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1. 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。

2. 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。

3. 发明授权

US08635739B2 Robot cleaner system having robot cleaner and docking station 有权
标题翻译：具有机器人清洁器和对接站的机器人清洁系统
公开(公告)号：US08635739B2
公开(公告)日：2014-01-28
申请号：US13247430
申请日：2011-09-28
申请人： Youn Baek Lee , Soo Sang Yang , Yeon Taek Oh , Jeong Hun Kim
发明人： Youn Baek Lee , Soo Sang Yang , Yeon Taek Oh , Jeong Hun Kim
IPC分类号： A47L9/10
CPC分类号： A47L9/20 , A47L2201/00 , A47L2201/024
摘要： A robot cleaner system includes docking structure to allow a dust discharge port of a robot cleaner to come into close contact with a dust suction port of a docking station without an additional drive device. The robot cleaner system includes a robot cleaner having a dust discharge port, a docking station having a dust suction port to suction dust collected in the robot cleaner, and a docking device to perform a seesaw movement as it contacts the robot cleaner when the robot cleaner docks with the docking station, to allow the dust suction port to come into close contact with the dust discharge port. The docking device includes a link member installed in the docking station in a pivotally rotatable manner, one end having a contact portion to come into contact with the robot cleaner, and the other end having a docking portion defining the dust suction port therein.
摘要翻译：机器人清洁器系统包括对接结构，以允许机器人清洁器的灰尘排放口与对接站的吸尘口紧密接触，而无需额外的驱动装置。机器人清洁器系统包括具有灰尘排放口的机器人清洁器，具有吸入机器人清洁器中的灰尘吸入口的对接站，以及当机器人清洁器接触机器人清洁器时执行跷跷板运动的对接装置与对接站对接，使吸尘口与排尘口紧密接触。对接装置包括以可枢转的方式安装在坞站中的连杆构件，一端具有与机器人清洁器接触的接触部分，另一端具有限定吸尘口的对接部分。

4. 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。

5. 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。

6. 发明申请

US20090049640A1 Robot cleaner system having robot cleaner and docking station 审中-公开
标题翻译：具有机器人清洁器和对接站的机器人清洁系统
公开(公告)号：US20090049640A1
公开(公告)日：2009-02-26
申请号：US12149375
申请日：2008-04-30
申请人： Youn Baek Lee , Soo Sang Yang , Yeon Taek Oh , Jeong Hun Kim
发明人： Youn Baek Lee , Soo Sang Yang , Yeon Taek Oh , Jeong Hun Kim
IPC分类号： A47L5/00 , A47L9/20
CPC分类号： A47L9/20 , A47L2201/00 , A47L2201/024
摘要： A robot cleaner system having an improved docking structure to allow a dust discharge port of a robot cleaner to come into close contact with a dust suction port of a docking station without an additional drive device. The robot cleaner system includes a robot cleaner having a dust discharge port, a docking station having a dust suction port to suction dust collected in the robot cleaner, and a docking device to perform a seesaw movement as it comes into contact with the robot cleaner when the robot cleaner docks with the docking station, so as to allow the dust suction port to come into close contact with the dust discharge port. The docking device further includes a link member installed in the docking station in a pivotally rotatable manner. The link member has one end provided with a contact portion to come into contact with the robot cleaner, and the other end provided with a docking portion defining the dust suction port therein.
摘要翻译：一种机器人清洁器系统，其具有改进的对接结构，以允许机器人清洁器的灰尘排放口与对接站的吸尘口紧密接触，而无需额外的驱动装置。机器人清洁器系统包括具有排尘口的机器人清洁器，具有用于吸入机器人清洁器中的灰尘的吸尘口的对接站以及与机器人清洁器接触时执行跷跷板运动的对接装置，机器人清洁器与对接站对接，以使吸尘口与灰尘排放口紧密接触。对接装置还包括以可枢转的方式安装在坞站中的连杆构件。连杆构件具有设置有与机器人清洁器接触的接触部分的一端，另一端设置有限定吸尘口的对接部。

