公开(公告)号：US20110056321A1

公开(公告)日：2011-03-10

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

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：US20100162846A1

公开(公告)日：2010-07-01

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： B25J18/00

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：US08635929B2

公开(公告)日：2014-01-28

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： F16H9/04

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：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：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：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：US20090301798A1

公开(公告)日：2009-12-10

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：US07673367B2

公开(公告)日：2010-03-09

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： 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，完全展开吸引构件。 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：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：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。