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公开(公告)号：KR1020130130226A
公开(公告)日：2013-12-02
申请号：KR1020120036940
申请日：2012-04-09
Applicant: 전자부품연구원
Abstract: The present invention relates to a device and a method for the operation of a gondola robot based on work area identification. The device for the operation of a gondola robot stores work information to be processed to a work area. The gondola robot moves to the work area and determines whether an object is a glass window, a window frame, or a wall surface. The gondola robot selects a corresponding work based on the work information stored according to the determined results and performs the corresponding work. Therefore, the present invention adaptationally performs the maintenance work of a building as the user selects a work corresponding to each part of an exterior wall of the building, and the gondola robot can separately perform works proper to the corresponding parts. [Reference numerals] (AA) Start;(S11) Store the information of a work to be executed in a work area;(S13) Move to the work area;(S15) Detect the work area;(S17) Select a corresponding work according to the detected result;(S19) Perform the selected work;(S21) Update the result of performing the work
Abstract translation: 技术领域本发明涉及一种基于工作区域识别来操作吊车机器人的装置和方法。 用于操作吊船机器人的装置存储要处理到工作区域的工作信息。 缆车机器人移动到工作区域，并确定对象是玻璃窗，窗框还是墙面。 缆车机器人根据确定的结果存储的工作信息选择相应的作业，并执行相应的工作。 因此，当用户选择对应于建筑物的外墙的每个部分的工件时，本发明适应性地执行建筑物的维护工作，并且吊舱机器人可以分开地对相应部件执行适当的工作。 （附图标记）（AA）开始;（S11）将要执行的作品的信息存储在工作区域中;（S13）移动到工作区域;（S15）检测工作区域;（S17）选择相应的工作 （S19）执行选择的工作;（S21）更新执行工作的结果
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公开(公告)号：KR1020130114806A
公开(公告)日：2013-10-21
申请号：KR1020120037129
申请日：2012-04-10
Applicant: 전자부품연구원
CPC classification number: E04G3/30 , E04G2003/286 , F16G11/12
Abstract: PURPOSE: A device and a method for processing the wire rope of a gondola robot are provided to prevent damages to a building caused by a wire rope by stably installing the wire rope on the rooftop of the building or collecting the wire rope using a stranded wire. CONSTITUTION: A device (100) for processing the wire rope of a gondola robot comprises a wire hanger (10), a stranded wire feeder (20), a jointer (40), and a wire rope feeder (50). The wire hanger is installed on the rooftop (81) of a building (80) and is spaced apart from the outer wall (83) of the building. The stranded wire is installed on the rooftop of the building to supply a stranded wire (21) to the ground (85) or collect the stranded wire using the wire hanger. The jointer joins one end of the stranded wire on the ground to one end of a wire rope (31). The jointer covers the joint of the wire rope and the stranded wire. The wire rope feeder is installed on the ground of the building to supply the wire rope. The wire rope feeder loosens the wire rope joined to the stranded wire to be lifted to the rooftop of the building at regular tension when the stranded wire is lifted by the stranded wire feeder.
