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公开(公告)号：KR1020160122312A
公开(公告)日：2016-10-24
申请号：KR1020150051736
申请日：2015-04-13
Applicant: 재단법인대구경북과학기술원
CPC classification number: H01R43/26
Abstract: 본발명에따른조립공정용작업장치는메니퓰레이터에의해유연체를이동시켜커넥터에체결시키는공정용작업장치에관한것으로, 상기메니퓰레이터에설치되어상기커넥터측으로이동되는몸체상기몸체의내부에설치되는구동부상기몸체의하측에설치되고, 상기구동부에의해상하운동하여상기유연체를가압하여파지하는이동부및 일단이상기몸체의하측에설치되고, 타단은상기이동부의하측에위치하여그 상면에상기유연체가안착되도록받침판이구비되는고정부를포함한다. 이러한본 발명에따른조립공정용작업장치에의하면, 상하로이동하는이동부와고정되어있는고정부사이에유연체를파지하도록하여유연체를커넥터에안정적으로체결시킬수 있다. 또한미세조정부와고정조정부를구비하여유연체에자유도를부여함으로써정밀한위치제어를통해체결성공률을높이고, 힘센서모듈을구비하여유연체의손상을방지한다.
Abstract translation: 一种用于组装过程的装置，其中在柔性物体中由操纵器移动以与连接器接合，包括：设置在操纵器中并朝向连接器移动的主体; 设置在身体内部的驱动部分; 移动部件设置在主体下方并由驱动部件上下移动以按压并夹持柔性物体; 以及固定部，其一端设置在所述主体下方，所述另一端位于所述移动部分的下方，以及顶表面，所述顶表面包括与所述柔性物体一起安装的支撑板。
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公开(公告)号：KR1020150022555A
公开(公告)日：2015-03-04
申请号：KR1020130100620
申请日：2013-08-23
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0237 , A61H1/001 , A61H1/0266 , A61H2205/10
Abstract: 본 발명의 실시예에 따른 하지 고관절 재활 장치는, 장치 프레임; 장치 프레임에 장착되어 재활 대상자의 하지가 로딩되는 로딩부재 및 로딩부재와 연결되는 손잡이 부분을 갖는 재활부; 및 손잡이 부분이 착탈 가능하게 결합되며, 장치 프레임에 왕복으로 슬라이딩 이동 가능하게 장착되어 손잡이 부분을 밀거나 당김으로써 로딩부재를 승강시키는 구동부;를 포함할 수 있다. 본 발명의 실시예에 따르면, 구동부에 손잡이 부분을 고정시키는 동작에 한해 수동으로 한 후 이후 구동부의 구동을 자동으로 수행함으로써 하지의 고관절에 대한 지속적인 재활을 수행할 수 있어 신뢰성 있는 재활 치료를 수행할 수 있을 뿐만 아니라 재활의 자동화를 위해 구축되는 구성을 최소화하여 장치 구축에 소요되는 비용 증감을 억제할 수 있다.
Abstract translation: 根据本发明的实施例，腿上的髋关节康复装置包括：装置框架; 附接到所述装置框架并具有装载构件的康复部件，所述装载构件中装有患者的腿部，以及与所述装载构件连接的抓握部件; 以及驱动部，所述把手部连接到所述驱动部，所述驱动部被连接以可拆卸，并且其安装在所述框架上以前后滑动，以通过推动或拉动所述握持部来提升所述装载构件。 根据本发明的实施例，通过在手动控制驱动部件上的把持部的固定操作之后，通过自动驱动驾驶部，允许康复装置不断地修复患者的龋齿，为可靠的康复治疗做出贡献， 并且使自动康复装置的结构最小化，从而抑制了用于制造康复装置的费用的增加。
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公开(公告)号：KR1020140091381A
公开(公告)日：2014-07-21
申请号：KR1020130003585
申请日：2013-01-11
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/00 , A61B5/0488 , A61N1/36 , A61B5/05
CPC classification number: A61N1/36014 , A61B5/026 , A61B5/0482 , A61B5/0488 , A61B2505/09 , A61N1/36003
Abstract: The present invention relates to a self-directed rehabilitation training method for providing a patient, who requires rehabilitation, with rehabilitation training upon the will of the patient. The rehabilitation training method provides a patient with an environment capable of encouraging the patient to have rehabilitation will and provides the patient with an appropriate exercise for the patient by measuring the condition of the patient. According to an embodiment of the present invention, by measuring the brain signals of a patient and adjusting the duration or intensity of a rehabilitation exercise, the patient is enabled to take the rehabilitation exercise in an active environment.
