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公开(公告)号：KR1020140118344A
公开(公告)日：2014-10-08
申请号：KR1020130034054
申请日：2013-03-29
Applicant: 대우조선해양 주식회사
Inventor： 김찬기
CPC classification number: B25J9/0006 , B25J9/14 , B25J13/085 , B25J19/02
Abstract: Disclosed is a driving device of a wearable robot for underwater work, capable of making a wearer easily overcome the resistance of water, and quickly and omnidirectionally driving an end part. The driving device of a wearable robot for underwater work comprises a driving body that a worker can wear and nozzle parts installed in the driving body to generate thrust by spraying supplied fluid. The driving body is worn in the end part of one among the wrists and ankles of the worker. The nozzle parts generate the linear moving force of three-axis directions, such as X, Y, and Z axis, and one axial rotation force. Thus, the present invention assists the worker to quickly move the end part while overcoming the resistance of the water by directly driving the end part of the wearable robot to be freely moved on the coordinate of a work place, and can precisely control minute movement and high speed movement in all the directions using the nozzles of the end part in underwater movement.
Abstract translation: 公开了一种用于水下作业的可穿戴机器人的驱动装置，能够使穿戴者容易地克服水的阻力，并且快速且全方位地驱动端部。 用于水下作业的可佩戴机器人的驱动装置包括工人可以磨损的驱动体和安装在驱动体中的喷嘴部分，以通过喷射供应的流体产生推力。 驾驶身体穿在工作者的手腕和脚踝之一的末端。 喷嘴部分产生诸如X，Y和Z轴的三轴方向的线性移动力和一个轴向旋转力。 因此，本发明有助于工人通过直接驱动可穿戴机器人的端部在工作场所的坐标上自由移动来克服水的阻力而快速移动端部，并且可以精确地控制微小的运动和 在水下运动中使用端部的喷嘴在所有方向上的高速运动。
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公开(公告)号：KR1020120133345A
公开(公告)日：2012-12-10
申请号：KR1020110051979
申请日：2011-05-31
Applicant: 대우조선해양 주식회사
Inventor： 김찬기
Abstract: PURPOSE: A differential traveling robot is provided to move in all directions without changing a posture as a traveling wheel unit infinitely rotates. CONSTITUTION: A differential traveling robot comprises a robot body(2), a pair of traveling wheel units(20), a steering unit(30). The traveling wheel units are separately mounted on the bottom of the robot body, and provide driving force. The steering unit is placed between the traveling wheel units, and rotates the traveling wheel units in a same steering direction.
Abstract translation: 目的：提供差速行走机器人，以便在行走轮单元无限旋转时不改变姿势，在所有方向上移动。 构成：差速行走机器人包括机器人主体（2），一对行进轮单元（20），转向单元（30）。 行走轮单元分别安装在机器人主体的底部，并提供驱动力。 转向单元被放置在行进轮单元之间，并且以相同的转向方向旋转行进轮单元。
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Patent Agency Ranking
公开(公告)号：KR101925403B1
公开(公告)日：2018-12-05
申请号：KR1020120077426
申请日：2012-07-16
Applicant: 대우조선해양 주식회사
Abstract: 본 발명은 상부골격링크(12)와 하부골격링크(14)를 지니는 착용로봇에 있어서: 상기 상부골격링크(12)와 하부골격링크(14) 사이에 완충수단(30)이 실린더(32)와 로드(34)를 개재하여 연결되고, 상기 완충수단(30)은 상부골격링크(12)와 하부골격링크(14)의 각도가 설정치 이하로 되면 스프링(36)의 탄성을 작용하는 것을 특징으로 한다.
이에 따라, 평상시에는 구동기에 영향을 주지 않으면서 쪼그려 앉기에 가까운 무릎관절 각도에 도달하는 순간 탄성력을 발생하여 구동기가 낼 수 있는 힘의 부족분을 지원하는 효과가 있다.-
公开(公告)号：KR101216447B1
公开(公告)日：2012-12-28
申请号：KR1020110092995
申请日：2011-09-15
Applicant: 대우조선해양 주식회사
Inventor： 김찬기
Abstract: PURPOSE: Storage equipment for a wearable robot is provided to recue man power and time as the battery of the wearable robot is automatically charged in a state where the wearable robot hangs on a connection unit. CONSTITUTION: Storage equipment for a wearable robot comprises a loading compartment(19), a rotary rail unit(5), and a connection unit(6). A plurality of wheels(13) for moving is mounted on the loading compartment. The rotary rail unit is mounted on the inner ceiling of the loading compartment by rail fixing units(4). The upper part of the connection unit is connected to the rotary rail unit, and the lower part fixes the wearable robot(17) so that the connection unit is transferred along the rotary rail unit.
