公开(公告)号：US08950285B2

公开(公告)日：2015-02-10

申请号：US12878809

申请日：2010-09-09

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

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

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10

CPC分类号： B25J9/104 ,  B25J9/1025 ,  Y10S901/27 ,  Y10T74/20305 ,  Y10T74/20323

摘要： Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.

摘要翻译： 本文公开了一种机器人关节驱动方法，计算机可读介质和装置组件，其执行类似于人的运动，以及具有该运动的机器人。 这些运动通过配置适合于各个接头的特性的接合驱动装置来实现。 机器人关节驱动装置组件包括使用线的腱型接合驱动装置和使用齿轮减速法的谐波驱动型接头驱动装置。 腱型接头驱动装置用于驱动需要高背驱性的旋转接头，并且谐波驱动型接头驱动装置用于驱动需要高刚性和高精度的旋转接头。

公开(公告)号：US08641782B2

公开(公告)日：2014-02-04

申请号：US12979861

申请日：2010-12-28

申请人： Jeong Hun Kim ,  Young Bo Shim ,  Soo Sang Yang ,  Yong Jae Kim ,  Kwang Jun Kim

发明人： Jeong Hun Kim ,  Young Bo Shim ,  Soo Sang Yang ,  Yong Jae Kim ,  Kwang Jun Kim

IPC分类号： A61F2/66 ,  A61F2/54 ,  B25J3/04 ,  B25J18/04 ,  B25J17/00

CPC分类号： B25J9/0006 ,  Y10T74/20329

摘要： A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.

摘要翻译： 紧凑的外骨骼臂支撑装置补偿重力。 补偿重力的紧凑型外骨骼臂支撑装置可以包括至少五个关节。 在至少五个关节中，两个关节可以由致动器驱动，并且剩余的关节可以由用户的力驱动。 补偿重力的紧凑型外骨骼臂支撑装置有效地使用了致动器，从而提高了操作效率并降低了生产成本。

公开(公告)号：US08635739B2

公开(公告)日：2014-01-28

申请号：US13247430

申请日：2011-09-28

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： A47L9/10

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

摘要： A robot cleaner system includes 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 contacts the robot cleaner when the robot cleaner docks with the docking station, to allow the dust suction port to come into close contact with the dust discharge port. The docking device includes a link member installed in the docking station in a pivotally rotatable manner, one end having a contact portion to come into contact with the robot cleaner, and the other end having a docking portion defining the dust suction port therein.

摘要翻译： 机器人清洁器系统包括对接结构，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灰尘排放口的机器人清洁器，具有吸入机器人清洁器中的灰尘吸入口的对接站，以及当机器人清洁器接触机器人清洁器时执行跷跷板运动的对接装置 与对接站对接，使吸尘口与排尘口紧密接触。 对接装置包括以可枢转的方式安装在坞站中的连杆构件，一端具有与机器人清洁器接触的接触部分，另一端具有限定吸尘口的对接部分。

公开(公告)号：US08459139B2

公开(公告)日：2013-06-11

申请号：US12654300

申请日：2009-12-16

申请人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

发明人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  F16H27/02 ,  F16H29/02 ,  F16H29/20

CPC分类号： B25J9/1045 ,  Y10T74/18832 ,  Y10T74/20323 ,  Y10T74/20329

摘要： Disclosed are a robot joint driving apparatus and a robot having the same, capable of minimizing tension of a wire applied to a movable member by installing an idle pulley in a power transmission structure using a ball screw apparatus and the wire. The robot joint driving apparatus includes a reversible drive motor, a pair of movable members performing a linear movement according to rotation of the reversible drive motor, a wire connected to the movable members from both directions of the movable members, an idle pulley rotatably installed at one side of the wire, a joint part rotatably installed at an opposite side of the wire, and an adjustment unit to adjust tension 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，其能够通过使用滚珠丝杠装置和线将动力传递结构中的怠速滑轮安装来最小化施加到可动构件的线的张力。 机器人关节驱动装置包括可逆驱动电动机，根据可逆驱动电动机的旋转而进行直线运动的一对可动部件，从可动部件的两个方向与可动部件连接的电线，可旋转地安装在 线的一侧，可旋转地安装在线的相对侧的接合部，以及用于调节线的张力的调节单元。

