公开(公告)号：US20120060320A1

公开(公告)日：2012-03-15

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 ,  A47L5/00

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：US20090282944A1

公开(公告)日：2009-11-19

申请号：US12382003

申请日：2009-03-05

申请人： Jeong Hun Kim ,  Young Bo Shim ,  Yeon Taek Oh

发明人： Jeong Hun Kim ,  Young Bo Shim ,  Yeon Taek Oh

IPC分类号： B25J17/00

CPC分类号： B25J18/00 ,  B25J17/0275 ,  Y10T74/20329

摘要： A humanoid robot to naturally imitate various motions and gestures of humans and a shoulder joint assembly thereof is disclosed. The humanoid robot includes a first shoulder joint device disposed between a body and an arm of the robot, to move the arm. The entire first shoulder joint device is movable relative to the body. For this, a second shoulder joint device may be installed between the body and the first shoulder joint device to move the first shoulder joint device.

摘要翻译： 公开了一种人形机器人，其自然地模仿人的各种运动和手势及其肩关节组件。 人形机器人包括设置在机器人的主体和臂之间的第一肩关节装置，以移动臂。 整个第一肩关节装置相对于身体是可移动的。 为此，第二肩关节装置可以安装在主体和第一肩关节装置之间，以移动第一肩关节装置。

公开(公告)号：US07266424B2

公开(公告)日：2007-09-04

申请号：US10745996

申请日：2003-12-29

申请人： Yong-Kwun Lee ,  Yeon-Taek Oh

发明人： Yong-Kwun Lee ,  Yeon-Taek Oh

IPC分类号： G06F19/00

CPC分类号： B62D57/032 ,  B25J13/085

摘要： A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

摘要翻译： 使用简单的地面反作用力传感器的步行机器人及其控制方法。 本发明的一个方面是提供一种步行机器人及其控制方法，能够降低步行机器人的开发成本和制造成本，并且能够使非专家轻松参与开发。 步行机器人包括多个腿。 一个或多个传感器安装在每个腿的鞋底上，以检测每个腿的脚底在运动期间是否与地面接触。 步行机器人根据由多个运动循环组成的运动模式执行运动，并且在使用传感器的检测结果确定当前运动循环是否稳定之后，从当前运动循环进行到下一运动循环。

公开(公告)号：US07227334B2

公开(公告)日：2007-06-05

申请号：US10749394

申请日：2004-01-02

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

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

IPC分类号： H02J7/00 ,  H01R13/24 ,  H01R13/64

CPC分类号： B25J5/00 ,  A47L9/00 ,  A47L2201/022 ,  B25J19/005 ,  B60L11/1818 ,  B60L11/1825 ,  B60L11/1833 ,  B60L2260/32 ,  H01R13/2421 ,  H01R13/6315 ,  H01R43/26 ,  H02J7/0042 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/128 ,  Y02T90/14

摘要： A charging apparatus used with a mobile robot has an improved charging structure so that a mobile robot is easily brought into electrical contact with a charging unit, thereby reducing manufacturing costs and preventing a charging failure. The charging unit is provided with a plurality of charging terminals which are brought into electrical contact with corresponding ones of contact terminals of the mobile robot. Each of the charging terminals includes a body and a head. A contact plate is mounted to a predetermined portion of the head to be brought into electrical contact with a corresponding one of the contact terminals.

摘要翻译： 与移动机器人一起使用的充电装置具有改进的充电结构，使得移动机器人容易与充电单元电接触，从而降低制造成本并防止充电故障。 充电单元设置有与移动机器人的相应接触端子电接触的多个充电端子。 每个充电终端包括主体和头部。 接触板安装到头部的预定部分以与相应的一个接触端子电接触。

公开(公告)号：US20050049748A1

公开(公告)日：2005-03-03

申请号：US10745996

申请日：2003-12-29

申请人： Yong-Kwun Lee ,  Yeon-Taek Oh

发明人： Yong-Kwun Lee ,  Yeon-Taek Oh

IPC分类号： A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B62D57/032 ,  G06F19/00

CPC分类号： B62D57/032 ,  B25J13/085

摘要： A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

摘要翻译： 使用简单的地面反作用力传感器的步行机器人及其控制方法。 本发明的一个方面是提供一种行走机器人及其控制方法，能够降低步行机器人的开发成本和制造成本，并且能够使非专家轻松参与开发。 步行机器人包括多个腿。 一个或多个传感器安装在每个腿的鞋底上，以检测每个腿的脚底在运动期间是否与地面接触。 步行机器人根据由多个运动循环组成的运动模式执行运动，并且在使用传感器的检测结果确定当前运动循环是否稳定之后，从当前运动循环进行到下一运动循环。

公开(公告)号：US20050027399A1

公开(公告)日：2005-02-03

申请号：US10820037

申请日：2004-04-08

申请人： Won-jun Koh ,  Ki-cheol Park ,  Yeon-taek Oh ,  Yong-jae Kim

发明人： Won-jun Koh ,  Ki-cheol Park ,  Yeon-taek Oh ,  Yong-jae Kim

IPC分类号： A47L9/28 ,  B25J5/00 ,  B25J9/10 ,  B25J9/22 ,  B25J13/08 ,  G05B19/42 ,  G05D1/02 ,  G05D23/02 ,  G06F19/00

CPC分类号： G05D1/0221 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L2201/04 ,  G05D1/0016 ,  G05D1/0033 ,  G05D2201/0215

摘要： A robot system includes a mobile robot with a driving part to move. The robot system includes a light commander to emit light and give a command corresponding to a reflecting position at which the light is reflected. The robot system also includes a position detector to receive information on the reflecting position as an image, and to detect the reflecting position, and a controller to determine a reflecting trace based on the reflecting position detected by the position detector, and to output the reflecting trace to the driving part to control the driving part. Thus, the robot system and a control method thereof, has reduced costs, and is easy and safely operated, and immediate operation teaching is possible without a compensating process.

摘要翻译： 机器人系统包括具有驱动部件移动的移动机器人。 机器人系统包括发光指示器，并给出对应于光被反射的反射位置的命令。 机器人系统还包括位置检测器，用于接收作为图像的反射位置的信息并检测反射位置，以及控制器，基于由位置检测器检测到的反射位置来确定反射迹线，并输出反射 跟踪驱动部分来控制驱动部分。 因此，机器人系统及其控制方法降低成本，并且易于安全地操作，并且可以在没有补偿过程的情况下立即进行操作教导。

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。