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91. 发明公开

KR1020140065498A 생체모방형 정찰 로봇의 보호체 有权
标题翻译：生物启发机器人保护壳
公开(公告)号：KR1020140065498A
公开(公告)日：2014-05-30
申请号：KR1020120129257
申请日：2012-11-15
申请人： 한국과학기술원
发明人： 김수현 , 이진이 , 박종원 , 김영국 , 윤병호 , 안정도
IPC分类号： B25J5/00 , B25J19/00 , B25J9/08 , B62D57/02
摘要： 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).
摘要翻译：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。

92. 发明授权

KR101400095B1 다관절 로봇 보호를 위한 생체모방형 보호체 有权
标题翻译：生物保护保护壳用于机器人保护
公开(公告)号：KR101400095B1
公开(公告)日：2014-05-30
申请号：KR1020120129293
申请日：2012-11-15
申请人： 한국과학기술원
发明人： 김수현 , 김홍진 , 이민구 , 이진이 , 박종원 , 김영국 , 윤병호 , 안정도
IPC分类号： B25J19/00 , B25J9/06
摘要： 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.
摘要翻译：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。

93. 发明公开

KR1020140058774A 플렉시블 샤프트를 이용한 휠-레그 로봇 无效
标题翻译：带有柔性轴的车轮机器人
公开(公告)号：KR1020140058774A
公开(公告)日：2014-05-15
申请号：KR1020120124721
申请日：2012-11-06
申请人： 한국과학기술원
发明人： 김수현 , 박종원 , 김영국 , 윤병호 , 이진이 , 안정도
IPC分类号： B25J5/00 , B25J19/00
摘要： 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.
摘要翻译：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。

94. 发明授权

KR101314276B1 한손 구동 휠체어 有权
标题翻译：一个手动驾驶轮椅
公开(公告)号：KR101314276B1
公开(公告)日：2013-10-02
申请号：KR1020120053318
申请日：2012-05-18
申请人： 한국과학기술원
发明人： 김수현 , 김지철 , 강태수 , 김남윤 , 김민기 , 황진율 , 김문홍 , 정지현 , 손용민
IPC分类号： A61G5/02 , F16H48/00 , A61G5/10
摘要： PURPOSE: One hand driving wheelchair is provided to rotate first and second shafts in the same direction while driving forward and backward, thereby realizing auto-driving with a hand. CONSTITUTION: One hand driving wheelchair comprises: a pair of frames (10) positioned at the right and left sides of the user, supporting the seat; first and second shafts (22, 24) installed under the seat across the pair of frames, and positioned on the same shaft; a differential gear (30) comprised to rotate the first and second shafts at the same speed or at a different speed; a pair of wheels (40) positioned outside of the frame; a driving handle installed to be rotated on one of the frames; and a power transmission device (60) delivering the rotary power of the driving handle to the differential gear.
摘要翻译：目的：提供单手驾驶轮椅，使第一和第二轴沿相同方向旋转，同时向前和向后驱动，从而实现手自动驾驶。构成：单手驾驶轮椅包括：一对位于使用者左右两侧的框架（10），支撑座椅; 第一和第二轴（22,24）安装在座椅下方穿过该对框架并位于相同的轴上; 差速齿轮（30），其以相同的速度或不同的速度旋转所述第一和第二轴; 位于框架外部的一对轮（40）; 安装在其中一个框架上旋转的驱动手柄; 以及将驱动手柄的旋转动力传递到差动齿轮的动力传递装置（60）。

95. 发明授权

KR101304229B1 발사 가능한 원격 조종 공격 장치 有权
标题翻译：遥控攻击装置启动
公开(公告)号：KR101304229B1
公开(公告)日：2013-09-05
申请号：KR1020100080550
申请日：2010-08-19
申请人： 한국과학기술원 , 덕산메카시스 주식회사
发明人： 김수현 , 김경수 , 김지형 , 홍윤식 , 김철영 , 정원석 , 박현수 , 유규제
IPC分类号： F41G3/16 , B25J13/08 , B25J11/00 , F41G3/14
CPC分类号： F41H7/005 , B25J11/002 , F41G7/30 , F41H9/04 , F42B12/20 , F42B12/365 , F42B12/50 , F42B12/58 , F42B12/625 , F42B23/005
摘要： 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.

