-
-
公开(公告)号：KR101694465B1
公开(公告)日：2017-01-10
申请号：KR1020150063786
申请日：2015-05-07
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/02
Abstract: 본발명은테이블상에고정되도록중량을갖는받침부와, 상기받침부의상측에제1축및 제2축으로연결되고, 상지의높이를유지하도록하며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제1축의구동으로상지를어깨관절을축으로좌 또는우 방향으로회전되게안내하고, 상기제어부의로봇동작명령에의해제2축의구동으로상지를어깨관절을축으로상 또는하 방향기울기가조절되게안내하는상지지지부및 상기상지지지부의상측에서제3축, 제4축및 제5축으로연결되고, 사용자의상지가안착되며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제3축의구동으로상지를전, 후또는좌, 우방향으로이동하게안내하고, 직교좌표계공간상에서 X, Y, 및 Z축방향으로사용자상지의이동에대한안내및 근력을지원시 제어부의로봇동작명령에의해제4축및 제5축의구동으로상지의좌,우및 상,하방향의회전을안내하는상지안착부를포함하여, 상지의근력이정상인보다떨어지는사용자의상지근력또는생체신호를로드셀, 힘/토오크센서, 가속도센서, 근전도센서등으로감지하고, 사용자의상지동작에관한의도를파악해부족한상지근력을보조함으로써, 노약자나재활환자와같은사용자의안정된식사뿐만아니라, 지정테이블에서상지로할 수있는모든일을행할수 있어생활편의성을증대시킬수 있음은물론, 상지근력재활운동에도도움을주는능동형식사재활보조장치를제공한다.
-
公开(公告)号：KR101383450B1
公开(公告)日：2014-04-08
申请号：KR1020130043217
申请日：2013-04-18
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A61H1/0285 , A63B23/12 , B25J11/00
Abstract: The present invention relates to an upper extremity rehabilitation robot control method for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. More specifically, the upper extremity rehabilitation robot control method for meal assistance comprises a step of detecting the movement of an upper extremity of a user by a detection member after a dish is disposed at a predetermined position, and the upper extremity of the user is mounted at an arm end of an articulated robot; a step of calculating the direction where the upper extremity wants to go and the power by the detected movement in the detection member; a step of generating and outputting control signals to be output to the articulated robot based on a calculated value; and a step of assisting the upper extremity of the user with the power in the direction where the upper extremity wants to go and moving the upper extremity by driving the arm of the articulated robot based on the output control signals. [Reference numerals] (AA) Start; (BB) End; (S100) Detect the minute movement of an upper extremity by a detection member; (S200) Calculate the direction where the upper extremity wants to go and the power by the detected minute movement; (S310) Compare a calculated value relative to the power and a reference value of the power previously inputted; (S320) Output control signals by converting any one of magnetic polarity among the detection member and an articulated robot if the calculated value is greater than or equal to the reference value; (S400) Generate each control signal of X-axis, Y-axis, and Z-axis to be outputted to the articulated robot based on the calculated value and output the same; (S500) Selectively drive arms of the articulated robot on the line of the X-axis, Y-axis, and Z-axis based on the each control signal of the outputted X-axis, Y-axis, and Z-axis
