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1. 发明申请

WO2008029969A1 DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME 审中-公开
标题翻译：用于产生包含其的机器人操纵器的刚度和接头的装置
公开(公告)号：WO2008029969A1
公开(公告)日：2008-03-13
申请号：PCT/KR2006/005282
申请日：2006-12-07
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KANG, Sung Chul , KIM, Munsang , KIM, Seung Jong , YUN, Seung Kook , YOO, Jeonghoon
发明人： KANG, Sung Chul , KIM, Munsang , KIM, Seung Jong , YUN, Seung Kook , YOO, Jeonghoon
IPC分类号： B25J17/02
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

2. 发明申请

WO2006126788A1 BEARINGLESS STEP MOTOR 审中-公开
标题翻译：无轴步进电机
公开(公告)号：WO2006126788A1
公开(公告)日：2006-11-30
申请号：PCT/KR2006/001660
申请日：2006-05-03
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KIM, Seung Jong , BACH, Du Jin , KONG, Hosung
发明人： KIM, Seung Jong , BACH, Du Jin , KONG, Hosung
IPC分类号： H02K37/04
CPC分类号： H02K7/09 , F16C32/0425 , H02K37/18
摘要： There is provided a bearingless step motor in which a rotating shaft can rotate while rising from a main body by a magnetic force without using a mechanical bearing. The bearingless step motor comprises a stator including stator cores having winding portions and a rotor including a rotating shaft and rotor cores. The rotor rotates by a magnetic interaction between the rotor cores and the stator cores. A first permanent magnet is mounted to the rotor and a second permanent magnet is mounted to the stator. The first permanent magnet and the second permanent magnet are arranged so that a repulsive force is generated between magnetic poles. There is little power consumption for raising the rotating shaft and a complicated system for controlling the rise of the rotating shaft is unnecessary. Thus, the motor can be manufactured with a light and compact structure.
摘要翻译：提供了一种无轴承步进电机，其中旋转轴可以在不使用机械轴承的情况下通过磁力从主体上升而旋转。无轴承步进电动机包括定子，该定子包括具有绕组部分的定子铁心和包括转轴和转子铁心的转子。转子通过转子芯和定子芯之间的磁相互作用旋转。第一永磁体安装在转子上，第二永久磁铁安装在定子上。第一永磁体和第二永久磁铁配置成在磁极之间产生排斥力。用于提升旋转轴的功耗很小，并且不需要用于控制旋转轴的上升的复杂系统。因此，电动机可以用轻且紧凑的结构制造。

3. 发明申请

WO2013039281A1 MANIPULATOR WITH WEIGHT COMPENSATION MECHANISM AND FACE ROBOT USING THE SAME 审中-公开
标题翻译：具有重量补偿机构的操纵器和使用其的机器人
公开(公告)号：WO2013039281A1
公开(公告)日：2013-03-21
申请号：PCT/KR2011/009182
申请日：2011-11-30
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KIM, Seung Jong , CHO, Chang Hyun , CHOI, Jeong Soo , OH, Kyung Geune , JUNG, Chan Yul
发明人： KIM, Seung Jong , CHO, Chang Hyun , CHOI, Jeong Soo , OH, Kyung Geune , JUNG, Chan Yul
IPC分类号： B25J19/00 , B25J9/06
CPC分类号： B25J11/0015 , B25J19/0016
摘要： This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. In order to attain the above-described object, a manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts when the wires pressurize the spring or cancel the pressurized state thereof due to the rotation of respective rotation parts by the elastic restoring force of the spring.
摘要翻译：本公开涉及一种面向机器人，其类似于人体头部的运动和支持机器人面部的多关节机械手的操作，更具体地，涉及可以补偿由重力引起的影响并施加在旋转上的结构零件围绕其轴旋转。为了实现上述目的，提供了一种具有本公开的重量补偿机构的操纵器，所述操纵器具有连接到围绕其轴线旋转的多个轴线的旋转部分，所述操纵器包括：重量补偿机构，其支撑线连接到旋转部分，通过弹簧以旋转状态接收重力，并且当线路对弹簧施加压力或者由于各个旋转部分的旋转由于弹性恢复力而消除其加压状态时，补偿施加在旋转部件上的重力的影响的春天

4. 发明申请

WO2009054562A1 AIRFOIL-MAGNETIC HYBRID BEARING AND A CONTROL SYSTEM THEREOF 审中-公开
标题翻译：气动磁悬浮轴承及其控制系统
公开(公告)号：WO2009054562A1
公开(公告)日：2009-04-30
申请号：PCT/KR2007/005811
申请日：2007-11-19
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , LEE, Yong Bok , KIM, Chang Ho , KIM, Seung Jong , LEE, Sang Hwa , KIM, Hee Soo
发明人： LEE, Yong Bok , KIM, Chang Ho , KIM, Seung Jong , LEE, Sang Hwa , KIM, Hee Soo
IPC分类号： F16C27/02
CPC分类号： F16C32/0444 , F16C17/024 , F16C32/0402 , F16C32/048
摘要： The present invention relates to an airfoil-magnetic hybrid bearing, which is a combination of a magnetic bearing and airfoil bearing. An airfoil- magnetic hybrid bearing of the present invention comprises: a housing around a rotating shaft of a rotation device; an airfoil bearing positioned between the housing and the rotating shaft for forming dynamic pressure to levitate the rotating shaft during rotation of the rotating shaft; a magnetic bearing including a plurality of cores positioned radially between inner surface of the housing and outer surface of the airfoil bearing, the cores being projected to the center of the rotating shaft, and coils wound to the cores to levitate the rotating shaft using a magnetic attractive force generated by a current application thereto; and a coupling segment for coupling the airfoil bearing to the magnetic bearing directly.
摘要翻译：本发明涉及一种磁性轴承和翼型轴承的组合的翼型 - 磁性混合轴承。本发明的翼型磁性混合轴承包括：围绕旋转装置的旋转轴的壳体; 位于所述壳体和所述旋转轴之间的翼型轴承，用于在所述旋转轴旋转期间形成动态压力以使所述旋转轴悬浮; 一种磁性轴承，包括径向位于壳体的内表面和翼型件的外表面之间的多个芯体，芯体突出到旋转轴的中心，线圈缠绕到芯体上以使用磁性悬浮在旋转轴上由当前应用产生的吸引力; 以及用于将翼型轴承直接连接到磁性轴承的联接段。

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