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    • 2. 发明授权
    • 인공근육모듈의 구동장치와 인공근육모듈의 구동방법
    • 人造肌肉模块驱动装置及人造肌肉模块驱动方法
    • KR101834970B1
    • 2018-03-08
    • KR1020160170534
    • 2016-12-14
    • 한국기계연구원
    • 박철훈손영수함상용최상규홍두의최경준박성준
    • A61F2/68B25J9/10A61F2/74A61F2/50
    • A61F2/68A61F2002/5066A61F2002/745B25J9/1075B25J9/1085
    • 본발명은인공근육모듈에충진되는유체의온도에따라인공근육모듈의유연한움직임을구현하면서인공근육모듈의응답성을빠르게하고, 종래에비해에너지효율을향상시킬수 있는인공근육모듈의구동장치와인공근육모듈의구동방법에관한것이다. 이를위해인공근육모듈의구동장치는고온수탱크와저온수탱크를포함하는유체탱크유닛과, 인공근육모듈과유체탱크유닛을연결하는유체공급라인및 유체회수라인과, 인공근육모듈과유체탱크유닛사이에서유체를순환시키는순환펌프유닛과, 고온수탱크에서배출되는유체와저온수탱크에서배출되는유체를이용하여인공근육모듈의형상을변형시키기위한기설정된작동온도를갖는유체를형성하는온도조절유닛과, 기설정된분배조건에따라유체회수라인의유체를고온수탱크또는저온수탱크로분배하는유체분배유닛을포함한다.
    • 本发明是人工肌肉模块的根据人工肌肉模块和人工肌肉模块的柔性运动,所述人工肌肉模块的迅速的响应中要填充的流体的温度的驱动系统,可提高能量效率与传统的人造相比 并且是肌肉模块的驱动方法。 为人工肌肉模块用于此目的的驱动装置是高温水箱和低温水箱,流体容器单元,和一个人工肌肉模块和流体箱流体供应管线连接所述单元和流体返回管线,并且人工肌肉模块和流体箱单元,其包括 使用流体和从低温水箱排出的流体的温度控制到从循环泵单元,高温水箱用于循环之间的流体,从而形成具有预定的工作温度为修改所述人工肌肉模块的形状的流体被排出 单元和流体分配单元,用于根据预定分配条件将流体回收管线的流体分配到热水箱或冷水箱。
    • 4. 发明公开
    • 팔꿈치 연동 기계식 의수
    • 一个连接着一个ELBOW JOINT的人造ARM
    • KR1020120044200A
    • 2012-05-07
    • KR1020100105635
    • 2010-10-27
    • 선동윤이상원
    • 선동윤이동원
    • A61F2/54A61F2/56A61F2/68A61F2/80
    • A61F2/54A61F2/582A61F2/68A61F2/80A61F2002/543A61F2002/6854
    • PURPOSE: An artificial arm linked with an elbow joint is provided to improve the efficiency of a clutching operation by simultaneously operating a thumb member and a point finger member based on the operation of an elbow joint. CONSTITUTION: An artificial arm linked with an elbow joint includes an upper fixed part(100), a front fixed part(200), a rotating part(300), an artificial arm part(500), a thumb member(600), a point finger member(700), and an interlinking unit(400). The upper fixed part is fixed to the upper part of an elbow. The front fixed part is fixed to the lower front part of the elbow. The rotating part rotatably connects the lower part of the upper fixed part and the upper part of the front fixed part. The artificial arm part is combined with the lower part of the front fixed part. The thumb member is rotatably combined with the artificial arm part. The point finger member is arranged to be in contact with the thumb member and is rotatably combined with the artificial arm part. The engaging unit is moved according to the movement of the elbow joint.
    • 目的:提供与肘关节连接的人造臂,以通过基于肘关节的操作同时操作拇指部件和点指部件来提高抓握操作的效率。 构造:与肘关节连接的人造臂包括上固定部(100),前固定部(200),旋转部(300),人造臂部(500),拇指部(600), 点指构件(700)和互连单元(400)。 上固定部分固定在肘部的上部。 前固定部分固定在肘部的下前部。 旋转部可旋转地连接上固定部的下部和前固定部的上部。 人造臂部与前固定部的下部结合。 拇指构件与人造臂部可旋转地组合。 点指构件布置成与拇指构件接触并且与人造臂部分可旋转地组合。 接合单元根据肘关节的运动而移动。
    • 5. 发明公开
    • 의지 사용자를 위한 인공 무릎 관절
    • 人造膝关节用于前列腺使用者
    • KR1020120040800A
    • 2012-04-30
    • KR1020100102234
    • 2010-10-20
    • 하재철
    • 하재철
    • A61F2/64A61F2/68A61F2/60
    • A61F2/64A61F2/68A61F2002/5016A61F2002/745
    • PURPOSE: An artificial knee joint for prosthetic leg user is provided to alleviate strains which can be added to a hip joint and back bones by helping the user to walk naturally. CONSTITUTION: An artificial knee joint for prosthetic leg user comprises an upper arm joint(10), a front tibia bone frame(20), a rearward tibia bone frame(30), a pivot mount(40), a sub-frame(50), a damper(60), and a shock absorber(70). The front tibia bone frame is hinge-coupled in the middle part of the upper arm joint and forms a shinbone. The rearward tibia bone frame is hinge-coupled in trailing portion of the upper arm joint. In the pivot mount, a first hinge shaft is hinge-coupled in lower column portion of the rearward tibia bone frame. In sub-frame, top parts are respectively combined in bottom part of the front tibia bone frame and a second hinge shaft(X3) of the pivot mount.
