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61. 发明公开

KR1020040068425A 인체통신방법, 인체통신시스템 및 이에 사용되는 캡슐형 내시경 有权
标题翻译：人体通信系统，系统中使用的方法和感测装置
公开(公告)号：KR1020040068425A
公开(公告)日：2004-07-31
申请号：KR1020030005059
申请日：2003-01-25
申请人： 한국과학기술연구원
发明人： 김태송 , 박종오 , 김병규 , 김진석 , 정한 , 조원우 , 윤난영 , 김영록
IPC分类号： H04B13/00
CPC分类号： A61B1/041 , A61B5/0028 , A61B5/0031 , H04B13/005
摘要： PURPOSE: A human body communication system, a method therefor and a sensing device used in the system are provided to transmit data to the external of a human body by generating an electric current at the inside of the human body so that the current can flow through the human body. CONSTITUTION: Various information, collected at a sensing device(10), is converted into an electrical signal through a signal processing circuit in the sensing device. As the electrical signal is supplied to two transmitting electrodes(11) through the output line of the signal processing circuit, a potential difference is generated between the two transmitting electrodes(11). At this moment, a human body(2) gets live with an electrical current(3) by the potential difference because the transmitting electrodes(11) is contacted with the inside(1) of the human body(2). The electrical current(3) flows from a higher-potential transmitting electrode to the surface of the human body(2), goes into the inside(1) of the human body(2), then sinks to the other lower-potential transmitting electrode. At this moment, as the current that flows on the surface of the human body(2) causes voltage between two receiving electrodes(21), a signal transmitted from the sensing device(10) can be sensed at a receiver(20) installed at the external of the human body(2).
摘要翻译：目的：提供一种人体通信系统及其方法和系统中使用的感测装置，通过在人体内部产生电流将数据发送到人体的外部，使得电流可以流过人类的身体。构成：在感测装置（10）处收集的各种信息通过感测装置中的信号处理电路转换成电信号。当通过信号处理电路的输出线将电信号提供给两个发射电极（11）时，在两个发射电极（11）之间产生电位差。此时，由于发射电极（11）与人体（2）的内部（1）接触，所以人体（2）由于电位差而导致电流（3）。电流（3）从较高电位的发射电极流到人体（2）的表面，进入人体（2）的内部（1），然后沉入另一个下电位传输电极。此时，由于流过人体（2）表面的电流使两个接收电极（21）之间产生电压，所以可以在安装在接收器（20）的接收器（20）处感测从感测装置（10）发送的信号人体外部（2）。

62. 发明授权

KR100426613B1 마이크로 로봇 구동시스템 失效
标题翻译： 마이크로로봇구동시스템
公开(公告)号：KR100426613B1
公开(公告)日：2004-04-08
申请号：KR1020010027496
申请日：2001-05-19
申请人： 한국과학기술연구원
发明人： 김병규 , 김경대 , 이승학 , 홍예선 , 김수현 , 박종오
IPC分类号： B25J7/00
CPC分类号： A61B1/00156 , A61B1/04 , A61B1/31 , A61B34/30 , A61B34/70 , A61B34/72 , A61B2034/303
摘要： A micro robot driving system for endoscope can move a micro robot forward, backward or changing the direction by transmitting rotation force generated by a driving means to a worm gear or a gear tooth shaped belt by a worm. The micro robot driving system in accordance with the present invention includes a micro robot body, rotational force transmitting means installed in the body, for transmitting rotational force generated by driving means and movement means which is connected with the rotational force transmitting means, protruded from the body, for moving the body by rotational force transmitted by the rotational force transmitting means.
摘要翻译：用于内窥镜的微型机器人驱动系统能够通过由蜗杆将由驱动装置产生的旋转力传递到蜗轮或齿轮齿形带而使微型机器人向前，向后或改变方向。根据本发明的微型机器人驱动系统包括微型机器人主体，安装在主体中用于传递由驱动装置产生的旋转力的旋转力传递装置，以及与旋转力传递装置连接的移动装置，用于通过由旋转力传递装置传递的旋转力来移动主体。

