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公开(公告)号：KR101363873B1
公开(公告)日：2014-02-20
申请号：KR1020120126679
申请日：2012-11-09
Applicant: 한국과학기술원
Abstract: The present invention relates to a biomimetic leg mechanism comprising: an input link (100) rotated on one end (110) by receiving driving force from a driving force generation unit; a base link (200) having one end (210) separated from one end (110) of the input link (100) at a predetermined interval and rotated on the one end (210); a first link (300) for connecting the other end (130) of the input link (100) and a first spot (250) on the base link (200); a second link (400) having one end (410) connected to the other end of the first link (300); a third link (500) for connecting one spot (310) of the first link (300) and one spot (450) of the second link (400); and a driving link (600) connected to the other end (430) of the second link (400). A closed rectangular space is formed by the base link (200), the first link (300), the second link (400), and the third link (500). A rotary motion of the input link (100) generates a relative motion between the base link (200) and the first link (300) and between the second link (400) and the third link (500) to drive the driving link (600). The present invention applies the leg mechanism emulating the rear leg of a cat to a four feet walking robot or others using the multiple links; thereby increasing the moving speed of the robot to drive at high speed.
Abstract translation: 本发明涉及一种仿生腿机构，包括：通过从驱动力产生单元接收驱动力而在一端（110）上旋转的输入连杆（100）; 基座连杆（200），其一端（210）以预定的间隔以一预定间隔从所述输入连杆（100）的一端（110）分离并在所述一端（210）上旋转; 用于连接所述输入连杆（100）的另一端（130）和所述基座连杆（200）上的第一点（250）的第一连杆（300）; 具有连接到第一连杆（300）的另一端的一端（410）的第二连杆（400）; 用于连接第一连杆（300）的一个点（310）和第二连杆（400）的一个点（450）的第三连杆（500）; 以及连接到第二连杆（400）的另一端（430）的驱动连杆（600）。 由基座连杆（200），第一连杆（300），第二连杆（400）和第三连杆（500）形成一个闭合的矩形空间。 输入链路（100）的旋转运动在基座连杆（200）和第一连杆（300）之间以及第二连杆（400）和第三连杆（500）之间产生相对运动，以驱动驱动连杆 ）。 本发明将利用多重连杆的模拟猫的后腿的腿部机构应用于四脚行走机器人或其他人; 从而增加机器人以高速驱动的移动速度。
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公开(公告)号：KR101341793B1
公开(公告)日：2013-12-17
申请号：KR1020120096884
申请日：2012-09-03
Applicant: 한국과학기술원
CPC classification number: A01D34/008 , A01D2101/00 , B25J13/086
Abstract: The present invention relates to an automated robot with a weeding function which prevents weeds from being grown between rice seeding on a rice paddy with water which rice planting is completed. The automated robot of the present invention includes a movable member; an intrarow spacing recognizing member; a flipper; a flipper driving member; a battery; and a camera. The movable member includes wheels on the underside, the left side, and the right side and is moved by the rotation of left and right wheels along the intrarow spacing thereof. A motor which moves the movable unit by rotating the wheels is formed on the top of the movable member to prevent the motor from being dipped into water. The intrarow spacing recognizing member recognizes the intrarow spacing between rice seedlings positioned between the left and right wheels when the movable member is moved. The flipper pushes weeds while the left and right wheels are vertically moved in the intrarow spacing and makes mid splash when the movable member is moved. The flipper driving member vertically moves the flipper. The battery supplies power for the operation of various kinds of components including the movable member and the flipper. The camera is positioned on the top of the movable member and photographs the surroundings of the movable member. The automated robot of the present invention obtains excellent energy efficiency and excellent weeding effect; can monitor the state of a rice paddy by photographing the surroundings of the movable member with the camera.
