公开(公告)号：KR100431642B1

公开(公告)日：2004-05-17

申请号：KR1020010069791

申请日：2001-11-09

Applicant: 한국과학기술원

Inventor： 송세경 ,  권동수 ,  고성영 ,  경기욱 ,  박정홍

IPC: G05B19/4097

Abstract: PURPOSE: A method for setting up figures of shoes and operations of elements, managing work sequences, and performing a heel side lasting process by using a heel side lasting system having GUI(Graphic User Interface) is provided to enhance the reliability and reduce a labor cost by a computer for executing the GUI instead of an existing heel side raster controller using a microprocessor. CONSTITUTION: A figure setup page is displayed on a display window to display figures of shoes as linear vector figures which are formed by a CAD(Computer Aided Design) tool(S101). A scaling process is performed to increase or reduce sizes of the displayed figures(S102-S107). A selected shifting point of the displayed figures of the display window is shifted(S108-S111). The displayed figures are stored in a database and the figure setup page is closed(S112).

Abstract translation: 目的：一种用于设置的鞋附图和元件的操作，管理工作的序列，并且通过使用一跟部侧持久具有GUI（图形用户接口）系统中执行的跟部侧持久处理方法被提供来增强可靠性并降低劳动 由用于执行GUI的计算机代替现有的使用微处理器的脚跟侧光栅控制器来降低成本。 结构：在显示窗口上显示图形设置页面，以将鞋的图形显示为由CAD（计算机辅助设计）工具（S101）形成的线性矢量图形。 执行缩放处理以增加或减小所显示的图的尺寸（S102-S107）。 显示窗口的显示图形的所选移动点被移位（S108-S111）。 显示的数字被存储在数据库中并且图形设置页面被关闭（S112）。

公开(公告)号：KR100334902B1

公开(公告)日：2002-05-04

申请号：KR1019990055257

申请日：1999-12-06

Applicant: 한국과학기술원

Inventor： 송세경 ,  권동수

IPC: B25J3/00

CPC classification number: F16H21/46 ,  B23Q1/5462 ,  B25J9/0057 ,  B25J17/0216 ,  B25J17/0266 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20305 ,  Y10T74/20335

Abstract: 본발명은외부링크와내부링크를정밀위치제어가가능한선형구동기를사용하여상판의병진운동과회전운동을자유자재로수행함으로써, 다양한동작이요구되는정밀작업분야에서광범위하게활용될수 있는정밀작업용 6자유도병렬기구를제공하는데 그목적이있다. 위와같은목적을달성하기위한본 발명은, 정밀작업용 6자유도병렬기구에있어서, 상부에위치하는상판(10)과, 하부에위치하는하판(20)과, 상기상판(10)과하판(20)을연결하는다수의외부링크(30) 및, 상기상판(10)의중앙에결합된다축연결구형조인트(40)와상기하판(20)을연결하는다수의내부링크(50)를포함한다. 이때, 상기다축연결구형조인트(40)를중심으로상기다수의내부링크(50)가연결되어사면체구조를형성하고, 상기내부링크(50) 및외부링크(30)로는미세위치제어가가능한선형구동기가사용된다.

公开(公告)号：KR1020000072841A

公开(公告)日：2000-12-05

申请号：KR1019990015368

申请日：1999-04-29

Applicant: 한국과학기술원

Inventor： 송세경 ,  김완수 ,  권동수 ,  조형석

IPC: F16H55/10

CPC classification number: F16H25/2228 ,  Y10T74/18688

Abstract: PURPOSE: A linear actuator is provided to install an inner ball circulating ball screw having an excellent transfer ratio in proportion to an entire size and having several microns of position accuracy. CONSTITUTION: A driving motor(200) connects to a motor driving power and the connect line of a sensor for measuring the rotation of the driving motor. Then the rotary axis of the driving motor is rotated in a limited RPM and a limited rotation angle. Using the connecting line, the rotation of the rotary axis is controlled and Thus, a ball circulating unit(10), a ball circulating tube(20) and a combining nut connected to the rotary axis are rotated at the same time. Balls(30) are continuously rolled through an inner return pass in proportion to the rotation of the rotary axis. Due to the rolling of the balls, a housing(40) generates thrust to be pushed by a holder(210). The pushed housing is recti-linearly moved by linear guides.

