公开(公告)号：KR101256862B1

公开(公告)日：2013-04-22

申请号：KR1020110143942

申请日：2011-12-27

Applicant: 전자부품연구원

Inventor： 김봉석 ,  황정훈 ,  김승훈

IPC: A61B19/00 ,  B25J18/04 ,  B25J9/06 ,  A61B17/29

Abstract: PURPOSE: A multiple free device and a system for a surgical instrument including the same are provided to easily manufacture a product by transmitting large power in a small device. CONSTITUTION: A two-free active joint unit(140) is connected to one side of a second link. A multiple free instrument(160) is connected to one side of a third link and operates with three or more degrees of freedom. A device driving unit(170) supports the generation and the transmission of power. An external control driving unit(180) controls the operation of a two-free passive joint unit(120).

Abstract translation: 目的：提供多种免费装置和包括该装置的外科器械的系统，以通过在小型装置中传输大功率来容易地制造产品。 构成：两自由度主动接头单元（140）连接到第二连杆的一侧。 多重自​​由仪器（160）连接到第三连杆的一侧，并以三个或更多自由度操作。 设备驱动单元（170）支持电力的产生和传输。 外部控制驱动单元（180）控制双向无源接头单元（120）的操作。

公开(公告)号：KR1020120125903A

公开(公告)日：2012-11-19

申请号：KR1020110043642

申请日：2011-05-09

Applicant: 전자부품연구원

Inventor： 김봉석 ,  황정훈 ,  박창우 ,  박재순

IPC: B25J15/08 ,  B25J17/00 ,  B25J19/00

Abstract: PURPOSE: A finger operating module is provided to accurately control the finger operating module by using a 2-axial torque sensor and a general torque sensor. CONSTITUTION: A finger operating module(100) includes a first joint portion(110), a second joint portion(130), a 2-axial torque sensor(120), and a third joint portion(140). The second joint portion is rotatably installed on the first joint portion. The 2-axial torque sensor is placed between the first and the second joint portions. The third joint portion is rotatably installed on the second joint portion.

Abstract translation: 目的：提供手指操作模块，通过使用2轴转矩传感器和一般扭矩传感器来精确控制手指操作模块。 构造：手指操作模块（100）包括第一接合部分（110），第二接合部分（130），双轴扭矩传感器（120）和第三接合部分（140）。 第二接合部可旋转地安装在第一接合部上。 2轴转矩传感器位于第一和第二接合部之间。 第三关节部分可旋转地安装在第二关节部分上。

公开(公告)号：KR1020120125901A

公开(公告)日：2012-11-19

申请号：KR1020110043637

申请日：2011-05-09

Applicant: 전자부품연구원

Inventor： 김봉석 ,  황정훈 ,  박창우 ,  박재순

IPC: G01L3/10 ,  G01L3/04

CPC classification number: G01L3/101 ,  B25J19/02 ,  G01L3/04

Abstract: PURPOSE: A torque measuring device for a torque sensor is provided to accurately and rapidly measure the torque of first and second directions; becoming transformed by forces added from the first and second directions; of a two-shaft torque sensor. CONSTITUTION: A torque measuring device for a torque sensor comprises a fixing jig(110), a rotating frame(130), a two-shaft torque sensor(120), and force application members(140,150). The rotating frame is connected to the fixing jig to be moved. The two-shaft torque sensor is arranged in between the fixing jig and rotating frame, thereby connecting the fixing jig and rotating frame. The force application members are connected to the rotating frame, thereby applying force to the rotating frame in a first direction or a second direction different from the first direction.

Abstract translation: 目的：提供一种用于扭矩传感器的扭矩测量装置，以精确和快速地测量第一和第二方向的扭矩; 由第一和第二个方向加成的力量转变; 的两轴扭矩传感器。 构成：用于扭矩传感器的扭矩测量装置包括固定夹具（110），旋转框架（130），双轴扭矩传感器（120）和力施加构件（140,150）。 旋转框架连接到固定夹具以移动。 双轴扭矩传感器布置在固定夹具和旋转框架之间，从而连接固定夹具和旋转框架。 力施加构件连接到旋转框架，从而在与第一方向不同的第一方向或第二方向上向旋转框架施加力。

公开(公告)号：KR1020120107820A

公开(公告)日：2012-10-04

申请号：KR1020110025574

申请日：2011-03-22

Applicant: 전자부품연구원

Inventor： 김봉석 ,  박창우 ,  김동엽

IPC: B25J9/16 ,  B25J13/00 ,  A47L1/02 ,  A47L11/38

Abstract: PURPOSE: A rope cart for a gondola robot system and a rope state calculating method thereof are provided to analyze the movement of a roller device moving with the movement of a rope, thereby accurately calculating a position of the rope is calculated by considering a state of a rope cart. CONSTITUTION: A rope cart(20) for a gondola robot system comprises a cart body(12), a rope state measuring unit(17), and a controlling unit. The cart unit comprises a rope driving unit increasing or decreasing the length of a rope(18). The rope state measuring unit comprises a roller device(51), a 3DoF(3 Degrees Of Freedom) rotary bar(55), and a camera unit(56). The roller device is installed in the rope and measures unwinding of the rope. The 3DoF rotary bar connects the cart body and the roller device. The camera unit is installed in the cart body and photographs the roller device. Images photographed by the camera unit according to the movement of the roller device and change information obtained from the movement of the 3DoF rotary bar are analyzed by the controlling unit. The controlling unit calculates a position of the roller according to an analyzed result and a position of the roller penetrating through the roller device based on the calculated position of the roller device.

