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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。
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Patent Agency Ranking
公开(公告)号：KR1020150041899A
公开(公告)日：2015-04-20
申请号：KR1020130120432
申请日：2013-10-10
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은이동장치의배토판에가해지는외부모멘트의산출방법에관한것으로서, 특히배토판의한쪽에외력이작용할경우, 유압실린더의압력과각도를이용하여이동장치의배토판에가해지는외부모멘트를산출하는방법에관한것이다. 본발명의이동장치의배토판에가해지는외부모멘트의산출방법은, 전방에배토판이구비된이동장치에서상기배토판에가해지는외부모멘트를산출하는방법에있어서, 상기배토판의좌측에연결된제1유압실린더의압력과, 우측에연결된제2유압실린더의압력과, 상기제1유압실린더및 제2유압실린더가상기배토판과이루는각도를이용하여, 상기배토판에가해지는외부모멘트를산출하는것을특징으로한다.
Abstract translation: 本发明涉及一种用于计算施加到车辆的叶片的外力的方法，更具体地，涉及一种使用液压缸的压力和角度计算施加到车辆的叶片的外力的方法， 当外力作用在叶片的一侧时。 本发明的方法是计算在前方配备有叶片的车辆的叶片施加的外力矩。 该方法使用连接到叶片左侧的第一液压缸的压力，连接到右侧的第二液压缸的压力以及第一和第二液压缸之间的角度来计算施加到叶片的外力矩 。
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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。
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公开(公告)号：KR101531872B1
公开(公告)日：2015-06-26
申请号：KR1020130120432
申请日：2013-10-10
Applicant: 재단법인대구경북과학기술원
Abstract: 본발명은이동장치의배토판에가해지는외부모멘트의산출방법에관한것으로서, 특히배토판의한쪽에외력이작용할경우, 유압실린더의압력과각도를이용하여이동장치의배토판에가해지는외부모멘트를산출하는방법에관한것이다. 본발명의이동장치의배토판에가해지는외부모멘트의산출방법은, 전방에배토판이구비된이동장치에서상기배토판에가해지는외부모멘트를산출하는방법에있어서, 상기배토판의좌측에연결된제1유압실린더의압력과, 우측에연결된제2유압실린더의압력과, 상기제1유압실린더및 제2유압실린더가상기배토판과이루는각도를이용하여, 상기배토판에가해지는외부모멘트를산출하는것을특징으로한다.
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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。
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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
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