公开(公告)号：US08366560B2

公开(公告)日：2013-02-05

申请号：US12995665

申请日：2008-07-22

申请人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

发明人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

IPC分类号： F16D3/12

CPC分类号： B25J19/06 ,  F16D7/10

摘要： A coupling device has a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft, an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft, and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole having an initial-position portion in which the flexible member is positioned at the initial stage and a displaced-position portion which has a smaller diameter than the initial-position portion and of which the diameter is constant about the rotating shaft, and an another through-hole having an initial-position portion in which the flexible member is positioned and a return-position portion of which the radius decreases from the initial-position portion.

摘要翻译： 联接装置具有垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化;弹性构件，其连接到柔性构件，并且使柔性构件 构件相对于旋转轴在向外方向上接收弹力;以及凸轮构件，其可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件。 凸轮构件具有通孔，该通孔具有初始位置部分，柔性构件位于初始位置，并且位移部分具有比初始位置部分更小的直径并且其直径恒定在约 旋转轴和另一通孔，其具有弹性构件所在的初始位置部分和从初始位置部分起半径减小的返回位置部分。

公开(公告)号：US08661929B2

公开(公告)日：2014-03-04

申请号：US12867683

申请日：2008-03-17

申请人： Jun Ho Choi ,  Sung Chul Kang ,  Woo Sub Lee ,  Mun Sang Kim

发明人： Jun Ho Choi ,  Sung Chul Kang ,  Woo Sub Lee ,  Mun Sang Kim

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

CPC分类号： B25J17/00 ,  Y10T74/20329 ,  Y10T74/20341

摘要： The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.

摘要翻译： 本发明涉及一种用于产生刚度的装置和一种用于控制刚度的方法，其可以通过使用弹性构件产生刚度并且可以控制刚度，以及可以应用该装置和方法的机器人操纵器的关节。 用于产生刚度的装置包括旋转轴; 固定在所述旋转轴上的多个弹性部件; 分别通过其间的弹性构件彼此间隔设置的上下圆板分别通过其发电单元相对于旋转轴被驱动，并且分别具有数量相等的狭缝 到弹性构件的数量; 以及分别插入形成在上下圆板中的狭缝中的多个移动构件，并且连接到弹性构件以便移动。

公开(公告)号：US20110081976A1

公开(公告)日：2011-04-07

申请号：US12995665

申请日：2008-07-22

申请人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

发明人： Woo Sub Lee ,  Sung Chul Kang ,  Mun Sang Kim ,  Jun Ho Choi ,  Chang Mook Chun

IPC分类号： B25J19/06 ,  F16D7/00

CPC分类号： B25J19/06 ,  F16D7/10

摘要： The present invention relates to a device for generating limit torque, which generates a rotational displacement to protect a rotating device and automatically returns to the initial position when an external force is eliminated, and a rotating device using the same. The device includes a flexible member that is vertically connected to a rotating shaft and of which the length can be varied in an inward and outward direction with respect to the rotating shaft; an elastic member that is connected to the flexible member and causes the flexible member to receive an elastic force in the outward direction with respect to the rotating shaft; and a cam member that is rotatably connected to the rotating shaft and delivers a rotating force of the rotating shaft to a rotating member. The cam member has a through-hole in which a rotational displacement is generated and through which the flexible member returns to the initial position. According to the present invention, the device for generating limit torque can generate limit torque with a relatively simple structure, and can secure stability.

摘要翻译： 本发明涉及一种用于产生极限转矩的装置，其产生旋转位移以保护旋转装置，并且当外力被消除时自动返回到初始位置，以及使用其的旋转装置。 该装置包括垂直连接到旋转轴的柔性构件，其长度可以相对于旋转轴在向内和向外的方向上变化; 弹性构件，其连接到所述柔性构件，并使所述柔性构件相对于所述旋转轴在向外的方向上受到弹力; 以及可旋转地连接到旋转轴并将旋转轴的旋转力传递到旋转构件的凸轮构件。 凸轮构件具有其中产生旋转位移的通孔，并且柔性构件通过该通孔返回到初始位置。 根据本发明，用于产生极限转矩的装置可以以相对简单的结构产生极限转矩，并且可以确保稳定性。

公开(公告)号：US20100326227A1

公开(公告)日：2010-12-30

申请号：US12867683

申请日：2008-03-17

申请人： Jun Ho Choi ,  Sung Chul Kang ,  Woo Sub Lee ,  Mun Sang Kim

发明人： Jun Ho Choi ,  Sung Chul Kang ,  Woo Sub Lee ,  Mun Sang Kim

IPC分类号： B25J17/00 ,  G05G11/00

CPC分类号： B25J17/00 ,  Y10T74/20329 ,  Y10T74/20341

摘要： The present invention relates to a device for generating stiffness and a method for controlling stiffness, which can generate stiffness by using elastic members and can control the stiffness, and a joint of a robot manipulator to which the device and method can be applied. The device for generating stiffness includes a rotating shaft; a plurality of elastic members fixed to the rotating shaft; upper and lower circular plates that are disposed so as to be spaced from each other with the elastic members interposed therebetween, are independently driven with respect to the rotating shaft by power generating units thereof, respectively, and respectively have slits of which the number is equal to the number of the elastic members; and a plurality of moving members that are inserted into the slits formed in the upper and lower circular plates, respectively, and are connected to the elastic members so as to move.

