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1. 发明申请

WO2013062376A3 SEPARABLE ACTUATOR 审中-公开
标题翻译：可分离的执行器
公开(公告)号：WO2013062376A3
公开(公告)日：2013-06-20
申请号：PCT/KR2012008902
申请日：2012-10-26
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG-SOO , LEE JUNG-HO
IPC分类号： B25J19/00 , F16H1/00 , F16H1/32
CPC分类号： F16H1/20 , B25J9/1025 , B25J9/126 , F16H1/32 , F16H35/00 , F16H37/041 , H02K7/116 , H02K11/30 , Y10T74/19637
摘要： According to one embodiment of the present invention, an actuator for controlling joint movement of a robot comprises a first deceleration module and a second deceleration module, which receives and outputs driving force by being in gear with the first deceleration module, wherein the first deceleration module comprises a driving motor, a first print circuit board for controlling the driving motor by feeding back the output of the second deceleration module, at least one first reduction gear which is rotated by a driving motor, and a housing on which the driving motor, the first print circuit board, and the first reduction gear are mounted, and wherein the second deceleration module comprises at least one second reduction gear, which rotates by being in gear with the first reduction gear, and a case on which the second reduction gear is mounted and which is connected to the housing.
摘要翻译：根据本发明的一个实施例，用于控制机器人的关节运动的致动器包括第一减速模块和第二减速模块，其通过与第一减速模块一起接收和输出驱动力，其中第一减速模块包括驱动电机，用于通过反馈第二减速模块的输出来控制驱动电机的第一印刷电路板，由驱动电机旋转的至少一个第一减速齿轮，以及壳体，驱动电机，驱动电机第一印刷电路板和第一减速齿轮，并且其中第二减速模块包括通过与第一减速齿轮一起旋转而旋转的至少一个第二减速齿轮和安装有第二减速齿轮的壳体并连接到壳体。

2. 发明专利

JP2009034807A Network-based robot content trading system and method 审中-公开
标题翻译：基于网络的机器人内容交易系统和方法
公开(公告)号：JP2009034807A
公开(公告)日：2009-02-19
申请号：JP2007336239
申请日：2007-12-27
申请人： Robotis Co Ltd , ロボティスカンパニー,リミテッドRobotis Co.,Ltd
发明人： KIM BYOUNG-SOO
IPC分类号： B25J13/00 , B25J9/08 , G06Q30/04 , G06Q30/06 , G06Q50/00
摘要： PROBLEM TO BE SOLVED: To provide a network-based robot content trading system capable of trading content (referred to as "robot content" hereinafter) for constituting and/or operating a robot, by a method such as sharing, exchanging, and buying or selling, among robot users by utilizing a network, and to provide a method. SOLUTION: There is provided a network-based robot content trading system, storing a software platform for creating robot content; and including a communication module required for data communication; a robot content relay terminal machine connected to a network; and a robot content trading server connected to the robot content relay terminal machine via the network, for executing upload and download of software robot content created by the software platform, into/out of the robot content relay terminal machine. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种能够通过诸如共享，交换，共享等方式来交易内容的以网络为基础的机器人内容交易系统（以下称为“机器人内容”），用于构成和/或操作机器人，并通过利用网络在机器人用户之间购买或销售，并提供一种方法。解决方案：提供了一种基于网络的机器人内容交易系统，存储用于创建机器人内容的软件平台; 并包括数据通信所需的通信模块; 连接到网络的机器人内容中继终端机; 以及通过网络连接到机器人内容中继终端机器的机器人内容交易服务器，用于执行由软件平台创建的软件机器人内容的上传和下载到机器人内容中继终端机器中。版权所有（C）2009，JPO＆INPIT