Abstract translation: 目的：提供一种用于加工缆车机器人的钢丝绳的装置和方法，以通过将钢丝绳稳定地安装在建筑物的屋顶上或使用绞线收集钢丝绳来防止由钢丝绳造成的对建筑物的损坏 。 构成：用于处理缆车机器人的钢丝绳的装置（100）包括电线衣架（10），绞线供线器（20），接合器（40）和钢丝绳供给器（50）。 电线衣架安装在建筑物（80）的屋顶（81）上并且与建筑物的外壁（83）间隔开。 绞线被安装在建筑物的屋顶上，以将绞线（21）提供到地面（85），或使用电线衣架收集绞线。 连接器将地线上绞线的一端连接到钢丝绳（31）的一端。 连接器覆盖钢丝绳和绞线的接头。 钢丝绳输送机安装在建筑物的地面，供应钢丝绳。 当绞线通过绞线供线器提升时，钢丝绳给料机以规则的张力松开连接到绞线的绞线被提升到建筑物的屋顶。
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公开(公告)号：KR1020130114805A
公开(公告)日：2013-10-21
申请号：KR1020120037128
申请日：2012-04-10
Applicant: 전자부품연구원
Abstract: PURPOSE: A gondola robot position measurement device and a gondola robot system having the same are provided to accurately measure the length variation of a wire rope due to the movement of a gondola robot by stably coming in contact with an encoder roller unit using the elasticity of the wire rope. CONSTITUTION: A gondola robot position measurement device (30) comprises a movement guide unit (40), an encoder roller unit (50), an encoder (60), and a control unit. The movement guide unit is installed on a gondola robot which is inserted with a wire rope. The movement guide unit moves with the wire rope and the gondola robot. The encoder roller unit is elastically engaged with the wire rope. The encoder roller unit has an encoder roller which rotates on the wire rope. The encoder counts and outputs the number of rotations of the encoder roller. The control unit receives the number of rotations from the encoder to calculate the vertical moving distance of the gondola robot which moves on the wire rope.
Abstract translation: 目的：提供一种吊车机器人位置测量装置和具有该缆索机器人位置测量装置的缆车机器人系统，以通过使用弹性机器人稳定地与编码器滚子单元接触来精确地测量由于吊篮机器人的运动导致的钢丝绳的长度变化 钢丝绳。 构成：缆车机器人位置测量装置（30）包括移动引导单元（40），编码器滚子单元（50），编码器（60）和控制单元。 移动引导单元安装在插入有钢丝绳的缆车机器人上。 移动引导单元与钢丝绳和缆车机器人一起移动。 编码辊单元与钢丝绳弹性接合。 编码器辊单元具有在钢丝绳上旋转的编码辊。 编码器计数并输出编码器滚轮的转数。 控制单元从编码器接收转数，计算在钢丝绳上移动的吊车机器人的垂直移动距离。
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公开(公告)号：KR101306690B1
公开(公告)日：2013-09-10
申请号：KR1020110131348
申请日：2011-12-08
Applicant: 전자부품연구원
Abstract: 본 발명은 건물 외벽의 유리창 인식을 통하여 건물 외벽에 대한 관리를 수행하는 곤돌라 로봇 및 그의 제어 방법에 관한 것이다. 본 발명에 따른 곤돌라 로봇은 로봇 본체, 영상 획득부, 및 제어부를 포함한다. 로봇 본체는 로프 카트의 로프에 매달려 건물 외벽에 대한 관리를 수행한다. 영상 획득부는 건물 외벽을 향하게 로봇 본체에 설치되며, 로봇 본체가 위치한 지점과 인접한 영역의 건물 외벽에 대한 복수의 영상을 획득한다. 제어부는 획득한 복수의 영상을 정합하고, 정합된 영상에서 건물 외벽을 형성하는 유리창과 창틀을 구분하여 인식하고, 인식한 유리창의 수를 카운트하여 건물 외벽에서의 로봇 본체의 현재 위치를 파악한다. 또한 제어부는 인식한 유리창과 창틀에 따라 관리 툴을 변경하거나, 건물 외벽 지도를 구축하거나, 정합한 영상을 관리자의 원격 제어기로 전송할 수 있다.
