公开(公告)号：KR100440513B1

公开(公告)日：2004-07-19

申请号：KR1020020063977

申请日：2002-10-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  조창현

IPC: F16H9/04

Abstract: PURPOSE: A wire power transmission device having a dynamic characteristic of a planetary gear is provided to obtain a power transmission characteristic of the planetary gear by a small number of pulleys and wires by combining hanging methods of wires wound around pulleys. CONSTITUTION: A wire power transmission device comprises a first rotating body(121) rotating by power input; a second rotating body(125) connected to a rotating shaft(141) of the first rotating body and fixed to a rotating shaft(145) rotating relatively to the first rotating body; third rotating bodies(123a,123b) to which wires(131,132) wound around the first and second rotating bodies are connected; and rotating frames(115L,115R) connecting the rotating shafts and the third rotating bodies to make the third rotating bodies revolve around the rotating shaft of the first rotating body and the rotating shaft of the second rotating body. The third rotating bodies transmit the rotational speed of the first rotating body to all over the second rotating body through acceleration and deceleration. One of the wire connecting the first and third rotating bodies and the wire connecting the second and third rotating bodies is connected by a crosswise hanging method and the other is connected by a rightly hanging method.

Abstract translation: 目的：提供一种具有行星齿轮动态特性的线动力传动装置，以通过组合绕在滑轮上的钢丝绳悬挂方法，用少量的滑轮和钢丝获得行星齿轮的动力传递特性。 构成：导线传动装置包括通过动力输入旋转的第一旋转体（121） 与第一旋转体的旋转轴141连接并固定于相对于第一旋转体旋转的旋转轴145的第二旋转体125; 缠绕在第一和第二旋转体上的导线（131,132）连接到的第三旋转体（123a，123b） 以及连接旋转轴和第三旋转体的旋转框架（115L，115R），以使第三旋转体围绕第一旋转体的旋转轴和第二旋转体的旋转轴旋转。 第三旋转体通过加速和减速将第一旋转体的旋转速度传递到整个第二旋转体。 连接第一和第三旋转体的导线和连接第二和第三旋转体的导线中的一个通过横向悬挂方法连接，而另一个通过正确悬挂方法连接。

公开(公告)号：KR100440512B1

公开(公告)日：2004-07-19

申请号：KR1020020064473

申请日：2002-10-22

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  조창현

IPC: F16H7/04

Abstract: PURPOSE: A wire power transmission device with a rotating body rotating relatively, a wire tension control device for controlling wire tension of the wire power transmission device, and a tension control method thereof are provided to make the wire tension control device fastened to the wire power transmission device in controlling wire tension and disassembled if tension control is finished and to control wire tension through the fastening of the wire tension control device. CONSTITUTION: A wire power transmission device has a wire(130) both ends of which are wound around one of a driving shaft(101) and a driven shaft(103). The middle part of the wire is wound around the other of the driving shaft and the driven shaft. The wire power transmission device includes a rotating body(121) rotating along the circumference of one of the driving shaft and the driven shaft around a rotational central line of one of the driving shaft and the driven shaft. The rotating body translationally moves in the longitudinal direction of one of the driving shaft and the driven shaft, or the rotating body is fixed to one of the driving shaft and the driven shaft by a fixing unit. One end of the wire is wound around the rotating body and the other end of the wire is wound around one of the driving shaft and the driven shaft.

Abstract translation: 目的：提供一种具有相对旋转的旋转体的线动力传递装置，用于控制线动力传递装置的线张力的线张力控制装置及其张力控制方法，以使线张力控制装置紧固到线动力 传动装置在张力控制完成时控制钢丝张力和拆卸，并通过钢丝张力控制装置的固定来控制钢丝张力。 构成：线动力传递装置具有两端围绕驱动轴（101）和从动轴（103）中的一个缠绕的线（130）。 导线的中间部分缠绕在驱动轴和从动轴中的另一个上。 线动力传递装置包括围绕驱动轴和从动轴中的一个的旋转中心线沿着驱动轴和从动轴中的一个的圆周旋转的旋转体（121）。 旋转体沿驱动轴和从动轴中的一个的纵向方向平移移动，或者旋转体通过固定单元固定到驱动轴和从动轴中的一个。 导线的一端缠绕在旋转体上，导线的另一端缠绕在驱动轴和从动轴中的一个上。

