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1. 发明授权

US08801057B2 Bumper structure of cleaning robot 有权
标题翻译：清洁机器人的保险杠结构
公开(公告)号：US08801057B2
公开(公告)日：2014-08-12
申请号：US13317412
申请日：2011-10-18
申请人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
发明人： Jeong Hun Kim , Yong Jae Kim , Youn Baek Lee , Heum Yong Park , Kyung Shik Roh , Young Do Kwon
IPC分类号： B60R19/00 , B60R21/0136
CPC分类号： B60R21/0136 , A47L9/009 , A47L9/2805 , A47L2201/04 , G01D5/165
摘要： A bumper structure of a cleaning robot which detects whether or not an obstacle contacts a bumper and a position of the obstacle, allows the bumper to be simply process and reduces the number of components of the cleaning robot to lower the production costs of the cleaning robot. The bumper structure includes a main body, a bumper installed on the front surface of the main body, a resistance film provided between the main body and the bumper and fixed to the main body, and a metal film provided between the main body and the bumper and fixed to the bumper such that the shape of the metal film is deformed together with the bumper and the metal film comes into contact with the resistance film when at least one obstacle contacts the bumper, so as to measure resistance values.
摘要翻译：清洁机器人的保险杠结构，其检测障碍物是否碰到保险杠和障碍物的位置，允许缓冲器简单地处理并减少清洁机器人的部件数量，以降低清洁机器人的生产成本。保险杠结构包括主体，安装在主体前表面上的保险杠，设置在主体和保险杠之间并固定在主体上的电阻膜，以及设置在主体和保险杠之间的金属膜并且当至少一个障碍物接触保险杠时，金属膜的形状与保险杠一起变形并且金属膜与电阻膜接触，以便测量电阻值，并且固定到保险杠。

2. 发明授权

US08641782B2 Compact exoskeleton arm support device to compensate for gravity 有权
标题翻译：紧凑的外骨骼臂支撑装置，以补偿重力
公开(公告)号：US08641782B2
公开(公告)日：2014-02-04
申请号：US12979861
申请日：2010-12-28
申请人： Jeong Hun Kim , Young Bo Shim , Soo Sang Yang , Yong Jae Kim , Kwang Jun Kim
发明人： Jeong Hun Kim , Young Bo Shim , Soo Sang Yang , Yong Jae Kim , Kwang Jun Kim
IPC分类号： A61F2/66 , A61F2/54 , B25J3/04 , B25J18/04 , B25J17/00
CPC分类号： B25J9/0006 , Y10T74/20329
摘要： A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.
摘要翻译：紧凑的外骨骼臂支撑装置补偿重力。补偿重力的紧凑型外骨骼臂支撑装置可以包括至少五个关节。在至少五个关节中，两个关节可以由致动器驱动，并且剩余的关节可以由用户的力驱动。补偿重力的紧凑型外骨骼臂支撑装置有效地使用了致动器，从而提高了操作效率并降低了生产成本。

3. 发明申请

US20120245701A1 Hemi Ankle Implant 审中-公开
标题翻译：半踝植入
公开(公告)号：US20120245701A1
公开(公告)日：2012-09-27
申请号：US13429429
申请日：2012-03-25
申请人： Rudolf Zak , Yong Jae Kim
发明人： Rudolf Zak , Yong Jae Kim
IPC分类号： A61F2/42
CPC分类号： A61F2/4202 , A61B17/56 , A61F2002/30387 , A61F2002/30433 , A61F2002/30448 , A61F2002/30449 , A61F2002/305 , A61F2002/30507 , A61F2002/4207
摘要： An ankle implant having a bearing, a tray and a bone screw. The tray is implanted to a talus bone. The tray includes a stem extending from the tray for connecting to the bone screw. The bone screw includes a shank and an enlarged head proximate its distal end. The bearing is connected to the tray.
摘要翻译：具有轴承，托盘和骨螺钉的脚踝植入物。将托盘植入距骨骨。托盘包括从托盘延伸的杆，用于连接到骨螺钉。骨螺钉包括柄部和靠近其远端的扩大的头部。轴承连接到托盘。