Abstract translation: 本发明涉及一种自我导向的康复训练方法，用于根据患者的意愿提供需要康复的患者康复训练。 康复训练方法为患者提供能够鼓励患者康复的环境，并通过测量患者的状况向患者提供适当的运动。 根据本发明的实施例，通过测量患者的脑信号并调整康复锻炼的持续时间或强度，患者能够在活跃的环境中进行康复锻炼。
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公开(公告)号：KR1020140061170A
公开(公告)日：2014-05-21
申请号：KR1020120128419
申请日：2012-11-13
Applicant: 재단법인대구경북과학기술원
CPC classification number: G06F19/3481 , G06F19/00
Abstract: The present invention relates to a system and a method for providing active rehabilitation training to rehabilitation patients. The system induces patient′s rehabilitation intention by providing information on rehabilitation to patients and provides active rehabilitation training suitable for patients by continuously measuring patient′s vital signals and monitoring a state.
Abstract translation: 本发明涉及一种为康复患者提供主动康复训练的系统和方法。 该系统通过向患者提供康复信息来引导患者的康复意图，并通过持续测量患者的生命信号和监测状态，为患者提供适合患者的积极康复训练。
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公开(公告)号：KR101381500B1
公开(公告)日：2014-04-18
申请号：KR1020120111832
申请日：2012-10-09
Applicant: 재단법인대구경북과학기술원
Abstract: According to an embodiment of the present invention, a robot system comprises: an operation tool body; and a pair of gripping parts mounted on the operation tool body to be able to draw near to and be separated from each other, and each having a sensor frame for gripping an object. The sensor frames can calculate the coefficient of friction between the object and the gripping parts by measuring vertical reaction force caused when the object is gripped and sliding force detected at a right angle to the vertical reaction force when the object is slid. According to the embodiment of the present invention, a coefficient of friction that is changed depending on the environment is rapidly and accurately calculated by measuring the reaction force value caused when the gripping parts grip the object and the sliding force detected at a right angle to the vertical reaction force when the object is slid. Accordingly, the present invention can stably perform the handling process of the object, which is to pick and place the object, by generating gripping force, which means the vertical reaction force caused when gripped, to prevent the object from sliding.
Abstract translation: 根据本发明的实施例，机器人系统包括：操作工具主体; 以及安装在操作工具主体上以能够彼此靠近并分离的一对夹持部件，并且每个具有用于夹持物体的传感器框架。 传感器框架可以通过测量当物体被夹持时产生的垂直反作用力并且当物体滑动时与垂直反作用力成直角检测到的滑动力来计算物体和夹持部件之间的摩擦系数。 根据本发明的实施例，根据环境而变化的摩擦系数通过测量当夹持部件夹持物体时产生的反作用力值和与该物体成直角的角度检测到的滑动力而快速准确地计算出 物体滑动时的垂直反作用力。 因此，本发明能够通过产生夹持力来稳定地进行物体的搬运处理，即夹持时产生的垂直反作用力，防止物体滑动。
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Patent Agency Ranking
公开(公告)号：KR101330532B1
公开(公告)日：2013-11-18
申请号：KR1020120127633
申请日：2012-11-12
Applicant: 재단법인대구경북과학기술원
IPC: A63B21/018 , A63B23/04
CPC classification number: A63B21/153 , A63B21/154 , A63B21/4011
Abstract: The present invention relates to a hip joint rehabilitation training device, more specifically, to a hip joint rehabilitation training device which includes a fixed frame which is formed in a sickle shape and of which the bottom is fixed by a frame fixing unit, a fixed pulley which is fixed to the upper part of the fixed frame and changes the direction of a force applied on a first rope, a moving pulley which is fixed to the lower part of the fixed pulley, is hung on the lower part of a fixed pulley, and moves up and down as a user pulls the first rope, a lower body mount board which connects to the lower part of the moving pulley and mounts the lower body of the user, and a handle which is formed on one end of the first rope and allows the user to pull the first rope by a hand. The hip joint rehabilitation training device is installed on one side of a bed and allows the user to rehabilitation exercise by pulling and loosening the rope while lying on the bed without other's help.