Abstract translation: 目的：提供一种吊车机器人系统的绳车及其绳状态计算方法，用于分析随着绳索运动而移动的滚筒装置的运动，从而通过考虑绳索的状态来计算绳索的位置 一把绳车。 构成：用于吊车机器人系统的绳车（20）包括车体（12），绳状态测量单元（17）和控制单元。 推车单元包括增加或减小绳索（18）的长度的绳索驱动单元。 绳状态测量单元包括辊装置（51），3DoF（3自由度）旋转杆（55）和相机单元（56）。 滚筒装置安装在绳索中，并测量绳索的松开。 3DoF旋转杆连接车身和滚筒装置。 相机单元安装在购物车主体中并拍摄滚筒装置。 通过控制单元分析由照相机单元根据滚筒装置的移动拍摄的图像和从3DoF旋转棒的移动获得的变化信息。 控制单元根据所计算出的辊装置的位置，根据分析结果和辊穿过辊装置的位置来计算辊的位置。

公开(公告)号：KR1020120105890A

公开(公告)日：2012-09-26

申请号：KR1020110023595

申请日：2011-03-16

Applicant: 전자부품연구원 ,  (주)미래컴퍼니

Inventor： 김봉석 ,  황정훈 ,  박창우 ,  김철성

IPC: B25J15/08 ,  A61B17/28 ,  A61B19/00 ,  B25J15/02

Abstract: PURPOSE: A griper using a driving wire is provided to directly measure the opening degree of the gripper. CONSTITUTION: A griper using a driving wire comprises first and second actuating units, first and second capstans, first and second rotary shafts, and a driving wire(40). The first and second capstans connected to the first and second actuating units control the first and second actuating units. The first and second rotary shafts are placed at each center of the first and second capstans, and rotate the first and second capstans. The driving wire is wrapped around the first capstan, and wrapped around the second capstan in the opposite direction. The driving wire controls the rotation of the first and second capstans by tensile force.

Abstract translation: 目的：提供使用驱动线的手柄来直接测量夹具的开度。 构成：使用驱动线的夹具包括第一和第二致动单元，第一和第二绞盘，第一和第二旋转轴以及驱动线（40）。 连接到第一和第二致动单元的第一和第二绞盘控制第一和第二致动单元。 第一和第二旋转轴被放置在第一和第二绞盘的每个中心处，并且旋转第一和第二绞盘。 驱动线缠绕在第一绞盘周围，并且沿相反方向缠绕在第二绞盘上。 驱动线通过张力控制第一和第二绞盘的旋转。

公开(公告)号：KR1020120105889A

公开(公告)日：2012-09-26

申请号：KR1020110023594

申请日：2011-03-16

Applicant: 전자부품연구원 ,  (주)미래컴퍼니

Inventor： 김봉석 ,  황정훈 ,  김철성

IPC: B25J17/00 ,  A61B19/00 ,  B25J9/06

Abstract: PURPOSE: A joint device for an active ball socket is provided to obtain the high degree of freedom, and to effectively deliver power with independently controlling each axis. CONSTITUTION: A joint device for an active ball socket comprises a ball(110), a N-th link, a (N+1)th link, a pair of first driving wires(131), a pair of second driving wires(132). The first driving wires are fixed to the (N+1)th link by penetrating the N-th link along a second guide slot. The first driving wires drive the (N+1)th link against a first axis. The second driving wires are fixed to the (N+1)th link by penetrating the N-th link along a first guide slot. The second driving wires drive the (N+1)th link against a second axis.

Abstract translation: 目的：提供一种用于主动球窝的联合装置以获得高自由度，并且通过独立控制每个轴来有效地输送动力。 构成：用于主动球窝的联合装置包括球（110），第N连杆，第（N + 1）连杆，一对第一驱动线（131），一对第二驱动线（132） ）。 第一驱动线通过沿着第二导槽穿过第N链路而固定到第（N + 1）个链路。 第一驱动线驱动第（N + 1）个链路抵靠第一轴。 第二驱动线通过沿着第一引导槽穿过第N链接而固定到第（N + 1）链路。 第二驱动线驱动第（N + 1）个链路抵靠第二轴。

公开(公告)号：KR1020120074467A

公开(公告)日：2012-07-06

申请号：KR1020100136306

申请日：2010-12-28

Applicant: 전자부품연구원

Inventor： 김봉석 ,  황정훈 ,  박창우

IPC: A61G5/04 ,  A61G5/06 ,  A61G5/10

Abstract: PURPOSE: An electromotive wheel chair is provided to improve the driving stability and use convenience thereof. CONSTITUTION: An electromotive wheel chair comprises a body frame(10), front and rear wheels(11,12), front and rear assistant wheels(14,15), an actuator, and linear motors(17,18). The body frame is combined with vertical and horizontal frames and is formed in a rectangular shape. On the body frame, a seat unit is installed on the top thereof. The front assistant wheels are installed in the front of the front wheel. The rear assistant wheels are installed in the rear of the rear wheel. The actuator is installed on both sides of the body frame. The first linear motor and second linear motor are respectively connected to the front assistant wheel and rear assistant wheel.