4. 发明授权

US08181552B2 Driving apparatus and robot having the same 失效
标题翻译：具有相同的驱动装置和机器人
公开(公告)号：US08181552B2
公开(公告)日：2012-05-22
申请号：US12427016
申请日：2009-04-21
申请人： Youn Baek Lee , Yong Jae Kim , Yeon Taek Oh , Soo Sang Yang
发明人： Youn Baek Lee , Yong Jae Kim , Yeon Taek Oh , Soo Sang Yang
IPC分类号： B25J17/00
CPC分类号： B25J9/1045 , F16H19/005 , Y10T74/20323
摘要： A driving apparatus includes a driving unit, a driven unit separated from the driving unit at a separation space so as not to contact the driving unit, and rotated by rotary force generated from the driving unit, a cable connecting the driving unit and the driven unit, and to transmit the rotary force to the driven unit, and pressure units provided in the separation space, and to pressurize the cable in a direction of approaching opposite portions of the cable to each other to generate a tensile strength of the cable. Since the cable transmitting the rotary force of the driving unit to the driven unit has sufficient tensile strength, preventing the generation of slip of the cable from the driving unit and the driven unit is possible, and thus to allow the rotary force to be transmitted to the driven unit without a loss.
摘要翻译：一种驱动装置，包括：驱动单元，从驱动单元在分离空间处与驱动单元接触而与驱动单元分离的驱动单元，并且由驱动单元产生的旋转力旋转;连接驱动单元和从动单元并且将旋转力传递到从动单元，以及设置在分离空间中的压力单元，并且使电缆沿着电缆的相对部分彼此接近的方向加压，以产生电缆的拉伸强度。由于将驱动单元的旋转力传递到从动单元的电缆具有足够的拉伸强度，所以可以防止电缆从驱动单元和从动单元的滑动的产生，从而允许旋转力传递到被驱动单元没有损失。

5. 发明申请

US20120123589A1 CONTROL OF ROBOT HAND TO CONTACT AN OBJECT 有权
标题翻译：机器人的控制手机接触对象
公开(公告)号：US20120123589A1
公开(公告)日：2012-05-17
申请号：US13275856
申请日：2011-10-18
申请人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
发明人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J13/08
CPC分类号： B25J9/1612 , B25J13/084 , G05B2219/39484 , G05B2219/39532
摘要： A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
摘要翻译：机器人控制方法和装置基于使用安装在机器人手上的电动机驱动电流传感器，力传感器或触觉传感器获得的对象的信息和使用光学传感器获得的对象的信息来估计误差，并补偿错误。机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息，基于对象的信息将机器人手移动到对象，控制机器人的拇指和手指根据物体的信息接触物体，确定拇指和手指是否通过马达驱动电流传感器，力传感器或触觉传感器接触物体，并且根据拇指和手指来抓住物体已经联系对象。

6. 发明申请

US20110163561A1 ROBOT HAND AND ROBOT HAVING THE SAME 有权
标题翻译：机器人手机和机器人
公开(公告)号：US20110163561A1
公开(公告)日：2011-07-07
申请号：US12984945
申请日：2011-01-05
申请人： Yong Jae Kim , Ja Woo Lee , Kang Min Park
发明人： Yong Jae Kim , Ja Woo Lee , Kang Min Park
IPC分类号： B25J15/00
CPC分类号： B25J15/0009 , B25J9/104
摘要： A robot hand may have an improved structure so that movements of some of joints of a finger structure do not influence operations of other joints. A meta phalangeal (MP) roll joint unit rotated in a roll direction and an MP pitch joint unit rotated in a pitch direction of an MP joint unit are separately arranged to form an offset. Movable angles of the respective joint units are widened, and the joint units are precisely controlled. Overall friction within the robot hand is reduced, and a robot having the hand is stabilized.
摘要翻译：机器人手可以具有改进的结构，使得手指结构的一些关节的运动不影响其他关节的操作。分别布置沿辊方向旋转的跖指（MP）卷边关节单元和沿MP关节单元的俯仰方向旋转的MP间距关节单元以形成偏移。各个接头单元的可动角度变宽，接头单元被精确地控制。机器人手中的整体摩擦减少，并且具有手的机器人稳定。

7. 发明申请

US20110067518A1 ROBOT ACTUATOR AND HUMANOID ROBOT HAVING THE SAME 有权
标题翻译：机器人执行器和具有相同功能的人造机器人
公开(公告)号：US20110067518A1
公开(公告)日：2011-03-24
申请号：US12860346
申请日：2010-08-20
申请人： Kang Min PARK , Ja Woo Lee , Yong Jae Kim
发明人： Kang Min PARK , Ja Woo Lee , Yong Jae Kim
IPC分类号： B25J18/00 , F16H29/20 , B25J17/00
CPC分类号： B25J15/0009 , B25J9/102
摘要： Disclosed herein are a robot actuator and a humanoid robot having the same. The robot actuator includes a rotation driving source, a ball screw member including a ball screw part connected to the rotation driving source and a nut part connected to the ball screw part, a guide member separated in parallel from the ball screw part, a slider member movably supported by the guide member, and a connection member connecting the slider member and the nut part to move the slider member in connection with movement of the nut part, and the connection member is relatively movably connected to at least one of the nut part and the slider member. Therefore, efficiency in force reflection and back-drivability of the actuator is improved.
摘要翻译：这里公开了一种机器人致动器和具有该机器人致动器的人形机器人。机器人致动器包括旋转驱动源，滚珠丝杠构件，其包括与旋转驱动源连接的滚珠丝杠部和与滚珠丝杠部连接的螺母部，与滚珠丝杠部平行地分离的引导构件，滑动构件可动地由引导构件支撑;以及连接构件，其连接滑动构件和螺母部，以使滑动构件与螺母部的移动相关联地移动，并且连接构件相对于可动地连接到螺母部和滑块构件。因此，促进器的力反射效率和反向驱动性提高。