Abstract translation: 髋关节康复训练装置技术领域本发明涉及一种髋关节康复训练装置，更具体地说，涉及一种髋关节康复训练装置，其包括以镰刀形状形成的固定框架，其底部由框架固定单元固定，固定滑轮 固定在固定框架的上部并改变施加在第一绳索上的力的方向，固定在固定滑轮下部的移动滑轮悬挂在固定滑轮的下部， 并且当用户拉动第一绳索时，上下移动，连接到移动滑轮的下部并且安装用户的下体的下主体安装板和形成在第一绳索的一端上的手柄 并允许用户用手拉第一根绳索。 髋关节康复训练装置安装在床的一侧，允许用户在躺在床上时松开绳索进行康复锻炼，无需其他帮助。
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公开(公告)号：KR101321984B1
公开(公告)日：2013-10-28
申请号：KR1020120048449
申请日：2012-05-08
Applicant: 재단법인대구경북과학기술원
Abstract: PURPOSE: A route compensation method of robots for controlling valves based on the cooperation and a system thereof are provided to prevent the damage of components forming a robot and a valve from an excessive operation work when a route of the robot cannot be followed by the unexpected intervention of obstacles when the robot follows a generated route. CONSTITUTION: A route compensation method of robots comprises the following steps: storing each gripper coordinate system of a slave robot, generating a movement route of a robot arm, and moving to the initial position of the generated route (S230); observing whether or not the contact force is generated due to a route generating error and it is generated over a reference value when the robot arm moved to the initial position follows the route (S260); stopping the following of the robot arm and displaying alarms and an error message when the contact force is generated over the reference value (S270); observing whether or not a valve gauge reach a target value in case a work locking the valve operation is completed as the contact force is generated over the reference value (S280); returning the robot arm to the initial position and finishing the work when the valve gauge reaches the target value (S300). [Reference numerals] (AA) Remote control of an operator; (BB) Start working; (CC) Robot's autonomous motion; (DD,GG,II) No; (EE,FF,HH) Yes; (JJ) Finish working; (S110) Move each slave robot to a specific position; (S120) Grip a jig handle with a gripper of each slave robot; (S130) Turn the switch of the autonomous motion of a robot on; (S140) Input information about distance measured by a jig; (S210) Store the gripper of each robot on a coordinate; (S220) Generate a route for the movement of arm each slave robot's arm; (S230) Move the robot's arm to an initial position of the generated route; (S240) Generate contact force by a route generating error; (S242) Display a notice light and an error message; (S244,S262) Execute a route compensating work; (S250) Follow the route of a robot along the generated route; (S260) Contact force above a reference value occurs; (S270) Stop following the route of the robot's arm; (S280) Valve gauge reaches a target value; (S290) Back to the initial position; (S300) Display the state of finishing the work
Abstract translation: 目的：提供一种基于协作的控制阀的机器人的路径补偿方法及其系统，用于当机器人的路线不能被意外地跟随时，防止在形成机器人的部件和阀的过度的操作作业中的损坏 当机器人遵循生成的路线时干预障碍物。 构成：机器人的路径补偿方法包括以下步骤：存储从机器人的每个夹具坐标系，生成机器人手臂的移动路线，并移动到所生成的路线的初始位置（S230）; 观察由于路径产生错误而产生接触力，并且当机器人臂移动到初始位置时，在参考值之后产生超过参考值（S260）; 停止以下机器人手臂并且当在参考值上产生接触力时显示报警和错误消息（S270）; （S280）产生接触力时，观察阀门是否达到目标值（S280）; 当机械手达到目标值（S300）时，将机器人臂返回初始位置并完成工作。 （附图标记）（AA）操作者的遥控; （BB）开始工作; （CC）机器人自主运动; （DD，GG，II）否; （EE，FF，HH）是; （JJ）完成工作; （S110）将每个从机器人移动到特定位置; （S120）用每个从机器人的夹具握住夹具手柄; （S130）打开机器人自动运动的开关; （S140）通过夹具测量的距离的输入信息; （S210）将各机器人的夹具存放在坐标上; （S220）为每个从机器人的手臂移动臂产生一条路线; （S230）将机器人手臂移动到生成路线的初始位置; （S240）通过路由生成错误产生接触力; （S242）显示通知灯和错误信息; （S244，S262）执行路由补偿工作; （S250）沿着生成的路线跟随机器人的路线; （S260）出现高于参考值的接触力; （S270）停止跟随机器人手臂的路线; （S280）阀杆达到目标值; （S290）回到初始位置; （S300）显示工作完成的状态
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公开(公告)号：KR1020130081353A
公开(公告)日：2013-07-17
申请号：KR1020120002257
申请日：2012-01-09
Applicant: 재단법인대구경북과학기술원
IPC: H02P27/04
Abstract: PURPOSE: A compensation method for inverter output distortion caused by dead time and switch voltage drops and a device thereof are provided to easily increase/decrease compensation quantity for the distortion of inverter output based on the direction of a current, thereby compensating for the distortion of an output current without adding hardware. CONSTITUTION: A pulse width modulation (PWM) inverter (1) includes a PWM control part (2), a switch (3), a current determination part (5), and a distortion compensation part (6). The PWM control part applies a PWM pulse to the switch. The current determination part detects the polarity of an inverter output current. The distortion compensation part adds/subtracts compensation quantity to/from initial duty according to the polarity of the inverter output current detected from the current determination part.
