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公开(公告)号：KR101450091B1
公开(公告)日：2014-10-14
申请号：KR1020130052043
申请日：2013-05-08
Applicant: 한국과학기술연구원
CPC classification number: H01F38/14 , A61B1/00158 , H01F7/20 , Y10S901/23
Abstract: The present invention relates to an electromagnetic coil system for driving control of a microrobot. More specifically, the present invention relates to an electromagnetic coil system which has a structure with fewer number of electromagnetic coils compared with a conventional electromagnetic coil system which needs a pair of Helmholtz coils and a pair of Maxwell coils to reduce the size of an operation system and power consumption in order to improve power efficiency and space efficiency. According to an embodiment of the present invention, the electromagnetic coil system for driving control of a microrobot includes a pair of x-axis Helmholtz coils each having a central axis of winding on the x-axis; a pair of y-axis Helmholtz coils each having a central axis of winding on the y-axis; a position recognition system detecting the position and direction of a microrobot in a working space; a control unit controlling the amount of current flowing in the x-axis Helmholtz coils or the y-axis Helmholtz coils to control the movement of the microrobot based on the information on the movement of the microrobot obtained by the position recognition system and pre-inputted information on paths of the microrobot; and a current amplifying unit responding to a current control command of the control unit to supply the corresponding current to each of the Helmholtz coils, wherein the pair of x-axis Helmholtz coils are disposed to face each other, the pair of y-axis Helmholtz coils are disposed to face each other, and the x-axis Helmholtz coils and the y-axis Helmholtz coils are installed to cross each other at the right angle to form the working space of the microrobot.
Abstract translation: 本发明涉及一种用于驱动微型机器人的控制的电磁线圈系统。 更具体地说，本发明涉及一种电磁线圈系统，其具有与需要一对亥姆霍兹线圈和一对麦克斯韦线圈的传统电磁线圈系统相比具有较少数量的电磁线圈的结构，以减小操作系统的尺寸 和功耗，以提高功率效率和空间效率。 根据本发明的实施例，用于驱动微型机器人的控制的电磁线圈系统包括一对x轴亥姆霍兹线圈，每个x轴亥姆霍兹线圈在x轴上具有绕组的中心轴线; 一对y轴亥姆霍兹线圈，每个线圈具有绕y轴的中心轴线; 位置识别系统检测工作空间中的微型机器的位置和方向; 控制单元控制在x轴亥姆霍兹线圈或y轴赫尔姆霍兹线圈中流动的电流量，以基于由位置识别系统获得的微型机身的移动信息来控制微型机器人的移动，并预先输入 关于微机械路径的信息; 以及电流放大单元，其响应于所述控制单元的电流控制命令，以向每个所述亥姆霍兹线圈提供相应的电流，其中所述一对x轴赫尔姆霍兹线圈被设置为彼此面对，所述一对y轴赫尔姆霍兹 线圈被设置为彼此面对，并且x轴亥姆霍兹线圈和y轴亥姆霍兹线圈被安装成以直角彼此交叉以形成微型机器人的工作空间。
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Patent Agency Ranking
公开(公告)号：KR1020170043372A
公开(公告)日：2017-04-21
申请号：KR1020150143050
申请日：2015-10-13
Applicant: 한국과학기술연구원
Abstract: 본발명은내시경로봇을개시한다. 본발명은, 제1 튜브체와, 상기제1 튜브체의말단에결합되는관절구조체와, 상기관절구조체에연결되어상기관절구조체에의해위치및 방향이조절되는엔드이펙터를포함하고, 상기관절구조체는, 상기제1 튜브체의말단에결합되는고정암와, 상기고정암으로부터차례로일렬배치되고, 서로에대해회동가능하도록연결되는복수의회동암을포함하며, 상기복수의회동암중 일부에는상기복수의회동암이일렬로배열될때 상기복수의회동암의길이방향에수직한상기복수의회동암의일부가형성하는단면의중심으로부터편심되도록기구삽입홀이형성된다.
Abstract translation: 本发明公开了一种内窥镜机器人。 端部执行器技术领域本发明涉及一种端部执行器，该端部执行器包括第一管体，与第一管体的端部连接的连接结构以及连接于连接结构的端部执行器，其位置和方向由连接结构控制， 以及多个锥形摇臂，其从所述固定臂串联布置并且被连接成可相对于彼此旋转，其中， 机构插入孔形成为从垂直于多个锥形同步臂的纵向方向的多个锥形槽的一部分形成的横截面的中心偏心。
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3.发明公开
公开(公告)号：KR1020090088154A
公开(公告)日：2009-08-19
申请号：KR1020080013533
申请日：2008-02-14
Applicant: 한국과학기술연구원
Abstract: A rigidity generator using a complex-application method of an electromagnet and a permanent magnet and a joint of a robot manipulator comprising the same are provided to obtain a fast response and improve the torque characteristic. A rigidity generator using a complex-application method of an electromagnet and a permanent magnet comprises a rotary shaft(110), a rotor(140) and a pair of disk-shaped stators(130). The rotary shaft is connected to a driven member. The rotor is fixed to the rotary shaft and is comprised of an electromagnet. The stators are arranged at upper and lower parts of the rotor at the determined intervals. A through-hole is formed at the center of the stators. The stators are comprised of a permanent magnet which can be rotated by a driving motor.