3. 发明申请

WO2013062379A3 METHOD FOR CONTROLLING NETWORK-TYPE ACTUATOR MODULE 审中-公开
标题翻译：控制网络型执行器模块的方法
公开(公告)号：WO2013062379A3
公开(公告)日：2013-06-20
申请号：PCT/KR2012008905
申请日：2012-10-26
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG-SOO , KIM HEE-IL
IPC分类号： B25J11/00 , B25J9/06 , H04L29/02
CPC分类号： G05B15/02 , G05B19/414 , G05B2219/33147 , G05B2219/33166 , G05B2219/33176 , H04L67/10
摘要： The present invention relates to a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop method comprising the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. According to the present invention, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to a limitation on the length of each field in accordance with a instruction set and a definition of a parameter, and more refined, sophisticated, and accurate control is enabled by allowing control of each of the actuators.
摘要翻译：本发明涉及一种网络型致动器模块的控制方法，提供了一种控制多个网络型致动器模块的方法，所述多个网络型致动器模块通过多点法连接到主控制器，包括以下步骤：控制器向所述致动器模块发送包括多个ID的指令包; 以及对应于ID的致动器模块，向主控制器发送状态分组，其中所述致动器模块根据在所述指令分组上表示的所述ID的顺序来发送所述状态分组。根据本发明，从多个致动器所需的无限制信息可以从分组指令的单个传输中读出，这是由于根据指令集和每个字段的定义对每个字段的长度进行限制而灵活地扩展了限制参数，并且通过允许对每个致动器的控制来实现更精细，精密和精确的控制。

4. 发明申请

WO2013062375A3 CYCLOID DECELERATOR ENABLED WITH LOCATION FEEDBACK 审中-公开
标题翻译：循环减速机启用位置反馈
公开(公告)号：WO2013062375A3
公开(公告)日：2013-06-20
申请号：PCT/KR2012008901
申请日：2012-10-26
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG-SOO , LEE JUNG-HO
IPC分类号： F16H1/32 , B25J19/00
CPC分类号： B25J9/1025 , F16H1/32
摘要： According to one embodiment of the present invention, a cycloid decelerator comprises: a case having a mounting space, and a plurality of pin gears which are formed so as to protrude from an inner circumferential surface of the mounting space along the inner circumferential surface; an input gear which is rotatable by means of a driving force that is inputted from outside; first and second eccentric shafts, which are eccentrically placed with respect to the center of rotation of the input gear; first and second plate gears, which are installed on the first and second eccentric shafts, respectively, and rotate by coming into contact with the pin gear as a result of the rotation of the first and second eccentric shafts, respectively; an output member which is fixed to the plate gears and rotates with the plate gears; and a location detector for detecting the rotation of the output member, converting the result that is detected into an electric signal and transmitting same.
摘要翻译：根据本发明的一个实施例，摆线减速器包括：具有安装空间的壳体和形成为沿着内周面从安装空间的内周面突出的多个销齿轮; 可以通过从外部输入的驱动力旋转的输入齿轮; 第一和第二偏心轴相对于输入齿轮的旋转中心偏心放置; 第一和第二平板齿轮分别安装在第一和第二偏心轴上，并且分别由于第一和第二偏心轴的旋转而与销齿轮接触而旋转; 输出构件，固定到平板齿轮并与平板齿轮一起旋转; 以及位置检测器，用于检测输出构件的旋转，将检测到的结果转换成电信号并将其发送。

5. 发明申请

WO2013062378A2 SEPARABLE ACTUATOR COMPRISING BELT 审中-公开
标题翻译：可分离的执行器包括皮带
公开(公告)号：WO2013062378A2
公开(公告)日：2013-05-02
申请号：PCT/KR2012008904
申请日：2012-10-26
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG-SOO , LEE JUNG-HO
IPC分类号： B25J19/00 , B25J17/00 , F16H1/00 , F16H1/32
CPC分类号： B25J9/102 , B25J9/08 , B25J9/104 , F16H37/041 , F16H2001/325
摘要： According to the one embodiment of the present invention, an actuator for controlling joint movement of a robot comprises: a first deceleration module comprising a driving motor, at least one first reduction gear which is rotated by the driving motor, and a housing on which the driving motor and the first reduction gear are mounted; a second deceleration module comprising at least one second reduction gear which rotates by receiving driving force from the first reduction gear, and a case on which the second reduction gear is mounted; a first pulley module comprising a first gear, which rotates by being in gear with the first gear, and a first pulley housing on which the first pulley is mounted and which is fixed to the housing; a second pulley module comprising an output gear which rotates by being in gear with the second reduction gear, a second gear which rotates by being in gear with the output gear, the second pulley which rotates with the second gear, and a second pulley housing on which the second pulley is mounted and which is fixed to the housing; and a belt, which is connected to the first pulley and the second pulley, for transferring the driving force from the first pulley to the second pulley.
摘要翻译：根据本发明的一个实施例，一种用于控制机器人关节运动的致动器包括：第一减速模块，包括驱动电动机，由驱动电动机旋转的至少一个第一减速齿轮，以及壳体，安装驱动电机和第一减速齿轮; 第二减速模块，包括通过接收来自第一减速齿轮的驱动力而旋转的至少一个第二减速齿轮和安装有第二减速齿轮的壳体; 第一滑轮组件，包括通过与第一齿轮啮合而旋转的第一齿轮和第一滑轮壳体，第一滑轮安装在第一滑轮壳体上并固定到壳体上; 第二滑轮模块，包括通过与第二减速齿轮啮合而旋转的输出齿轮，通过与输出齿轮啮合的第二齿轮，与第二齿轮一起旋转的第二滑轮和与第二滑轮壳体一起旋转的第二滑轮所述第二滑轮被安装并且固定到所述壳体; 以及连接到第一滑轮和第二滑轮的用于将驱动力从第一滑轮传递到第二滑轮的皮带。

