公开(公告)号：KR100988014B1

公开(公告)日：2010-10-18

申请号：KR1020080034077

申请日：2008-04-14

Applicant: (주)미래컴퍼니

Inventor： 김영성 ,  천성년

IPC: B24B7/24 ,  B24B9/10 ,  B24B9/00 ,  G02F1/13

Abstract: 유리 기판 연마 장치 및 연마 방법이 개시된다. 제1 유리 기판이 로딩되는 제1 연마 테이블, 제1 연마 테이블에 대향하여 위치하고, 제2 유리 기판이 로딩되는 제2 연마 테이블, 및 제1 연마 테이블과 제2 연마 테이블 사이에 위치하며, 제1 유리 기판의 에지 및 제2 유리 기판의 에지를 연마하는 연마부를 포함하는 유리 기판 연마 장치는, 하나의 연마부를 이용하여 양방향에서 복수의 유리 기판의 에지를 한꺼번에 연마함으로써 택트 타임을 단축할 수 있고, 장치의 구성을 단순화함으로써 제작비의 절감 및 장치의 소형화가 가능하다.
유리 기판, 연마, 택트 타임

公开(公告)号：KR1020100089516A

公开(公告)日：2010-08-12

申请号：KR1020090008805

申请日：2009-02-04

Applicant: (주)미래컴퍼니

Inventor： 유지훈 ,  강인철

IPC: B23K26/04 ,  B23K26/064 ,  B23K26/60 ,  B23K26/70

Abstract: PURPOSE: A laser machining device and a method thereof are provided to minimize side effects resulting from particles or bubble by quickly stabilizing an unstable state of a work piece during machining. CONSTITUTION: A laser machining device comprises a laser generator(110), an optical modulator(120), an object lens(160), a stage part(170), and a heat treatment unit(180). The laser generator generates laser beam. The optical modulator divides the laser beam into a first path and a second path. The object lens condenses the laser beam separated into the first path to be irradiated to a target position. The stage part is able to control the distance to the object lens. The heat treatment unit performs heat treatment to the target position with the laser beam irradiated.

Abstract translation: 目的：提供激光加工装置及其方法，以通过在加工期间快速稳定工件的不稳定状态来最小化由颗粒或气泡引起的副作用。 构成：激光加工装置包括激光发生器（110），光调制器（120），物镜（160），平台部分（170）和热处理单元（180）。 激光发生器产生激光束。 光调制器将激光束分成第一路径和第二路径。 物镜将分离的第一路径的激光束冷凝以照射到目标位置。 舞台部分能够控制到物镜的距离。 热处理单元对照射的激光进行目标位置的热处理。

公开(公告)号：KR1020100075229A

公开(公告)日：2010-07-02

申请号：KR1020080133869

申请日：2008-12-24

Applicant: (주)미래컴퍼니

Inventor： 김봉석 ,  정일균 ,  김승환

IPC: G01L5/00 ,  G01L1/00 ,  A61B17/00

CPC classification number: G01L5/0061 ,  A61B34/30 ,  B25J9/1692 ,  G01L5/16 ,  G01L25/00

Abstract: PURPOSE: A force measuring instrument of a surgical instrument for an operation robot and a method thereof are provided to enable a doctor to feel the force of a surgical instrument through a remote control part by feeding back the force in the roll, the pitch, and the yaw direction of the operation instrument to the remote control part. CONSTITUTION: A force measuring instrument method of a surgical instrument for an operation robot comprises the following steps. A controller operates a surgical instrument through actuators coupled each other. The controller receives a detected deformation amount from a deformation amount detection unit which detects the deformation amount of an installed torque sensor on the actuators(S105). The controller divides the received deformation amount into the torques actuating by each actuators(S107). The controller produces the force in the roll, the pitch, and the yaw of the surgical instrument due to the external force from the torques by each actuators(S109).

Abstract translation: 目的：提供一种用于操作机器人的手术器械的力测量装置及其方法，其用于使医生能够通过反馈辊中的力，俯仰和俯仰来感受通过遥控部分的外科器械的力 操作仪器向遥控器的偏航方向。 构成：操作机器人手术器械的力测量仪方法包括以下步骤。 控制器通过彼此耦合的致动器操作外科器械。 控制器从检测致动器上安装的扭矩传感器的变形量的变形量检测单元接收检测出的变形量（S105）。 控制器将接收到的变形量分成由每个致动器致动的转矩（S107）。 控制器由于每个致动器的扭矩的外力而产生在滚动，俯仰和外科器械的偏转中的力（S109）。

公开(公告)号：KR100954732B1

公开(公告)日：2010-04-23

申请号：KR1020090084720

申请日：2009-09-09

Applicant: (주)미래컴퍼니 ,  부산대학교 산학협력단

Inventor： 이민철 ,  최승욱

IPC: A61B17/00 ,  A61B19/00

CPC classification number: A61B34/30 ,  A61B2090/064

Abstract: PURPOSE: A surgical robot system and an external force measuring method thereof are provided to implement a solid sense device by indirectly obtaining information about an operational force of an instrument. CONSTITUTION: A surgical robot system includes a driving motor(120) and a controller(110). The driving motor outputs an encoder signal corresponding to state information of the system. A controller calculates an external force applied to an instrument(130) using an SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) algorithm. A controller includes a perturbation observer and a sliding state observer. The state observer estimates a state variable for calculating a perturbation value using the state information of the system. The perturbation observer calculates the perturbation value using the estimated state variable.

