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公开(公告)号：KR101050302B1
公开(公告)日：2011-07-19
申请号：KR1020080124515
申请日：2008-12-09
Applicant: 한양대학교 산학협력단
Abstract: 구조물 점검 로봇 및 이를 포함한 구조물 점검 차량을 제공한다. 구조물 점검 로봇은 영상을 획득하며, 외란에 대한 보상이 가능하도록 팬틸트 구동에 의해 각도가 조절되는 카메라 모듈 및 상기 카메라 모듈이 장착되며, 상기 카메라 모듈과 상기 구조물 사이의 거리가 조절되도록 상승 또는 하강이 가능한 본체를 포함하여, 외란을 보상함으로써 촬영된 영상의 신뢰도를 높일 수 있다.
복층 구동, 자이로 센서, 레이져 센서Abstract translation: 提供结构检查机器人和包括该机器人的结构检查车辆。 结构检查机器人获得图像，其被用于在扰动补偿可以是由风扇倾斜驱动控制到相机模块和角度和相机模块被安装时，上升或下降，以使距离所述相机模块和结构之间调节 这使得可以通过补偿干扰来提高拍摄图像的可靠性。
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公开(公告)号：KR1020090086656A
公开(公告)日：2009-08-14
申请号：KR1020080012051
申请日：2008-02-11
Applicant: 한양대학교 산학협력단
Abstract: A 5-DOF(Degree Of Freedom) manipulator is provided to improve accuracy and stability of an operation by preventing a horizontal movement of the surgical tool through a vertical robot arm. A 5-DOF manipulator includes a robot arm(100), a sliding unit(200), and a support(300). The robot arm includes a vertical arm(110), an upper arm(120), a lower arm(130), a bracket(140), an adapter(150), and a probe(160). One end of the upper arm is rotatably connected to the upper part of the vertical arm. One end of the lower arm is rotatably connected to the other end of the upper arm. The bracket is rotatably arranged in the other end of the lower arm. The adapter is rotatably connected to the bracket. The probe is detachably connected to the adapter. The sliding unit is arranged in the lower end of the vertical arm to slide the vertical arm. The support supports the sliding unit.
Abstract translation: 提供了一种5自由度（自由度）机械手，通过防止外科手术工具通过垂直机器人手臂的水平移动来提高手术的精度和稳定性。 5-DOF操纵器包括机器人臂（100），滑动单元（200）和支撑件（300）。 机器人臂包括垂直臂（110），上臂（120），下臂（130），支架（140），适配器（150）和探针（160）。 上臂的一端可旋转地连接到垂直臂的上部。 下臂的一端可旋转地连接到上臂的另一端。 支架可旋转地布置在下臂的另一端。 适配器可旋转地连接到支架。 探头可拆卸地连接到适配器。 滑动单元布置在垂直臂的下端以滑动垂直臂。 支撑支撑滑动单元。
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公开(公告)号：KR1020080048849A
公开(公告)日：2008-06-03
申请号：KR1020060119328
申请日：2006-11-29
Applicant: 한양대학교 산학협력단
Abstract: A movable robot for inspecting a bridge and a bridge inspection system using the same are provided to inspect cracks and leakage of the bridge by controlling the robot from an intended distance and at an intended angle. A movable robot(100) for inspecting a bridge includes a moving unit(150), a height controller(170), a photographing unit(195), and a position controller(190). The moving unit moves entire body of the movable robot on a rail. The height controller is mounted on the upper part of the moving unit and controls a gap between the photographing unit and the lower side of an upper plate of the bridge. The photographing unit is mounted on an angle controller(180) and photographs the lower side of the upper plate of the bridge. The position controller is mounted on the upper part of the height controller and includes the angle controller. The angle controller controls an angle between the photographing unit and the lower side of the upper plate of the bridge.
Abstract translation: 提供一种用于检查桥梁的可移动机器人和使用其的桥梁检查系统，以通过将机器人从预期距离和预期角度控制来检查桥梁的裂缝和泄漏。 用于检查桥的移动机器人（100）包括移动单元（150），高度控制器（170），拍摄单元（195）和位置控制器（190）。 移动单元将可移动机器人的整个身体移动到轨道上。 高度控制器安装在移动单元的上部，并且控制拍摄单元和桥的上板的下侧之间的间隙。 拍摄单元安装在角度控制器（180）上并拍摄桥的上板的下侧。 位置控制器安装在高度控制器的上部，并包括角度控制器。 角度控制器控制拍摄单元和桥的上板的下侧之间的角度。
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公开(公告)号：KR101049953B1
公开(公告)日：2011-07-15
申请号：KR1020080119813
申请日：2008-11-28
Applicant: 한양대학교 산학협력단
IPC: B25J13/02
Abstract: 본 발명은 부피에 비하여 작업공간이 넓고 보관 및 휴대가 용이하도록 병렬 접이식 구조를 가지며, 단일 정기구학 해를 통해 정확한 정보를 얻을 수 있는 3자유도 햅틱 조이스틱 및 이를 이용한 로봇 시스템에 관한 것이다.