Abstract translation: 本发明涉及一种用于辅助老年人膳食的膳食辅助的上肢康复机器人控制方法和上肢体力小于正常人的康复患者。 更具体地，用于膳食辅助的上肢康复机器人控制方法包括以下步骤：在将餐具设置在预定位置之后检测用户的上肢的移动，并且使用者的上肢被安装 在关节式机器人的臂端; 计算上肢想要去的方向的动作和通过检测动作的动力的步骤; 基于计算值生成并输出要输出到关节式机器人的控制信号的步骤; 以及通过基于输出控制信号驱动关节式机器人的臂，辅助用户上肢在上肢想要走的方向上移动上肢的步骤。 （附图标记）（AA）开始; （BB）结束; （S100）通过检测部件检测上肢的微小移动; （S200）通过检测到的微小运动计算上肢想要走的方向和动力; （S310）比较相对于功率的计算值和预先输入的功率的参考值; （S320）如果计算值大于或等于参考值，则通过转换检测构件和关节式机器人中的任何一个磁极来输出控制信号; （S400）根据计算值生成X轴，Y轴和Z轴的各个控制信号输出到关节式机器人，并输出; （S500）根据输出的X轴，Y轴和Z轴的各个控制信号，选择性地将关节式机器人的臂驱动在X轴，Y轴和Z轴的线上
-
公开(公告)号：KR101627519B1
公开(公告)日：2016-06-08
申请号：KR1020150062727
申请日：2015-05-04
Applicant: 재단법인대구경북과학기술원
CPC classification number: B25J9/1682 , B25J9/1689 , G05B2219/39146 , Y10S901/02
Abstract: 본발명은로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른로봇원격제어장치는사용자원격조작장치로부터원격조종의대상이되는필드로봇의운용정보및 상기필드로봇의작동모드를선택받고, 상기필드로봇의동작을제어하는조작명령신호를입력받는인터페이스부, 수신된상기작동모드정보및 상기조작명령신호에대응하는상기원격조종의대상이되는필드로봇의동작또는작업대상사물의동작에대한작업명령신호를생성하는작업명령생성부, 상기사용자로부터추종모드가선택된경우, 제1 필드로봇에대한상기작업명령신호가생성되면제2 필드로봇의동작을제어하는자율동작명령신호를생성하고, 상기사용자로부터사물모드가선택된경우, 상기작업대상사물에대한상기작업명령신호가생성되면상기작업대상사물을동작시키기위한상기제1 필드로봇및 상기제2 필드로봇의동작을제어하는자율동작명령신호를생성하는자율명령생성부, 그리고생성된상기자율동작신호를상기제1 필드로봇및 상기제2 필드로봇으로전달하는통신부를포함한다.
Abstract translation: 远程机器人控制装置及其方法技术领域本发明涉及远程机器人控制装置及其方法。 根据本发明的一个实施例，远程机器人控制装置包括接收单元，用于接收远程控制的现场机器人的操作信息的选择以及来自用户遥控器的现场机器人的操作模式，以及 接收控制现场机器人的操作的操作指令信号; 作业指令生成单元，其生成用于远程控制的野外机器人的操作的作业命令信号，或者响应于所接收的操作模式信息和操作命令信号的对象的操作; 如果在用户选择了后续模式时为第一场机器人生成了作业命令信号，则产生自动操作命令信号的自主命令产生单元，该自主操作指令信号控制第二场机器人的操作，并且产生控制 如果在用户选择对象模式时产生作业命令信号，则第一场地机器人和第二场地机器人操作对象的操作; 以及通信单元，将生成的自主操作命令信号发送到第一场机器人和第二场机器人。 因此，远程机器人控制装置可以通过现场机器人之间的协作来执行特定的工作，所述现场机器人可以替代在偏远地区的无定形或危险的工作环境中的工人。
-
公开(公告)号：KR101383421B1
公开(公告)日：2014-04-08
申请号：KR1020130043216
申请日：2013-04-18
Applicant: 재단법인대구경북과학기술원
CPC classification number: A61H1/0274 , A63B23/12 , B25J11/00
Abstract: The present invention relates to an upper extremity rehabilitation robot for meal assistance capable of assisting a meal for the elderly and patients for rehabilitation whose physical strength of an upper extremity is less than a normal person. The upper extremity rehabilitation robot for meal assistance comprises a detection member which is fixed to an upper extremity of a user and detects the fine movement of the upper extremity by the intent of the user; a motion control unit which calculates the direction where the upper extremity wants to go and the power based on the movement detected by the detection member and generates and outputs control signals according to the calculated direction and the power; and an articulated robot module one end of an arm of which is coupled to the detection member and which assists and guides the upper extremity with the power in the direction to move the upper extremity fixed to the detection member to a dish disposed at a predetermined position of a table based on the control signals outputted through the motion control unit.
