公开(公告)号：KR1020130084461A

公开(公告)日：2013-07-25

申请号：KR1020120005264

申请日：2012-01-17

Applicant: 한국과학기술연구원

Inventor： 강성철 ,  조창현 ,  최준호 ,  김문상

IPC: B25J19/06 ,  B25J18/00

CPC classification number: B25J19/0008 ,  B25J19/0016

Abstract: PURPOSE: A robot arm having a gravity compensation mechanism is provided to form a link mechanism with the multi-degree of freedom joint, thereby offsetting a gravitational effect due to the weight of the link mechanism. CONSTITUTION: A robot arm having a gravity compensation mechanism includes a first rotating member (101), a second rotating member (102), and single degree of freedom gravity beams (201,202). The rotating members respectively rotate with double degree of freedom rotations. The first rotation of the first rotating member is a yaw rotation. The second rotation of the first rotating member is a pitch rotation perpendicular to the first rotation. The third and the fourth rotation of the second rotating member are respectively the pitch rotation and a roll rotation. The single degree of freedom gravity beams are connected to the first rotating member or the second rotating member. The single degree of freedom gravity beams offset gravities due to the weight of the first rotating member or the second rotating member.

Abstract translation: 目的：提供一种具有重力补偿机构的机器人臂，以形成具有多自由度关节的连杆机构，从而抵消由于连杆机构的重量引起的重力作用。 构成：具有重力补偿机构的机器人臂包括第一旋转构件（101），第二旋转构件（102）和单自由度重力梁（201,202）。 旋转构件分别以双自由度旋转旋转。 第一旋转构件的第一旋转是偏转旋转。 第一旋转构件的第二旋转是垂直于第一旋转的俯仰旋转。 第二旋转构件的第三和第四旋转分别是俯仰旋转和滚动旋转。 单自由度重力梁连接到第一旋转构件或第二旋转构件。 单自由度重力梁由于第一旋转构件或第二旋转构件的重量而偏移重力。

公开(公告)号：KR1020130029188A

公开(公告)日：2013-03-22

申请号：KR1020110092421

申请日：2011-09-14

Applicant: 한국과학기술연구원

Inventor： 김승종 ,  조창현 ,  최정수 ,  오경균 ,  정찬열

IPC: B25J19/00 ,  B25J9/06

CPC classification number: B25J11/0015 ,  B25J19/0016

Abstract: PURPOSE: A manipulator with a gravity compensation device and a face robot using the same are provided to reduce capacity of an actuator needed for driving by compensating gravity applied to a rotation unit of the manipulator with elastic force of a spring. CONSTITUTION: A face robot comprises a manipulator(100), a face of a robot(101), and a gravity compensation device. A manipulator is mounted on an upper surface of a base(110) and comprises a first rotation unit(141) rotating around a first shaft(121) and a second shaft(122) and a second rotation unit(142) individually rotating based around a third shaft(123) and a fourth shaft(124). The face of the robot is mounted in front of the second rotation unit. The gravity compensation device is mounted on a base and comprises a fist gravity compensation unit compensating gravity of the first rotation unit and a second gravity compensation unit compensating the gravity of the second rotation unit.

Abstract translation: 目的：提供一种具有重力补偿装置的机械手和使用其的机器人，以通过利用弹簧的弹性力补偿施加到操纵器的旋转单元的重力来减小驱动器所需的执行器的容量。 构成：面部机器人包括机械手（100），机器人（101）的面部和重力补偿装置。 操纵器安装在基座（110）的上表面上，并且包括围绕第一轴（121）和第二轴（122）旋转的第一旋转单元（141）和基于每个旋转的第二旋转单元（142） 第三轴（123）和第四轴（124）。 机器人的面部安装在第二旋转单元的前面。 所述重力补偿装置安装在基座上并且包括补偿所述第一旋转单元的重力的第一重力补偿单元和补偿所述第二旋转单元的重力的第二重力补偿单元。

公开(公告)号：KR1020120127888A

公开(公告)日：2012-11-26

申请号：KR1020110045658

申请日：2011-05-16

Applicant: 한국과학기술연구원

Inventor： 강성철 ,  조창현 ,  김문상

IPC: B25J19/06 ,  B25J18/00

CPC classification number: B25J19/0016 ,  Y10S901/48 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: PURPOSE: A gravity compensation tool and a robot arm using the same are provided to reduce the whole weight of the robot arm with the reduction of the power and supply energy saving effect. CONSTITUTION: A first rotation of a link member(103) matches with a gravity direction as yaw rotation. A second rotation and a third rotation of the link member performs roll rotation and pitch rotation. The second rotation and the third rotation are kept by differential bevel gears(120,121). A pair of cam plates(112,122) is fixed to rotation bevel gear shafts. A 1DOF(Degree Of Freedom) gravity corrector(150) is connected to each cam plate.