상기 3자유도 햅틱 조이스틱은, 베이스와, 상기 베이스의 상면에 배열되는 3개의 실린드리컬 조인트와, 상기 각 실린드리컬 조인트에 연결되는 4절 링크와, 상기 4절 링크의 상부에 연결되는 상판과, 상기 상판에 결합되는 핸들을 포함하고; 상기 로봇 시스템은, 3자유도 햅틱 조이스틱과, 상기 3자유도 햅틱 조이스틱의 엔코더에서 입력된 신호로 핸들의 위치 및 자세를 결정하는 단일 정기구학 해를 계산하며, 힘 반영 명령을 생성하고 생성된 힘 반영 명령을 이용하여 모터를 제어하는 제어부와, 상기 제어부에서 입력된 핸들의 위치 및 자세를 가상 장치 및 로봇 암을 가동하고 장애물 및 경계 정보를 검출하는 슬레이브 파트를 포함한다.
3자유도 햅틱 조이스틱, 병렬 접이식 구조, 단일 정기구학 해, 로봇 시스템Abstract translation: 本发明具有一个平行的折叠结构，使得工作区是易于储存和大细胞与体积相比，以三个自由度，以获得从一个单一的周期性运动的正确信息，则还涉及一种触觉操纵杆系统，并使用相同的远程控制。
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公开(公告)号：KR1020100117883A
公开(公告)日：2010-11-04
申请号：KR1020090036581
申请日：2009-04-27
Applicant: 한양대학교 산학협력단
CPC classification number: A61B17/320016 , A61B17/00234 , A61B17/24 , A61B2017/003 , A61B2017/00314
Abstract: PURPOSE: An endoscopic surgical operation tool is provided to increase the refraction angle of a bending part by applying a coil spring to the bending part. CONSTITUTION: An endoscopic surgical operation tool comprises a tool part(100), a bending part(200), a fixing part(300), and an operating part(400). The bending part includes a plurality of cylinders and at least one wire. A plurality of cylinders are connected to a connection part. An inclined surface is formed in each cylinder. The maximum refraction angle of the bending part is determined by the angle of the inclined surface. The wire is connected from the tool part to the operating part. The fixing part supports the bending part. The operating part controls the tool part and the bending part.
Abstract translation: 目的：提供一种内窥镜手术操作工具，通过向弯曲部施加螺旋弹簧来增加弯曲部的折射角。 构成：内窥镜外科手术工具包括工具部件（100），弯曲部件（200），固定部件（300）和操作部件（400）。 弯曲部分包括多个气缸和至少一个导线。 多个气缸连接到连接部。 在每个气缸中形成倾斜表面。 弯曲部的最大折射角由倾斜面的角度决定。 电线从工具部分连接到操作部分。 固定部支撑弯曲部。 操作部分控制工具部分和弯曲部分。
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Patent Agency Ranking
公开(公告)号：KR100834894B1
公开(公告)日：2008-06-03
申请号：KR1020070004629
申请日：2007-01-16
Applicant: 한양대학교 산학협력단
Abstract: A robot articulation driving system and a multi-articulation robot having the same are provided to reduce the weight of a multi-articulation robot and minimize noise and vibration generated when driving articulations of the multi-articulation robot. A robot articulation driving system comprises an air pressure generator and an air pressure transmission unit(400). The air pressure generator generates air pressure. The air pressure transmission unit is connected with the air pressure generator to transmit the air pressure generated by the air pressure generator to the outside. The air pressure generator includes a driving motor(100) and a first piston(200) connected with the driving motor to generate the air pressure according to an operation of the driving motor. The first piston includes a first piston body(210) having a hollow section, an air pressure generating plate(220) and a ball screw(110). The first piston body has openings at both sides thereof. The air pressure generating plate is positioned in the hollow section of the first piston body.
Abstract translation: 提供了一种机器人关节运动驱动系统和具有该机器人关节运动的多关节机器人，以减轻多关节机器人的重量，并且最小化当多关节机器人的关节运动时产生的噪音和振动。 一种机器人铰接驱动系统，包括气压发生器和空气压力传递单元（400）。 气压发生器产生空气压力。 空气压力传递单元与气压发生器连接，将由气压发生器产生的气压传递到外部。 空气压力发生器包括驱动电动机（100）和与驱动电动机连接的第一活塞（200），以根据驱动电动机的操作产生空气压力。 第一活塞包括具有中空部分的第一活塞体（210），空气压力产生板（220）和滚珠丝杠（110）。 第一活塞体在其两侧具有开口。 气压发生板位于第一活塞体的中空部。
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公开(公告)号：KR101116394B1
公开(公告)日：2012-03-09
申请号：KR1020090036581
申请日：2009-04-27
Applicant: 한양대학교 산학협력단
Abstract: 본발명에따르면, 내시경수술용수술도구에굴절부를형성함으로써, 굴절각을변화시키면서인체에삽입할수 있는효과가있다. 또한굴절부가굴절되었을때 굴절부의실린더에형성된경사면이맞닿아단단히고정되는구조를구비함으로써, 선단에설치된도구를작동할때 굴절부에미치는힘에도안정적으로고정되는효과가있다. 나아가굴절부에코일스프링을사용하여굴절부가 180도(또는이상)까지굴절되어종래의수술도구가닿지않던부분까지수술이가능한뛰어난효과가있다.
