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公开(公告)号：KR1020150142796A
公开(公告)日：2015-12-23
申请号：KR1020140070964
申请日：2014-06-11
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , B25J9/06 , B25J9/1638 , B25J9/1653 , G05B2219/39062
Abstract: 어깨관절, 팔꿈치관절, 손목관절로구성된로봇팔에있어서, 어깨관절에서부터손목관절까지의가상의일직선을기준축으로하는영공간(null space)을형성하고, 기준축을중심으로팔꿈치관절이회전되는회전각을제어하되, 현재회전각과목표회전각의차이인오차회전각과목표회전각속도의조합을영공간에관한자코비안의사역행렬과곱하여회전각의제어를위한각 관절의각속도를도출하는로봇의팔꿈치제어시스템및 그제어방법이소개된다.
Abstract translation: 介绍了一种控制机器人肘管的系统和方法。 形成了从肩关节到腕关节的虚拟直线作为基准轴的零空间; 并且控制围绕参考轴线旋转的肘关节的旋转角度。 作为当前旋转角度和目标旋转角度之间的差异的误差旋转角度与目标角速度的组合相对于零空间乘以逆雅可比矩阵，以将每个关节的角速度绘制为 控制旋转角度。 因此，本发明能够表达人的运动。
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公开(公告)号：KR101337909B1
公开(公告)日：2013-12-09
申请号：KR1020120013641
申请日：2012-02-10
IPC: B60W50/02 , B60W10/30 , B60K15/077
Abstract: 본 발명은 하이브리드 차량용 연료 고갈 진단 장치 및 방법에 관한 것으로서, 더욱 상세하게는 하이브리드 차량의 주행 또는 시동시 연료 고갈에 따른 지속적인 크랭킹으로 인하여 배터리가 방전되는 것을 방지할 수 있도록 한 하이브리드 차량용 연료 고갈 진단 장치 및 방법에 관한 것이다.
즉, 본 발명은 연료탱크내의 연료가 약 10% 미만에서 주유 경고등이 점등된 후, 소비되는 연료량을 누적 계산하고, 누적된 연료소비량이 기준값이 이상이면 엔진 기동 금지 조건의 진입 조건중 하나인 연료 런아웃 비트 신호를 HCU에 전송하여 엔진 시동 시도가 이루어지지 않도록 함으로써, 배터리의 방전 현상을 용이하게 방지할 수 있도록 한 하이브리드 차량용 연료 고갈 진단 장치 및 방법을 제공하고자 한 것이다.-
公开(公告)号：KR1020130019922A
公开(公告)日：2013-02-27
申请号：KR1020110082231
申请日：2011-08-18
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , B25J9/0006 , B25J9/042 , B25J9/1612 , B25J9/1638
Abstract: PURPOSE: A wearing robot control method is provided to operate a training program for intensifying muscular strength, provide a program for intensifying muscular strength suitable for a rehabilitation program to people requiring rehabilitation, and operate a system for preventing the weakening of muscular strength according to aging. CONSTITUTION: A wearing robot control method applies a virtual spring-damper model to the end of a wearing robot. An end part distributes final force necessary for a robot motion to the necessary torque of each joint through a Jacobian transpose and be able to control the required resistance of a robot by distributing to a necessary torque by adding resistance force to final force. The drooping amount of a robot by gravity is added to a distributed necessary torque. A resistance force is implemented as a spring model and changes resistance required for a robot through the control of an elasticity coefficient. A necessary torque is produced by applying a virtual spring-damper model to each joint of a wearing robot. A wearing robot control method includes a modeling step applying a virtual spring-damper model to the end of a wearing robot, a step distributing a final force necessary for the motion of a robot to the necessary torque of each joint through a Jacobian transpose at the end of a wearing robot, and a control step controlling the resistance of a robot required by distributing resistance force required for the end of a robot to a torque necessary for each joint through a Jacobian transpose.