6. 发明专利

JP2011255367A Actuator module having universal architecture 审中-公开
标题翻译：具有通用结构的执行器模块
公开(公告)号：JP2011255367A
公开(公告)日：2011-12-22
申请号：JP2011046885
申请日：2011-03-03
申请人： Robotis Co Ltd , ロボティスカンパニー,リミテッドRobotis Co.,Ltd
发明人： KIM BYOUNG SOO , I JUN HO
IPC分类号： B06B1/02 , B25J9/08
CPC分类号： H05K5/0008
摘要： PROBLEM TO BE SOLVED: To provide an actuator module utilizable for an articulated robot wherein a user can change and upgrade the robot for himself, by providing a robot solution having a higher degree of freedom, extensibility and compatibility together.SOLUTION: This invention relates to the actuator module having a universal architecture. In the actuator module having the universal architecture, a fixing piece 240 to be bonded to a connection member is installed on the actuator module itself, and the connection member is provided with another fixing piece having a structure corresponding to the fixing piece, thereby allowing a more effective repeated bonding structure to be formed by utilizing a usual bonding means by bolts and nuts.
摘要翻译：要解决的问题：提供一种可用于铰接机器人的致动器模块，其中用户可以通过提供具有更高自由度，可扩展性和兼容性的机器人解决方案来自己改变和升级机器人。解决方案：本发明涉及具有通用结构的致动器模块。在具有通用结构的致动器模块中，在致动器模块本身上安装要连接到连接构件的固定件240，并且连接构件设置有具有与固定件对应的结构的另一固定件，从而允许通过螺栓和螺母利用通常的接合装置形成更有效的重复粘合结构。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2011255493A Actuator module usable for various forms of joints 审中-公开
标题翻译：执行器模块可用于各种联接形式
公开(公告)号：JP2011255493A
公开(公告)日：2011-12-22
申请号：JP2010233954
申请日：2010-10-18
申请人： Robotis Co Ltd , ロボティスカンパニー,リミテッドRobotis Co.,Ltd
发明人： KIM BYUNG-SOO , JANG WOOK
IPC分类号： B25J19/00 , B25J17/00
CPC分类号： B25J9/08 , B25J9/126 , B25J17/0241 , B25J17/0258
摘要： PROBLEM TO BE SOLVED: To provide a module structure usable for various forms of joints in which a reduction gear and actuator are disposed in various forms and which is usable for various forms of joints in an actuator used in a joint of a multijoint robot.SOLUTION: An actuator module includes: an actuator body 100 composed of an electronic section and a drive part; and a reduction gear 200 separated and combined from and with the actuator body. The actuator module has such a configuration that the speed and torque acquired by primary deceleration of the actuator module body is easily changed through a secondary reduction gear, various forms of reduction gears are usable since the reduction gear is separated and combined from and with the actuator body, the reduction gear and actuator body are disposed in various forms to be used in the various forms of joints, and various forms of joint structures are formed by using the actuator module.
摘要翻译：要解决的问题：提供可用于各种形式的接头的模块结构，其中减速齿轮和致动器以各种形式设置并且可用于用于多关节的接头中的致动器中的各种形式的接头机器人。解决方案：致动器模块包括：由电子部件和驱动部件构成的致动器本体100; 以及与致动器主体分离和组合的减速齿轮200。致动器模块具有通过辅助减速装置容易地改变致动器模块本体的初级减速所获得的速度和扭矩的结构，因为减速齿轮与致动器分离并组合，因此可以使用各种形式的减速齿轮主体，减速齿轮和致动器主体以各种形式设置在各种形式的接头中，并且通过使用致动器模块形成各种形式的接合结构。版权所有（C）2012，JPO＆INPIT