Abstract translation: 本发明涉及一种用于辅助老年人膳食和上肢体力小于正常人的康复患者的膳食辅助的上肢康复机器人。 用于膳食辅助的上肢康复机器人包括固定到使用者的上肢的检测构件，并且通过使用者的意图检测上肢的微细运动; 运动控制单元，其计算上肢想要去的方向和基于由检测构件检测到的运动的动力，并根据计算的方向和功率产生并输出控制信号; 以及铰接式机器人模块，其臂的一端联接到检测构件，并且在将固定到检测构件的上肢移动到设置在预定位置的盘的方向上有助于和引导上端的动力 基于通过运动控制单元输出的控制信号的表格。
-
Patent Agency Ranking
公开(公告)号：KR1020160142922A
公开(公告)日：2016-12-14
申请号：KR1020150078481
申请日：2015-06-03
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은파이프를설치하기위한로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른복수의필드로봇을원격제어하여파이프를설치하기위한로봇원격제어장치는, 사용자원격조작장치로부터원격조종의대상이되는상기필드로봇을선택받고, 상기필드로봇의동작을제어하기위한파이프파지조작명령신호및 파이프설치조작명령신호를입력받는인터페이스부, 상기파이프파지조작명령신호에대응하여상기필드로봇이파이프를파지하도록하는작업명령신호를생성하는작업명령생성부, 상기파이프설치조작명령신호에대응하여상기파이프를파지한상기복수의필드로봇을작업위치로이동시키고, 상기복수의필드로봇에게상기파이프를서로이격되어있는 2개의플렌지사이에설치하도록하는자율명령신호를생성하는자율명령생성부, 그리고생성된상기파이프파지조작명령신호, 상기파이프설치조작명령신호및 상기자율명령신호를상기필드로봇으로전송하는통신부를포함한다. 이와같이본 발명에의하면, 파이프를설치하기위한로봇원격제어장치및 그방법을이용함으로써, 기존의 1:1 원격제어로봇시스템의기술적한계로적용이불가능했던파이프설치작업을원격으로조종하여수행할수 있다.
-
公开(公告)号：KR1020160132219A
公开(公告)日：2016-11-17
申请号：KR1020150063786
申请日：2015-05-07
Applicant: 재단법인대구경북과학기술원
IPC: A61H1/02
Abstract: 본발명은테이블상에고정되도록중량을갖는받침부와, 상기받침부의상측에제1축및 제2축으로연결되고, 상지의높이를유지하도록하며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제1축의구동으로상지를어깨관절을축으로좌 또는우 방향으로회전되게안내하고, 상기제어부의로봇동작명령에의해제2축의구동으로상지를어깨관절을축으로상 또는하 방향기울기가조절되게안내하는상지지지부및 상기상지지지부의상측에서제3축, 제4축및 제5축으로연결되고, 사용자의상지가안착되며, 제어부에서사용자의상지에서생성되는미세한근력또는생체신호를감지하면, 이를토대한제어부의로봇동작명령에의해제3축의구동으로상지를전, 후또는좌, 우방향으로이동하게안내하고, 직교좌표계공간상에서 X, Y, 및 Z축방향으로사용자상지의이동에대한안내및 근력을지원시 제어부의로봇동작명령에의해제4축및 제5축의구동으로상지의좌,우및 상,하방향의회전을안내하는상지안착부를포함하여, 상지의근력이정상인보다떨어지는사용자의상지근력또는생체신호를로드셀, 힘/토오크센서, 가속도센서, 근전도센서등으로감지하고, 사용자의상지동작에관한의도를파악해부족한상지근력을보조함으로써, 노약자나재활환자와같은사용자의안정된식사뿐만아니라, 지정테이블에서상지로할 수있는모든일을행할수 있어생활편의성을증대시킬수 있음은물론, 상지근력재활운동에도도움을주는능동형식사재활보조장치를제공한다.
