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1. 发明授权

KR100957032B1 시각장애인을 위한 지팡이에 탈부착이 가능한 장애물 탐지기기 失效
标题翻译：障碍物检测器与视觉障碍者的拐杖分离
公开(公告)号：KR100957032B1
公开(公告)日：2010-05-13
申请号：KR1020080034843
申请日：2008-04-15
申请人： 한국과학기술연구원
发明人： 조현철 , 하성도 , 박세형 , 김래현 , 이수용
IPC分类号： A61F9/08 , A61H3/06 , H04B1/40 , G08B21/02
摘要： 본 발명은 시각 장애인을 위한 장애물 탐지 기기로서, 상기 시각 장애인에 의한 상기 장애물 탐지 기기의 움직임을 감지하기 위한 운동 감지부와; 장애물을 탐지하기 위한 거리 측정부와; 상기 시각 장애인에게 상기 장애물에 대한 존재를 통지하기 위한 수단과; 상기 운동 감지부 및 상기 거리 측정부와 연결되어, 상기 운동 감지부에 의해 감지된 움직임 중 유효 범위를 파악하고, 상기 유효 범위 내에서 장애물이 탐지되면 상기 장애물과의 거리를 측정하고, 상기 측정된 장애물과의 거리가 미리 정해진 거리 내에 있는 것으로 확인되는 경우 상기 통지 수단을 통해 상기 시각 장애인에게 상기 장애물의 존재를 통지하는 프로세서를 포함하는 것을 특징으로 하는 장애물 탐지 기기를 제공한다.

2. 发明公开

KR1020010017494A 조립작업을 위한 진동발생 장치 및 로봇 경로수정 방법 失效
标题翻译：振动发生装置和机器人路径移动方法组装
公开(公告)号：KR1020010017494A
公开(公告)日：2001-03-05
申请号：KR1019990033039
申请日：1999-08-12
申请人： 한국과학기술연구원
发明人： 이수용 , 김문상 , 이종원
IPC分类号： B25J9/00
摘要： PURPOSE: A device for generating vibration and method for changing the path of a robot are provided to reduce rubfriction and to change the path of the robot motion by a robot controller at assembling. CONSTITUTION: Plural piezo actuators(11,12) are fixed in a robot flange mounting section(10). A fixing plate(13) is installed between piezo-actuators and integrated with a robot flange section. A tool installation section(17) is installed in the fixing plate by a pivot section and edge sections of the tool installation section are contacted with ends of piezo actuators. A control unit regulates expansion and contraction of piezo actuators. The control unit drives piezo actuators and shifts position of edge sections in the tool installation section. Rub friction of products is reduced by the rotation at assembling, and the path of the robot is changed according to the signal processing of a robot control unit. The vibration generating device and the robot path shift method are useful to assemble components accurately.
摘要翻译：目的：提供一种用于产生振动的装置和改变机器人路径的方法，以减少摩擦并且在组装时由机器人控制器改变机器人运动的路径。构成：多个压电致动器（11,12）固定在机器人法兰安装部分（10）中。固定板（13）安装在压电致动器之间并与机器人法兰部分集成。工具安装部分（17）通过枢转部分安装在固定板中，并且工具安装部分的边缘部分与压电致动器的端部接触。控制单元调节压电执行器的膨胀和收缩。控制单元驱动压电致动器并移动工具安装部分中边缘部分的位置。通过组装时的旋转减少产品的摩擦摩擦，并且机器人的路径根据机器人控制单元的信号处理而改变。振动发生装置和机器人路径移动方法对于准确地组装部件是有用的。

3. 发明授权

KR100306700B1 폐회로 윤활유 공급장치 제어 및 네트워크 시스템 失效
标题翻译：一个控制和联网闭环润滑剂供应商的系统
公开(公告)号：KR100306700B1
公开(公告)日：2001-09-24
申请号：KR1019990010405
申请日：1999-03-26
申请人： 한국과학기술연구원
发明人： 이수용 , 김문상 , 이종원
IPC分类号： F01M1/18
摘要： 본발명은폐회로윤활유공급장치제어및 네트워크시스템에관한것으로서, 소정량의윤활유가저장된윤활유저장부에소정압력을가하여피스톤을작동시키는가스발생부를갖는윤활유공급장치에있어서, 현재공급되는유량을측정하기위한상기피스톤의현재위치를감지하는피스톤위치측정센서부와, 상기가스발생부에서일정압력이상의고압이감지되면소정의인터럽트(Interrupt) 신호를출력하는압력센서부와, 상기피스톤위치측정센서부로부터감지된피스톤의위치측정데이터를인가받아상기가스발생부에흐르는전류를제어하고상기압력센서부로부터소정의인터럽트신호를인가받아이상고압발생여부를체크하는제어수단과, 상기제어수단의제어를받아이상고압, 윤활유부족발생시경보신호를발생하는경보수단으로이루어진다수의폐회로윤활유공급장치를하나의주제어기와 SPI(Serial Peripheral Interface) 통신방식으로연결시킴으로써상기주제어기에서편리하게각 윤활유공급장치의작동명령및 상태감시기능을수행할수 있다.

