公开(公告)号：KR1020140093369A

公开(公告)日：2014-07-28

申请号：KR1020130004841

申请日：2013-01-16

Applicant: 삼성전자주식회사

Inventor： 박성진 ,  정재열 ,  김신 ,  박흠용 ,  이동훈

IPC: A47L11/16 ,  A47L11/283 ,  B25J13/00 ,  B25J9/00

CPC classification number: A47L11/4069 ,  A47L11/4038 ,  A47L11/4061 ,  A47L11/4066 ,  A47L2201/04

Abstract: The present invention relates to a robot cleaner capable of moving in multiple directions and capable of improving a cleaning effect by increasing a frictional force between a pad and a floor. The robot cleaner according to an embodiment of the present invention comprises the following: a case installed outside a main body and forming the appearance of the robot cleaner; and the main body with at least two driving units. These units include the following: a motor transmitting a rotational force; a first sub frame connected to the motor and rotated when receiving the rotational force from the motor; and a rotary plate assembly mounted at the first sub frame, having a bottom surface which is inclined to the floor when the first sub frame is rotated, and which is capable of being rotated clockwise or counterclockwise when receiving the rotational force from the motor; and the pad installed on the bottom surface of the rotary plate assembly which touches the floor, wherein the bottom surface of the rotary plate assembly is installed to be inclined to the floor so that the uneven frictional force is generated between the bottom surface of the pad and the floor, hence the robot cleaner can be driven in a certain direction by the uneven frictional force.

Abstract translation: 本发明涉及能够在多个方向上移动并能够通过增加垫和地板之间的摩擦力来提高清洁效果的机器人清洁器。 根据本发明的实施例的机器人清洁器包括：安装在主体外部并形成机器人清洁器外观的壳体; 和主体至少有两个驱动单元。 这些单元包括：传递旋转力的电机; 连接到电动机并在接收到来自电动机的旋转力时旋转的第一子框架; 以及旋转板组件，其安装在所述第一子框架处，所述旋转板组件具有当所述第一子框架旋转时倾斜于所述地板的底面，并且当从所述电动机接收到所述旋转力时能够顺时针或逆时针旋转; 并且所述垫安装在所述旋转板组件的接触所述底板的底表面上，其中所述旋转板组件的底表面安装成倾斜于所述地板，使得在所述垫的底表面之间产生不均匀的摩擦力 和地板，因此机器人清洁器可以通过不均匀的摩擦力在一定方向上被驱动。

公开(公告)号：KR1020120048326A

公开(公告)日：2012-05-15

申请号：KR1020100109911

申请日：2010-11-05

Applicant: 삼성전자주식회사

Inventor： 이연백 ,  김용재 ,  김정훈 ,  박흠용

IPC: B25J9/10 ,  B25J15/00 ,  B25J15/10 ,  B25J17/00 ,  B25J15/08

CPC classification number: B25J15/0009 ,  B25J9/103 ,  B25J15/08 ,  B25J15/10 ,  B25J17/00

Abstract: PURPOSE: A robot hand is provided to circulate a driving torque for gripping with an actual finger through adding or subtracting torque without circulating a force according to a posture of a finger. CONSTITUTION: A robot hand comprises a frame(20), first and second link members(30,40), first and second joint units, first and second driving units, a power transmission unit(90), and a backlash removing unit(100). The first driving unit supplies power to the first joint unit so that the first link member relatively moves with respect to the frame and the second link member relatively moves with respect to the first link member. The power transmission unit connects the first and second joint units. The backlash removing unit respectively supplies a constant torque to the first and second joint units even though a relative position of the frame and link members is changed when the first and second link members are moved by the first driving unit.

Abstract translation: 目的：提供机器人手，以通过加或减扭矩来循环用于握住实际手指的驱动力矩，而不会根据手指的姿势循环。 构成：机器人手包括框架（20），第一和第二连杆构件（30,40），第一和第二关节单元，第一和第二驱动单元，动力传递单元（90）和齿隙消除单元（100 ）。 第一驱动单元向第一接头单元供电，使得第一连杆构件相对于框架相对移动，并且第二连杆构件相对于第一连杆构件相对移动。 动力传递单元连接第一和第二接头单元。 即使当第一和第二连杆构件被第一驱动单元移动时，齿轮和连杆构件的相对位置改变时，齿隙消除单元也分别向第一和第二关节单元提供恒定的扭矩。