Abstract translation: 目的：提供外科手术机器人系统及其外力测量方法，通过间接获得关于仪器的操作力的信息来实施固体感测装置。 构成：手术机器人系统包括驱动电机（120）和控制器（110）。 驱动电机输出与系统的状态信息对应的编码器信号。 控制器使用SMCSPO（具有滑动扰动观测器的滑动模式控制）算法计算施加到仪器（130）的外力。 控制器包括扰动观察器和滑动状态观察器。 状态观察者使用系统的状态信息估计用于计算扰动值的状态变量。 扰动观察者使用估计的状态变量计算扰动值。

公开(公告)号：KR1020100023086A

公开(公告)日：2010-03-04

申请号：KR1020080081671

申请日：2008-08-21

Applicant: (주)미래컴퍼니

Inventor： 원종석 ,  최승욱

IPC: A61B17/32 ,  A61B17/00 ,  A61B19/00

CPC classification number: G06T19/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/37 ,  A61B90/50 ,  A61B2090/372 ,  G06T2210/41

Abstract: PURPOSE: A 3D display system of a surgical robot and a control method thereof are provided to allow an operator to easily confirm the 3D image by moving the 3D display according to the position of the operator. CONSTITUTION: In a 3D display system of a surgical robot and a control method thereof, a 3D display system comprises a 3D display(10), a robot arm(12), a robot(1), and a controller(20). The 3D display unit shows 3D image information. The robot arm is combined with the 3D display unit. The robot is connected to the robot arm. The controller is included in the robot. The controller runs the robot arm.

Abstract translation: 目的：提供外科手术机器人的3D显示系统及其控制方法，以使操作者能够根据操作者的位置移动3D显示来容易地确认3D图像。 构成：在外科手术机器人的3D显示系统及其控制方法中，3D显示系统包括3D显示器（10），机器人臂（12），机器人（1）和控制器（20）。 3D显示单元显示3D图像信息。 机器人臂与3D显示单元组合。 机器人连接到机器人手臂。 控制器包含在机器人中。 控制器运行机器人手臂。

公开(公告)号：KR1020090132226A

公开(公告)日：2009-12-30

申请号：KR1020080058390

申请日：2008-06-20

Applicant: (주)미래컴퍼니

Inventor： 박창호

IPC: G02F1/13 ,  B65G49/06 ,  H01L21/68

CPC classification number: G02F1/1303 ,  B65G49/063 ,  B65G49/068 ,  G02F2001/133357 ,  H01L21/67092

Abstract: PURPOSE: An apparatus and a method for processing a substrate are provided to load, process and unload a substrate by a support table, thereby slimming the substrate and reducing tact time of processing the substrate. CONSTITUTION: A processing unit is crossed with a transfer line at a predetermined location. The transfer line comprises the first transfer line(18) and the second transfer line(20). A side table(10) moves along with the first transfer line and supports parts around the substrate to pass the processing unit. A center table(12) moves along with the second transfer line. The center table is separated from or bonded with the side table, supports the central part of the substrate and moves the substrate.

Abstract translation: 目的：提供一种用于处理基板的装置和方法，用于通过支撑台对基板进行加载，处理和卸载，从而减轻基板并减少加工基板的打滑时间。 构成：处理单元与预定位置处的传输线交叉。 传输线包括第一传输线（18）和第二传输线（20）。 侧台（10）与第一输送线一起移动并且支撑基板周围的部分以通过处理单元。 中心台（12）与第二传输线一起移动。 中心台与侧台分离或粘接，支撑基板的中心部分并移动基板。

公开(公告)号：KR1020090123151A

公开(公告)日：2009-12-02

申请号：KR1020080049089

申请日：2008-05-27

Applicant: (주)미래컴퍼니

Inventor： 원종석 ,  장배상 ,  최승욱 ,  윌리엄파이니

IPC: A61B17/00 ,  A61B19/00

Abstract: PURPOSE: A link structure of a surgical robot arm and a setting method thereof are provided to freely rotate an end of an instrument without damage to a skin by performing an RCM(Remote Center of Motion) of a robot arm with an active type. CONSTITUTION: A first link part(10) is coupled in an end part of a robot arm(1) by a first shaft(3). A first light emitting part emits a first light into a direction of the first shaft. A second link part(20) is coupled in the first link part by a second shaft(5). A second light emitting part emits a second light into a direction of the second shaft. Extension lines of the first shaft and the second shaft are met in a fixed RCM point. The first light and the second light are overlapped in the RCM point. An instrument(30) is coupled in the second link part by a third shaft(7). The RCM point is a fixed position on the end part of the instrument.

