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61. 发明授权

KR101296860B1 로봇 손가락기구 失效
标题翻译：机器人手指机构
公开(公告)号：KR101296860B1
公开(公告)日：2013-08-14
申请号：KR1020110044466
申请日：2011-05-12
申请人： 주식회사 로보멕
发明人： 노태성 , 이수영 , 최동희
IPC分类号： B25J15/08 , B25J17/00 , B25J19/00
CPC分类号： B25J15/0009
摘要： 본 발명은 물체와의 접촉 여부에 따라 마디가 다르게 움직이는 적응형 운동이 가능한 로봇의 손가락기구에 관한 것으로, 본 발명의 로봇의 손가락기구는 제1마디(11)와 제2마디(12)를 갖는 손가락 케이스(10)와; 손가락 케이스(10)의 제1마디(11)와 연결되어 제1마디(11)를 틸트운동시키는 제1조인트기구(20)와; 손가락 케이스(10)의 제1마디(11)와 제2마디(12)에 연결되어 제2마디(12)를 틸트운동시키는 제2조인트기구(30)와; 제1조인트 기구와 연결되어 손가락 케이스(10)를 회전시키는 손가락 회전기구(40)로 구성되어 틸트나 회전운동을 가능하도록 함으로써 물체의 크기와 형상에 따라 접촉을 유연하게 할 수 있도록 하는데 있다.

62. 发明授权

KR101294250B1 그리퍼 파지력 연산방법 및 그 장치 有权
标题翻译：计算剥皮力的方法和装置
公开(公告)号：KR101294250B1
公开(公告)日：2013-08-07
申请号：KR1020120016567
申请日：2012-02-17
申请人： 재단법인대구경북과학기술원
发明人： 신동환 , 안진웅 , 정충표 , 이진섭
IPC分类号： B25J9/16 , B25J15/08
摘要： PURPOSE: A method and a device to calculate a gripping force of grippers are provided to improve work efficiency by rapidly calculating a gripping force range of the gripper even if a new object is changed. CONSTITUTION: A method to calculate a gripping force of grippers comprises the steps of: estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force (S110); estimating a density of the object using first and second vertical movement forces (S120); estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force (S130); and calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient (S140). The first and second vertical movement forces are required to vertically move the gripper in half of a height of the object from a gripping point of the object. [Reference numerals] (AA) Start; (BB) End; (S110) Step of estimating Young modulus of objects using geometric information of the object obtained from vision images and a deformation amount of the object measured in a state where the gripper grips the objects with a predetermined initial gripping force; (S120) Step of estimating a density of the object using a first vertical movement force required to vertically move a gripper in a gripping point of the object and a second vertical movement force required to vertically move the gripper while the objects are gripped; (S130) Step of estimating a slip frictional coefficient at a moment when the object starts to separate from the gripper while the gripping force is reduced in a state where the object is gripped with the initial gripping force; (S140) Step of calculating a gripping force range of the gripper using the Young modulus, the density, and the slip frictional coefficient
摘要翻译：目的：提供一种用于计算夹具的夹持力的方法和装置，用于通过快速计算夹具的夹持力范围来提高工作效率，即使新物体改变。构成：计算夹持器的夹持力的方法包括以下步骤：使用从视觉图像获得的对象的几何信息估计对象的杨氏模量，以及在夹具用对象夹持物体的状态下测量的对象的变形量预定的初始夹紧力（S110）; 使用第一和第二垂直移动力估计物体的密度（S120）; 估计当物体在初始夹紧力被夹持的状态下夹持力减小时，物体开始与夹具分离的时刻的滑动摩擦系数（S130）; 以及使用杨氏模量，密度和滑移摩擦系数计算夹持器的夹持力范围（S140）。需要第一和第二垂直运动力将物体的一半高度从夹持物体的夹持位置垂直移动。（附图标记）（AA）开始; （BB）结束; （S110）使用从视觉图像获得的对象的几何信息和在夹具以预定的初始夹持力夹持物体的状态下测量的物体的变形量来估计物体的杨氏模量的步骤; （S120）使用在物体的夹持点上垂直移动夹持器所需的第一垂直移动力和在夹持物体时垂直移动夹持器所需的第二垂直移动力来估计物体的密度的步骤; （S130）在物体以初始夹持力夹持的状态下，当夹持力减小时，估计物体开始与夹具分离的时刻的滑动摩擦系数的步骤; （S140）使用杨氏模量，密度和滑移摩擦系数来计算夹持器的夹持力范围的步骤