Abstract translation: 目的：提供可穿戴式机器人的存储设备，以便在穿戴式机器人挂在连接单元上的状态下自动对可穿戴机器人的电池充电。 构成：用于可穿戴式机器人的存储设备包括装载室（19），旋转轨道单元（5）和连接单元（6）。 用于移动的多个轮子（13）安装在装载室上。 旋转轨道单元通过轨道固定单元（4）安装在装载室的内部天花板上。 连接单元的上部连接到旋转轨道单元，下部固定可穿戴机器人（17），使得连接单元沿着旋转轨道单元传递。
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公开(公告)号：KR1020140010736A
公开(公告)日：2014-01-27
申请号：KR1020120077426
申请日：2012-07-16
Applicant: 대우조선해양 주식회사
Abstract: The present invention provides a wearable robot having an upper framework link (12) and a lower framework link (14). A buffering means (30) is connected between the upper framework link (12) and the lower framework link (14) through a cylinder (32) and a rod (34) and applies the elasticity of a spring (36) when the angle between the upper framework link (12) and the lower framework link (14) becomes less than a set value. Accordingly, there is an effect that an elastic force occurs to support an insufficient portion of the force that can be exerted by a driver at the moment that knee joint tilting close to squatting is reached, while not normally affecting the driver.
Abstract translation: 本发明提供了一种具有上框架连杆（12）和下框架连杆（14）的可佩戴机器人。 缓冲装置（30）通过气缸（32）和杆（34）连接在上框架连杆（12）和下框架连杆（14）之间，并且当弹簧（36）之间的角度 上框架链接（12）和下框架链接（14）变得小于设定值。 因此，存在如下效果，即在达到接近蹲下的膝关节倾斜的同时不能正常地影响驾驶员的情况下，发挥能够支撑驾驶员能够施加的力的不足部分。
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公开(公告)号：KR1020140004945A
公开(公告)日：2014-01-14
申请号：KR1020120072413
申请日：2012-07-03
Applicant: 대우조선해양 주식회사
Inventor： 김찬기
IPC: B25J19/00
Abstract: In a wearable robot for assisting the joint motion of upper and lower extremities by connecting an upper extremity link (10) and a lower extremity link (20) with a joint (30), an upper and lower extremity fixing device according to the present invention comprises: an upper support (11) which is coupled to the upper extremity link (10) and interposes a band (22) to fasten the upper extremity; a lower support (21) which is coupled to the lower extremity link (20) and interposes a band (22) to fasten the lower extremity; and a rotating/sliding part (35) interposed between the upper support (11) and the lower support (21) to be able to move in second axial directions. Accordingly, the present invention can solve problems on friction and inclination due to relative motion, can accurately transfer force or motions, and can prevent a wearer from receiving resistance and using his joints excessively by accurately synchronizing the movement between a brace and the wearer while the upper and lower extremities of the wearer are firmly fixed on the wearable robot.
Abstract translation: 在通过连接具有接头（30）的上端连杆（10）和下端连杆（20）来辅助上肢和下肢的关节运动的可穿戴机器人中，根据本发明的上肢和下肢固定装置 包括：上支撑件（11），其联接到所述上端连杆（10）并且插入带（22）以固定所述上端; 下支撑件（21），其联接到所述下肢连杆（20）并且插入带（22）以固定所述下端; 以及插入在所述上支撑件（11）和所述下支撑件（21）之间以能够在第二轴向方向上移动的旋转/滑动部件（35）。 因此，本发明可以解决由于相对运动引起的摩擦和倾斜的问题，可以精确地传递力或运动，并且可以通过精确地同步支架和穿着者之间的运动来防止佩戴者接受阻力和使用他的关节，同时 佩戴者的上肢和下肢牢固地固定在可穿戴机器人上。
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公开(公告)号：KR101252619B1
公开(公告)日：2013-04-09
申请号：KR1020110051979
申请日：2011-05-31
Applicant: 대우조선해양 주식회사
Inventor： 김찬기
Abstract: 본 발명은 구동 모터의 개수를 감소시키면서 전방향 주행이 가능한 차동식 주행로봇에 관한 것으로,
상기 차동식 주행로봇은, 로봇 몸체;와, 로봇 몸체의 저면에 이격 장착되어 구동 주행력을 제공하는 한 쌍의 주행바퀴부;와, 상기 주행바퀴부의 사이에 위치되어 로봇의 전방향 주행을 위해 상기 한 쌍의 주행바퀴부를 동일 조향 방향으로 회전시키는 조향부;를 포함하여 구성되어,
각도의 제한됨이 없이 전방향 주행을 수행할 수 있도록 구성되는 것을 특징으로 한다.
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