Abstract translation: 目的：提供由死区时间和开关压降引起的逆变器输出失真的补偿方法及其装置，以便根据电流方向容易地增加/减少逆变器输出失真的补偿量，从而补偿 输出电流，无需添加硬件。 构成：脉宽调制（PWM）逆变器（1）包括PWM控制部分（2），开关（3），电流确定部分（5）和失真补偿部分（6）。 PWM控制部分向开关施加PWM脉冲。 电流判定部检测逆变器输出电流的极性。 失真补偿部根据从当前判定部检测到的逆变器输出电流的极性，向初始占空比增减补偿量。
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公开(公告)号：KR101138781B1
公开(公告)日：2012-04-24
申请号：KR1020080126068
申请日：2008-12-11
Applicant: 재단법인대구경북과학기술원
IPC: G01C21/34 , G08G1/0969
Abstract: PURPOSE: Obstacle density based route schedule method and apparatus are provided to perform an intelligent route schedule and a route schedule based on the knowledge information of a dynamic obstacle and a static obstacle. CONSTITUTION: An obstacle density based route schedule apparatus(100) comprises an obstacle density calculator(110), a clustering unit(120), and a route schedule output unit(130). The obstacle density calculator calculates the obstacle density on each cell by classifying an image on a cell basis. The clustering unit groups each cell to one or more groups. The route schedule output unit outputs the routing schedule by performing a gene algorithm using the obstacle density of each cell and the information on one or more groups. The obstacle density calculator calculates the obstacle density by calculating the occupying ratio of black and white for the fixed obstacle and the brightness value of a pixel for the dynamic obstacle, on a pixel basis for each cell.
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公开(公告)号：KR101072398B1
公开(公告)日：2011-10-11
申请号：KR1020090129512
申请日：2009-12-23
Applicant: 재단법인대구경북과학기술원
IPC: B62D55/075 , B62D55/04
Abstract: 본발명의험지극복메카니즘이적용된전문서비스로봇용휠 및트랙하이브리드형모바일플랫폼장치는, 메인프레임; 상기메인프레임의내부에설치된모터부; 상기모터부로부터의동력을제공받아구동하는다수의주행용바퀴; 상기모터부로부터의동력을제공받아구동하는다수의스프라켓; 상기다수의스프라켓의외부에위치하여상기다수의스프라켓의구동에따라회전하는다수의트랙; 상기다수의스프라켓을지지하며, 상기모터부의동력을제공받아상기트랙의수직폭을상기주행용바퀴의원주보다크게되도록세로로세워지게이동하여, 상기트랙의수직폭이상기주행용바퀴의원주보다작게변형하기위해가로로누워지게이동하여, 상기트랙의수직폭을변형함과아울러계단승강또는하강을위한트랙진입각을계단의높이에따라조정하는다수의트랙암; 평지주행시에는상기다수의트랙암이가로로누워지게이동되도록상기모터부를제어하고, 험지주행시에는상기다수의트랙암이상기트랙의수직폭이상기주행용바퀴의원주보다크게되도록변형하기위해세로로세워지게이동되도록상기모터부를제어하는제어장치;를구비하여, 평지주행시에는상기다수의주행용바퀴가상기트랙외부로드러나주행용바퀴에의해주행하고, 험지주행시에는상기다수의주행용바퀴가상기트랙내부로들어가상기트랙에의해주행되게함을특징으로한다.
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