This technology is an exterior wall climbing device that includes a mechanical docking guide and a hook-based docking stabilization assembly to ensure stable coupling and decoupling between a lift unit moving along vertical rails installed on a building's exterior and a horizontal movement unit moving along horizontal rails.
Existing rope or gondola methods for exterior building maintenance pose safety risks, and robots often experience incomplete docking or detachment at the intersections of horizontal and vertical rails due to a loss of wheel traction.
This technology proposes a method that forces the seating and detachment of units using a docking stabilization assembly composed of a hook member, a hook hole, and a screw drive unit, rather than relying on the horizontal movement unit's own propulsion. It can be applied to exterior maintenance robots to reliably prevent falls caused by docking failures at rail intersections.
This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of an intelligent robot system for the maintenance of high-rise building exteriors.
This technology is a cam-based integrated safety joint unit that transmits input torque through a hollow shaft to a harmonic gear reducer. A spring-supported roller block contacts a slanted cam to maintain stiffness below a threshold, while deforming non-linearly to absorb shock when an impact exceeds that threshold.
Conventional active control methods struggle to respond to instantaneous impacts due to sensor and control system latency, while passive control methods are limited by the linear characteristics of springs, which can cause unnecessary deflection or restrict design flexibility.
This technology proposes a method that achieves mechanical safety through non-linear stiffness implemented via the contact structure between rollers and a slanted cam, combined with a cam buckling structure and precise torque sensing using torque sensor spokes. It can be applied to the joints of collaborative robots, providing ideal safety characteristics that remain rigid during normal operation and become instantly flexible upon collision.
This technology enables automatic fluid replenishment in exterior wall maintenance climbing devices through a docking mechanism between the lift unit and the horizontal movement unit. It utilizes a rack-and-pinion gear-based valve movement mechanism and a valve-coupling structure to optimize fluid storage and replenishment efficiency.
Existing exterior wall maintenance methods face issues such as aesthetic damage and restricted movement due to long hose connections, as well as reduced stability and frequent downtime for refilling caused by the limited capacity of onboard storage tanks.
This technology introduces an automatic water supply system via a valve-coupling interface between the lift unit's primary storage tank and the horizontal movement unit's secondary storage tank. During docking, the lift supplies fluid, optimizing the robot's onboard capacity and distributing the load. Applicable to exterior wall cleaning robots, it enables continuous operation without hoses, enhancing both work efficiency and building aesthetics.
This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of intelligent robot systems for high-rise building exterior maintenance.
This technology is a mechanism that combines a motor-driven actuator fixed to a base with pivot rollers and a cable routing structure to enable independent operation of serially connected rotary joints without mutual interference.
The limitations addressed include the increased volume of joints caused by mounting motors and reducers directly onto wearable robot joints, restricted movement due to increased moment of inertia, and the challenges of applying conventional rolling joint structures to human anatomy.
This technology adopts a remote drive structure that connects a fixed member on the base to a rolling actuator via cables. It independently controls the first and second link members through multiple routing cables passing over pivot rollers and incorporates a gravity compensation spring to provide mechanical assistance.
This technology is an autonomous flight control algorithm that converts the pixel coordinates of a ground target on the image plane of a drone-mounted camera into the drone's body coordinate system (FRD), and calculates the yaw angle and forward/backward distance to align the target with the center of the image.
Existing methods lack specific coordinate transformation and flight control calculation processes for keeping a ground target centered in the camera view during flight, leading to low tracking precision and complex control implementation.
This technology uses a pinhole camera model to convert pixel coordinates into 3D drone body coordinates, and performs automatic alignment by calculating the yaw angle and travel distance through geometric formulas that account for tilt angle, drone altitude, and camera height.
This technology is a modular joint mechanism that improves load imbalance during rotation by placing the drive unit between the first and second housings that support a pair of links, respectively, and positioning the center of the drive unit at the housing connection. It transmits power from the rotation axis to the second housing and supports axial external forces through a motor housing, connecting shaft, and bearing configuration.
Existing robot joints often suffer from structural weight imbalances, such as drive units (motors) protruding to the side of the link or the use of bevel gears. These issues lead to increased joint size, backlash, reduced operational precision, and higher design and manufacturing costs.