    • 目的:提供一种假腿用户的人造膝关节,以帮助用户自然走路,减轻可加入髋关节和背骨的应变。 构成:用于假腿使用者的人造膝关节包括上臂关节(10),前胫骨骨架(20),后胫骨骨架(30),枢轴支架(40),子框架(50) ),阻尼器(60)和减震器(70)。 前胫骨骨架铰链连接在上臂关节的中间部分,形成胫骨。 后胫骨骨架在上臂关节的后部铰链连接。 在枢转支架中,第一铰链轴铰接在后胫骨骨框架的下柱部分中。 在子框架中,顶部部分分别组合在前胫骨骨架的底部和枢转支架的第二铰链轴(X3)中。
    • 6. 发明公开
    • 다자유도 의수용 손가락 시스템
    • 手指系统在人造手中与多个自由度
    • KR1020120040438A
    • 2012-04-27
    • KR1020100101858
    • 2010-10-19
    • 동의대학교 산학협력단
    • 문인혁정성윤배주환김영민
    • A61F2/56A61F2/68A61F2/70
    • A61F2/586A61F2/68A61F2002/701H02N10/00
    • PURPOSE: An artificial finger system with multi degree freedom and a control method thereof are provided to control curve angle of a finger by measuring SMA specific resistance using Shape Memory Alloy(SMA). CONSTITUTION: An artificial finger system with multi degree freedom comprises a first segment part, a second snatch part, a controller, and a driving module(40). The first segment part constitutes one snatch of a finger. The second snatch part is pivotally connected using a first pulley(21). The second snatch part constitutes a different snatch of the finger. The driving module includes a connecting member. The drive material is composed of a shape memory alloy shrinked by current applied from outside. The connecting member interlinks the drive material to the second snatch part. The connecting member generates rotational motion of the second snatch part with expansion and contraction of the drive material. The controller is electrically connected to the driving module and approves electric current.
    • 目的:提供具有多度自由度的人工手指系统及其控制方法,以通过使用形状记忆合金(SMA)测量SMA电阻率来控制手指的弯曲角度。 构成:具有多度自由度的人造手指系统包括第一段部分,第二抓取部分,控制器和驱动模块(40)。 第一段部分构成手指的一个抓取。 第二抓取部分使用第一滑轮(21)枢转地连接。 第二个抓取部分构成手指的不同抓取。 驱动模块包括连接构件。 驱动材料由从外部施加的电流收缩的形状记忆合金构成。 连接构件将驱动材料互连到第二抓取部。 连接构件随着驱动材料的膨胀和收缩而产生第二抓取部分的旋转运动。 控制器电连接到驱动模块并批准电流。
    • 9. 发明公开
    • 기계식 슬관절의 6 자유도 메카니즘 기구
    • 机械KNEE接头自由度六个机制
    • KR1020100095734A
    • 2010-09-01
    • KR1020090014697
    • 2009-02-23
    • (주)트리플씨메디칼
    • 김철웅박민형한기봉
    • A61F2/64A61F2/60
    • A61F2/64A61F2/68A61F2002/5016A61F2002/5018
    • PURPOSE: A mechanism of six degrees of freedom for mechanical knee joint is provided, which can realize linear motion and rotational motion at the same time and diversify movement radius. CONSTITUTION: A mechanism of six degrees of freedom for mechanical knee joint comprises: an intermediate body(10) having middle front side perpendicular to one direction; a linear guide(20) having the straight guide hole sloping upward from the upper side of the intermediate body; an arc guide which is separately placed from the linear guide; a top body(30) locating on the top of the intermediate body; a top diverter(40); a linear guide protrusion guiding the movement of the top diverter; and an arc guide projection guiding the angle conversion of the top diverter.
    • 目的:提供机械膝关节六自由度的机构,同时实现线性运动和旋转运动,使运动半径多样化。 构成:用于机械膝关节的六自由度的机构包括:具有垂直于一个方向的中间前侧的中间体(10) 直线引导件(20),其具有从中间体的上侧向上倾斜的直引导孔; 与线性引导件分离放置的电弧引导件; 位于中间体顶部的顶部体(30); 顶部分流器(40); 引导顶部转向器的运动的线性引导突起; 以及引导顶部转向器的角度转换的弧形引导突起。