公开(公告)号：US07503708B2

公开(公告)日：2009-03-17

申请号：US11061509

申请日：2005-02-22

申请人： Soo Sang Yang ,  Yong Jae Kim ,  Yeon Taek Oh ,  Youn Baek Lee

发明人： Soo Sang Yang ,  Yong Jae Kim ,  Yeon Taek Oh ,  Youn Baek Lee

IPC分类号： G03B17/00 ,  H04N5/228

CPC分类号： G03B17/561 ,  F16M11/10 ,  F16M11/18 ,  F16M11/2014 ,  F16M11/38 ,  Y10S224/908

摘要： A pan and tilt apparatus usable with a camera, and more particularly, a driving mechanism to linearly maintain a tilting angle of the camera relative to a rotating angle of a tilt motor. The pan and tilt apparatus includes a tilting driving mechanism having the tilt motor to induce tilting motion of the camera, a panning driving mechanism to induce panning motion of the camera, and a link device to transmit a driving force of the tilt motor to the camera, such that the tilting angle of the camera varies linearly relative to the rotating angle of the tilt motor.

摘要翻译： 一种可用于照相机的平移和倾斜装置，更具体地，涉及一种用于线性地保持照相机相对于倾斜电动机的旋转角度的倾斜角度的驱动机构。 摇摄和倾斜装置包括倾斜驱动机构，其具有倾斜马达以引起相机的倾斜运动，用于引起相机的平移运动的摇摄驱动机构，以及将倾斜马达的驱动力传递到相机的连杆装置 使得照相机的倾斜角度相对于倾斜电动机的旋转角线性地变化。

公开(公告)号：US20090049640A1

公开(公告)日：2009-02-26

申请号：US12149375

申请日：2008-04-30

申请人： Youn Baek Lee ,  Soo Sang Yang ,  Yeon Taek Oh ,  Jeong Hun Kim

发明人： Youn Baek Lee ,  Soo Sang Yang ,  Yeon Taek Oh ,  Jeong Hun Kim

IPC分类号： A47L5/00 ,  A47L9/20

CPC分类号： A47L9/20 ,  A47L2201/00 ,  A47L2201/024

摘要： A robot cleaner system having an improved docking structure to allow a dust discharge port of a robot cleaner to come into close contact with a dust suction port of a docking station without an additional drive device. The robot cleaner system includes a robot cleaner having a dust discharge port, a docking station having a dust suction port to suction dust collected in the robot cleaner, and a docking device to perform a seesaw movement as it comes into contact with the robot cleaner when the robot cleaner docks with the docking station, so as to allow the dust suction port to come into close contact with the dust discharge port. The docking device further includes a link member installed in the docking station in a pivotally rotatable manner. The link member has one end provided with a contact portion to come into contact with the robot cleaner, and the other end provided with a docking portion defining the dust suction port therein.

摘要翻译： 一种机器人清洁器系统，其具有改进的对接结构，以允许机器人清洁器的灰尘排放口与对接站的吸尘口紧密接触，而无需额外的驱动装置。 机器人清洁器系统包括具有排尘口的机器人清洁器，具有用于吸入机器人清洁器中的灰尘的吸尘口的对接站以及与机器人清洁器接触时执行跷跷板运动的对接装置， 机器人清洁器与对接站对接，以使吸尘口与灰尘排放口紧密接触。 对接装置还包括以可枢转的方式安装在坞站中的连杆构件。 连杆构件具有设置有与机器人清洁器接触的接触部分的一端，另一端设置有限定吸尘口的对接部。

公开(公告)号：US06478531B1

公开(公告)日：2002-11-12

申请号：US09629853

申请日：2000-08-01

申请人： Soo-Sang Yang

发明人： Soo-Sang Yang

IPC分类号： B25J1700

CPC分类号： B25J9/042 ,  B25J9/102 ,  Y10T74/20329

摘要： An article transfer apparatus suitable for an operation requiring a large vertical working distance. The apparatus includes a first link driven by a motor, at least one second link coupled to the first link, and a mounting member coupled to the last one of the second link and loaded with an article to transfer. The individual links are pivotally moved using a combination of a supporting shaft, a rotating shaft and a swiveling shaft which are provided on the previous link, and the mounting member is moved upward by the shafts provided on the last link. Bevel gears are provided on the ends of the supporting shaft and the swiveling shaft and on both ends of the rotating shaft, and engaged with one another. The gear ratio between the bevel gear of the rotating shaft and that of the swiveling shaft is 2:1 on the first link and 1:2 on the last link. The other bevel gears are engaged with each other at a gear ratio of 1:1. According to these gear ratios, the individual links are moves upward along a same axis and the mounting member is moved while maintained in parallel with the horizontal plane.