Abstract translation: 目的：提供一种重力补偿工具和使用该重力补偿工具的机器人手臂，以减少机器人手臂的整体重量，节省电力和节能效果。 构成：连杆构件（103）的第一旋转与重力方向匹配作为偏航旋转。 连杆构件的第二旋转和第三旋转执行滚动旋转和俯仰旋转。 第二旋转和第三旋转由差速锥齿轮（120,121）保持。 一对凸轮板（112,122）固定在旋转锥齿轮轴上。 1DOF（自由度）重力校正器（150）连接到每个凸轮板。

公开(公告)号：KR1020120025255A

公开(公告)日：2012-03-15

申请号：KR1020100087541

申请日：2010-09-07

Applicant: 한국과학기술연구원

Inventor： 이용권 ,  조창현

IPC: B25J15/10 ,  B25J15/12 ,  B25J19/00

Abstract: PURPOSE: A finger actuation device is provided to supply a strong grip force because an additional torque is supplied to a finger member by using an additional torque provision unit. CONSTITUTION: A finger actuation device comprises a base(101), a finger member, an actuator(110), an additional torque provision unit. The finger member comprises a plurality of rotating members(120,122,124). The finger member is joined to the base to be rotated. The actuator supplies a torque to the finger member to be rotated with respect to the base. After the finger member rotates by an operation of the actuator, the additional torque provision unit supplies an additional torque in a rotational direction of the finger member.

Abstract translation: 目的：提供手指致动装置以提供强力的抓握力，因为通过使用附加的转矩提供单元向手指构件提供额外的扭矩。 构成：手指致动装置包括基座（101），指状构件，致动器（110），附加转矩提供单元。 指状构件包括多个旋转构件（120,122,124）。 指状构件接合到基座以旋转。 执行器向手指构件提供相对于底座旋转的扭矩。 在手指构件通过致动器的操作旋转之后，附加转矩提供单元在手指构件的旋转方向上提供附加扭矩。

公开(公告)号：KR100877715B1

公开(公告)日：2009-01-09

申请号：KR1020070010941

申请日：2007-02-02

Applicant: 한국과학기술연구원

Inventor： 최문택 ,  김문상 ,  조창현 ,  노학종 ,  김병국

IPC: G06F9/06

Abstract: 지능형 로봇을 위한 하이브리드 소프트웨어 구조의 가장 하위 구조인 리액티브 층의 소프트웨어 구조가 개시된다. 본 발명에 따른 리액티브 층 소프트웨어 구조에는, 센싱 데이터의 주기적 및 비주기적 획득을 신뢰성 있게 수행하고 획득한 데이터를 실시간 프로세스 및 응용 프로세스들에게 제공할 수 있는 센싱부, 상위 응용 프로세스에서 발생된 구동 명령들을 주기적으로 구동부에 전달하며 구동부의 동작을 확인하는 구동 제어부 및 센싱부에서 획득한 상황 데이터에 대하여 즉각적인 판단을 수행하는 실시간 리액티브 행동을 포함한다. 본 발명에 따른 리액티브 층 소프트웨어 구조는 전술한 컴포넌트들을 적절히 배치하여, 상위 응용 프로세스들과 병행하면서도 실시간 행동의 구현이 가능한 실시간 리액티브 제어 구조를 제공한다.
지능형 로봇, 제어 구조, 실시간 제어, 리액티브 층, 센싱 구조, 구동 구조, 실시간 행동 구조.