Abstract translation: 本发明涉及一种具有除草功能的自动机器人，该机器人防止在水稻上播种水稻之间的水稻种植完成之后种植杂草。 本发明的自动机器人包括可动构件， 内部间隔识别构件; 襟翼 导板驱动构件; 一个电池 和相机。 可移动部件包括下侧，左侧和右侧的轮，并且通过左右轮的旋转间隔沿其内侧间隔移动。 通过旋转车轮使可移动单元移动的电动机形成在可动构件的顶部上，以防止电动机被浸入水中。 当可移动部件移动时，内侧间距识别构件识别位于左右轮之间的秧苗间的间距。 襟翼推动杂草，同时左右轮子在内部间距中垂直移动，并且当可移动部件移动时中间飞溅。 导板驱动构件垂直移动导板。 电池为包括可移动部件和导板的各种部件的动作提供动力。 相机位于可移动部件的顶部并照相可移动部件的周围。 本发明的自动机器人具有优异的能量效率和优异的除草效果; 可以通过用相机拍摄可移动部件的周围来监视稻田的状态。
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公开(公告)号：KR1020160133123A
公开(公告)日：2016-11-22
申请号：KR1020150065761
申请日：2015-05-12
Applicant: 한국과학기술원
Abstract: 본발명은 2족고속주행을위한자세보정메커니즘에관한것으로, 더욱상세하게고양이뒷다리의움직임을생체모방한생체모방형이족로봇의좌우측면에꼬리가장착됨으로써, 3차원이동시균형을잡으면서고속주행이가능할뿐만아니라, 제어가간단한자세보정메커니즘에관한것이다.
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公开(公告)号：KR101361491B1
公开(公告)日：2014-02-13
申请号：KR1020120128817
申请日：2012-11-14
Applicant: 한국과학기술원
Abstract: The present invention relates to a robot inspired from a centipede. According to one embodiment of the present invention, the robot inspired from a centipede includes a head module (100) connected to a first connection shaft (130); a body module (200) connected to a second connection shaft (200); and a body module (200) connected to a second shaft (230).
Abstract translation: 本发明涉及一种从蜈蚣启发的机器人。 根据本发明的一个实施例，从蜈蚣启发的机器人包括连接到第一连接轴（130）的头模块（100）; 连接到第二连接轴（200）的主体模块（200）; 以及连接到第二轴（230）的主体模块（200）。
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公开(公告)号：KR101402735B1
公开(公告)日：2014-06-11
申请号：KR1020120129257
申请日：2012-11-15
Applicant: 한국과학기술원
Abstract: 본 발명은 생체모방형 정찰 로봇의 보호체에 관한 것으로서, 그 구성은, 주행을 수행하는 제1이동 수단(150)을 포함하는 제1단위 모듈(100); 상기 제1단위 모듈(100)과 힌지 결합에 의하여 일렬로 연결되어 있고, 주행을 수행하는 제2이동 수단(250)을 포함하는 제2단위 모듈(200); 일단이 상기 제1단위 모듈(100)에 연결되어 있는 제1보호체(310,320)와, 일단이 상기 제2단위 모듈(200)에 연결되어 있는 제2보호체(330)와, 상기 제1보호체(310,320)와 상기 제2보호체(330)로부터 분리가 가능한 분리 보호체(350)를 포함하는 보호체(300);를 포함하여, 보호 모드시에는, 상기 제1단위 모듈(100)과 상기 제2단위 모듈(200)이 포개진 형태를 취하고, 상기 보호체(300)는 구의 형태를 형성하며, 투척 후 상기 분리 보호체(350)가 분리되며, 주행 모드시에는, 상기 제1단위 모듈(100)과 상기 제2단위 모듈(200)이 일렬로 배치되는 형태를 취하고, 상기 제1보호체(310,320)와 상기 제2보호체(330)는 상기 제1단위 모듈(100)과 상기 제2단위 모듈(200)의 상측에 배치되는 형태를 취하는 것을 특징으로 하며, 보호체가 가지고 있는 충격 흡수 기능이 내부 로봇의 형상과 제어장치를 보호하고, 투척에 용이한 구조를 가지며, 보호 모드에서 주행 모드로의 변환의 기능인 자세복귀가 용이하도록 제작되고, 건물 내부의 감시 정찰 시 벽과 기둥 등 에 의해 원격지와의 통신 문제를 해결할 수 있는 효과가 있다.
