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1. 发明授权

US08021071B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08021071B2
公开(公告)日：2011-09-20
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D7/00
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

2. 发明申请

US20090092442A1 COMPLIANT JOINT 有权
标题翻译：合作伙伴
公开(公告)号：US20090092442A1
公开(公告)日：2009-04-09
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
发明人： Young Bo SHIM , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim
IPC分类号： F16C11/12
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

3. 发明授权

US08235827B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08235827B2
公开(公告)日：2012-08-07
申请号：US12320359
申请日：2009-01-23
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Yeon Taek Oh , Soo Sang Yang , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Yeon Taek Oh , Soo Sang Yang , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D3/62
CPC分类号： F16D7/044 , B25J17/0208 , Y10T464/30
摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.
摘要翻译：公开了一种符合被动遵守的合规联合体。柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接被施加到旋转构件。

4. 发明申请

US20090233720A1 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US20090233720A1
公开(公告)日：2009-09-17
申请号：US12320359
申请日：2009-01-23
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Yeon Taek Oh , Soo Sang Yang
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Yeon Taek Oh , Soo Sang Yang
IPC分类号： F16D7/04
CPC分类号： F16D7/044 , B25J17/0208 , Y10T464/30
摘要： Disclosed is a compliant joint achieving passive compliance. The compliant joint includes a housing and a rotating member mutually rotatably provided; and a cam provided between the housing and the rotating member, and connected to the housing and the rotating member respectively. The cam is connected to the rotating member to rotate together with the rotation of the rotating member, or be independent of the rotating member so as to move in the axial direction of the rotating member separately from the rotating member. The cam is connected to the housing such that the cam can maintain the connection with the housing when external force below a designated value is applied to the rotating member, and release the connection with the housing in the case that external force more than the designated value is applied to the rotating member.
摘要翻译：公开了一种符合被动遵守的合规联合体。柔性接头包括可相互旋转地设置的壳体和旋转构件; 以及设置在所述壳体和所述旋转构件之间并且分别连接到所述壳体和所述旋转构件的凸轮。凸轮连接到旋转构件，与旋转构件的旋转一起旋转，或者独立于旋转构件，以便与旋转构件分开地沿着旋转构件的轴向方向移动。凸轮连接到壳体，使得当外部力低于指定值时，凸轮可以保持与壳体的连接，并且在外力超过指定值的情况下释放与壳体的连接被施加到旋转构件。

5. 发明授权

US09101324B2 Vital sign measurement robot and control method thereof 有权
标题翻译：生命体征测量机器人及其控制方法
公开(公告)号：US09101324B2
公开(公告)日：2015-08-11
申请号：US13296355
申请日：2011-11-15
申请人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
发明人： Heum Yong Park , Yong Jae Kim , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Young Do Kwon
IPC分类号： A61B5/04 , A61B5/00
CPC分类号： A61B5/4887 , A61B5/04 , A61B5/6835 , A61B5/6843 , A61B5/6844 , A61B5/6887
摘要： A vital sign measurement robot which automatically measures vital signs, and a control method thereof. The vital sign measurement robot includes an input unit to receive vital sign measurement instructions, an image recognition unit to detect a distance between the robot and a person, vital signs of whom are to be measured, and a measurement portion of the body of the person, when the vital sign measurement instructions are received, a control unit to move electrodes provided on hands so as to locate the electrodes at the measurement portion of the body of the person, when the distance between the robot and the person and the measurement portion of the body of the person are detected, and a vital sign measurement unit to measure a vital sign, when the electrodes are located at the measurement portion of the body of the person.
摘要翻译：一种自动测量生命体征的生命体征测量机器人及其控制方法。生物体征测量机器人包括用于接收生命体征测量指令的输入单元，用于检测机器人与人之间的距离的图像识别单元，要测量的人的生命体征以及人体的测量部分当接收到生物体征测量指令时，控制单元移动设置在手上的电极，以便当机器人与人的距离与测量部分之间的位置时，将电极定位在人体的测量部分检测人的身体，以及当电极位于人的身体的测量部分时，测量生命体征的生命体征测量单元。

6. 发明申请

US20120126837A1 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：US20120126837A1
公开(公告)日：2012-05-24
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： G01R27/08
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。