Abstract translation: 提供一种使用电磁体和永磁体的复合施加方法的刚性发生器以及包括该刚性发生器的机器人操纵器的接头以获得快速响应并提高转矩特性。 使用电磁铁和永久磁铁的复合施加方法的刚性发生器包括旋转轴（110），转子（140）和一对盘形定子（130）。 旋转轴连接到从动构件。 转子固定在旋转轴上，由电磁铁组成。 定子以确定的间隔布置在转子的上部和下部。 在定子的中心形成一个通孔。 定子由可由驱动电机旋转的永磁体构成。
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4.发明授权
公开(公告)号：KR100953385B1
公开(公告)日：2010-04-20
申请号：KR1020080013533
申请日：2008-02-14
Applicant: 한국과학기술연구원
Abstract: 본 발명은 자기력을 이용하여 강성을 발생시키면서 제어할 수 있는 강성 발생 장치 및 이를 이용한 로봇 머니퓰레이터의 조인트를 제공하는 것을 목적으로 한다. 상기 목적을 달성하기 위해 본 발명은 피동 부재와 연결되는 회전축과; 상기 회전축에 고정되며, 전자석으로 구성된 로터; 및 상기 로터의 상부와 하부에 간격을 두고 각각 배치되고, 중앙에 관통공이 형성되는 원판형으로 이루어지며, 구동모터에 의하여 회전될 수 있는 영구자석으로 구성되는 한 쌍의 스테이터를 포함하는 강성 발생 장치를 제공한다.
강성, 머니퓰레이터, 스테이터, 로터, 영구자석, 전자석-
公开(公告)号：KR101783437B1
公开(公告)日：2017-09-29
申请号：KR1020150143050
申请日：2015-10-13
Applicant: 한국과학기술연구원
Abstract: 본발명은내시경로봇을개시한다. 본발명은, 제1 튜브체와, 상기제1 튜브체의말단에결합되는관절구조체와, 상기관절구조체에연결되어상기관절구조체에의해위치및 방향이조절되는엔드이펙터를포함하고, 상기관절구조체는, 상기제1 튜브체의말단에결합되는고정암와, 상기고정암으로부터차례로일렬배치되고, 서로에대해회동가능하도록연결되는복수의회동암을포함하며, 상기복수의회동암중 일부에는상기복수의회동암이일렬로배열될때 상기복수의회동암의길이방향에수직한상기복수의회동암의일부가형성하는단면의중심으로부터편심되도록기구삽입홀이형성된다.
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公开(公告)号：KR100760846B1
公开(公告)日：2007-09-21
申请号：KR1020060084668
申请日：2006-09-04
Applicant: 한국과학기술연구원
IPC: B25J17/02
CPC classification number: B25J19/0004 , Y10T74/20329
Abstract: A device for generating stiffness and a joint of a robot manipulator comprising the same are provided to achieve stiffness generated by electric force from electromagnets and variable stiffness for the rotation of a link. A device for generating stiffness comprises a rotating shaft(110), a rotor(120), a stator(130), a plurality of electromagnets and a current application unit(161). The rotary shaft is connected to a passive member. The stator surrounds the rotor from the outside the arm, and is connected to a driving motor for driving the passive member, so as to be rotated by the rotation of the driving motor. The plurality of electromagnets, each having a core disposed in a radial direction of the rotating shaft and a coil wounded around the core, are spaced away from the arm in regular intervals on the inner periphery of the stator and are opposite from each other around the rotating shaft. The current application unit applies current to the coils. Half of the electromagnets are wounded up by the coils to generate N pole on the ends towards the rotating shaft while the other half of the electromagnets are wounded up by the coils to generate S pole on the ends towards the rotating shaft.
Abstract translation: 提供用于产生刚度的装置和包括该装置的机器人操纵器的接头，以实现由电磁体产生的电力产生的刚度和用于连杆旋转的可变刚度。 用于产生刚度的装置包括旋转轴（110），转子（120），定子（130），多个电磁体和电流施加单元（161）。 旋转轴连接到被动构件。 定子从臂的外侧围绕转子，并且连接到用于驱动被动构件的驱动电动机，以便通过驱动电动机的旋转而旋转。 多个电磁体各自具有沿着旋转轴的径向设置的芯和围绕芯缠绕的线圈，在定子的内周上以规则的间隔与臂隔开，并且彼此相对地围绕 旋转轴。 当前的应用单元向线圈施加电流。 一半的电磁体被线圈卷绕，从而在端部朝向旋转轴产生N极，而另一半的电磁体被线圈缠绕，从而在端部朝向旋转轴产生S极。
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