4. 发明授权

KR100338497B1 조립작업을 위한 진동발생 장치 및 로봇 경로수정 방법 失效
标题翻译：一种用于装配任务的振动产生装置和一种机器人路径补偿技术
公开(公告)号：KR100338497B1
公开(公告)日：2002-05-30
申请号：KR1019990033039
申请日：1999-08-12
申请人： 한국과학기술연구원
发明人： 이수용 , 김문상 , 이종원
IPC分类号： B25J9/00
摘要： 본발명은조립작업을위한진동발생장치및 로봇경로수정방법에관한것으로서, 일단이로봇플랜지부착부에고정된복수의피에조엑츄에이터부와, 상기피에조엑츄에이터와같은방향이며상기복수의피에조엑츄에이터부사이에상기로봇플랜지부와일체로설치되는소정길이의고정단과, 상기고정단에피봇부를매개로하여설치되며상기복수의피에조엑츄에이터부의타단에상응하여맞닿아있는복수의엣지부를갖는툴 장착부를구비하여, 상기각각의피에조액츄에이터부가구동되어툴 장착부의각 엣지부위치를변경시키고이에따라소정방향으로회전운동이발생되게함으로써조립작업시가공물과의마찰력을줄일수 있으며또, 로봇의운동경로를수정할수 있게되어고도의정밀도를요구하는어려운조립작업이가능해진다.

5. 发明授权

KR100299210B1 인간팔 장착형 힘 재현기능을 갖는 마스터 장치 失效
标题翻译：主装置具有强力反射功能
公开(公告)号：KR100299210B1
公开(公告)日：2001-09-22
申请号：KR1019990008190
申请日：1999-03-12
申请人： 한국과학기술연구원
发明人： 김문상 , 이수용 , 이종원
IPC分类号： B25J1/00
CPC分类号： B25J13/02 , B25J9/0006 , G05B2219/40194 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： 본발명은인간팔장착형힘재현기능을갖는마스터장치에관한것으로서,조종자의등 상측, 팔꿈치상측및 하측, 손등에체결되어고정되는제 1, 제 2, 제 3, 제 4체결부와, 상기제 1체결부에고정되는다수의원통형회전축부재로구성된제 1회전축부와, 일단이상기제 1회전축부에결합되고타단이상기제 2체결부와결합되는다수의연결부재가다수의회전링크부재를매개로직렬연결되는제 1연결부와, 상기제 2체결부와상기제 3체결부의사이에각각연결부재로결합되는원통형회전축부재로이루어진제 2회전축부와, 일단이상기제 3체결부에고정되는다수의원통형회전축부재로구성된제 3회전축부와, 일단이상기제 4체결부와결합되고, 타단이상기제 3회전축부에결합되는다수의연결부재가다수의회전링크부재를매개로직렬연결된제 2연결부로구성함으로써일련의마스터장치를직렬연쇄구조로단순화시키는한편, 토크를제어하는토크발생부를몸통근처및 상박부근처로집중화시켜자중에따른인체의피로감및 작동의복잡성등을개선할수 있다.

6. 发明公开

KR1020090109406A 시각장애인을 위한 지팡이에 탈부착이 가능한 장애물 탐지기기 失效
标题翻译：障碍物检测器可拆卸，可视显示
公开(公告)号：KR1020090109406A
公开(公告)日：2009-10-20
申请号：KR1020080034843
申请日：2008-04-15
申请人： 한국과학기술연구원
发明人： 조현철 , 하성도 , 박세형 , 김래현 , 이수용
IPC分类号： A61F9/08 , A61H3/06 , H04B1/40 , G08B21/02
CPC分类号： A61F9/08 , G01P15/00 , G01S13/08
摘要： PURPOSE: An obstacle detector can be attached on a cane for the blind is provided to improve reliability of the detector by amending an output error of an ultrasonic sensor, and to minimize confusion of the blind. CONSTITUTION: An obstacle detector can be attached on a cane for the blind includes a detecting part and a distance measuring part. The detecting part senses the movement of the obstacle detector. The distance measuring part detects an obstacle when the obstacle is detected in an effective range(S140). A notifying part informs the existence of the obstacle after confirming the measured obstacle in the predetermined range. The notifying part includes a processor informing the existence of the obstacle.
摘要翻译：目的：为了通过修正超声波传感器的输出误差来提高检测器的可靠性，可以在拐杖上安装障碍物检测器，并使盲人的混乱最小化。构成：障碍物检测器可以附着在拐杖上，包括检测部分和距离测量部分。检测部检测障碍物检测器的移动。当在有效范围内检测到障碍物时，距离测量部分检测障碍物（S140）。通知部在将测定出的障碍物确认为规定的范围之后通知障碍物的存在。通知部分包括通知障碍物存在的处理器。