This technology optimizes weight balance by arranging the first and second housings to be rotatable relative to each other and positioning the center of the drive unit at the connection between the two housings. Furthermore, by applying a combination of a motor housing, connecting shaft, ball bearings, and thrust bearings, it achieves precise control of the drive unit and supports external loads. It can be applied to collaborative robots, industrial robots, and modular manipulators, reducing backlash while enhancing operational precision and design efficiency.
This invention was developed with support from the Ministry of Knowledge Economy for the development of 2/3 DOF mechanisms for shoulders and wrists.
This technology enables intuitive 3D motion control by aligning the mechanical structures of master and slave devices through a continuum elastic body, cylinders, and a wire-based actuation and encoder feedback mechanism.
Conventional joystick-based surgical robot master devices require a high level of proficiency to control the multi-jointed 3D movements of slave devices. Furthermore, the absence of a wire restoration system often leads to reduced operational precision, while the addition of separate restoration devices increases structural complexity and operational force.
This technology features a master/slave device configuration based on a longitudinally symmetric wire structure for elastic bodies. By winding a pair of wires in opposite directions around a single wheel to maintain constant tension, it provides a mechanical mechanism that precisely detects and reproduces 3D bending motions without the need for separate restoration devices. Applicable to surgical robots, remote operation, and medical automation, it enhances operational intuitiveness by accurately reproducing 3D movements without additional restoration hardware.
This technology features a micro-scale actuation mechanism consisting of a body with an internal storage compartment and a magnetic layer, sealed by a cap. By applying an external rotating magnetic field, the device is propelled to a target location, where the cap is detached to release its contents.
Existing microrobots are limited to specific targets, such as cancer cells that secrete certain substances, and often require invasive procedures or the insertion of mechanical equipment for localized drug delivery.
This technology uses an external rotating magnetic field to generate propulsion for the magnetic-layered actuator, guiding it to a target site. By adjusting the characteristics (direction and intensity) of the magnetic field, the cap is detached from the actuator, allowing for the direct, localized release of drugs or other substances. Applicable to surgical robots, interventional systems, and medical automation, it enhances biocompatibility and reduces side effects during insertion and delivery.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of 3D precision microstructures and cell/drug delivery-based technologies.
This technology is a remote control system that enables 1:N collaboration by generating operation command signals and autonomous motion command signals to control multiple field robots at a remote location.
Limitations of 1:1 remote control methods include increased operational complexity, higher operator fatigue, control instability due to time delays, and constraints in handling large or heavy objects.
This technology allows users to select an operating mode (e.g., exclusive, follow, object, playback) to generate task commands and autonomous motion commands for collaboration between field robots, which are then transmitted to the robots via a communication unit. Applicable to industrial robots and automation systems, it enhances the efficiency and quality of remote control tasks, reduces operator fatigue, and minimizes the risk of accidents.
This invention was developed with support from the Ministry of Knowledge Economy for the development of remote operation service engines for remote tasks and force-feedback remote-controlled robot system technologies.
This technology proposes a cable routing and pulley-based kinematic mechanism for driving the links of a multi-joint robot arm. By routing cables diagonally through multiple idler pulleys arranged concentrically at each joint, the effective length of the cable remains constant during joint rotation, allowing for independent control (decoupling) of the front and rear link movements without mutual interference.
Conventional multi-joint robots place actuators at each joint, which increases weight and reduces overall efficiency. Furthermore, auxiliary link methods require thicker structures to achieve higher payloads, leading to limited workspaces and collision risks, while belt-drive methods face stiffness limitations during heavy-duty tasks.
This technology centralizes motors in the base link and independently controls the front and rear links through separate cable routing. Specifically, by placing multiple idler pulleys concentric to the joint's center of rotation and routing cables diagonally, the tension length of the link drive cables is maintained even during rolling joint motion, thereby improving control precision and load-handling capacity.
This technology is a horticultural robot system that utilizes e-ink display-based QR codes placed within an environment. The robot uses dual zoom-capable cameras mounted on its front and rear to align with these QR codes, correcting its path for autonomous navigation. Simultaneously, it collects crop growth data via environmental sensors and cameras, transmitting this information to a server to build a comprehensive big data set.