8. 发明申请

US20100185326A1 Robot 有权
标题翻译：机器人
公开(公告)号：US20100185326A1
公开(公告)日：2010-07-22
申请号：US12656022
申请日：2010-01-13
申请人： Byung Kwon Choi , Woo Sup Han , Yong Jae Kim
发明人： Byung Kwon Choi , Woo Sup Han , Yong Jae Kim
IPC分类号： G05B15/00 , F16H29/20 , F16C31/00
CPC分类号： G06F1/1601 , G02B27/0093
摘要： Disclosed is a robot setting a display unit corresponding to an eye level of the user. The robot includes a body unit, a display unit, and at least one sliding section. The display unit is provided with a detection unit, which detects a position of a user, to rotate together with the body unit according to an eye level of the user. The sliding section connects the body unit with the display unit such that the body unit and the display unit rotate longitudinally and transversely according to a detection result of the detection unit.
摘要翻译：公开了一种设置与用户的眼睛水平对应的显示单元的机器人。机器人包括主体单元，显示单元和至少一个滑动部分。显示单元设置有检测单元，该检测单元根据用户的眼睛水平检测用户的位置，与身体单元一起旋转。滑动部分将身体单元与显示单元连接，使得主体单元和显示单元根据检测单元的检测结果纵向和横向旋转。

9. 发明申请

US20100156125A1 Robot hand and humanoid robot having the same 有权
标题翻译：机器人手和类人机器人具有相同的功能
公开(公告)号：US20100156125A1
公开(公告)日：2010-06-24
申请号：US12591503
申请日：2009-11-20
申请人： Ja Woo Lee , Yong Jae Kim , Kang Min Park
发明人： Ja Woo Lee , Yong Jae Kim , Kang Min Park
IPC分类号： B25J15/12
CPC分类号： B25J15/0009 , Y10S294/907
摘要： Disclosed are a robot hand and a humanoid robot having the same. The robot hand includes a plurality of finger members and a base member to which one end of the finger members is rotatably coupled, respectively. The finger members are rotated through pneumatic pressure so that intervals between adjacent finger members are changed. If the finger members are not used, the intervals between the finger members are widened so that the finger members are prevented from being damaged when the finger members collide with walls or objects.
摘要翻译：公开了一种机器人手和类人机器人。机器人手包括多个指状构件和基部构件，指状构件的一端分别可旋转地联接到该基部构件。指状构件通过气动压力旋转，从而改变相邻指状构件之间的间隔。如果不使用手指构件，则手指构件之间的间隔被加宽，使得当手指构件与墙壁或物体碰撞时防止指状构件被损坏。

10. 发明申请

US20090285664A1 Robot, robot hand, and method of controlling robot hand 有权
标题翻译：机器人，机器人手和控制机器人手的方法
公开(公告)号：US20090285664A1
公开(公告)日：2009-11-19
申请号：US12382122
申请日：2009-03-09
申请人： Yong Jae Kim , Ja Woo Lee , Kang Min Park
发明人： Yong Jae Kim , Ja Woo Lee , Kang Min Park
IPC分类号： B25J15/08 , B25J15/10 , B25J19/04 , B25J13/08 , B25J9/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J13/081 , B25J13/086
摘要： Disclosed are a robot, a robot hand, and a method of controlling the robot hand, in which the robot hand rapidly and correctly approaches an object to be gripped and safely grips the object regardless of the shape and material of the object. The method of controlling a robot hand, which has a palm, and a plurality of fingers, each having a plurality of segments, connected to the palm, includes causing the palm to approach an object using at least one first distance sensor installed on the palm; causing the plurality of fingers to approach the object using at least one second distance sensor installed on the plurality of fingers; and causing the palm and the plurality of fingers to come into contact the object to grip the object.
摘要翻译：本发明公开了一种机器人手和控制机器人手的方法，其中机器人手快速且正确地接近待抓握的物体，并且安全地夹持物体，而与物体的形状和材料无关。控制连接到手掌上的具有手掌和多个手指的机器人手的方法，包括使用安装在手掌上的至少一个第一距离传感器使手掌接近物体 ; 使用安装在所述多个手指上的至少一个第二距离传感器使所述多个手指接近所述物体; 并且使得手掌和多个手指接触物体以夹持物体。

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