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Patent Agency Ranking
公开(公告)号：KR1020140065498A
公开(公告)日：2014-05-30
申请号：KR1020120129257
申请日：2012-11-15
Applicant: 한국과학기술원
Abstract: The present invention relates to a protector of a bio-inspired reconnaissance robot. The configuration comprises a first unit module (100) including a first moving means (150) performing a driving; a second unit module (200) connected to the first unit module (100) in a raw by a hinge and including a second moving means (250) performing a driving; and a protector (300) including a first protector (310, 320) with one end connected to the first unit module (100), a second protector (330) with one end connected to the second unit module (200), and a separation protector (350) separated from the first protector (310, 320) and the second protector (330).
Abstract translation: 本发明涉及生物灵敏侦察机器人的保护器。 该配置包括：第一单元模块（100），包括执行驱动的第一移动装置（150）; 第二单元模块（200），其通过铰链连接到原始的第一单元模块（100），并且包括执行驱动的第二移动装置（250）; 以及保护器（300），包括一端连接到第一单元模块（100）的第一保护器（310,320），一端连接到第二单元模块（200）的第二保护器（330） 保护器（350）与第一保护器（310,320）和第二保护器（330）分离。
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公开(公告)号：KR101400095B1
公开(公告)日：2014-05-30
申请号：KR1020120129293
申请日：2012-11-15
Applicant: 한국과학기술원
Abstract: The present invention relates to a biomimetic protective shell for protection of an articulated robot, which comprises multiple unit bodies (100) hinged in serial; and protective shells (200) connected to one side of each unit body (100) to be able to be hinged. In the protection mode, the front end of the unit body (100a) arranged in the most front line among the unit bodies (100) and the rear end of the unit body (100c) arranged in the most rear line are met and rolled, and the protective shell (200) has a sphere shape. In the driving mode, the unit bodies (100) are aligned side by side, and the protective shell (200) forms a shape having a part overlapped. The biomimetic protective shell has a protective shell surrounding the unit body by biologically mimicking the shell of Armadillidiidae in order to protect small-sized patrol robots and articulated robots, which are used in disaster environments and for the patrol purpose, from strong impacts. The biomimetic protective shell protects inner robots from impacts, has a simple but efficient structure, and is manufactured to facilitate the posture return for operating the robot after the protective shell absorbs the impacts. The biomimetic protective shell pursues the miniature and the light weight, and has a structure to improve the impact resistance.
Abstract translation: 本发明涉及一种用于保护关节式机器人的仿生保护壳，其包括串联铰链的多个单元体（100）; 以及连接到每个单元主体（100）的一侧以能够铰接的保护壳（200）。 在保护模式下，布置在单元主体（100）中的最前面的单元主体（100a）的前端和布置在最后方的单元主体（100c）的后端被满足并滚动， 并且保护壳（200）具有球形。 在驱动模式中，单位体（100）并排排列，保护壳（200）形成具有重叠部分的形状。 仿生保护壳具有围绕单位体的保护壳，通过生物模拟犰狳壳，以保护用于灾害环境和巡逻目的的小型巡逻机器人和铰接式机器人受到强烈的冲击。 仿生保护壳保护内部机器人免受冲击，具有简单但有效的结构，并且制造成便于在保护壳吸收冲击之后操作机器人的姿势返回。 仿生保护壳追求微型和重量轻，具有改善耐冲击性的结构。
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公开(公告)号：KR1020140058774A
公开(公告)日：2014-05-15
申请号：KR1020120124721
申请日：2012-11-06
Applicant: 한국과학기술원
Abstract: The present invention relates to a wheel-leg robot using a flexible shaft, which comprises: a driving force generating unit (400) which generates driving force; a first module (100) including a first fame (110), a first shaft (130) which is placed in the first frame (110) in order to rotate and rotates by receiving the driving force of the driving force generating unit (400) through a driving force transmitting unit, and a first wheel-leg (150) which is placed in the first frame (110) in order to rotate and rotates by receiving rotational force through a first rotational force transmitting unit according to the rotation of the first shaft (130); a second module (200) including a second frame (210), a second shaft (230) which is placed in the second frame (210) in order to rotate, and a second wheel-leg (250) which is placed in the second frame (210) in order to rotate and rotates by receiving rotational force through a second rotational force transmitting unit according to the rotation of the second shaft (230); and an elastic flexible shaft (300) which connects the first shaft (130) and the second shaft (230) in order to transmit the rotational force of the first shaft (130) to the second shaft (230), and buffers the relative rotating motion between the first shaft (130) and the second shaft (230). Therefore, the wheel-leg robot using a flexible shaft can transmit power between the first module and the second module with changing angles and distances, and can drive on various landforms by effectively adjusting the difference of driving force between a wheel and a leg respectively.