63. 发明公开

KR1020030039221A 마이크로 캡슐형 로봇 失效
标题翻译： MICROCAPSULE型机器人
公开(公告)号：KR1020030039221A
公开(公告)日：2003-05-17
申请号：KR1020010070191
申请日：2001-11-12
申请人： 한국과학기술연구원
发明人： 김병규 , 정연구 , 김태송 , 박종오 , 송시영
IPC分类号： A61B1/04
CPC分类号： A61B1/041 , A61B1/00016 , A61B1/0008 , A61B1/00094 , A61B1/00156 , A61B1/0607 , A61B1/31 , A61B5/073 , A61B5/6886
摘要： PURPOSE: A microcapsule-type robot is provided to improve the decision rate about lesion by fixing the robot within an organ of the human body in responding to a stop control signal from an outside of a human body. CONSTITUTION: A camera device(11) is mounted on a body to observe an organ of the human body. A lighting device(12) is mounted on the body to irradiate a light to the organ so that the camera device(11) photographs an inside of the organ. A receiving/sending device(16) is mounted on the body to transmit image information obtained by the camera device(11) to an outside of the human body and receives a control signal from the outside of the human body. A stop unit is mounted on the body to stop the body at a certain position of the organ. A control device(13) is mounted on the body to control operations of the camera device(11), the lighting device(12), the receiving/sending device(16), and the stop unit. A power supply device(14) is mounted on the body to supply power to the camera device(11), the lighting device(12), the receiving/sending device(16), the stop unit, and the control device(13).
摘要翻译：目的：提供微胶囊型机器人，以响应来自人体外部的停止控制信号，将机器人固定在人体器官内，从而提高病变的判定率。构成：相机装置（11）安装在身体上以观察人体器官。照明装置（12）安装在身体上以将光照射到器官，使得照相机装置（11）照射器官内部。接收/发送装置（16）安装在身体上以将由照相机装置（11）获得的图像信息传送到人体的外部，并从人体的外部接收控制信号。一个停止单元安装在身体上，以将身体停在器官的某一位置。控制装置（13）安装在主体上以控制相机装置（11），照明装置（12），接收/发送装置（16）和停止装置的操作。电源装置（14）安装在主体上以向照相机装置（11），照明装置（12），接收/发送装置（16），停止装置和控制装置（13）供电，。

64. 发明公开

KR1020020094528A 마이크로 로봇 失效
标题翻译：微型机器人
公开(公告)号：KR1020020094528A
公开(公告)日：2002-12-18
申请号：KR1020010032798
申请日：2001-06-12
申请人： 한국과학기술연구원
发明人： 김병규 , 김경대 , 임헌영 , 박종오
IPC分类号： A61B1/00
摘要： PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.
摘要翻译：目的：提供微型机器人，以实现简单而高效的结构，同时可以方便生产，降低成本和减小尺寸。构成：微型机器人包括主体; 用作驱动构件并安装在主体内的马达（2）; 用作旋转力传递单元的蜗杆（1），并且安装在主体内并传递从马达产生的力; 运动转换单元，其安装在主体上，并且通过从旋转力传递单元传递的力进行操作，并具有偏心轴（17）; 以及多个腿部（10），每个腿部具有连接到运动转换单元的偏心轴的端部（10a），另一端（10b）由引导构件执行椭圆形运动。运动转换单元包括安装偏心轴的盘（9）; 齿轮（5,6）与蜗杆接合，并使盘旋转; 以及沿着主体的圆周布置的多个齿轮箱，以便将盘和齿轮固定成可转动。

65. 发明公开

KR1020020093355A 금속단섬유의 공급장치 无效
标题翻译：送料短金属纤维的装置
公开(公告)号：KR1020020093355A
公开(公告)日：2002-12-16
申请号：KR1020010032074
申请日：2001-06-08
申请人： 한국과학기술연구원
发明人： 문인기 , 임순호 , 고흥석 , 유명기 , 장준연 , 박종오
IPC分类号： B29C47/10
CPC分类号： B29C47/1081 , B29C47/40 , B29C47/522
摘要： PURPOSE: A short metal fiber feeding apparatus is provided to obtain high-polymer composite material by feeding the short metal fiber to a feeding hopper of an extruder with preventing a bundle of the short metal fiber from being tangled. CONSTITUTION: A short metal fiber feeding apparatus(50) includes a plurality of upper rolls(51,52,53,54,55) at an inner portion thereof. A plurality of first needles(57) is formed in the upper rolls(51,52,53,54,55). The upper rolls(51,52,53,54,55) are rotated by means of driving devices(51',52',53',54',55'), respectively. A guide plate and a storing box are installed below the short metal fiber feeding apparatus(50). A lower roll formed with a plurality of second needles is formed below the storing box. A cam is installed at a lateral part of the lower roll. A plurality of pins is installed above the lower roll in perpendicular to a length direction of the lower roll.
摘要翻译：目的：提供一种短金属纤维喂入装置，通过将短金属纤维喂入挤压机的进料斗，以防止短金属纤维束缠结，从而获得高分子复合材料。构成：短金属纤维馈送装置（50）在其内部包括多个上辊（51,52,53,54,55）。多个第一针（57）形成在上辊（51,52,53,54,55）中。上辊（51,52,53,54,55）分别通过驱动装置（51'，52'，53'，54'，55'）旋转。在短金属纤维供给装置（50）的下方设置有引导板和收纳箱。形成有多个第二针的下辊形成在储存箱的下方。凸轮安装在下辊的侧面部分。多个销垂直于下辊的长度方向安装在下辊上方。