Conventional guidance methods (magnetic or wired) involve high installation and maintenance costs and are difficult to adapt to changing work environments. Existing methods using printed QR codes are inefficient, as they require physical replacement of the prints whenever the path needs to be altered.
This technology uses e-ink displays to allow for dynamic updates to QR codes. It also employs a precision navigation mechanism that aligns two zoom cameras mounted on the robot along the same optical axis, enabling real-time path correction by aligning the front and rear QR codes in a straight line.
This technology is a torque-free robot arm that mechanically offsets the torque caused by the link's own weight by applying a spring, wire, pulley, and counterbalancer structure to the link joints, and aligns the reference angles of multi-degree-of-freedom links using a double parallelogram unit.
When designing robot arms, the torque generated at the joints due to the arm's own weight necessitates high-performance, expensive motors and reducers, which increases manufacturing costs and limits the general-purpose use of these arms in service robots.
This technology proposes a method that uses a counterbalancer utilizing spring compression and wire tension at each joint to offset self-weight torque, while also compensating for the gravitational torque exerted on lower links by the rotation of upper links through a parallelogram wire structure. Applicable to service and collaborative robots, it enables operation with low-cost, compact motors, thereby accelerating the mass adoption of robot arms.
This technology is a mobile module for climbing robots that moves along pre-installed guide rails on curtain wall structures. It uses the rotational force of the drive unit to press the sliding wheels against the guide surface for secure adhesion, while simultaneously transmitting driving force via a rack-and-pinion and cam mechanism to perform movement.
Existing suction-based or magnetic exterior wall climbing robots pose a high risk of falling in the event of an operational error and are difficult to apply universally to various curtain wall structures. Furthermore, manual exterior wall maintenance methods carry risks of industrial accidents and suffer from low cost-efficiency.
This technology proposes a mobile module that includes a pair of sliding wheels that adhere to guide grooves, a cam-based separation unit, and a mechanical clutch structure using a rack-and-pinion system, enabling secure fixation and movement without relying on suction force. It can be applied to the exterior maintenance of curtain wall buildings, allowing for stable high-rise operations without the risk of falling.
This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of an intelligent robot system for high-rise building exterior maintenance.
This technology is a climbing device that moves along vertical and horizontal rails installed on building exteriors. It performs vertical and horizontal movement through a docking mechanism between a lift unit and a horizontal movement unit, with a docking guide unit ensuring smooth engagement.
Maintaining the exterior of skyscrapers poses risks of worker falls, inefficiencies in manual labor, and inconsistent quality. Existing suction-based robots suffer from poor adaptability to building shapes and difficulties in preventing falls during operational errors.
This technology proposes a system that separates the lift unit, which travels on vertical rails, from the horizontal movement unit, which travels on horizontal rails. It optimizes the coupling mechanism using a docking guide equipped with conveyor belts and rollers, and ensures stability during ascent and descent through inchworm-style propulsion. It can be applied to exterior cleaning and inspection of skyscrapers, fundamentally eliminating industrial accident risks by replacing manual high-altitude work.
This invention was developed with support from the Korea Agency for Infrastructure Technology Advancement for the development of intelligent robot systems for high-rise building exterior maintenance.
This technology features a cable-driven joint mechanism that incorporates a spring, an auxiliary motor, and a variable reduction ratio unit to distribute joint driving torque. It utilizes the elastic energy of the spring to reduce the load on the main motor, while the auxiliary motor and a variable reduction ratio unit—using an eccentric spool or elliptical gear—reduce the control torque required to maintain specific angles.
Wearable robot joint actuators often suffer from large volumes and high moments of inertia, making high-speed response difficult. Furthermore, generating the high torque required for joint movement necessitates large-capacity motors, leading to increased power consumption and weight.
This technology connects a spring unit to the drive motor to assist with rotational torque. By using a variable reduction ratio unit (eccentric spool or elliptical gear) connected to an auxiliary motor, it optimizes the load and position-holding torque of the auxiliary motor, thereby improving the energy and operational efficiency of the entire system.