公开(公告)号：KR100767721B1

公开(公告)日：2007-10-17

申请号：KR1020060122247

申请日：2006-12-05

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  이영호 ,  조창현 ,  이상용 ,  노학종 ,  김창호

IPC: B25J15/10 ,  B25J15/00

CPC classification number: B25J15/0009

Abstract: A robot hand is provided to safely hold an object and to reduce the manufacturing costs due to the simple structure by decreasing the number of the driving pulley. A robot hand comprises a base frame(10), a common joint shaft(21), a joint pulley(22), a joint cable, a main link(24), an individual joint shaft(25), a joint rotor(26), a sub link(27), a moving pulley(33), a fixing pulley(50), and a driving cable(61). The common joint shaft is fixed on the base frame. More than one joint pulley is installed at the common joint shaft. The joint cable is wound at the joint pulley. The main link is connected with the joint pulley to be rotated with the joint pulley. The individual joint shaft is mounted on the upper part of the main link. The joint rotor is installed at the individual joint shaft to be rotated with the joint pulley at the same rotary direction. The sub link is connected with the joint rotor to be rotated with the joint rotor. The moving pulley is connected with one end of the joint cable. More than one fixing pulley is fixed on the base frame. One end of the driving cable is wound at the driving pulley by alternatively winding the moving pulley and the fixing pulley and the other end of the driving cable is fixed on the base frame.

Abstract translation: 提供机器人手以安全地保持物体并且通过减少驱动滑轮的数量由于简单的结构而降低制造成本。 机器人手包括基架（10），共同关节轴（21），关节滑轮（22），联合电缆，主连杆（24），单个关节轴（25），关节转子（26） ），副连杆（27），移动滑轮（33），固定滑轮（50）和驱动缆索（61）。 公共接头轴固定在基架上。 多个关节滑轮安装在共同的关节轴上。 接头电缆缠绕在关节滑轮上。 主连杆与关节滑轮连接，与关节滑轮一起旋转。 单个关节轴安装在主链节的上部。 关节转子安装在单个关节轴处，以便以相同的旋转方向与关节滑轮一起旋转。 副连杆与联合转子连接，与联合转子一起旋转。 移动滑轮与连接电缆的一端连接。 多个固定滑轮固定在基架上。 驱动电缆的一端通过交替地卷绕移动滑轮和固定滑轮而缠绕在驱动滑轮上，驱动电缆的另一端固定在基架上。

公开(公告)号：KR100507118B1

公开(公告)日：2005-08-09

申请号：KR1020020080653

申请日：2002-12-17

Applicant: 현대자동차주식회사 ,  한국과학기술연구원

Inventor： 강성철 ,  조창현 ,  안재형 ,  김문상 ,  서만석

IPC: B25J13/02

Abstract: 자유곡면상의 로봇 작업경로 생성을 위한 이중 힘-토크센서가 부착된 직접 교시장치가 개시된다. 그러한 직접 교시장치는 로봇 제어 프로그램과 동작 프로그램이 내장되는 로봇 컨트롤러가 제공되는 로봇과, 상기 로봇에 장착되어 자유곡면에 접촉하며, 상기 동작 프로그램에 의하여 제어되어 자유곡면상을 접촉하여 이동함으로써 위치 데이터를 생성하는 직접 교시기구와. 그리고 상기 로봇에 연결되어 상기 직접 교시기구로부터 생성된 위치 데이터를 상기 로봇을 통하여 입력받아 데이터 처리 프로그램에 의하여 처리하고, 상기 로봇 컨트롤러와 통신을 수행하는 제어프로그램이 내장되어 교시작업을 수행하도록 제어하는 메인 컨트롤러를 포함한다.

公开(公告)号：KR1020040035212A

公开(公告)日：2004-04-29

申请号：KR1020020063977

申请日：2002-10-18

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  조창현

IPC: F16H9/04

CPC classification number: F16H9/125

Abstract: PURPOSE: A wire power transmission device having a dynamic characteristic of a planetary gear is provided to obtain a power transmission characteristic of the planetary gear by a small number of pulleys and wires by combining hanging methods of wires wound around pulleys. CONSTITUTION: A wire power transmission device comprises a first rotating body(121) rotating by power input; a second rotating body(125) connected to a rotating shaft(141) of the first rotating body and fixed to a rotating shaft(145) rotating relatively to the first rotating body; third rotating bodies(123a,123b) to which wires(131,132) wound around the first and second rotating bodies are connected; and rotating frames(115L,115R) connecting the rotating shafts and the third rotating bodies to make the third rotating bodies revolve around the rotating shaft of the first rotating body and the rotating shaft of the second rotating body. The third rotating bodies transmit the rotational speed of the first rotating body to all over the second rotating body through acceleration and deceleration. One of the wire connecting the first and third rotating bodies and the wire connecting the second and third rotating bodies is connected by a crosswise hanging method and the other is connected by a rightly hanging method.