Abstract translation: 目的：提供外科手术机器人手臂的连杆结构及其设置方法，通过执行具有活动型的机器人手臂的RCM（远程运动中心）自由旋转仪器的一端而不损伤皮肤。 构成：第一连杆部分（10）通过第一轴（3）联接在机器人臂（1）的端部中。 第一发光部将第一光发射到第一轴的方向。 第二连杆部分（20）通过第二轴（5）联接在第一连杆部分中。 第二发光部将第二光发射到第二轴的方向。 在固定的RCM点中满足第一轴和第二轴的延伸线。 第一个光和第二个光在RCM点重叠。 仪器（30）通过第三轴（7）联接在第二连杆部分中。 RCM点是仪器末端的固定位置。

公开(公告)号：KR1020090115997A

公开(公告)日：2009-11-11

申请号：KR1020080041648

申请日：2008-05-06

Applicant: (주)미래컴퍼니

Inventor： 이상민

IPC: G02F1/13 ,  G01N21/88

CPC classification number: G02F1/1309 ,  G01N21/88 ,  G01N21/8806 ,  G09G3/006

Abstract: PURPOSE: A display panel inspecting method and an apparatus thereof are provided to detect foreign materials inside or on a display panel by using the different between simple images. CONSTITUTION: A transmission image acquiring unit(310) gets a transmission image from the light passing through a display panel. The first and second reflective image acquiring units(320,330) get a reflective image from the light reflected from at least one side of the display panel. A difference image generating unit generates difference image information from the transmission image information and reflective image information. A particle output unit outputs information about foreign materials inside the display panel from the difference image information.

Abstract translation: 目的：提供显示面板检查方法及其装置，以通过使用简单图像之间的不同来检测显示面板内部或外部的异物。 构成：透射图像获取单元从通过显示面板的光中获得透射图像。 第一和第二反射图像获取单元（320,330）从从显示面板的至少一侧反射的光获得反射图像。 差分图像生成单元从发送图像信息和反射图像信息生成差分图像信息。 粒子输出单元从差分图像信息输出显示面板内的异物的信息。

公开(公告)号：KR1020090095711A

公开(公告)日：2009-09-10

申请号：KR1020080020812

申请日：2008-03-06

Applicant: (주)미래컴퍼니

Inventor： 최승욱 ,  이우정

IPC: A61M25/01 ,  A61M25/02

Abstract: A medical trocar is provided to discharge toxic gas of the body and supply safety medical environment. A medical trocar comprises: a tubular cannula (250) a trocar housing (210, 220) which is connected to the end of cannula and comprises a housing hole (240); a exhaust pipe (230) which discharges gas which is flowed in through the cannula; a valve (285) which blocks gas by opening and closing the exhaust pipe; a sensor which generates valve opening and closing signal; a device (280) for opening and closing valve.

Abstract translation: 提供医用套管针，以排放身体的有毒气体，并提供安全医疗环境。 医疗套针包括：管状插管（250），套管针壳体（210,220），其连接到套管的端部并且包括容纳孔（240）; 排出管（230），其排出通过套管流入的气体; 通过打开和关闭排气管阻塞气体的阀门（285）; 产生阀门开闭信号的传感器; 用于打开和关闭阀的装置（280）。

公开(公告)号：KR1020090083617A

公开(公告)日：2009-08-04

申请号：KR1020080009525

申请日：2008-01-30

Applicant: (주)미래컴퍼니

Inventor： 김태성

IPC: B24B9/10

CPC classification number: B24B9/10 ,  B24B41/06 ,  B24B57/02

Abstract: A glass substrates polishing device to reduce the tact time of the glass substrates edge polishing and a method thereof are provided to make the structure of a polishing table simple by removing a vacuum line used for the polishing table. A glass substrates polishing device comprises a spinning table(10), an absorbing unit(12), a pair of polishing tables(20), and a pair of guide units. The spinning table supports the central part of a glass substrate. The absorbing unit is formed on the surface of the spinning table. And the air is inhaled and the glass substrates are absorbed. A pair of polishing tables is the downward of the glass substrates and supports the both end part of the glass substrates. The distance of a pair of polishing tables is controlled. A pair of polishing tables is positioned in the upward of the glass substrates corresponds to a pair of guide units. A pair of guide units pressurizes both end part of the glass substrates in order to make the edge of the glass substrates contact to the polishing wheel.

Abstract translation: 提供了用于减少玻璃基板边缘抛光的生产时间的玻璃基板研磨装置及其方法，以通过去除用于抛光台的真空管线使得抛光台的结构简单。 玻璃基板研磨装置包括纺纱台（10），吸收单元（12），一对抛光台（20）和一对导向单元。 纺纱台支撑玻璃基板的中心部分。 吸收单元形成在纺纱台的表面上。 吸入空气并吸收玻璃基板。 一对抛光台是玻璃基板的向下，并支撑玻璃基板的两端。 一对抛光台的距离受到控制。 一对抛光台位于玻璃基板的上方，对应于一对导向单元。 一对引导单元对玻璃基板的两端加压，以使玻璃基板的边缘与抛光轮相接触。