Abstract translation: 目的：提供一种电动轮椅，以提高驾驶的稳定性并方便使用。 构成：电动轮椅包括主体框架（10），前轮和后轮（11,12），前后辅助轮（14,15），致动器和线性马达（17,18）。 身体框架与垂直和水平框架结合并形成为矩形形状。 在车身框架上，座椅单元安装在其顶部。 前辅助轮安装在前轮的前部。 后辅助轮安装在后轮的后部。 执行器安装在车身框架的两侧。 第一线性马达和第二线性马达分别连接到前辅助轮和后辅助轮。

公开(公告)号：KR1020120059224A

公开(公告)日：2012-06-08

申请号：KR1020100120887

申请日：2010-11-30

Applicant: 전자부품연구원 ,  (주)미래컴퍼니

Inventor： 김봉석 ,  황정훈 ,  박창우

IPC: A61B17/34 ,  A61B17/94 ,  A61B19/00 ,  A61M39/02

Abstract: PURPOSE: A guide system for surgical instruments and a surgical device for making fine incisions by including the same are provided to changeably support lengths of the surgical instruments for single path surgery, thereby improving user convenience for installing and uninstalling the surgical instruments. CONSTITUTION: One or more parts among a surgical instrument and a camera are arranged on an inner guide(100). An outer guide(200) supports the surgical instrument and the camera. Guide channels(121,123,125) are formed into a groove shape on an outer wall of a central body(110). A preventing protrusion is formed on one end side of the central body. A wing protrusion is projected to the outside of the center of a body.

Abstract translation: 目的：提供用于手术器械的引导系统和用于通过包括其的精细切口的手术装置来可变地支撑用于单次手术的外科器械的长度，从而提高用于手术器械的安装和卸载的便利性。 构成：外科器械和照相机中的一个或多个部件布置在内部引导件（100）上。 外引导件（200）支撑外科器械和相机。 引导通道（121,123,125）在中心体（110）的外壁上形成为凹槽形状。 防止突起形成在中心体的一端侧。 翼突起突出到身体中心的外侧。

公开(公告)号：KR1020110023342A

公开(公告)日：2011-03-08

申请号：KR1020090081158

申请日：2009-08-31

Applicant: 전자부품연구원

Inventor： 황정훈 ,  정일균 ,  김봉석

IPC: B25J17/00 ,  B25J13/00 ,  B25J9/00

Abstract: PURPOSE: A robot joint and a control method thereof are provided to apply flexibility to the joint by measuring the power of the joint using a sensor. CONSTITUTION: A robot joint comprises a joint mechanism unit, a redundant joint mechanism unit, and a controller. The joint mechanism unit performs the joint motion of a robot arm. The redundant joint mechanism unit is installed in the joint mechanism unit. A spring mechanism(210) and an MR brake(220) are formed in the joint mechanism unit in an opposite direction of a direction in which a load is applied. The controller controls the rigidity of the MR brake.

Abstract translation: 目的：提供一种机器人接头及其控制方法，通过使用传感器测量接头的功率来对接头施加柔性。 构成：机器人接头包括接头机构单元，冗余接头机构单元和控制器。 关节机构单元执行机器人手臂的关节运动。 冗余关节机构单元安装在关节机构单元中。 弹簧机构（210）和MR制动器（220）在接合机构单元中沿与施加负载的方向相反的方向形成。 控制器控制MR制动器的刚度。

公开(公告)号：KR1020110010901A

公开(公告)日：2011-02-08

申请号：KR1020090068242

申请日：2009-07-27

Applicant: 전자부품연구원

Inventor： 박창우 ,  김영욱 ,  김봉석

IPC: B25J13/08 ,  B25J9/16 ,  B25J9/10

Abstract: PURPOSE: A recognizing method of a robot and a device thereof are provided to secure the real time processing and to reduce a calculating time by computing the own location of a robot at once based on the image obtained by a front camera. CONSTITUTION: A recognizing method of a robot is as follows. The representative matrix mapping with specific spaces one-to-one is stored. A scene matrix is generated from the image recorded by a camera(S309). The standards matrix is generated by multiplying the image matrix and eigen matrix. The space, that the closest representative matrix indicates, is acknowledged as the current space(S313,S315).

Abstract translation: 目的：提供机器人及其装置的识别方法，以确保实时处理，并且通过基于由前置摄像机获得的图像一次计算机器人的自身位置来减少计算时间。 构成：机器人的识别方法如下。 存储具有特定空间的代表矩阵映射一对一。 从由照相机记录的图像生成场景矩阵（S309）。 标准矩阵是通过将图像矩阵和本征矩阵相乘产生的。 最接近的代表矩阵表示的空间被确认为当前空间（S313，S315）。