Abstract translation: 目的：提供线性致动器以安装具有优异传送比的内球循环滚珠丝杠，该传动比与整体尺寸成比例并具有几微米的位置精度。 构成：驱动马达（200）连接到马达驱动力和用于测量驱动马达旋转的传感器的连接线。 然后，驱动电动机的旋转轴以有限的RPM旋转并且具有有限的旋转角度。 使用连接线，控制旋转轴的旋转，因此，与循环轴连接的球循环单元（10），球循环管（20）和组合螺母同时旋转。 球（30）与旋转轴的旋转成比例地连续滚动通过内回程。 由于球的滚动，壳体（40）产生被保持器（210）推动的推力。 被推动的外壳由直线导轨直线移动。

公开(公告)号：KR1020030032447A

公开(公告)日：2003-04-26

申请号：KR1020010064229

申请日：2001-10-18

Applicant: 한국과학기술원

Inventor： 권동수 ,  송세경 ,  임대철 ,  허훈 ,  성낙원 ,  김용진

IPC: G05B19/4097

CPC classification number: G05B19/4097 ,  G05B2219/31046 ,  G05B2219/32128 ,  G06F3/048

Abstract: PURPOSE: A heel/side lasting system having a graphic user interface is provided to set up easily an operating sequence by using the graphic user interface. CONSTITUTION: A heel/side lasting system includes a Heel/Side laster(101), an industrial computer(102), an exclusive board(103) of the Heel/Side laster(101), and a database(104). The Heel/Side laster(101) is used for cementing an adhesive on a heel portion and a side portion of a shoe and adhering leather thereon. A communication port is installed at the industrial computer(102) in order to be connected with the exclusive board(103). Operating elements of the Heel/Side laster(101) are formed with a shoe bottom arrangement portion including toe carriage and toe lift, a bottom fixing portion, a pincer, an unloader, a jack post, a wiper, a tacker, a clamp, an adhesive injection nozzle, a finger, and a side pad band. A graphic user interface(105) is used for correcting or forming an operation control value and a shoe figure of style data stored in the database(104).

Abstract translation: 目的：提供具有图形用户界面的脚跟/侧面持久系统，通过使用图形用户界面轻松设置操作顺序。 构成：脚跟/侧面持久系统包括脚跟/侧脚（101），工业计算机（102），脚跟/侧脚（101）的专用板（103）和数据库（104）。 鞋跟侧脚（101）用于将粘合剂固定在鞋跟的后跟部分和侧部上并在其上粘附皮革。 通信端口安装在工业计算机（102）上，以便与专用板（103）连接。 鞋跟侧脚（101）的操作元件形成有鞋底布置部分，包括脚趾托架和脚趾提升，底部固定部分，钳子，卸载器，千斤顶柱，擦拭器，钉子，夹具， 粘合剂注射喷嘴，手指和侧垫带。 图形用户界面（105）用于校正或形成存储在数据库（104）中的样式数据的操作控制值和鞋形图形。

公开(公告)号：KR1020030012711A

公开(公告)日：2003-02-12

申请号：KR1020010047113

申请日：2001-08-04

Applicant: 한국과학기술원

Inventor： 권동수 ,  송세경 ,  고성영 ,  허훈 ,  성낙원 ,  김용진

IPC: A43D25/18

CPC classification number: A43D119/00 ,  A43D1/08 ,  A43D25/00

Abstract: PURPOSE: Provided is an ideal path for applying paste at the bottom of shoes which utilizes generation algorithm for the path for applying paste and GUI to visualize the path for applying paste on window so that it raises workers' understanding. CONSTITUTION: In a system which uses information at the bottom of the shoes including an outer point of the shoes to generate the path for applying paste and transmit to a heel/side laster, the production process of the ideal path for applying paste at the bottom of the shoes comprises the steps of: (i) supplementing the outer point of the shoes to generate an outer line; (ii) taking the points of the path for applying paste distant in an inward normal direction of the outer line from each outer point; and (iii) supplementing the points of the path for applying paste to generate the path for applying paste.

Abstract translation: 目的：提供了一种理想的途径，在鞋底部涂抹浆料，利用生成算法实现粘贴和GUI的路径，可视化在窗口上粘贴的路径，从而提高员工的理解。 构成：在使用鞋底部的信息的系统中，包括鞋的外部点，以产生用于施加浆料并传递到鞋跟/侧面鞋的路径，用于在底部施加浆料的理想路径的生产过程 的鞋子包括以下步骤：（i）补充鞋的外部点以产生外线; （ii）从每个外部点取出在外线的向内法线方向上施加糊状物的路径的点; 并且（iii）补充用于应用粘贴的路径的点以生成用于应用粘贴的路径。

公开(公告)号：KR100334900B1

公开(公告)日：2002-05-02

申请号：KR1019990055255

申请日：1999-12-06

Applicant: 한국과학기술원

Inventor： 송세경 ,  권동수 ,  김완수

IPC: B25J3/00

CPC classification number: F16C11/06 ,  Y10T403/32181 ,  Y10T403/32196 ,  Y10T403/32704 ,  Y10T403/32737 ,  Y10T403/32786 ,  Y10T403/34 ,  Y10T403/341