63. 发明公开

KR1020130080104A 로봇 핸드의 제어 방법 审中-实审
标题翻译：控制机器手的方法
公开(公告)号：KR1020130080104A
公开(公告)日：2013-07-12
申请号：KR1020120000845
申请日：2012-01-04
申请人： 삼성전자주식회사
发明人： 김지영 , 이광규 , 권영도 , 노경식
IPC分类号： B25J9/16 , B25J15/08 , B25J13/00
CPC分类号： B25J9/1612 , B25J3/04 , B25J13/025 , B25J15/0009 , G05B2219/39466 , G05B2219/39497 , G05B2219/39546 , G05B2219/40407
摘要： PURPOSE: A method to control robot hands is provided to warn users of collision by previously predicting a situation in which fingers of the robot hand collide and to prevent the collision of the robot hand by controlling the robot hand accordingly. CONSTITUTION: A method to control robot hands comprises the steps of: recognizing a prior posture of fingers using a master device; changing a shape of the robot hand according to the recognized prior posture; recognizing a gripping posture of the finger using the master device; and performing a gripping movement of the robot hand according to the gripping posture corresponded to the recognized prior posture. [Reference numerals] (11) Input unit; (12) Storing unit; (13) Control unit; (14) Driving unit; (15,16) First and second joints; (17) Pivot joint
摘要翻译：目的：提供一种控制机器人手的方法，通过预先预测机器人手指碰撞的情况，通过相应地控制机器人手来防止机器人手碰撞。构成：用于控制机器人手的方法包括以下步骤：使用主设备识别手指的先前姿势; 根据识别的先前姿势改变机器人手的形状; 使用主设备识别手指的夹持姿势; 并且根据对应于所识别的先前姿势的夹持姿势执行机器人手的夹持运动。（附图标记）（11）输入单元; （12）存储单元; （13）控制单元; （14）驾驶单位; （15,16）第一和第二关节; （17）枢轴接头

64. 发明授权

KR101284661B1 클램프 장치 有权
标题翻译：夹钳装置
公开(公告)号：KR101284661B1
公开(公告)日：2013-07-10
申请号：KR1020137001062
申请日：2011-12-27
申请人： 시케이디 가부시키가이샤
发明人： 니와히사노부 , 나가누마가츠유키
IPC分类号： B25J13/08 , B25J15/08
CPC分类号： B25J15/0253
摘要： 클램프 장치(11)는, 스태핑 모터(24)에 의해 제 1 및 제 2 코일 스프링(22, 23)을 회전시킴으로써 제 1 및 제 2 핸드 부재(32, 33)를 직선 이동시키고, 양 핸드 부재(32, 33)에 의해 워크(W)를 클램프한다. 클램프 장치(11)는, 제 1 및 제 2 핸드 부재(32, 33)의 워크(W)에 대한 접촉에 수반하는 제 1 및 제 2 코일 스프링(22, 23)의 수축을 검출하는 자기 센서(34)를 구비한다. 스태핑 모터(24)의 제어 장치(40)는, 자기 센서(34)에 의해 제 1 및 제 2 코일 스프링(22, 23)의 수축이 검출되는 것을 계기로, 스태핑 모터(24)를 소정 회전수만큼 회전시킨 후, 스태핑 모터(24)를 정지시키는 제어를 행한다.