摘要翻译： 一种适合于需要大的垂直工作距离的操作的物品传送装置。 该装置包括由电动机驱动的第一连杆，联接到第一连杆的至少一个第二连杆以及联接到第二连杆的最后一个并且装载物品以进行传送的安装构件。 单独的连杆通过设置在前一链节上的支撑轴，旋转轴和旋转轴的组合来枢转运动，并且安装构件通过设置在最后链节上的轴向上移动。 伞形齿轮设置在支撑轴和旋转轴的端部以及旋转轴的两端上并彼此接合。 旋转轴的锥齿轮与旋转轴的锥齿轮之间的齿轮比在第一连杆上为2：1，最后一个链接为1：2。 其他锥齿轮以1：1的传动比相互啮合。 根据这些齿轮比，各个连杆沿着相同的轴向上移动，并且安装构件在与水平面保持平行的同时移动。

公开(公告)号：US08821016B2

公开(公告)日：2014-09-02

申请号：US13370745

申请日：2012-02-10

申请人： Soo Sang Yang ,  Jong Hwan Park ,  Seung Hoon Shin

发明人： Soo Sang Yang ,  Jong Hwan Park ,  Seung Hoon Shin

IPC分类号： A61B6/08 ,  A61B6/00 ,  G01N23/04

CPC分类号： A61B6/547 ,  A61B6/4233 ,  A61B6/4464 ,  A61B6/4494 ,  A61B6/508 ,  G01N23/04

摘要： Disclosed are an X-ray imaging system and a positioning method of the same that automatically measure a relative positional relationship between devices. According to an aspect, an X-ray imaging system may include: a movable imaging device having a sensor; one or more beacons; a controller configured to analyze position information recognized by the sensor, to compare a relative position between the imaging device and the one or more beacons and to determine a position of the imaging device based on a positional error; and a drive device configured to move the imaging device to the position determined by the controller.

摘要翻译： 公开了一种自动测量装置之间的相对位置关系的X射线成像系统及其定位方法。 根据一个方面，X射线成像系统可以包括：具有传感器的可移动成像装置; 一个或多个信标; 控制器，其被配置为分析由所述传感器识别的位置信息，以比较所述成像装置和所述一个或多个信标之间的相对位置，并且基于位置误差来确定所述成像装置的位置; 以及驱动装置，被配置为将所述成像装置移动到由所述控制器确定的位置。

公开(公告)号：US08327959B2

公开(公告)日：2012-12-11

申请号：US12385263

申请日：2009-04-02

申请人： Youn Baek Lee ,  Yeon Taek Oh ,  Soo Sang Yang

发明人： Youn Baek Lee ,  Yeon Taek Oh ,  Soo Sang Yang

IPC分类号： B62D57/02

CPC分类号： B62D57/032 ,  A63H11/00 ,  A63H2200/00

摘要： A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator.

摘要翻译： 一种行走机器人，其中俯仰方向髋关节和膝关节的驾驶结构得到增强。 行走机器人包括躯干和连接到躯干的多个腿，所述多个腿中的至少一个腿包括大腿连杆，设置在大腿连杆下部的小腿连杆，连接 躯干和大腿连接，并且沿着俯仰方向使大腿连杆相对于躯干旋转，并且连接大腿连杆和小腿连杆的膝关节，并且在俯仰方向上使小腿连杆抵靠大腿连杆旋转。 俯仰方向髋关节和膝关节彼此互锁并由一个互锁致动器驱动。