66. 发明公开

KR1020020066453A 대장 검사용 마이크로 로봇 失效
标题翻译：用于检查大型INTESTINE的微型机器人
公开(公告)号：KR1020020066453A
公开(公告)日：2002-08-17
申请号：KR1020010006630
申请日：2001-02-10
申请人： 한국과학기술연구원
发明人： 김병규 , 임영모 , 이진희 , 박지상 , 김수현 , 박종오
IPC分类号： A61B1/04
CPC分类号： A61B1/041 , A61B1/00156
摘要： PURPOSE: A micro robot is provided to relieve pain from patient and allow examination of larger intestine to be easily performed by permitting micro robot equipped with a photographing and illuminating device to automatically move in the larger intestine of patient through the use of external air pressure. CONSTITUTION: A micro robot comprises an intestine photographing robot(100) including a camera device(2) equipped with a light emitting diode(3) so as to photograph an interior of a large intestine(1), a cylinder having an impact element(5) for moving the micro robot, an impact buffering device(4) for protecting the camera device and other equipment from the impact generated from the impact element, a plurality of body supports(6) for regulating friction between the large intestine and the micro robot, and a linear driver(7) for controlling direction by independently controlling the body supports; and an air pressure feed unit for determining forward or rearward movement of the micro robot by moving the impact element through suction or charging of air pressure into the cylinder of the intestine photographing robot.
摘要翻译：目的：提供微型机器人，以减轻患者的疼痛，并允许通过允许具有拍摄和照明装置的微型机器人通过使用外部空气压力自动移动到患者的较大肠中来容易地进行较大肠的检查。构成：微型机器人包括肠内摄影机器人（100），其包括配备有发光二极管（3）的相机装置（2），以便拍摄大肠（1）的内部，具有冲击元件 5），用于移动微机器人;冲击缓冲装置（4），用于保护相机装置和其他设备免受冲击元件产生的冲击;多个主体支撑件（6），用于调节大肠和微型机器之间的摩擦机器人和用于通过独立地控制身体支撑来控制方向的线性驱动器（7）以及空气压力进给单元，用于通过将冲击元件通过吸入或充入空气压力进入肠内摄影机器人的气缸来确定微机器人的向前或向后运动。

67. 发明授权

KR100301231B1 로봇의작업경로자동보정방법 失效
标题翻译：如何自动校准机器人的工作路径
公开(公告)号：KR100301231B1
公开(公告)日：2001-11-05
申请号：KR1019980040198
申请日：1998-09-28
申请人： 한국과학기술연구원
发明人： 박종오 , 강병훈
IPC分类号： B25J19/00 , B25J11/00
摘要： 본 발명은 3차원 공간상에서 가공물체의 위치 및 자세를 가공물체위에 생성된 좌표계를 기준으로 계산하는 강체 및 비강체 대상물에 대한 로봇의 작업경로 자동보정방법에 관한 것이다. 로봇을 이용한 작업시 선형(Translation)운동과 회전(Rotation)운동에 의한 변형 외에비틀림이나 굽힘 등에 의한 대상물체의 위치보정을 할 수 있도록 로봇 끝단에 부착된 레이저 비젼 센서를 이용하여 기준가공 대상체의 측정 기준점을 측정하여 가공 대상체 위에 물체 좌표계를 설정하고, 같은 방법으로 현재 가공 대상체의 측정 기준점을 측정하여 물체 좌표계를 설정한다. 상기에 의해 설정된 두 좌표계 사이의 변형량을 4×4 행렬로 표현하고,상기 변형량을 로봇의 가공경로에 이용하여 보정하는 로봇의 작업경로 자동보정방법을 제시한다.

68. 发明公开

KR1020000021209A 역각센서의자동중력보상방법 失效
标题翻译：用于重力重量的力和扭矩传感器的自动补偿方法
公开(公告)号：KR1020000021209A
公开(公告)日：2000-04-25
申请号：KR1019980040197
申请日：1998-09-28
申请人： 한국과학기술연구원
发明人： 박종오 , 장성훈
IPC分类号： B25J19/02 , B25J9/00 , B25J19/00
摘要： PURPOSE: An automatic compensation method for gravity weight is provided to select a tool regardless of weight and a shape from an automatic programming module and to apply to pressing process that controls force using a force and torque sensor. CONSTITUTION: A method is completed by finding the position of a robot to parallel the X axis of a sensor coordinate system with the Z axis of an absolute coordinate system and calculating property value of a tool having an optional shape attached to a force and torque sensor when two coordinate systems are equal. Then the method is progressed to a step in which the sensor measures outer force except for weight of the tool, by eliminating effect of the tool given to the sensor when the robot moves to the working position on the basis of calculated information.
摘要翻译：目的：提供重力自动补偿方法，无论重量和形状如何，都可以自动编程模块选择工具，并适用于使用力和力矩传感器控制力的压制过程。构成：通过找到机器人平行于绝对坐标系的Z轴的传感器坐标系的X轴并且具有附加到力和扭矩传感器的可选形状的工具的计算特性值来完成方法当两个坐标系相等时。然后，当机器人基于计算出的信息移动到工作位置时，通过消除给予传感器的工具的影响，该方法进行到传感器测量除了工具重量之外的外力的步骤。