Abstract translation: 目的：提供一种佩戴机器人控制方法，以运行强化肌肉力量的训练计划，为需要康复的人提供适合康复计划的肌肉力量程序，并运行防止肌肉强度因老化而减弱的系统 。 构成：磨损机器人控制方法将虚拟弹簧阻尼器模型应用于佩戴机器人的末端。 端部通过雅可比转置将机器人运动所需的最终力分配给每个关节的必要扭矩，并且能够通过向最终力增加阻力来控制机器人所需的阻力。 通过重力将机器人的下垂量加到分配的必需扭矩上。 作为弹簧模型实现阻力，通过控制弹性系数来改变机器人所需的电阻。 通过将虚拟弹簧阻尼器模型应用于穿着机器人的每个接头来产生必要的扭矩。 磨损机器人控制方法包括将虚拟弹簧阻尼器模型应用于佩戴机器人的末端的建模步骤，通过雅各布转置在机器人运动所需的最终力到每个关节的必要扭矩的步骤 磨损机器人的末端，以及控制步骤，通过将雅可比转置为每个关节所需的扭矩，将机器人结束所需的阻力分配到机器人的阻力上。
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公开(公告)号：KR1020130019921A
公开(公告)日：2013-02-27
申请号：KR1020110082230
申请日：2011-08-18
Applicant: 현대자동차주식회사
CPC classification number: B25J9/162 , B25J9/1607 , B25J9/1638 , B25J9/1641 , B25J19/02
Abstract: PURPOSE: A dynamic progression control method for a robot and a system thereof are provided to simplify control by only using gyrosensor information and to enable the robot to walk stably even in an environment arbitrarily changed from outside. CONSTITUTION: A dynamic progression control method for a robot obtains a moment generated according to the stability of the walking of a robot based on the x-axis and y-axis of a gyrosensor, and comprises a measurement step changing the moment into a required additional balancing power in the z direction for a balancing maintenance, a compensation step compensating a balancing power for a driving power required in walking in a normal environment, and an application step changing a compensated driving power into a final torque required in each joint of the robot. The measurement step computes the moment of x-axis and y-axis through an angle variation and an angular speed variation which are measured based on the x-axis and y-axis of the gyrosensor and draws a balancing power through a distance in which the feet of the gyrosensor and the robot are separated based on x-axis and y-axis. The application step changes a compensated driving power into a final torque necessary for each joint of the robot by using a Jacobian transpose method. The application step changes a power into a final torque necessary for each joint of the robot through a virtual force model using a spring-damper.
Abstract translation: 目的：提供一种用于机器人及其系统的动态进程控制方法，以通过仅使用陀螺传感器信息来简化控制，并且即使在从外部任意改变的环境中也能够使机器人稳定地行走。 构成：用于机器人的动态进程控制方法根据陀螺传感器的x轴和y轴根据机器人的行走的稳定性产生的力矩，并且包括将力矩改变为所需的附加值的测量步骤 在z方向上平衡功率以进行平衡维护，补偿步骤，补偿在正常环境中行走所需的驱动力的平衡功率，以及将补偿的驱动功率改变为机器人的每个关节中所需的最终转矩的应用步骤 。 测量步骤通过基于陀螺传感器的x轴和y轴测量的角度变化和角速度变化来计算x轴和y轴的力矩，并通过其中的 陀螺传感器和机器人的脚根据x轴和y轴分离。 应用步骤通过使用雅可比转置方法将补偿的驱动功率改变为机器人的每个接头所需的最终转矩。 应用步骤通过使用弹簧阻尼器的虚拟力模型将功率改变为机器人的每个关节所需的最终扭矩。
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公开(公告)号：KR2019990017888U
公开(公告)日：1999-06-05
申请号：KR2019970031022
申请日：1997-11-04
Applicant: 현대자동차주식회사
Inventor： 서정호
IPC: B60S1/38
Abstract: 본 고안은 자동차의 윈드 쉴드 와이퍼 결합구조에 관한 것으로, 일정각도의 범위 내에서 회전왕복운동할 수 있도록 아암부(10)가 전동장치와 연결되고, 상기 아암부(10)는 그 내부에 요크 연결부(12) 및 지지리브(14)가 형성되며, 상기 요크 연결부(12)에 블레이드(20)를 윈드 쉴드 글래스에 안정적으로 접촉시킬 수 있도록 그 내부에 탄성수단(22)이 내장된 요크(16)가 설치되며, 상기 요크(16)의 일단에 블레이드(20)가 설치되는 윈드 쉴드 와이퍼를 제공한다.
따라서 본 고안에 따르면,블레이드를 장착하기 위한 아암의 구조를 변경하여 구조를 단순화하고 탄성수단이 구비된 요크를 이용하여 블레이드를 장착함으로써 윈드 쉴드 글래스에 대한 블레이드의 접착력을 향상시킬 수 있는 효과를 얻을 수 있다.-
Patent Agency Ranking
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公开(公告)号：KR101305617B1
公开(公告)日：2013-09-09
申请号：KR1020120000025
申请日：2012-01-02
Applicant: 현대자동차주식회사
CPC classification number: G05B15/00 , B25J9/0006 , B25J9/06 , B25J9/16 , B25J13/085 , G05B2219/37357 , G05B2219/39523 , G05B2219/40305
Abstract: 물체가 로봇에 가하는 무게힘과 착용자가 로봇에 가하는 인가힘의 차이를 통하여 양중작업시 로봇이 물체에 가해야 하는 최종힘을 도출하는 힘도출단계; 로봇이 물체를 들어올려야 하는 목표위치를 설정하는 위치설정단계; 로봇이 물체를 지지하는 끝단과 로봇의 각 관절에 스프링-댐퍼를 이용한 가상힘 모델을 적용하고, 상기 도출된 최종힘을 반영하여 로봇의 각 관절에서 필요한 최종토크로 환산하고 최종토크에 따라 로봇의 각 관절을 구동하는 양중단계; 및 로봇이 물체를 상기 목표위치까지 들어올린 경우 상기 최종힘을 고정하는 고정단계;를 포함하는 착용식 로봇의 양중제어방법 및 양중제어시스템이 소개된다.