公开(公告)号：US20110167945A1

公开(公告)日：2011-07-14

申请号：US12987244

申请日：2011-01-10

申请人： Soo Sang YANG ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

发明人： Soo Sang YANG ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

IPC分类号： B25J17/00

CPC分类号： B25J9/104 ,  B25J17/0241

摘要： A robot joint driving apparatus has an improved structure, a robot having the same, and a cable linkage method of the robot joint driving apparatus. In the robot joint driving apparatus, lines of a cable to drive a robot joint unit are connected plural times in parallel, thereby increasing torsional stiffness of the robot joint unit. Further, a cable fixing unit is provided on an output pulley, thereby preventing slippage of the cable on the output pulley. Moreover, the overall size of the robot joint driving apparatus is reduced due to an improved power transmission structure from a driving motor to the output pulley.

摘要翻译： 机器人关节驱动装置具有改进的结构，具有该机器人的机器人，以及机器人关节驱动装置的缆线连接方法。 在机器人关节驱动装置中，用于驱动机器人关节单元的电缆的线路并联多次，从而增加机器人关节单元的扭转刚度。 此外，在输出滑轮上设置电缆固定单元，从而防止电缆在输出滑轮上的滑动。 此外，由于从驱动马达到输出滑轮的改进的动力传递结构，机器人关节驱动装置的总体尺寸减小。

公开(公告)号：US20090320638A1

公开(公告)日：2009-12-31

申请号：US12427016

申请日：2009-04-21

申请人： Youn Baek LEE ,  Yong Jae Kim ,  Yeon Taek Oh ,  Soo Sang Yang

发明人： Youn Baek LEE ,  Yong Jae Kim ,  Yeon Taek Oh ,  Soo Sang Yang

IPC分类号： B25J18/00

CPC分类号： B25J9/1045 ,  F16H19/005 ,  Y10T74/20323

摘要： A driving apparatus includes a driving unit, a driven unit separated from the driving unit at a separation space so as not to contact the driving unit, and rotated by rotary force generated from the driving unit, a cable connecting the driving unit and the driven unit, and to transmit the rotary force to the driven unit, and pressure units provided in the separation space, and to pressurize the cable in a direction of approaching opposite portions of the cable to each other to generate a tensile strength of the cable. Since the cable transmitting the rotary force of the driving unit to the driven unit has sufficient tensile strength, preventing the generation of slip of the cable from the driving unit and the driven unit is possible, and thus to allow the rotary force to be transmitted to the driven unit without a loss.

摘要翻译： 一种驱动装置，包括：驱动单元，从驱动单元在分离空间处与驱动单元接触而与驱动单元分离的驱动单元，并且由驱动单元产生的旋转力旋转;连接驱动单元和从动单元 并且将旋转力传递到从动单元，以及设置在分离空间中的压力单元，并且使电缆沿着电缆的相对部分彼此接近的方向加压，以产生电缆的拉伸强度。 由于将驱动单元的旋转力传递到从动单元的电缆具有足够的拉伸强度，所以可以防止电缆从驱动单元和从动单元的滑动的产生，从而允许旋转力传递到 被驱动单元没有损失。

公开(公告)号：US20090308188A1

公开(公告)日：2009-12-17

申请号：US12382002

申请日：2009-03-05

申请人： Soo Sang Yang ,  Yeon Taek Oh ,  Youn Baek Lee

发明人： Soo Sang Yang ,  Yeon Taek Oh ,  Youn Baek Lee

IPC分类号： F16H25/20 ,  F16H25/22

CPC分类号： F16H19/06 ,  B25J9/104 ,  B25J17/0241 ,  F16H25/20 ,  F16H2019/0695 ,  F16H2025/2053 ,  Y10T74/18608

摘要： Disclosed are a robot joint driving apparatus and a robot having the same. The robot joint driving apparatus includes a driving motor being rotatable in forward and reverse directions; a pair of movable members connected to the driving motor, and moving rectilinearly in mutually opposite directions according to the rotation of the driving motor; a wire provided with both ends respectively connected to the pair of movable members; and a joint unit, on which the wire is wound, driven by the movement of the wire.