96. 发明公开

KR1020130079777A 지느러미 강성 조절이 가능한 수중 추진 장치 有权
标题翻译：水下TH TING TING FIN FIN FIN FIN FIN FIN FIN FIN FIN FIN FIN FIN FIN
公开(公告)号：KR1020130079777A
公开(公告)日：2013-07-11
申请号：KR1020120000476
申请日：2012-01-03
申请人： 한국과학기술원
发明人： 김수현 , 김경수 , 윤동원
IPC分类号： B63H1/36 , H01F1/44 , B25J5/00 , B63C11/00
CPC分类号： B25J11/00 , B25J13/088 , H01F1/44
摘要： 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
摘要翻译：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

97. 发明公开

KR1020130039837A 인젝터를 포함하는 일원추진체 기반 공압 발생 장치 有权
标题翻译：基于单压力的高压气体发生器，使用注射器减少体积
公开(公告)号：KR1020130039837A
公开(公告)日：2013-04-23
申请号：KR1020110104446
申请日：2011-10-13
申请人： 한국과학기술원
发明人： 김경수 , 김수현 , 김경록 , 하창완 , 이종현
IPC分类号： F15B11/06 , F15B3/00
CPC分类号： F15B11/06 , F15B3/00 , F15B13/02 , F15B2211/21
摘要： 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;
摘要翻译：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;

98. 发明授权

KR101254112B1 공벌레를 생체 모방한 정찰 로봇 有权
标题翻译：侦察机器人灵感来自药丸虫
公开(公告)号：KR101254112B1
公开(公告)日：2013-04-12
申请号：KR1020110034256
申请日：2011-04-13
申请人： 한국과학기술원
发明人： 김수현 , 박종원 , 김지철 , 김영국 , 권지훈
IPC分类号： B25J5/00 , B25J19/00
摘要： 본 발명은 공벌레를 생체 모방한 정찰 로봇에 관한 것으로, 본 발명의 목적은 생체모방을 통하여 생물체의 특징을 추출하고 이를 응용함으로써, 소형 정찰 로봇이 갖추어야 할 특성 즉 소형 및 경량화, 높은 기동성, 투척 용이성, 높은 험지 주행 성능을 모두 충족시킬 수 있는, 공벌레를 생체 모방한 정찰 로봇을 제공함에 있다. 보다 구체적으로는, 본 발명의 목적은 공벌레의 특성과 유사하게, 단위 몸체 다수 개가 서로 직렬로 연결된 다절 몸체로 이루어져, 보호 모드 시에는 다절 몸체가 말린 형태가 되며 외피가 둥근 형태를 형성하게 되고, 주행 모드 시에는 몸체가 펼쳐져 주행이 이루어지게 되는, 공벌레를 생체 모방한 정찰 로봇을 제공함에 있다.

99. 发明公开

KR1020120110759A 가변 강성의 탄성 소재 有权
标题翻译：具有可变刚度的弹性材料
公开(公告)号：KR1020120110759A
公开(公告)日：2012-10-10
申请号：KR1020110028832
申请日：2011-03-30
申请人： 한국과학기술원
发明人： 김수현 , 김경수 , 김영근
IPC分类号： F16F6/00
摘要： 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
摘要翻译：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

100. 发明公开

KR1020120110753A 자기장 응답형 엘라스토머를 이용한 가변 강성의 구동기 失效
标题翻译：使用磁流变弹性体的具有可变刚度的致动器
公开(公告)号：KR1020120110753A
公开(公告)日：2012-10-10
申请号：KR1020110028820
申请日：2011-03-30
申请人： 한국과학기술원
发明人： 김수현 , 김경수 , 김영근
IPC分类号： H02N2/00 , H01F7/06
CPC分类号： H01F7/064 , H01F1/06
摘要： 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
摘要翻译：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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