65. 发明公开

KR1020130032279A 핸드 및 로봇 无效
标题翻译：手工和机器人
公开(公告)号：KR1020130032279A
公开(公告)日：2013-04-01
申请号：KR1020120105401
申请日：2012-09-21
申请人： 가부시키가이샤 야스카와덴키
发明人： 하라다오사무 , 츠카모토가츠노리
IPC分类号： B25J15/08 , B65G49/06
摘要： PURPOSE: A hand and robot are provided to preventing deterioration of a fork under a high temperature environment by increasing heat resistance of the fork. CONSTITUTION: A hand comprises a fork(150). The fork includes a substrate and is formed by fiber reinforced plastics. The external angle of the fork is classified into two layers of a CFRP(Carbon Fiber Reinforced Plastics) layer(150a) and a polyimide coating layer(150b). The CFRP layer is formed by laminating carbon fiber reinforced plastics. The polyimide coating layer is formed by coating polyimide on outer circumference of the fork.
摘要翻译：目的：提供手和机器人，以通过提高叉的耐热性来防止叉在高温环境下的变质。构成：手包括叉（150）。叉包括基底，由纤维增强塑料形成。叉的外角分为CFRP（碳纤维增强塑料）层（150a）和聚酰亚胺涂层（150b）两层。 CFRP层通过层压碳纤维增强塑料形成。聚酰亚胺涂层通过在叉的外圆周上涂布聚酰亚胺而形成。

66. 发明授权

KR101215839B1 수술용 인스트루먼트 有权
标题翻译：手术器械
公开(公告)号：KR101215839B1
公开(公告)日：2012-12-27
申请号：KR1020110077160
申请日：2011-08-03
申请人： (주) 이더
发明人： 김현 , 강명헌 , 하성훈 , 최승복
IPC分类号： A61B17/34 , B25J15/08 , A61B17/00 , A61B19/00
摘要： PURPOSE: A surgical instrument is provided to minimize interference with a region around a surgical part by linearly operating a plurality of finger tips with a translation. CONSTITUTION: An operating unit(130) includes an external shaft(131), an internal shaft(135), and a plurality of finger tips(138). A plurality of moving guide grooves(133) are slantingly formed in the external shaft. The finger tip moves between the moving guide groove and the other end of a hollow shaft(132). A driving unit(120) rotates the external shaft and the internal shaft of the operating unit. The driving unit includes a first motor(121), a first belt(122), a first belt pulley(123), and a first idle pulley(124).
摘要翻译：目的：提供外科器械以通过用翻译线性操作多个指尖来最小化对外科手术部分周围区域的干扰。构成：操作单元（130）包括外部轴（131），内部轴（135）和多个指尖（138）。多个移动引导槽（133）在外轴上倾斜地形成。指尖在移动引导槽与中空轴（132）的另一端之间移动。驱动单元（120）使外轴和操作单元的内轴旋转。驱动单元包括第一马达（121），第一皮带（122），第一皮带轮（123）和第一空转皮带轮（124）。

67. 发明公开

KR1020120137004A 기판 이송용 로봇의 아암 无效
标题翻译：用于传输基板的机器人ARM
公开(公告)号：KR1020120137004A
公开(公告)日：2012-12-20
申请号：KR1020110056268
申请日：2011-06-10
申请人： 주식회사 테라세미콘
发明人： 강호영 , 박경완
IPC分类号： B25J15/08 , B25J15/06 , H01L21/677 , B65G49/06
CPC分类号： H01L21/67742 , B25J11/0095 , B25J15/009 , B65G49/061 , H01L21/68707
摘要： PURPOSE: An arm of a substrate transferring robot is provided to accurately transfer the location because a substrate does not slid to a support pad or contact pat to an arm. CONSTITUTION: An arm of a substrate transferring robot comprises a supporting pad(120), a bracket(111), a plurality of spokes(115). The support pad is installed in a part of the arm where a substrate(60) is installed. The support pad supports rim portions of one side and the other side and the substrate does not slide from the arm. The bracket is rotatably installed to a robot and horizontally and vertically moves. The spoke is installed in the bracket in one body. The support pad is fixed to respective spoke.
摘要翻译：目的：提供基板传送机器人的臂，以精确地传送位置，因为基板不滑动到支撑垫或者轻触手臂。构成：基板传送机器人的臂包括支撑垫（120），支架（111），多个辐条（115）。支撑垫安装在安装有基板（60）的臂的一部分中。支撑垫支撑一侧和另一侧的边缘部分，并且基板不从臂滑动。支架可旋转地安装在机器人上，水平和垂直移动。辐条安装在支架上一体。支撑垫固定到相应的辐条。