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公开(公告)号：KR1020100065920A
公开(公告)日：2010-06-17
申请号：KR1020080124515
申请日：2008-12-09
Applicant: 한양대학교 산학협력단
Abstract: PURPOSE: A structure inspection robot and a structure inspection vehicle with the same are provided to obtain a clean image without influence by disturbance by keeping the position of a camera at the target angle. CONSTITUTION: A structure inspection robot(100) comprises a camera module(160) and a main body. The camera module for taking an image of a structure is mounted on the main body and controlled in angle by panning/tilting in order to compensate disturbances. The main body is raised or lowered in order to regulate the distance between the camera module and the structure.
Abstract translation: 目的：提供一种结构检查机器人及其结构检查车辆，以通过将相机的位置保持在目标角度来获得干净的图像而不受干扰的影响。 构成：结构检查机器人（100）包括相机模块（160）和主体。 用于拍摄结构图像的相机模块安装在主体上并通过摇摄/倾斜来控制角度，以便补偿干扰。 为了调节相机模块和结构之间的距离，主体被升高或降低。
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公开(公告)号：KR1020100060974A
公开(公告)日：2010-06-07
申请号：KR1020080119813
申请日：2008-11-28
Applicant: 한양대학교 산학협력단
IPC: B25J13/02
Abstract: PURPOSE: A haptic joystick with three degrees of freedom and a robot system using the same are provided to facilitate the storage and carriage by employing a folding structure in which a top plate including a handle is connected to cylindrical joints through a 4-bar link. CONSTITUTION: A haptic joystick with three degrees of freedom comprises a base(110), three cylindrical joints(120), a 4-bar link(140), a top plate(170), and a handle(180). The three cylindrical joints are arranged in the upper side of the base. The 4-bar link is connected to each cylindrical joint. The top plate is connected to the top of the 4-bar link. The handle is connected to the top plate.
Abstract translation: 目的：提供具有三个自由度的触觉操纵杆和使用其的机器人系统，以通过采用其中包括手柄的顶板通过4杆连杆连接到圆柱形接头的折叠结构来促进存储和托架。 构造：具有三个自由度的触觉操纵杆包括基座（110），三个圆柱形接头（120），四杆连杆（140），顶板（170）和手柄（180）。 三个圆柱形接头布置在基座的上侧。 4杆连杆连接到每个圆柱形接头。 顶板连接到4杆连杆的顶部。 手柄连接到顶板。
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公开(公告)号：KR100695471B1
公开(公告)日：2007-03-16
申请号：KR1020050094326
申请日：2005-10-07
Applicant: 한양대학교 산학협력단
Abstract: A robot having multi-freedom for setting a position of a surgical instrument is provided to correctly position the surgical instrument identically with a slant direction of a backbone by steering a surgical instrument supporting table having the surgical instrument at various angles. A robot arm(200) is rotatably connected to a supporting body(100). A surgical instrument supporting bar(300) is connected to a guide arm(250) of an end unit of the robot arm(200). A robot arm rotation unit rotates the guide arm(250) to steer an angle of the surgical instrument bar(300). An image photographing unit has a laser generation unit and a laser receiving unit, and acquires image data by photographing a surgical operation in real-time. A control unit sets a position coordinate of a surgical operation region through a stored algorithm by receiving the image data acquired by the image photographing unit. A motor driving unit provides driving power to a motor which rotates the robot arm(200) by a control signal of the control unit.
Abstract translation: 提供一种用于设置外科器械位置的多自由度的机器人，通过以各种角度转向具有外科器械的手术器具支撑台，以正确地以骨架的倾斜方向定位外科器械。 机器人臂（200）可旋转地连接到支撑体（100）。 外科器械支撑杆（300）连接到机器人手臂（200）的端部单元的引导臂（250）。 机器人臂旋转单元旋转引导臂（250）以引导外科器械杆（300）的角度。 图像拍摄单元具有激光产生单元和激光接收单元，并且通过实时拍摄外科手术来获取图像数据。 控制单元通过接收由图像拍摄单元获取的图像数据，通过存储的算法来设定外科手术区域的位置坐标。 马达驱动单元通过控制单元的控制信号向机械臂（200）旋转的马达提供驱动力。
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