7. 发明公开

KR1020000061401A 폐회로 윤활유 공급장치 제어 및 네트워크 시스템 失效
标题翻译：封闭式电路润滑油供应设备控制系统和网络系统
公开(公告)号：KR1020000061401A
公开(公告)日：2000-10-16
申请号：KR1019990010405
申请日：1999-03-26
申请人： 한국과학기술연구원
发明人： 이수용 , 김문상 , 이종원
IPC分类号： F01M1/18
摘要： PURPOSE: A control system and a network system are provided in which a plurality of closed circuit lubrication oil supply devices are connected to a single main controller through a serial peripheral interface communication system, so that the main controller can conveniently control each of the lubrication oil supply devices, to thereby allow a supply amount of lubrication oil to be measured with accuracy. CONSTITUTION: In a lubrication oil supply device having a gas generation unit(12) for operating a piston(11) by applying a pressure to a lubrication oil storage unit(10) so as to supply lubrication oil to a machine, a lubrication oil supply device control system comprises a piston position measuring sensor unit(13) for sensing the current position of the piston so as to measure the amount of the lubrication oil currently being supplied, a pressure sensor unit(14) for outputting a predetermined interrupt signal if a high pressure is sensed in the gas generation unit, and a control unit(15) for receiving a position measured data from the piston position measuring sensor unit, controlling a current flowing at the gas generation unit, receiving an interrupt signal from the pressure sensor unit, and checking whether an abnormal high pressure is generated. The control unit further comprises an alarm member for generating an alarm signal upon occurrence of abnormal high pressure or shortage of lubrication oil.
摘要翻译：目的：提供一种控制系统和网络系统，其中多个闭路润滑油供应装置通过串行外围接口通信系统连接到单个主控制器，使得主控制器可以方便地控制每个润滑油供给装置，从而能够准确地测量润滑油的供给量。构成：在具有气体生成单元（12）的润滑油供给装置中，用于通过向润滑油存储单元（10）施加压力以向机器提供润滑油来操作活塞（11），润滑油供应装置控制系统包括：活塞位置测量传感器单元（13），用于感测活塞的当前位置，以便测量当前被供应的润滑油的量;压力传感器单元（14），用于如果在气体发生单元中感测到高压，以及控制单元（15），用于接收来自活塞位置测量传感器单元的位置测量数据，控制在气体生成单元处流动的电流，从压力传感器单元接收中断信号，并检查是否产生异常高压。控制单元还包括报警构件，用于在出现异常高压或润滑油不足时产生报警信号。

8. 发明公开

KR1020000060115A 인간팔 장착형 힘 재현기능을 갖는 마스터 장치 失效
标题翻译：具有人力ARM安装的强大功能的主设备
公开(公告)号：KR1020000060115A
公开(公告)日：2000-10-16
申请号：KR1019990008190
申请日：1999-03-12
申请人： 한국과학기술연구원
发明人： 김문상 , 이수용 , 이종원
IPC分类号： B25J1/00
CPC分类号： B25J13/02 , B25J9/0006 , G05B2219/40194 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329 , Y10T74/20335
摘要： PURPOSE: A master device having strength reproducing function mounted on a human's arm is provided to reduce fatigue due to the tare and to simplify the operation by simplifying the structure and by concentrating a torque generating part controlling torque to a body part. CONSTITUTION: A master device having strength reproducing function mounted on a human's arm includes first to fourth fixing parts(1,27,28,30) fixed on an operator's upper back, upper and lower sides of the elbow and the back of the hand respectively, a first rotary shaft part(44) having cylindrical rotary shaft members fixed to the first fixing part, a first connection part(25) having connection members connected in series by the rotary link members and having an end connected to the first rotary shaft part and the other end connected to the second fixing part, a third rotary shaft part(45) having cylindrical rotary shaft members connected to the third fixing part by the connection members, a second rotary shaft part(29) having cylindrical rotary shaft members connected by the connection members between the second and third fixing parts, and a second connection part(26) having connection members formed with an end connected to the fourth fixing part and the other end connected to the third rotary shaft part and in series by the rotary link members.
摘要翻译：目的：提供一种具有安装在人的手臂上的强度再现功能的主装置，以减少由于皮重引起的疲劳，并且通过简化结构并将转矩产生部分控制扭矩集中到身体部分来简化操作。构成：具有安装在人的手臂上的强度再现功能的主装置包括固定在操作者的上背部，肘部的上下两侧和手背部的第一至第四固定部分（1,27,28,30）第一旋转轴部分（44），其具有固定到第一固定部分的圆柱形旋转轴构件;第一连接部分（25），其具有通过旋转连杆构件串联连接并具有连接到第一旋转轴部分的端部的连接构件另一端连接到第二固定部，第三旋转轴部（45），具有通过连接部件连接到第三固定部的圆筒状旋转轴部件;第二旋转轴部（29），具有圆筒状的旋转轴部件，第二固定部件和第三固定部件之间的连接部件和具有连接部件的第二连接部件（26），连接部件形成为与第四固定部件连接的端部，另一端部连接到t 旋转轴部分并且由旋转连杆构件串联。

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