7. 发明申请

US20110056321A1 ROBOT JOINT DRIVING METHOD, COMPUTER-READABLE MEDIUM, DEVICE ASSEMBLY AND ROBOT HAVING THE SAME 有权
标题翻译：机器人联合驾驶方法，计算机可读介质，设备组件和具有该机器人的机器人
公开(公告)号：US20110056321A1
公开(公告)日：2011-03-10
申请号：US12878809
申请日：2010-09-09
申请人： Hyun Sik SIM , Soo Sang Yang , Youn Baek Lee , Yeon Taek Oh
发明人： Hyun Sik SIM , Soo Sang Yang , Youn Baek Lee , Yeon Taek Oh
IPC分类号： B25J17/00
CPC分类号： B25J9/104 , B25J9/1025 , Y10S901/27 , Y10T74/20305 , Y10T74/20323
摘要： Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.
摘要翻译：本文公开了一种机器人关节驱动方法，计算机可读介质和装置组件，其执行类似于人的运动，以及具有该运动的机器人。这些运动通过配置适合于各个接头的特性的接合驱动装置来实现。机器人关节驱动装置组件包括使用线的腱型接合驱动装置和使用齿轮减速法的谐波驱动型接头驱动装置。腱型接头驱动装置用于驱动需要高背驱性的旋转接头，并且谐波驱动型接头驱动装置用于驱动需要高刚性和高精度的旋转接头。

8. 发明申请

US20090301798A1 Walking robot 有权
标题翻译：步行机器人
公开(公告)号：US20090301798A1
公开(公告)日：2009-12-10
申请号：US12379306
申请日：2009-02-18
申请人： Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
发明人： Soo Sang Yang , Yeon Taek Oh , Youn Baek Lee
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： Disclosed is a walking robot having an improved driving structure for a pitch-direction femoral joint and a knee joint. The walking robot includes a pitch-direction actuator driving the pitch-direction femoral joint to rotate a femoral link relative to a body in a pitch direction, and a power transmission unit transferring driving force of the pitch-direction actuator to the knee joint to rotate the lower leg link relative to the femoral link in the pitch direction.
摘要翻译：公开了一种具有用于俯仰方向股骨关节和膝关节的改进的驱动结构的行走机器人。行走机器人包括驱动俯仰方向股骨关节的俯仰方向致动器，以相对于身体在俯仰方向上旋转股骨架，以及将俯仰方向致动器的驱动力传递到膝关节以旋转的动力传递单元小腿连杆相对于股骨连接在俯仰方向上。

9. 发明授权

US08635929B2 Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus 有权
标题翻译：机器人关节驱动装置，机器人具有相同的机器人关节驱动装置的电缆联动方法
公开(公告)号：US08635929B2
公开(公告)日：2014-01-28
申请号：US12987244
申请日：2011-01-10
申请人： Soo Sang Yang , Youn Baek Lee , Hyun Sik Sim , Yeon Taek Oh
发明人： Soo Sang Yang , Youn Baek Lee , Hyun Sik Sim , Yeon Taek Oh
IPC分类号： F16H9/04
CPC分类号： B25J9/104 , B25J17/0241
摘要： A robot joint driving apparatus has an improved structure, a robot having the same, and a cable linkage method of the robot joint driving apparatus. In the robot joint driving apparatus, lines of a cable to drive a robot joint unit are connected plural times in parallel, thereby increasing torsional stiffness of the robot joint unit. Further, a cable fixing unit is provided on an output pulley, thereby preventing slippage of the cable on the output pulley. Moreover, the overall size of the robot joint driving apparatus is reduced due to an improved power transmission structure from a driving motor to the output pulley.
摘要翻译：机器人关节驱动装置具有改进的结构，具有该机器人的机器人，以及机器人关节驱动装置的缆线连接方法。在机器人关节驱动装置中，用于驱动机器人关节单元的电缆的线路并联多次，从而增加机器人关节单元的扭转刚度。此外，在输出滑轮上设置电缆固定单元，从而防止电缆在输出滑轮上的滑动。此外，由于从驱动马达到输出滑轮的改进的动力传递结构，机器人关节驱动装置的总体尺寸减小。

10. 发明授权

US08327959B2 Walking robot 有权
标题翻译：步行机器人
公开(公告)号：US08327959B2
公开(公告)日：2012-12-11
申请号：US12385263
申请日：2009-04-02
申请人： Youn Baek Lee , Yeon Taek Oh , Soo Sang Yang
发明人： Youn Baek Lee , Yeon Taek Oh , Soo Sang Yang
IPC分类号： B62D57/02
CPC分类号： B62D57/032 , A63H11/00 , A63H2200/00
摘要： A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator.
摘要翻译：一种行走机器人，其中俯仰方向髋关节和膝关节的驾驶结构得到增强。行走机器人包括躯干和连接到躯干的多个腿，所述多个腿中的至少一个腿包括大腿连杆，设置在大腿连杆下部的小腿连杆，连接躯干和大腿连接，并且沿着俯仰方向使大腿连杆相对于躯干旋转，并且连接大腿连杆和小腿连杆的膝关节，并且在俯仰方向上使小腿连杆抵靠大腿连杆旋转。俯仰方向髋关节和膝关节彼此互锁并由一个互锁致动器驱动。

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