Abstract translation: 本发明涉及一种使用柔性轴的轮腿机器人，其包括：产生驱动力的驱动力产生单元（400）; 第一模块（100），包括第一名望（110），第一轴（130），其通过接收驱动力产生单元（400）的驱动力而放置在第一框架（110）中以便旋转和旋转， 通过驱动力传递单元和第一车轮腿（150），其被放置在第一框架（110）中以便通过根据第一车轮（110）的旋转通过第一旋转力传递单元接收旋转力而旋转和旋转 轴（130）; 第二模块（200），包括第二框架（210），第二轴（230），其被放置在第二框架（210）中以便旋转;以及第二轮腿（250），其被放置在第二框架 框架（210），以便通过根据第二轴（230）的旋转通过第二旋转力传递单元接收旋转力来旋转和旋转; 以及连接第一轴（130）和第二轴（230）的弹性柔性轴（300），以将第一轴（130）的旋转力传递到第二轴（230），并缓冲相对旋转 第一轴（130）和第二轴（230）之间的运动。 因此，使用柔性轴的车轮腿机器人可以以变化的角度和距离在第一模块和第二模块之间传递动力，并且可以通过有效地调节车轮和腿部之间的驱动力的差异来驱动各种地形。
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公开(公告)号：KR101685916B1
公开(公告)日：2016-12-13
申请号：KR1020150065761
申请日：2015-05-12
Applicant: 한국과학기술원
Abstract: 본발명은 2족고속주행을위한자세보정메커니즘에관한것으로, 더욱상세하게고양이뒷다리의움직임을생체모방한생체모방형이족로봇의좌우측면에꼬리가장착됨으로써, 3차원이동시균형을잡으면서고속주행이가능할뿐만아니라, 제어가간단한자세보정메커니즘에관한것이다.
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公开(公告)号：KR1020160014958A
公开(公告)日：2016-02-12
申请号：KR1020140097190
申请日：2014-07-30
Applicant: 한국과학기술원
CPC classification number: G05D1/0212 , G05D1/0246 , G05D2201/0201 , G06K9/00798
Abstract: 본발명은모의형태학적특징을이용한논 잡초방제로봇의주행기준선추출방법에관한것으로, 상세하게는로봇에기구비된카메라로부터모열(rice row)의이진영상(binary image)을획득하는영상획득단계(S100), 상기영상획득단계(S100)에서획득한상기이진영상의차영상(SDI, Sequential Difference Image)을획득하고, 데이터를군집화(Clustering rice pixels)하는영상처리단계(S200), 상기영상처리단계(S200)를수행한상기이진영상을이용하여중앙기준선(guidance lines)을추출하는중앙기준선추출단계(S300) 및상기중앙기준선추출단계(S300)에서추출한상기중앙기준선에의해상기로봇의동작을제어하는로봇제어단계(S400)로이루어지는것을특징으로하는모의형태학적특징을이용한논 잡초방제로봇의주행기준선추출방법에관한것이다.
Abstract translation: 本发明涉及一种使用米饭形态特征提取稻谷中的杂草控制机器人的驱动线的方法，更具体地，涉及一种方法，包括：获得步骤（S100），获得二进制图像 从机器人中预先装备的相机的米排 图像处理步骤，获得通过图像获取步骤（S100）获得的二值图像的顺序差分图像（SDI），并且对水稻像素（数据）进行聚类; 引导线提取步骤（S300），其通过使用通过图像处理步骤的二值图像来提取引导线（S200）; 以及通过由引导线提取步骤提取的引导线来控制机器人的操作的机器人控制步骤（S400）（S300）。
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