Abstract: 본발명은한 점에서 3개이상의링크를연결하여동작영역내에서상호간섭없이조인트의기능을수행할수 있는 3축이상의다축링크를한 점에서연결하는구형조인트를제공하는데 그목적이있다. 위와같은목적을달성하기위한본 발명은, 3축이상의다축링크를한 점에서연결하는구형조인트에있어서, 중심구(10)와, 상기중심구(10)로부터이탈하지않으면서그 둘레를감싸도록배치되어있으며상부및 하부에다수의홀(31, 32)이형성된구형몸체(30)와, 상부에형성된상기홀(31)을관통하여상기중심구(10)의상부면에결합되는상부연결링크(20)와, 하부에형성된상기홀(32)들로부터이탈하지않으면서상기중심구(10)와구형몸체(30)의사이에배치되는다수의지지원판(40) 및, 하부에형성된상기홀(32)들을각각관통하여상기다수의지지원판(40)에각각결합되는다수의하부연결링크(32)를포함한다. 그리고, 상기구형몸체(30)의하부에형성되는홀(32)들이 120。의간격을두고형성되어있어, 상기지지원판(40)에각각결합되는 3개의상기하부연결링크(50)의연장선들이상기중심구(10)의중심과정확히일치하는지점에서만나게된다.

公开(公告)号：KR1020010054444A

公开(公告)日：2001-07-02

申请号：KR1019990055257

申请日：1999-12-06

Applicant: 한국과학기술원

Inventor： 송세경 ,  권동수

IPC: B25J3/00

CPC classification number: F16H21/46 ,  B23Q1/5462 ,  B25J9/0057 ,  B25J17/0216 ,  B25J17/0266 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20305 ,  Y10T74/20335

Abstract: PURPOSE: A 6 DOF(degree of freedom) parallel mechanism is provided to perform translational motion of a moving platform and rotation by a linear actuator for precise position control, and to apply to accurate work for multiple motion widely. CONSTITUTION: A 6 DOF parallel mechanism is composed of a moving plate placed in the upper part; a base platform(20) placed in the lower part; an external link(30) connecting the moving plate and the base plate; and an internal link(50) connecting the moving plate and the base plate by a multilink spherical joint(40). The tetrahedron structure is formed with connecting plural internal links around the multilink spherical joint. The moving plate is rotated with driving three external links in fixing three internal links connected to the multilink spherical joint. The parallel mechanism operates translational motion of the moving plate separated from rotation in a small space. A linear actuator as the internal link and the external link controls position finely, and operates accurately and finely.

Abstract translation: 目的：提供6自由度（自由度）并联机构，通过线性执行器进行移动平台的平移运动和旋转运动，实现精确的位置控制，适用于多运动的精确工作。 构成：6自由度并联机构由放置在上部的移动板组成; 放置在下部的基座（20）; 连接所述移动板和所述基板的外部连杆（30）; 以及通过多链球形接头（40）连接所述移动板和所述基板的内部连杆（50）。 四面体结构形成有连接多链节球形接头周围的多个内部连杆。 移动板通过驱动三个外部连杆旋转，固定连接到多链球形接头的三个内部连杆。 平行机构使移动板在小空间中与旋转分离的平移运动。 作为内部链路的线性致动器和外部链路精细地控制位置，并且精确和精细地操作。

公开(公告)号：KR1020010054443A

公开(公告)日：2001-07-02

申请号：KR1019990055256

申请日：1999-12-06

Applicant: 한국과학기술원

Inventor： 송세경 ,  권동수

IPC: B25J3/00

Abstract: PURPOSE: A multilink joint for connecting four links is provided to manufacture and perform conveniently by reducing assembling components with simple structure, and to operate relatively without interference with each other. CONSTITUTION: Plural disks(10,20,30) having each diameter are layered for relative motion, and combined with links(12,23,34) operating without interference. Extension lines of the links are concentrated to a point. A ball socket joint(40) is combined with the disk(10) in the middle of plural disks to rotate, and the links are fixed firmly by an assembling unit combined with the disks. Three links are connected through three disks, and four links are concentrated to a point by combining the ball socket joint in the middle with the upper connecting link. The motion range of the link is enlarged easily with adjusting the size of a groove of the disk for preventing interference between links. Plural links are concentrated on the point with increasing the number of links simply by increasing the number of the disks.