摘要翻译： 公开了一种机器人关节驱动装置和具有该机器人关节驱动装置的机器人。 所述机器人关节驱动装置包括可沿正反方向旋转的驱动电机; 连接到驱动电动机的一对可动构件，并且根据驱动电机的旋转沿相反方向直线运动; 电线，其两端分别与所述一对可动部件连接; 以及由电线的移动驱动的线缠绕的接合单元。

公开(公告)号：US20080141485A1

公开(公告)日：2008-06-19

申请号：US11842492

申请日：2007-08-21

申请人： Jeong Hun KIM ,  Soo Sang Yang ,  Yeon Taek Oh ,  Youn Baek Lee

发明人： Jeong Hun KIM ,  Soo Sang Yang ,  Yeon Taek Oh ,  Youn Baek Lee

IPC分类号： A47L11/24 ,  A47L5/00

CPC分类号： A47L9/02 ,  A47L9/009 ,  A47L2201/00 ,  A47L2201/06

摘要： A cleaning robot to prevent a suction member from moving upwards when the suction member is rotated during a collision with an obstacle, and which completely unfolds the suction member when a lower surface of the suction member travels on an uneven floor. The cleaning robot includes a main body to travel on a floor to be cleaned, a dust collecting unit, and a corner cleaning unit. The corner cleaning unit includes a suction member having a suction arm with a rotatable cylinder, a movable member rotatably coupled around the rotatable cylinder by a torsion spring such that the movable member can move upwards and downwards together with the suction member, a driving unit, supporting brackets, at least one elevation guide face to allow the movable member to move upwards and downwards along the elevation guide face as the movable member rotates, and at least one guide knob.

摘要翻译： 一种清洁机器人，用于当吸引构件在与障碍物碰撞期间旋转时防止吸入构件向上移动，并且当吸入构件的下表面在不平坦的地板上行进时，完全展开抽吸构件。 清洁机器人包括在要清洁的地板上移动的主体，灰尘收集单元和角落清洁单元。 角部清洁单元包括具有可旋转气缸的抽吸臂的抽吸构件，通过扭转弹簧可旋转地联接在可旋转气缸周围的可动构件，使得可动构件可与抽吸构件一起向上和向下移动;驱动单元， 支撑托架，至少一个升降引导面，以允许可移动部件沿着升降导向面沿可移动部件旋转时向上和向下移动;以及至少一个引导旋钮。

公开(公告)号：US20070119635A1

公开(公告)日：2007-05-31

申请号：US11601706

申请日：2006-11-20

申请人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

发明人： Youn-baek Lee ,  Soo-sang Yang ,  Yong-jae Kim ,  Yeon-taek Oh ,  Jeong-hun Kim

IPC分类号： B62D61/10

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a main body frame having a front wheel supported in a front portion thereof in a traveling direction, a first traveling part having a first driving wheel to drive in the traveling direction, a first rear wheel disposed in a rear side of the first driving wheel, and a first wheel frame to support the first driving wheel and the first rear wheel, a second traveling part having a second driving wheel to drive in the traveling direction independently from the first driving wheel, a second rear wheel disposed in a rear side of the second driving wheel, and a second wheel frame to support the second driving wheel and the second rear wheel, a first interlocking hinge part to rotatably support the first wheel frame to the main body frame to have a hinge axis of a perpendicular direction with respect to the traveling direction, and a second interlocking hinge part to rotatably support the second wheel frame to the main body frame independently from the first interlocking hinge part to have a hinge axis of the same direction as the first interlocking hinge part.

摘要翻译： 一种旅行机器人包括主体框架，其主体框架具有沿行进方向被支撑在其前部的前轮，第一行进部件具有沿行进方向驱动的第一驱动轮，设置在行进方向的后侧的第一后轮 第一驱动轮和支撑第一驱动轮和第一后轮的第一车轮框架，具有独立于第一驱动轮而沿行进方向驱动的第二驱动轮的第二行驶部件，设置在第一驱动轮中的第二后轮 第二驱动轮的后侧以及支撑第二驱动轮和第二后轮的第二轮框架，第一互锁铰链部分，用于将第一轮框架可旋转地支撑到主体框架以具有垂直的铰链轴线 相对于行进方向的方向，以及第二互锁铰链部分，其独立于第一互锁部分可旋转地将第二轮框架支撑到主体框架 铰链部分具有与第一互锁铰链部分相同方向的铰链轴线。