68. 发明公开

KR1020120126576A 로봇 핸드 失效
标题翻译：机器手
公开(公告)号：KR1020120126576A
公开(公告)日：2012-11-21
申请号：KR1020110044468
申请日：2011-05-12
申请人： 주식회사 로보멕
发明人： 노태성 , 김성태 , 최종섭
IPC分类号： B25J15/08 , B25J17/00 , B25J19/00
CPC分类号： B25J15/08 , B25J15/0009 , B25J15/086 , B25J15/10
摘要： PURPOSE: A robot hand is provided to prevent interference of a robot finger tool in one reciprocating action among a plurality of robot finger tools. CONSTITUTION: A plurality of first robot finger tools(300) is installed in a first base member(100). A plurality of the first robot finger tools is separated from each other. A second robot finger tool(400) is installed in a second base member(200). The second robot finger tool is tilted or rotated. A reciprocating action tool(500) is installed between the first base member and the second base member. The reciprocating action tool performs a reciprocating action of the first robot finger tool by rotation of the second base member.
摘要翻译：目的：提供机器人手以防止机器人手指工具在多个机器人手指工具之间的一个往复动作中的干扰。构成：多个第一机器人手指工具（300）安装在第一基座构件（100）中。多个第一机器人手指工具彼此分离。第二机器人手指工具（400）安装在第二基座构件（200）中。第二机器人手指工具倾斜或旋转。往复动作工具（500）安装在第一基底构件和第二基底构件之间。往复动作工具通过第二基础构件的旋转来执行第一机器人手指工具的往复动作。

69. 发明公开

KR1020120126575A 로봇 손가락기구 失效
标题翻译：机器人手指机构
公开(公告)号：KR1020120126575A
公开(公告)日：2012-11-21
申请号：KR1020110044467
申请日：2011-05-12
申请人： 주식회사 로보멕
发明人： 노태성 , 김성태 , 최종섭
IPC分类号： B25J15/08 , B25J17/00 , B25J19/00
CPC分类号： B25J15/0009
摘要： PURPOSE: A robot finger tool is provided to vary a contact location with an object by pan or tilt actions of a finger case, thereby flexibly performing a contact for the object. CONSTITUTION: A finger case includes a first knuckle(11), a second knuckle, a third knuckle(13). A first joint tool(20) is connected to the first knuckle of the finger case. The first joint tool performs pan or tilt actions of the first knuckle. A second joint tool(30) is connected between the first knuckle and the second knuckle. The second joint tool performs the tilt action of the second knuckle. A link tool(40) is connected to the second joint tool and the third knuckle. The link tool performs the tilt action of the third knuckle.
摘要翻译：目的：提供机器人手指工具以通过手指壳的摇摄或倾斜动作来改变与对象的接触位置，从而灵活地执行对象的接触。构成：手指壳包括第一转向节（11），第二转向节，第三转向节（13）。第一关节工具（20）连接到手指壳的第一关节。第一个关节工具执行第一关节的平移或倾斜动作。第二关节工具（30）连接在第一转向节和第二转向节之间。第二关节工具执行第二转向节的倾斜动作。连接工具（40）连接到第二关节工具和第三关节。链接工具执行第三个转向节的倾斜动作。

70. 发明授权

KR101201149B1 요동 기구를 갖는 핸드 및 이것을 구비한 기판 반송장치 有权
标题翻译：具有摇摆机构和底板输送装置的手柄
公开(公告)号：KR101201149B1
公开(公告)日：2012-11-13
申请号：KR1020090024942
申请日：2009-03-24
申请人： 가부시키가이샤 야스카와덴키 , 가부시키가이샤 에바라 세이사꾸쇼
发明人： 사네마사히로키 , 야마모토히데오 , 도리이히로오미 , 오가와다카히로 , 가츠오카세이지 , 나카오히데타카 , 마키노나츠키
IPC分类号： H01L21/677 , B65G49/07 , B25J15/08
CPC分类号： H01L21/68707 , Y10S414/141
摘要： 핸드(1)는, 기부의 역할을 하는 핸드 베이스(4)와, 이 핸드 베이스(4) 위에 중첩되도록 배치되고 기판(2)을 지지하는 역할을 하는 요동 핸드(3)와, 핸드 베이스(4)와 요동 핸드(3) 사이에 설치되고 요동 핸드(3)를 핸드 베이스(4)에 대해서 경사질 수 있고 평행 이동할 수 있도록 지지하는 역할을 하는 요동 기구(5)로 구성된다.

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