公开(公告)号：US20120207274A1

公开(公告)日：2012-08-16

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： H05G1/08 ,  H05G1/02 ,  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，其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：US08235827B2

公开(公告)日：2012-08-07

申请号：US12320359

申请日：2009-01-23

申请人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang ,  Hyun Seok Yang ,  Dong Jun Hyun

发明人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang ,  Hyun Seok Yang ,  Dong Jun Hyun

IPC分类号： F16D3/62

CPC分类号： F16D7/044 ,  B25J17/0208 ,  Y10T464/30

摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.

摘要翻译： 公开了一种符合被动遵守的合规联合体。 柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。 凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。 凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接 被施加到旋转构件。

公开(公告)号：US08181552B2

公开(公告)日：2012-05-22

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： B25J17/00

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：US08042627B2

公开(公告)日：2011-10-25

申请号：US12379306

申请日：2009-02-18

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： B62D57/032

CPC分类号： B62D57/032

摘要： Disclosed is a walking robot having an improved driving structure for a pitch-direction femoral joint and a knee joint. The walking robot includes a pitch-direction actuator driving the pitch-direction femoral joint to rotate a femoral link relative to a body in a pitch direction, and a power transmission unit transferring driving force of the pitch-direction actuator to the knee joint to rotate the lower leg link relative to the femoral link in the pitch direction.

摘要翻译： 公开了一种具有用于俯仰方向股骨关节和膝关节的改进的驱动结构的行走机器人。 行走机器人包括驱动俯仰方向股骨关节的俯仰方向致动器，以相对于身体在俯仰方向上旋转股骨架，以及将俯仰方向致动器的驱动力传递到膝关节以旋转的动力传递单元 小腿连杆相对于股骨连接在俯仰方向上。

公开(公告)号：US07673710B2

公开(公告)日：2010-03-09

申请号：US11563861

申请日：2006-11-28

申请人： Youn-baek Lee ,  Soo-sang Yang ,  Yeon-taek Oh

发明人： Youn-baek Lee ,  Soo-sang Yang ,  Yeon-taek Oh

IPC分类号： B62D61/12

CPC分类号： B25J5/007 ,  B62D61/12

摘要： A traveling robot includes a body frame having a front wheel; a rear wheel which is disposed on a rear side of the front wheel along a traveling direction; a rear frame which supports the rear wheel and is supported by the body frame so as to move vertically; a driving wheel which is disposed between the front wheel and the rear wheel in the traveling direction; a driving frame which supports the driving wheel and is coupled to the body frame by a hinge whose axis is parallel to an axis of the driving wheel; and a linkage member which is coupled to the driving frame to be contacted with or separated from the rear frame as the driving frame is rotated relative to the body frame.

摘要翻译： 行走机器人包括具有前轮的主体框架; 后轮，其沿行进方向设置在所述前轮的后侧; 后框架，其支撑后轮并且由所述主体框架支撑以便垂直移动; 驱动轮，其沿行进方向设置在前轮和后轮之间; 驱动框架，其支撑所述驱动轮并且通过其轴线平行于所述驱动轮的轴线的铰链联接到所述主体框架; 以及当所述驱动框架相对于所述主体框架旋转时，所述联动构件联接到所述驱动框架以与所述后框架接触或分离。

公开(公告)号：US20090233720A1

公开(公告)日：2009-09-17

申请号：US12320359

申请日：2009-01-23

申请人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang

发明人： Young Bo Shim ,  Ja Woo Lee ,  Youn Baek Lee ,  Jeong Hun Kim ,  Yeon Taek Oh ,  Soo Sang Yang

IPC分类号： F16D7/04

CPC分类号： F16D7/044 ,  B25J17/0208 ,  Y10T464/30

摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.

摘要翻译： 公开了一种符合被动遵守的合规联合体。 柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。 凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。 凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接 被施加到旋转构件。