Abstract translation: 目的：提供一种用于连接四个连杆的多连杆接头，通过简单结构减少组装部件，相对不间断地进行相对操作而进行方便的制造和执行。 构成：具有每个直径的多个盘（10,20,30）被分层以进行相对运动，并且与无干扰地操作的链节（12,23,34）组合。 链接的延伸线集中在一个点上。 球形接头（40）与多个盘中间的盘（10）组合以旋转，并且通过与盘组合的组装单元牢固地固定连杆。 三个链路通过三个磁盘连接，四个链路通过将中间的球窝接头与上连接链路组合在一起。 通过调节盘的凹槽的尺寸来容易地扩大连杆的运动范围，以防止连杆之间的干扰。 通过增加磁盘的数量，多个链接集中在点上增加链接数量的点。

公开(公告)号：KR100431645B1

公开(公告)日：2004-05-17

申请号：KR1020010047113

申请日：2001-08-04

Applicant: 한국과학기술원

Inventor： 권동수 ,  송세경 ,  고성영 ,  허훈 ,  성낙원 ,  김용진

IPC: A43D25/18

CPC classification number: A43D119/00 ,  A43D1/08 ,  A43D25/00

Abstract: A method for generating an ideal cementing trajectory of a shoe sole for a heel/ side laster. A contour line of a shoe is generated from information based on contour points of the shoe sole, this information may be retrieved from a database of various shoes depending on a selected shoe style. The ideal cementing trajectory is automatically generated based on the information on the contour points, and offset inwardly from the contour line. Preferably the contour line and the cementing trajectory can be modified and stored upon request of a 10 worker. A cementing operation is performed not along the ideal cementing trajectory, but preferably through generation of an actual cementing trajectory, comprising a plurality of straight line segments. The actual trajectory is generated by setting operating points onto the cementing trajectory and linearly connecting these operating points. A maximum trajectory error is calculated between a line segment of two neighbouring points. These operating points can be adjusted so that the maximum error is smaller than a predetermined value. Preferably the contour line and cementing trajectory are generated by the use of NURBS and a computer-readable medium where in a program is recorded for executing the generation of the cementing trajectory.

Abstract translation: 一种产生用于脚跟/侧面熔化物的鞋底的理想粘合轨迹的方法。 根据基于鞋底的轮廓点的信息生成鞋的轮廓线，该信息可以根据所选择的鞋款从各种鞋的数据库中检索。 理想的固井轨迹是根据轮廓点上的信息自动生成的，并从轮廓线向内偏移。 优选地，轮廓线和固井轨迹可以根据工作人员的要求进行修改和存储。 固井操作不是沿着理想的固井轨迹进行，而是优选地通过产生包括多个直线段的实际固井轨迹来执行。 实际轨迹是通过将操作点设置在胶合轨迹上并线性连接这些操作点而生成的。 在两个相邻点的线段之间计算最大轨迹误差。 可以调整这些操作点，使得最大误差小于预定值。 优选地，通过使用NURBS和计算机可读介质产生轮廓线和胶合轨迹，其中记录程序以执行胶合轨迹的生成。

公开(公告)号：KR100431644B1

公开(公告)日：2004-05-17

申请号：KR1020010064229

申请日：2001-10-18

Applicant: 한국과학기술원

Inventor： 권동수 ,  송세경 ,  임대철 ,  허훈 ,  성낙원 ,  김용진

IPC: G05B19/4097

Abstract: PURPOSE: A heel/side lasting system having a graphic user interface is provided to set up easily an operating sequence by using the graphic user interface. CONSTITUTION: A heel/side lasting system includes a Heel/Side laster(101), an industrial computer(102), an exclusive board(103) of the Heel/Side laster(101), and a database(104). The Heel/Side laster(101) is used for cementing an adhesive on a heel portion and a side portion of a shoe and adhering leather thereon. A communication port is installed at the industrial computer(102) in order to be connected with the exclusive board(103). Operating elements of the Heel/Side laster(101) are formed with a shoe bottom arrangement portion including toe carriage and toe lift, a bottom fixing portion, a pincer, an unloader, a jack post, a wiper, a tacker, a clamp, an adhesive injection nozzle, a finger, and a side pad band. A graphic user interface(105) is used for correcting or forming an operation control value and a shoe figure of style data stored in the database(104).

Abstract translation: 用途：提供具有图形用户界面的脚跟/侧面持久系统，以通过使用图形用户界面轻松设置操作顺序。 组成：脚跟/侧面持久系统包括脚跟/侧面激光器（101），工业计算机（102），脚后跟激光器（101）的专用板（103）和数据库（104）。 脚跟/侧面熔化物（101）用于粘合鞋子的脚后跟部分和侧面部分上的粘合剂并在其上粘合皮革。 通信端口安装在工业计算机（102）上，以便与专用板（103）连接。 鞋跟/侧面熔接器（101）的操作元件形成有鞋底布置部分，该鞋底布置部分包括脚趾托架和脚趾升降器，底部固定部分，钳，卸载器，千斤顶柱，刮水器，定位器， 粘合剂注入喷嘴，手指和侧垫带。 图形用户界面（105）用于校正或形成存储在数据库（104）中的风格数据的操作控制值和鞋号。