-
公开(公告)号：KR101402090B1
公开(公告)日：2014-06-02
申请号：KR1020120141169
申请日：2012-12-06
Applicant: 재단법인대구경북과학기술원
Abstract: The existing tele-operating robotic system is difficult to reflect the intention (a high-speed movement or accurate assembly) of a worker in the current tele-operated device. Thus, the work range realized by a relevant robot can be limited (difficulties in complex and accurate work), and the quality of work can largely depend on both the competence of the worker and the specifications of the relevant robotic system. To solve the above problems, suggested in the present invention is a new apparatus capable of performing efficient remote work through a robot by following the intention (accurate assembly, a high-speed movement, etc.) of a worker. This technology can perform efficient work through a robot in a remote work site by immediately corresponding to the intention of a worker and reflecting both the personality of the worker and the characteristics of a tele-operated device in a tele-operating robotic system.
Abstract translation: 现有的远程操作机器人系统难以反映当前远程操作设备中的工人的意图（高速运动或准确组装）。 因此，相关机器人实现的工作范围可能受到限制（复杂准确的工作困难），工作质量很大程度上取决于工人的能力和相关机器人系统的规格。 为了解决上述问题，本发明提出了能够通过机器人进行有效的远程工作的新型装置，其目的在于（工件的精确组装，高速运动等）。 该技术可以通过立即对应于工作者的意图的远程工作场所中的机器人进行有效的工作，并且在远程操作机器人系统中反映工作人员的个性和远程操作设备的特征。
-
公开(公告)号：KR101384306B1
公开(公告)日：2014-04-10
申请号：KR1020120141175
申请日：2012-12-06
Applicant: 재단법인대구경북과학기술원
Abstract: The present invention relates to a robot gripper, and especially to a robot gripper mounted on a robot arm, etc. thereby allowing performing other operations with one gripper. A robot gripper of the present invention comprises: a fastening unit fastened to a robot arm; a gripper driving unit combined to the fastening unit; a gripper phage unit which is composed of more than two which are spaced apart and the interval is adjustable by the gripper driving unit; and a gripper button unit rotatably mounted on the gripper phage unit, and the gripper button unit is more protruding to the front than the gripper phage by rotation.
Abstract translation: 机器人夹持器技术领域本发明涉及一种机器人夹持器，特别涉及安装在机器人手臂上的机器人夹具等，从而能够利用一个夹持器执行其他操作。 本发明的机器人夹持器包括：紧固单元，固定到机器人臂上; 与所述紧固单元组合的夹持器驱动单元; 夹持器噬菌体单元，其由两个以上间隔开并且间隔可由夹持器驱动单元调节; 以及可旋转地安装在夹持器噬菌体单元上的夹持器按钮单元，并且夹持器按钮单元通过旋转而比夹具噬菌体更向前突出。
-
公开(公告)号：KR101696362B1
公开(公告)日：2017-01-24
申请号：KR1020150078481
申请日：2015-06-03
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은파이프를설치하기위한로봇원격제어장치및 그방법에관한것으로, 본발명의일 실시예에따른복수의필드로봇을원격제어하여파이프를설치하기위한로봇원격제어장치는, 사용자원격조작장치로부터원격조종의대상이되는상기필드로봇을선택받고, 상기필드로봇의동작을제어하기위한파이프파지조작명령신호및 파이프설치조작명령신호를입력받는인터페이스부, 상기파이프파지조작명령신호에대응하여상기필드로봇이파이프를파지하도록하는작업명령신호를생성하는작업명령생성부, 상기파이프설치조작명령신호에대응하여상기파이프를파지한상기복수의필드로봇을작업위치로이동시키고, 상기복수의필드로봇에게상기파이프를서로이격되어있는 2개의플렌지사이에설치하도록하는자율명령신호를생성하는자율명령생성부, 그리고생성된상기파이프파지조작명령신호, 상기파이프설치조작명령신호및 상기자율명령신호를상기필드로봇으로전송하는통신부를포함한다. 이와같이본 발명에의하면, 파이프를설치하기위한로봇원격제어장치및 그방법을이용함으로써, 기존의 1:1 원격제어로봇시스템의기술적한계로적용이불가능했던파이프설치작업을원격으로조종하여수행할수 있다.
-
-
-
-
-
-
-
-
-
Search Results
10
records
(took 0.01 seconds)