摘要翻译： 本发明涉及一种用于产生刚度的装置和一种用于控制刚度的方法，其可以通过使用弹性构件产生刚度并且可以控制刚度，以及可以应用该装置和方法的机器人操纵器的关节。 用于产生刚度的装置包括旋转轴; 固定在所述旋转轴上的多个弹性部件; 分别通过其间的弹性构件彼此间隔设置的上下圆板分别通过其发电单元相对于旋转轴被驱动，并且分别具有数量相等的狭缝 到弹性构件的数量; 以及分别插入形成在上下圆板中的狭缝中的多个移动构件，并且连接到弹性构件以便移动。

公开(公告)号：US08434384B2

公开(公告)日：2013-05-07

申请号：US12862327

申请日：2010-08-24

申请人： Sung Chul Kang ,  Woo Sub Lee ,  Chang Mook Chun ,  Chang Hyun Cho

发明人： Sung Chul Kang ,  Woo Sub Lee ,  Chang Mook Chun ,  Chang Hyun Cho

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

CPC分类号： B25J19/0016 ,  Y10T74/19688 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329

摘要： Disclosed herein is a weight compensation mechanism. A weight compensation mechanism is installed in a link member rotatable in a plurality of directions. The weight compensation mechanism includes a plurality of bevel gears that rotates in harmony with the rotation of the link member. Cam plates are connected to one or more of the bevel gears to be rotated together with the bevel gears. Weight offsetting parts are connected to the cam plates, respectively, and each of the weight offsetting parts compresses an elastic member based on the rotation of the link member and the cam plate to absorb gravitation generated by the weight of the link member.

摘要翻译： 这里公开了一种重量补偿机构。 重量补偿机构安装在可沿多个方向旋转的连杆构件中。 重量补偿机构包括与连杆构件的旋转一致地旋转的多个锥齿轮。 凸轮板连接到一个或多个锥齿轮以与锥齿轮一起旋转。 重量抵消部分分别连接到凸轮板，并且每个重量偏移部分基于连杆构件和凸轮板的旋转而压缩弹性构件，以吸收由连杆构件的重量产生的重力。

公开(公告)号：US08279053B2

公开(公告)日：2012-10-02

申请号：US12671192

申请日：2009-05-19

申请人： Dong Seok Ryu ,  Sung Chul Kang ,  Gi Hun Yang ,  Woo Sub Lee

发明人： Dong Seok Ryu ,  Sung Chul Kang ,  Gi Hun Yang ,  Woo Sub Lee

IPC分类号： G08B6/00 ,  G08B5/22 ,  H04B3/36 ,  G09B21/00 ,  G06F3/033 ,  G06F3/041 ,  H04M1/00

CPC分类号： G06F3/016 ,  H04M19/04 ,  H04M19/047

摘要： This disclosure relates to a vibrotactile mobile device which induces a tactile sense at various positions in an interface method of operating the mobile device so that a user may intuitively interact with the mobile device while seeing a program execution status, and to a method of driving the vibrotactile mobile device. The method of driving the vibrotactile mobile device includes: providing a user interface for inputting a command signal on a screen operated in accordance with a program; calculating a target vibration position and a direction and a speed of a vibration flow with time so as to recognize a trajectory of the command signal displayed on the screen and supply a vibration stimulus corresponding to the trajectory of the command signal; and driving the vibration module by controlling a supply of power to be applied to vibration modules based on the calculated result.

摘要翻译： 本公开涉及一种振动消隐移动装置，其在操作移动装置的接口方法中在各种位置处引起触觉，使得用户可以在看到程序执行状态的同时直观地与移动装置进行交互，以及驱动 振动脉冲移动装置。 驱动振动脉冲移动装置的方法包括：提供用于在根据程序操作的屏幕上输入命令信号的用户接口; 计算目标振动位置以及随时间的振动流的方向和速度，以便识别在屏幕上显示的命令信号的轨迹，并提供与命令信号的轨迹相对应的振动刺激; 并且通过基于计算结果控制施加到振动模块的功率供应来驱动振动模块。

公开(公告)号：US20110163860A1

公开(公告)日：2011-07-07

申请号：US12671192

申请日：2009-05-19

申请人： Dong Seok Ryu ,  Sung Chul Kang ,  Gi Hun Yang ,  Woo Sub Lee

发明人： Dong Seok Ryu ,  Sung Chul Kang ,  Gi Hun Yang ,  Woo Sub Lee

IPC分类号： G08B6/00

CPC分类号： G06F3/016 ,  H04M19/04 ,  H04M19/047

摘要： This disclosure relates to a vibrotactile mobile device which induces a tactile sense at various positions in an interface method of operating the mobile device so that a user may intuitively interact with the mobile device while seeing a program execution status, and to a method of driving the vibrotactile mobile device. The method of driving the vibrotactile mobile device includes: providing a user interface for inputting a command signal on a screen operated in accordance with a program; calculating a target vibration position and a direction and a speed of a vibration flow with time so as to recognize a trajectory of the command signal displayed on the screen and supply a vibration stimulus corresponding to the trajectory of the command signal; and driving the vibration module by controlling a supply of power to be applied to vibration modules based on the calculated result.

摘要翻译： 本公开涉及一种振动消隐移动装置，其在操作移动装置的接口方法中在各种位置处引起触觉，使得用户可以在看到程序执行状态的同时直观地与移动装置进行交互，以及驱动 振动脉冲移动装置。 驱动振动脉冲移动装置的方法包括：提供用于在根据程序操作的屏幕上输入命令信号的用户接口; 计算目标振动位置以及随时间的振动流的方向和速度，以便识别在屏幕上显示的命令信号的轨迹，并提供与命令信号的轨迹相对应的振动刺激; 并且通过基于计算结果控制施加到振动模块的功率供应来驱动振动模块。