8. 发明专利

JP2008180382A Elastic fastening tool and actuator module using it 有权
标题翻译：使用它的弹性紧固工具和执行器模块
公开(公告)号：JP2008180382A
公开(公告)日：2008-08-07
申请号：JP2008004365
申请日：2008-01-11
申请人： Robotis Co Ltd , ロボティスカンパニー,リミテッドRobotis Co.,Ltd
发明人： KIM BYOUNG-SOO , LEE JUNG-HO
IPC分类号： F16B19/10 , A63H33/08 , F16B5/01
CPC分类号： F16B5/0642 , F16B5/0657 , Y10T24/45 , Y10T403/75
摘要： PROBLEM TO BE SOLVED: To provide an elastic fastening tool capable of being disassembled and combined easily even manually without a tool and capable of being repeatedly disassembled and combined firmly, and an actuator module using the elastic fastening tool. SOLUTION: This elastic fastening tool includes a hollow socket 200 elastically insertable into an insertion hole formed in material to be combined, and a fixing pin 100 coupled to the hollow of the hollow socket. Meanwhile, the actuator module includes a first side plate having at least one insertion hole for inserting the elastic fastening tool, a second side plate having at least one insertion hole for inserting the elastic fastening tool, a housing including two mutually opposed side surfaces, a first flat-shaped connection member connected to the driving shaft of an actuator enclosed in the housing and having at least one insertion hole, and the elastic fastening tool including the hollow socket elastically insertable into the insertion hole formed in the first connection member and the fixing pin coupled to the hollow of the hollow socket. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在没有工具的情况下手动拆卸和组合的弹性紧固工具，并且能够被牢固地重复拆卸和组合，以及使用弹性紧固工具的致动器模块。解决方案：该弹性紧固工具包括可弹性地插入形成在待组合的材料中的插入孔的中空插座200以及联接到中空插座的中空部的固定销100。同时，致动器模块包括具有用于插入弹性紧固工具的至少一个插入孔的第一侧板，具有用于插入弹性紧固工具的至少一个插入孔的第二侧板，包括两个相互相对的侧表面的壳体，第一扁平连接构件，其连接到封装在壳体中的致动器的驱动轴，并且具有至少一个插入孔，弹性紧固工具包括可弹性插入到形成在第一连接构件中的插入孔中的中空插座和固定销连接到中空插座的中空。版权所有（C）2008，JPO＆INPIT

9. 发明专利

JP2008167644A Network type actuator module 审中-公开
标题翻译：网络型执行器模块
公开(公告)号：JP2008167644A
公开(公告)日：2008-07-17
申请号：JP2007328530
申请日：2007-12-20
申请人： Robotis Co Ltd , ロボティスカンパニー,リミテッドRobotis Co.,Ltd
发明人： KIM BYOUNG-SOO , HA IN-YONG
IPC分类号： H02P29/02
摘要： PROBLEM TO BE SOLVED: To provide a network type actuator module. SOLUTION: A single actuator module integrally consists of a drive part, a sensor, a network part, and a control part. The actuator modules are connected together by a multidrop method to constitute one actuator module network. In the network type actuator module, an actuator module is controlled through a process of reading/writing data of the control table incorporated in the actuator module for effective network communication. COPYRIGHT: (C)2008,JPO&INPIT

10. 发明专利

CA3046772A1 GRIPPER FOR ROBOT HAND CAPABLE OF ADAPTIVE GRIPPING 未知
公开(公告)号：CA3046772A1
公开(公告)日：2018-01-04
申请号：CA3046772
申请日：2016-06-30
申请人： ROBOTIS CO LTD
发明人： KIM BYOUNG SOO , LEE JUNGHO
IPC分类号： B25J15/00 , B25J9/10 , B25J15/08
摘要： The present invention relates to a gripper for a robot hand capable of adaptive gripping. An embodiment of the present invention provides a gripper for a robot hand capable of adaptive gripping, comprising a finger portion having at least one finger, wherein: the finger comprises a first link having one end rotatably fixed to a casing, a second link having one end joint-coupled to the other end of the first link, a third link having one end rotatably fixed to the casing such that the same receives driving force from the outside and operates, a fourth link having one end joint-coupled to the other end of the third link, and a gripping member joint-coupled to the other end of the second link and to the other end of the fourth link; and driving of two members selected from the first link, the second link, the third link, the fourth link, and the gripping member is limited such that a pinch grip and an encompassing grip occur selectively or successively.

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