Abstract translation: 目的：提供一种具有行星齿轮动态特性的电力传动装置，通过组合缠绕在滑轮上的电线的悬挂方法，通过少数滑轮和电线获得行星齿轮的动力传递特性。 构成：电力传输装置包括通过电力输入旋转的第一旋转体（121） 连接到第一旋转体的旋转轴（141）并固定到相对于第一旋转体旋转的旋转轴（145）的第二旋转体（125） 第三旋转体（123a，123b），其连接有围绕第一和第二旋转体缠绕的线（131,132）; 以及连接旋转轴和第三旋转体的旋转框架（115L，115R），以使第三旋转体围绕第一旋转体的旋转轴和第二旋转体的旋转轴旋转。 第三旋转体通过加速和减速将第一旋转体的旋转速度传递到第二旋转体的全部。 连接第一和第三旋转体的电线和连接第二和第三旋转体的电线之一通过横向悬挂方法连接，另一个通过正确悬挂方式连接。

公开(公告)号：KR1020030088266A

公开(公告)日：2003-11-19

申请号：KR1020020026357

申请日：2002-05-14

Applicant: 한국과학기술연구원

Inventor： 김문상 ,  박성기 ,  최종석 ,  조창현 ,  류동석 ,  황요하 ,  최민주

IPC: A61B17/00

CPC classification number: G05B19/401 ,  A61B34/70 ,  A61B90/50 ,  G05B2219/31136 ,  G05B2219/37431 ,  G05B2219/37618 ,  G05B2219/39251 ,  G05B2219/45123

Abstract: PURPOSE: An apparatus for calibrating and fixing a three-dimensional position of a medical operation device is provided to perform simultaneously a fixing operation and a measuring operation by improving a structure of the medical operation device. CONSTITUTION: An apparatus for calibrating and fixing a three-dimensional position of a medical operation device includes a link portion of a multi-degree of freedom, a balance portion, a module portion, a distributive control portion, an electric brake portion, two or more fixing pins and a pin hole portion. The link portion(101) of a multi-degree of freedom includes a plurality of rotary joints. The link portion(101) is connected to a control area network through a PC. The balance portion compensates the movement and the weight of the link portion(101) by adding weights and springs to each joint. The module portion is formed by unifying a controller, a position sensor, and a fixing portion. The distributive control portion is formed with a distributive controller and a main controller. The electric brake portion is controlled by an external switch or a program. The fixing pins are combined with the pin hole portion.

Abstract translation: 目的：提供一种用于校准和固定医疗操作装置的三维位置的装置，以通过改进医疗操作装置的结构同时执行定影操作和测量操作。 构成：用于校准和固定医疗操作装置的三维位置的装置包括多自由度的连接部分，平衡部分，模块部分，分配控制部分，电动制动部分，两个或 更多的固定销和针孔部分。 多自由度的连杆部（101）包括多个旋转接头。 链路部分（101）通过PC连接到控制区域网络。 平衡部通过向每个接头添加重物和弹簧来补偿连杆部分（101）的运动和重量。 模块部分通过统一控制器，位置传感器和固定部分而形成。 分配控制部分由分配控制器和主控制器构成。 电动制动部分由外部开关或程序控制。 固定销与销孔部分组合。

公开(公告)号：KR1019950021532A

公开(公告)日：1995-07-26

申请号：KR1019930031240

申请日：1993-12-30

Applicant: 한국과학기술연구원

Inventor： 천성순 ,  노광수 ,  조창현 ,  신우석 ,  배성준

IPC: H01L39/24

Abstract: 본 발명은 소오스, 드레인 및 게이트 전극을 동일 평명 상에 형성할 수 있으며, 고온 초전도 박막을 이용한 마이크로브리지를 전류 채널로 하여 소오스와 드레인을 연결하는 초전도체를 이용한 3단자 전자 소자에 관한 것이다. 본 발명에 따른 소자는 소자 제작에 있어서 1회의 고온 초전도 박막 증착과 1회의 광식각 작업 및 1회의 에칭을 필요로 하는 간단한 공정에 의해 제작될 수 있다.