69. 发明授权

KR100250955B1 금형연마용 2자유도 작동장치 失效
标题翻译： 2-DOF执行器用于抛光塑料注射模具
公开(公告)号：KR100250955B1
公开(公告)日：2000-04-15
申请号：KR1019970050754
申请日：1997-10-01
申请人： 한국과학기술연구원
发明人： 박종오 , 김동신
IPC分类号： B24B1/00
摘要： PURPOSE: An actuator of 2 degrees of freedom for polishing a die is provided to automate a polish process and to improve the quality of polishing by effectively removing the corrugation of a die face. CONSTITUTION: An actuator of 2 degrees of freedom consists of a uniaxial operation unit(10) having a uniaxial operating piece(14) actuated uniaxially and a biaxial operation unit(20) having a biaxial operating unit actuated biaxially. A polishing tool is combined with the biaxial operating piece. The uniaxial operation unit is prepared with one pair of fixing pieces(11), the uniaxial operating piece and a uniaxial drive unit for uniaxially actuating the axial operating piece. The biaxial operation unit is prepared with one pair of fixing pieces(21), the biaxial operating piece(24) and a biaxial drive unit for actuating the biaxial operating piece. The actuator of 2 degrees of freedom is installed on an end shaft of a robot and moved to a position of a die to be polished. Then the surface of the die is polished into a specific pattern by operating the actuator and the polishing tool.
摘要翻译：目的：提供用于抛光模具的2自由度的致动器，以自动化抛光工艺，并通过有效地去除模具表面的波纹来提高抛光质量。构成：2自由度的致动器由具有单轴驱动的单轴操作件（14）的单轴操作单元（10）和具有双向操作的双轴操作单元的双轴操作单元（20）组成。抛光工具与双轴操作件组合。单轴操作单元由一对固定片（11），单轴操作件和用于单轴驱动轴向操作件的单轴驱动单元来制备。双轴操作单元由一对固定件（21），双轴操作件（24）和用于致动双轴操作件的双轴驱动单元制成。 2自由度的致动器安装在机器人的端轴上并移动到要抛光的模具的位置。然后通过操作致动器和抛光工具将模具的表面抛光成特定的图案。

70. 发明授权

KR100219838B1 전자석의 흡인력을 이용한 원격조종 로봇용촉각 궤환장치 失效
标题翻译：使用电磁牵引力的触觉反馈装置
公开(公告)号：KR100219838B1
公开(公告)日：1999-09-01
申请号：KR1019970017145
申请日：1997-05-03
申请人： 한국과학기술연구원
发明人： 박종오 , 안인석 , 이정훈
IPC分类号： G05B19/19
CPC分类号： B25J13/084 , G05B2219/39567
摘要： 본 발명은 원격지에 있는 로봇팔에 달린 그리퍼와 그리퍼가 접촉하는 작업대상물 사이의 촉각 정보를 중앙 제어실에 있는 작업자에게 전달하여 더욱 정교하고 효과적인 작업을 할 수 있도록 하는 전자석의 흡인력을 이용한 원격조종로봇용 촉각궤환장치에 관한 것으로, 종래의 공압이나 형상기억합금을 사용한 촉각궤환장치에 있어서는 그리퍼와 그리퍼가 접촉하는 촉각정보를 중앙제어실에 있는 작업자에게 정확히 전달할 수 없게되는 문제점이 있었다. 이러한 점을 감안하여, 촉각센서로부터 측정된 촉각정보를 접촉유형분석기부에서 적당한 주기마다 신호들을 한 부류로 묶고, 그 형성된 신호 군들의 변화 추세를 이미 얻어진 접촉 유형 데이터베이스를 토대로 하여 각 경우에 맞게 변화시키고, 촉각궤환소자 구동회로부에서 전류로 변환하여, 각각의 촉각궤환소자를 구동시키게 하며, 상기 촉각궤환소자를 5 x 5 어레이 형태로 구성하여 상기 촉각정보를 어레이 단위로 궤환되도록 함과 아울러 연속적인 출력제어가 가능하도록 함으로써, 원격지의 촉각정보를 작업자에게 정확히 전달하여 정교하고 효과적인 작업을 수행할 수 있게 한 것이다.

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