公开(公告)号：KR1020040035354A

公开(公告)日：2004-04-29

申请号：KR1020020064473

申请日：2002-10-22

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  조창현

IPC: F16H7/04

CPC classification number: F16H7/04 ,  F16H2007/0876

Abstract: PURPOSE: A wire power transmission device with a rotating body rotating relatively, a wire tension control device for controlling wire tension of the wire power transmission device, and a tension control method thereof are provided to make the wire tension control device fastened to the wire power transmission device in controlling wire tension and disassembled if tension control is finished and to control wire tension through the fastening of the wire tension control device. CONSTITUTION: A wire power transmission device has a wire(130) both ends of which are wound around one of a driving shaft(101) and a driven shaft(103). The middle part of the wire is wound around the other of the driving shaft and the driven shaft. The wire power transmission device includes a rotating body(121) rotating along the circumference of one of the driving shaft and the driven shaft around a rotational central line of one of the driving shaft and the driven shaft. The rotating body translationally moves in the longitudinal direction of one of the driving shaft and the driven shaft, or the rotating body is fixed to one of the driving shaft and the driven shaft by a fixing unit. One end of the wire is wound around the rotating body and the other end of the wire is wound around one of the driving shaft and the driven shaft.

Abstract translation: 目的：提供一种旋转体相对转动的电力传输装置，用于控制电力传输装置的电线张力的电线张力控制装置及其张力控制方法，以使电线张力控制装置固定在电线 传动装置控制线张力，如果张力控制完成，则通过紧固线张力控制装置控制线张力。 构成：电力传输装置具有两端缠绕在驱动轴（101）和从动轴（103）中的一个上的电线（130）。 线的中间部分缠绕在驱动轴和从动轴的另一个上。 线传动装置包括围绕驱动轴和从动轴之一的旋转中心线沿着驱动轴和从动轴之一的圆周旋转的旋转体（121）。 旋转体在驱动轴和从动轴之一的纵向方向上平移移动，或者旋转体通过定影单元固定在驱动轴和从动轴中的一个上。 线的一端缠绕在旋转体上，线的另一端围绕驱动轴和从动轴中的一个缠绕。

公开(公告)号：KR1020040008374A

公开(公告)日：2004-01-31

申请号：KR1020020042002

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  곽윤근 ,  신경철 ,  강성철 ,  조창현 ,  박창우 ,  이청희 ,  우춘규

IPC: B25J5/00

Abstract: PURPOSE: A link type track device is provided to improve the adaptability of a crawler vehicle to stairs without an additional device and a driving source. CONSTITUTION: A link type track device is composed of track units(1,2) performing a relative rotary motion and connected by a rotary joint, a control box(3), a four-articulated link unit(4) for connecting the track units with the control box, and a damper(5) for damping the shock to the relative rotary motion of the track units.

Abstract translation: 目的：提供一种链接式履带装置，以提高履带式车辆对楼梯的适应性，而无需附加装置和驱动源。 构成：链式轨道装置由执行相对旋转运动并通过旋转接头连接的轨道单元（1,2）组成，控制箱（3），四关节连杆单元（4），用于连接轨道单元 以及用于将冲击缓冲到轨道单元的相对旋转运动的阻尼器（5）。

公开(公告)号：KR1020040008373A

公开(公告)日：2004-01-31

申请号：KR1020020042001

申请日：2002-07-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  강성철 ,  곽윤근 ,  장준현 ,  우춘규 ,  김연훈 ,  신경철 ,  정우진

IPC: B25J5/00

Abstract: PURPOSE: A four-articulated link mechanism driving system for a six-wheeled driving robot is provided to enable the robot to climb stairs, and to easily control the six-wheeled driving robot by simplifying the structure of the system. CONSTITUTION: A first link(1) connects a first wheel(100) with a second wheel(200), and is connected to a main body(4) by a joint mechanism(50) and to a second link(2) by a rotary joint(31). The second link is connected to a third wheel(300) and a third link(3) by a rotary joint(32). The third link is connected to the main body by a rotary joint(33).

Abstract translation: 目的：提供一种用于六轮驱动机器人的四关节连杆机构驱动系统，以使机器人能够爬楼梯，并通过简化系统的结构来轻松控制六轮驱动机器人。 构成：第一连杆（1）连接第一轮（100）与第二轮（200），并且通过联接机构（50）连接到主体（4），并且通过一个第二连杆 旋转接头（31）。 第二连杆通过旋转接头（32）连接到第三轮（300）和第三连杆（3）。 第三连杆通过旋转接头（33）与主体连接。

公开(公告)号：KR1019920010575B1

公开(公告)日：1992-12-07

申请号：KR1019900003895

申请日：1990-03-22

Applicant: 한국과학기술연구원

Inventor： 김문상

IPC: G05D3/00 ,  B25J13/00 ,  G05B19/19

Abstract: The position compensation system for setting position of a robot comprises a hardware system composed of sensors (1)(1'), a robot controller (14), RS232C interface port (15), a cable (16), multi- tasking system, a personal computer (18), and a data gathering system (19), a control software package to communicate with the robot and a processed data gathered by the hardware system. The robot can 3-/se the relative position between the robot and the work by the non-contact sensor, and the computer the data and compensates the position in real time.