7. 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。

8. 发明授权

US07673367B2 Cleaning robot 有权
标题翻译：清洁机器人
公开(公告)号：US07673367B2
公开(公告)日：2010-03-09
申请号：US11842492
申请日：2007-08-21
申请人： Jeong Hun Kim , Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
发明人： Jeong Hun Kim , Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
IPC分类号： A47L5/00
CPC分类号： A47L9/02 , A47L9/009 , A47L2201/00 , A47L2201/06
摘要： A cleaning robot to prevent a suction member from moving upwards when the suction member is rotated during a collision with an obstacle, and which completely unfolds the suction member when a lower surface of the suction member travels on an uneven floor. The cleaning robot includes a main body to travel on a floor to be cleaned, a dust collecting unit, and a corner cleaning unit. The corner cleaning unit includes a suction member having a suction arm with a rotatable cylinder, a movable member rotatably coupled around the rotatable cylinder by a torsion spring such that the movable member can move upwards and downwards together with the suction member, a driving unit, supporting brackets, at least one elevation guide face to allow the movable member to move upwards and downwards along the elevation guide face as the movable member rotates, and at least one guide knob.
摘要翻译：一种清洁机器人，用于当吸引构件在与障碍物碰撞期间旋转时防止吸入构件向上移动，并且当吸入构件的下表面在不平坦的地板上行进时，完全展开吸引构件。清洁机器人包括在要清洁的地板上移动的主体，灰尘收集单元和角落清洁单元。角部清洁单元包括具有可旋转气缸的抽吸臂的抽吸构件，通过扭转弹簧可旋转地联接在可旋转气缸周围的可动构件，使得可动构件可与抽吸构件一起向上和向下移动;驱动单元，支撑托架，至少一个升降引导面，以允许可移动部件沿着升降导向面沿可移动部件旋转时向上和向下移动;以及至少一个引导旋钮。

9. 发明授权

US08690212B2 Robot hand 有权
标题翻译：机器人手
公开(公告)号：US08690212B2
公开(公告)日：2014-04-08
申请号：US13282729
申请日：2011-10-27
申请人： Youn Baek Lee , Yong Jae Kim , Jeong Hun Kim , Heum Yong Park
发明人： Youn Baek Lee , Yong Jae Kim , Jeong Hun Kim , Heum Yong Park
IPC分类号： B25J15/00 , B66C1/00
CPC分类号： B25J15/0009 , B25J9/103
摘要： Embodiments are directed to a robot hand including a frame, a link member moving relative to the frame, a joint unit provided between the frame and the link member, a drive unit supplying power to the joint unit so as to rotate the link member, and a backlash removal unit supplying constant torque to the joint unit, even if a relative position of the link member to the frame is changed as the link member is rotated.
摘要翻译：实施例涉及一种机器人手，其包括框架，相对于框架移动的连杆构件，设置在框架和连杆构件之间的接合单元，向接头单元供电以使连杆构件旋转的驱动单元，以及即使当连杆构件旋转时，连杆构件相对于框架的相对位置发生变化，也可以向接头单元提供恒定扭矩的齿隙消除单元。

10. 发明申请

US20080141485A1 CLEANING ROBOT 有权
标题翻译：清洁机器人
公开(公告)号：US20080141485A1
公开(公告)日：2008-06-19
申请号：US11842492
申请日：2007-08-21
申请人： Jeong Hun KIM , Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
发明人： Jeong Hun KIM , Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
IPC分类号： A47L11/24 , A47L5/00
CPC分类号： A47L9/02 , A47L9/009 , A47L2201/00 , A47L2201/06
摘要： A cleaning robot to prevent a suction member from moving upwards when the suction member is rotated during a collision with an obstacle, and which completely unfolds the suction member when a lower surface of the suction member travels on an uneven floor. The cleaning robot includes a main body to travel on a floor to be cleaned, a dust collecting unit, and a corner cleaning unit. The corner cleaning unit includes a suction member having a suction arm with a rotatable cylinder, a movable member rotatably coupled around the rotatable cylinder by a torsion spring such that the movable member can move upwards and downwards together with the suction member, a driving unit, supporting brackets, at least one elevation guide face to allow the movable member to move upwards and downwards along the elevation guide face as the movable member rotates, and at least one guide knob.
摘要翻译：一种清洁机器人，用于当吸引构件在与障碍物碰撞期间旋转时防止吸入构件向上移动，并且当吸入构件的下表面在不平坦的地板上行进时，完全展开抽吸构件。清洁机器人包括在要清洁的地板上移动的主体，灰尘收集单元和角落清洁单元。角部清洁单元包括具有可旋转气缸的抽吸臂的抽吸构件，通过扭转弹簧可旋转地联接在可旋转气缸周围的可动构件，使得可动构件可与抽吸构件一起向上和向下移动;驱动单元，支撑托架，至少一个升降引导面，以允许可移动部件沿着升降导向面沿可移动部件旋转时向上和向下移动;以及至少一个引导旋钮。

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