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公开(公告)号：KR101292543B1
公开(公告)日：2013-08-12
申请号：KR1020120106191
申请日：2012-09-25
Applicant: 전자부품연구원
CPC classification number: H02K7/102 , B60K7/00 , B60K2007/0061 , H02K7/003
Abstract: PURPOSE: A toggle type brake for an in-wheel electric motor using a motor is provided to couple a braking member with an output shaft of a rotor, thereby rapidly stopping a wheel. CONSTITUTION: A brake for an in-wheel electric motor comprises a motor which is adjacent to an output shaft of a rotor; a braking member (11) which is installed between the motor and the output shaft of the rotor and become combined to the output shaft or separated from the output shaft according to operations of the motor; a connection member which is installed under the braking member and connected to a rotary shaft of the motor; and a connection bar (13) which is installed between the braking member and the connection member for connecting the braking member and the connection member to each other. [Reference numerals] (AA) Stator; (BB) Housing; (CC) Rotor
Abstract translation: 目的：提供一种用于使用电动机的轮内电动机的肘式制动器，用于将制动构件与转子的输出轴联接，从而快速停止车轮。 构成：用于轮内电动机的制动器包括与转子的输出轴相邻的电动机; 一个安装在电动机和转子的输出轴之间的制动部件（11），根据电动机的操作，与输出轴组合或与输出轴分离; 连接构件，其安装在所述制动构件的下方并连接到所述电动机的旋转轴; 以及连接杆（13），其安装在所述制动构件和所述连接构件之间，用于将所述制动构件和所述连接构件彼此连接。 （标号）（AA）定子; （BB）房屋; （CC）转子
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Patent Agency Ranking
公开(公告)号：KR101293497B1
公开(公告)日：2013-08-07
申请号：KR1020120049865
申请日：2012-05-10
Applicant: 전자부품연구원
IPC: F16D65/18 , F16D55/224 , B25J17/00 , G01L3/00
Abstract: PURPOSE: A one-axis joint module is provided to accurately control a stopping force without using an existing frictional braking method and to maximize space utilization for wiring or other purposes. CONSTITUTION: A one-axis joint module comprises a motor (19), a reducer, an absolute encoder, a one-axis torque sensor, a braking device (21), a relative encoder, and a motor controller. The motor comprises a hollow output shaft (20). The reducer is combined in the output shaft protruding to one side of the motor. The one-axis torque sensor is combined in the output shaft which protrudes to the front side of the absolute encoder and measures torque in the output shaft direction. The braking device is combined in the other side of the motor in series in the output shaft direction to brake the output shaft. The relative encoder is combined in the output shaft which protrudes to the holding ring (60) of the braking device. The motor controller is combined in the holding ring, is positioned outside the relative encoder, and controls the driving of the motor.
Abstract translation: 目的：提供单轴接头模块以精确地控制停止力而不使用现有的摩擦制动方法，并最大限度地利用线路或其他目的的空间利用率。 构成：单轴接头模块包括电动机（19），减速器，绝对编码器，单轴扭矩传感器，制动装置（21），相对编码器和电动机控制器。 电动机包括中空输出轴（20）。 减速器组合在突出到电机一侧的输出轴上。 单轴扭矩传感器组合在输出轴上，突出到绝对编码器的前侧，并测量输出轴方向的转矩。 制动装置在马达的另一侧在输出轴方向上串联组合以制动输出轴。 相对编码器组合在输出轴上，该输出轴突出到制动装置的保持环（60）。 电机控制器组合在保持环中，位于相对编码器外部，并控制电机的驱动。
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公开(公告)号：KR101241800B1
公开(公告)日：2013-03-14
申请号：KR1020100125630
申请日：2010-12-09
Applicant: 전자부품연구원
Abstract: 본 발명은 근력 보조 외골격 장치에 관한 것으로, 인체의 능력을 보조할 수 있는 강인한 힘을 일정한 자유도와 함께 제공하여 근력 보조와 함께 필요한 방향으로의 운용이 가능하도록 하기 위한 것이다. 이러한 본 발명에 따른 근력 보조 외골격 장치는 어깨 직렬형 기구, 팔꿈치 직렬형 기구 및 손목부 병렬형 기구를 포함한다. 여기서 어깨 직렬형 기구는 등 관절부와 어깨 전후방 관절부 및 어깨 좌우방 관절부를 포함하며, 각 관절부들을 연결하는 링크부를 포함할 수 있다. 그리고 팔꿈치 직렬형 기구는 어깨 직렬형 기구와 연결되며 일정 각도로 운동이 가능한 팔꿈치 관절부 및 팔꿈치 관절부들의 상완 및 전완을 형성하는 링크부를 포함하며, 손목부 병렬형 기구는 상기 팔꿈치 직렬형 기구와 연결되며 착용자의 손목이 3자유도를 가지며 회전 운동하도록 지지한다.
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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
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。
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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
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。
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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
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。
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