Abstract translation: 机器人设定位置补偿系统包括由传感器（1）（1'），机器人控制器（14），RS232C接口端口（15），电缆（16），多任务系统， 个人计算机（18）和数据采集系统（19），与机器人通信的控制软件包以及由硬件系统收集的经处理的数据。 机器人可以通过非接触式传感器将机器人与工件之间的相对位置3- / se，并将计算机实时地进行数据补偿。

公开(公告)号：KR100053610B1

公开(公告)日：1992-08-06

申请号：KR1019890015311

申请日：1989-10-24

Applicant: 한국과학기술연구원

Inventor： 홍예선 ,  김문상

IPC: G01B21/20 ,  G01B5/20

公开(公告)号：KR1019910018793A

公开(公告)日：1991-11-30

申请号：KR1019900004586

申请日：1990-04-03

Applicant: 한국과학기술연구원

Inventor： 김문상

IPC: G01M99/00

Abstract: 내용 없음

公开(公告)号：KR1020130084461A

公开(公告)日：2013-07-25

申请号：KR1020120005264

申请日：2012-01-17

Applicant: 한국과학기술연구원

Inventor： 강성철 ,  조창현 ,  최준호 ,  김문상

IPC: B25J19/06 ,  B25J18/00

CPC classification number: B25J19/0008 ,  B25J19/0016

Abstract: PURPOSE: A robot arm having a gravity compensation mechanism is provided to form a link mechanism with the multi-degree of freedom joint, thereby offsetting a gravitational effect due to the weight of the link mechanism. CONSTITUTION: A robot arm having a gravity compensation mechanism includes a first rotating member (101), a second rotating member (102), and single degree of freedom gravity beams (201,202). The rotating members respectively rotate with double degree of freedom rotations. The first rotation of the first rotating member is a yaw rotation. The second rotation of the first rotating member is a pitch rotation perpendicular to the first rotation. The third and the fourth rotation of the second rotating member are respectively the pitch rotation and a roll rotation. The single degree of freedom gravity beams are connected to the first rotating member or the second rotating member. The single degree of freedom gravity beams offset gravities due to the weight of the first rotating member or the second rotating member.

Abstract translation: 目的：提供一种具有重力补偿机构的机器人臂，以形成具有多自由度关节的连杆机构，从而抵消由于连杆机构的重量引起的重力作用。 构成：具有重力补偿机构的机器人臂包括第一旋转构件（101），第二旋转构件（102）和单自由度重力梁（201,202）。 旋转构件分别以双自由度旋转旋转。 第一旋转构件的第一旋转是偏转旋转。 第一旋转构件的第二旋转是垂直于第一旋转的俯仰旋转。 第二旋转构件的第三和第四旋转分别是俯仰旋转和滚动旋转。 单自由度重力梁连接到第一旋转构件或第二旋转构件。 单自由度重力梁由于第一旋转构件或第二旋转构件的重量而偏移重力。

公开(公告)号：KR1020120127888A

公开(公告)日：2012-11-26

申请号：KR1020110045658

申请日：2011-05-16

Applicant: 한국과학기술연구원

Inventor： 강성철 ,  조창현 ,  김문상

IPC: B25J19/06 ,  B25J18/00

CPC classification number: B25J19/0016 ,  Y10S901/48 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: PURPOSE: A gravity compensation tool and a robot arm using the same are provided to reduce the whole weight of the robot arm with the reduction of the power and supply energy saving effect. CONSTITUTION: A first rotation of a link member(103) matches with a gravity direction as yaw rotation. A second rotation and a third rotation of the link member performs roll rotation and pitch rotation. The second rotation and the third rotation are kept by differential bevel gears(120,121). A pair of cam plates(112,122) is fixed to rotation bevel gear shafts. A 1DOF(Degree Of Freedom) gravity corrector(150) is connected to each cam plate.

Abstract translation: 目的：提供一种重力补偿工具和使用该重力补偿工具的机器人手臂，以减少机器人手臂的整体重量，节省电力和节能效果。 构成：连杆构件（103）的第一旋转与重力方向匹配作为偏航旋转。 连杆构件的第二旋转和第三旋转执行滚动旋转和俯仰旋转。 第二旋转和第三旋转由差速锥齿轮（120,121）保持。 一对凸轮板（112,122）固定在旋转锥齿轮轴上。 1DOF（自由度）重力校正器（150）连接到每个凸轮板。