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公开(公告)号：KR1020130061786A
公开(公告)日：2013-06-12
申请号：KR1020110128033
申请日：2011-12-02
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1612 , B25J9/0006 , B25J9/162 , B25J9/1633 , B25J9/1669
Abstract: PURPOSE: A method for controlling a wearable robot is provided to drive the robot with specific amplification ratio by driving the end through applying intention of a wearer to the end of the robot as operating power. CONSTITUTION: A method for controlling a wearable robot comprises: a step of calculating the support power to support an object in the end of the robot by amplifying operating power which applies to the robot to specific amplification ratio; and a step of deriving the operating power required to lift the object by the end of the robot through a virtual spring damper model by applying a virtual mass damper spring model to the end of the robot and dividing to a required torque at each joint of the robot through Jacobian transpose. [Reference numerals] (AA) Robot upper limb frame; (BB) Second F/T sensor; (CC) First F/T sensor; (DD) Handle
Abstract translation: 目的：提供一种用于控制可穿戴式机器人的方法，以通过将穿着者的意图通过作为机器人的端部的意图来驱动该端部而以特定的放大率来驱动机器人作为操作功率。 一种用于控制可穿戴式机器人的方法，包括：通过将适用于所述机器人的操作功率放大到特定的放大率，计算支持力的步骤，以支持所述机器人末端的物体; 以及通过将虚拟质量阻尼器弹簧模型应用到机器人的端部并将其分割为所需的扭矩，从而导出通过虚拟弹簧阻尼器模型通过机器人的端部提升物体所需的操作力的步骤 机器人通过雅可比转置。 （标号）（AA）机器人上肢架; （BB）第二F / T传感器; （CC）第一F / T传感器; （DD）把手
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公开(公告)号：KR1020090062964A
公开(公告)日：2009-06-17
申请号：KR1020070130461
申请日：2007-12-13
Abstract: A method for reducing the catalyst activation time of a hybrid vehicle is provided to reduce the catalyst activation time, thereby improving the treatment efficiency of exhaust gas. A method for reducing the catalyst activation time of a hybrid vehicle comprises the steps of (S100) confirming the temperature of a catalyst for the exhaust gas treatment and the water temperature of cooling water; (S200) determining whether a catalyst is heated or not; (S300) determining the rotation number of an engine, the engine torque and the ignition angle according to the temperature of a catalyst and the water temperature of cooling water if it is necessary to heat a catalyst; (S400) ordering the control of the rotation number of an engine, the engine torque and the ignition angle to an engine control unit by a hybrid control unit; (S500) determining whether the driver-demanded torque is 0 or not; (S600) changing the transmission stage to the N stage if the driver-demanded torque is 0, and releasing an engine clutch; (S700) determining whether the temperature of a catalyst reaches the heating termination temperature; and terminating the heating of a catalyst if the temperature of a catalyst reaches the heating termination temperature.
Abstract translation: 提供降低混合动力车辆的催化剂活化时间的方法，以减少催化剂活化时间，从而提高废气的处理效率。 降低混合动力车辆的催化剂活化时间的方法包括以下步骤：（S100）确认用于废气处理的催化剂的温度和冷却水的水温; （S200）确定催化剂是否被加热; （S300）如果需要加热催化剂，则根据催化剂的温度和冷却水的水温来确定发动机的转数，发动机转矩和点火角; （S400）通过混合控制单元对发动机控制单元的发动机转数进行控制，发动机转矩和点火角度; （S500）确定驾驶员要求的扭矩是否为0; （S600）如果驾驶员要求的转矩为0，则将变速级变更为N档，并且释放发动机离合器; （S700）确定催化剂的温度是否达到加热终止温度; 如果催化剂的温度达到加热终止温度，则终止催化剂的加热。
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公开(公告)号：KR100387610B1
公开(公告)日：2003-06-18
申请号：KR1020000033644
申请日：2000-06-19
Applicant: 현대자동차주식회사
Inventor： 서정호
IPC: B60K15/04
Abstract: PURPOSE: A fuel filler neck assembly structure lowers the residual stress thereof on forming, effectively absorbs impacts, thereby preventing a crack. CONSTITUTION: A filler tube(30) and a cap holder(10) are integrally formed by injection molding. Many longitudinal rips(50) are integrally formed on the outer surfaces of the filler tube(30) and the cap holder(10) by injection molding. A retainer(20) having a "V" type groove(22) is pressed into the inner space of the filler tube(30) and the cap holder(10). Thus, the process is simplified, cost is reduced, and residual stress generated on the forming of parts is largely reduced. Therefore, a fuel filler neck assembly structure easily maintains a rigidity against an impact by a material bounced from a ground.
Abstract translation: 目的：一种加油口颈部组件结构降低了成形时的残余应力，有效地吸收了冲击，从而防止了裂纹。 构成：注射管（30）和帽夹持器（10）通过注塑一体地形成。 许多纵向撕裂（50）通过注塑一体地形成在加注管（30）和盖保持器（10）的外表面上。 具有“V”形的保持器（20） （22）被压入加油管（30）和盖保持器（10）的内部空间中。 因此，该工艺被简化，成本降低，并且在零件成形时产生的残余应力大大降低。 因此，加油管颈组件结构容易保持抵抗由地面反弹的材料的冲击的刚性。
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