磁性粉末构成。 多个永磁体被布置为单层或多层。 多个电磁体部件配置在与多个永磁体对应的位置。 控制器（40）独立地控制在多个电磁体部件中流动的电流。 （附图标记）（40）控制器
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公开(公告)号：KR101060518B1
公开(公告)日：2011-08-30
申请号：KR1020090024811
申请日：2009-03-24
Applicant: 한국과학기술원
Abstract: 본 발명은 복수의 이동자를 구비하고, 소정의 파형을 갖는 구동전압으로 압전체를 팽창 또는 수축시킴으로써 발생되는 이동자의 마찰력 및 관성력을 이용하고, 이를 통해 이동자들을 각각 구동시키거나, 동시에 구동시킬 수 있는 다자유도를 갖는 압전 선형구동기, 그 구동방법 및 이를 이용한 초점 조절장치에 관한 것이다. 이를 달성하기 위한 수단으로 본 발명에 따른 다자유도를 갖는 압전 선형구동기는 프레임; 프레임에 일단이 고정된 압전체; 압전체의 타단면에 일단이 고정된 구동축; 구동축과의 마찰력을 각각 달리하여 구동축에 끼워지는 복수의 이동자; 소정의 파형을 갖는 구동전압을 압전체에 인가하는 구동회로; 및 구동회로를 제어하는 제어부를 포함하여 이루어진다.
본 발명에 의하면 복수의 이동자들을 자유자재로 선형 구동시킬 수 있어 복수의 자유도를 얻을 수 있는 이점이 있다.
압전, 압전소자, 자유도, 선형, 구동기, 모터-
公开(公告)号：KR1020110003809A
公开(公告)日：2011-01-13
申请号：KR1020090061260
申请日：2009-07-06
Applicant: 한국과학기술원
IPC: H04N5/913
CPC classification number: H04N5/913 , G06T1/005 , H04N19/176 , H04N19/467 , H04N2005/91335
Abstract: PURPOSE: A watermarking system in various illumination environment for improving geometric transformation attack and D-A/A-D conversion attack in the use of a watermark expansion repetition pattern is provided to insert the watermark in an area of low noise by using the complex masking. CONSTITUTION: A watermark generator(100) generates a watermark basic pattern. A masking unit(200) analyzes brightness information data of a watermark insertion position. The masking unit obtains a complex masking value. A complex masking weight calculator(300) calculates the complex masking weight. A watermark insertion unit(400) generates a watermark insertion frame.
Abstract translation: 目的：提供使用水印扩展重复模式改善几何变换攻击和D-A / A-D转换攻击的各种照明环境中的水印系统，通过复杂掩蔽将水印插入低噪声区域。 构成：水印生成器（100）生成水印基本图案。 掩蔽单元（200）分析水印插入位置的亮度信息数据。 掩蔽单元获得复掩蔽值。 复掩蔽权重计算器（300）计算复掩蔽权重。 水印插入单元（400）生成水印插入框。
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