A gravity compensation hinge device according to an embodiment disclosed herein comprises: a base; a hinge part; a hinge part that has one side rotatably coupled to the base through a first fastening shaft and has the other side fixedly coupled to an object to be opened or closed; a joint part that has a second fastening shaft formed on one side and has the other side coupled to the hinge part; an elastic part that has one side fixedly coupled to the joint part through the second fastening shaft and has the other side fixedly coupled to the base, and that participates in gravity compensation according to the opening or closing of the object to be opened or closed; and a first driving part that is formed in the base and drives the hinge part, wherein the joint part includes one or more fastening grooves that can be fastened to the hinge part, and the one or more fastening grooves are arranged on the joint part such that a plurality of distances are formed between the first fastening shaft and the second fastening shaft in a state in which the hinge part and the joint part are coupled.
E05F 15/614 - Mécanismes pour battants mus par une force motrice utilisant des actionneurs électriques utilisant des électromoteurs rotatifs pour battants pivotants manœuvrés par roues d’engrenage dont l’une est montée à l’axe du pivot du battantMécanismes pour battants mus par une force motrice utilisant des actionneurs électriques utilisant des électromoteurs rotatifs pour battants pivotants manœuvrés par moteur agissant directement sur l’axe du pivot du battant
E05F 1/12 - Mécanismes ayant la forme de charnières, gonds ou pivots, actionnés par ressorts
5.
AUTOMATIC GUIDED VEHICLE CAPABLE OF DELIVERY TO MULTIPLE DESTINATIONS
An automatic guided vehicle capable of delivery to multiple destinations, according to one embodiment of the present disclosure, comprises: a main body part; a loading part formed at one side of the main body part so that one or more products are piled and loaded thereon; a door part formed at one side of the loading part so as to be opened/closed by means of a first driving unit; a screen part arranged between the loading part and the door part; and a control unit for controlling operations of the loading part, the door part and the screen part, wherein the loading part comprises: a support part for supporting the one or more products; a transportation part including at least one conveyor arranged at at least one side surface of the support part, and at least one sweeper formed on the at least one conveyor; and a second driving unit for driving the at least one conveyor, the screen part comprises: a screen making selective contact with at least some of the one or more products; a guide part for guiding the movement of the screen; and a third driving unit for driving the screen, and the control unit further controls the first driving unit, the second driving unit and the third driving unit.
B65G 19/02 - Transporteurs comportant un impulseur ou une série d'impulseurs portés par un élément de traction sans fin et disposés de façon à déplacer objets ou matériaux sur une surface porteuse ou sur un matériau de base, p. ex. transporteurs sans fin à raclettes pour objets, p. ex. des réceptacles
B65G 41/00 - Châssis ou bases de support pour transporteurs dans leur ensemble, p. ex. châssis transportables
An unmanned transport robot capable of automatically discharging articles, according to an embodiment of the present disclosure, comprises: a main body unit; a loading unit formed at one side of the main body unit to load articles; and a controller configured to control the operation of the loading unit, wherein the loading unit includes a support portion supporting the articles, a transport portion which includes at least one conveyor disposed at at least one side of the support portion and at least one sweeper formed on the at least one conveyor, a first driver configured to drive the at least one conveyor, a door portion disposed at one side of the support portion, and a second driver configured to open or close the door portion, and the controller is further configured to control the first driver and the second driver.
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
B65G 19/02 - Transporteurs comportant un impulseur ou une série d'impulseurs portés par un élément de traction sans fin et disposés de façon à déplacer objets ou matériaux sur une surface porteuse ou sur un matériau de base, p. ex. transporteurs sans fin à raclettes pour objets, p. ex. des réceptacles
B65G 41/00 - Châssis ou bases de support pour transporteurs dans leur ensemble, p. ex. châssis transportables
According to one embodiment of the present disclosure, a method, by which an autonomous driving robot drives to a destination, performed by at least one processor comprises the steps of: receiving at least one depth image from a depth camera; generating a distance transform map on the basis of the at least one depth image; determining a sub-destination on the basis of the distance transform map; and moving the autonomous driving robot to the sub-destination.
The present disclosure relates to a method for semantic segmentation using three-dimensional map information. The method for semantic segmentation using three-dimensional map information comprises the steps of: receiving depth information and color information related to a particular time point; generating three-dimensional map information by using the received depth information and color information, the three-dimensional map information including multiple voxels distinguished on the basis of an X-axis value, a Y-axis value, and a Z-axis value; generating a two-dimensional bird's-eye-view image by using the generated three-dimensional map information; and extracting semantic information included in the generated two-dimensional bird's-eye-view image by using a semantic segmentation model.
The present disclosure relates to a two-dimensional phase map for road traveling of an outdoor mobile robot. The two-dimensional phase map comprises: a plurality of nodes indicating a singular point for changing the traveling method and/or the traveling direction of an outdoor mobile robot; and a plurality of edges connecting the plurality of nodes and including information about the traveling route between the plurality of nodes.
The present invention relates to a load torque detection technology, and more particularly, to a device and method for load torque detection in a robot system. According to an embodiment of the present invention, it is possible to accurately detect the load torque without requiring a position sensor included in a load torque measurement actuator to have a multi-revolution function or additional power supply.
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
G01L 3/04 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple comporte un arbre élastique en torsion
G01L 1/04 - Mesure des forces ou des contraintes, en général en mesurant la déformation élastique de jauges, p. ex. de ressorts
G01L 5/22 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de la force appliquée aux organes de commande, p. ex. organes de commande des véhicules, détentes
G01L 3/08 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple comporte un arbre élastique en torsion impliquant des moyens optiques d'indication
G01L 3/10 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple comporte un arbre élastique en torsion impliquant des moyens électriques ou magnétiques d'indication
An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, a driving module provided in the lower module, and a control unit that controls an operation of the driving module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.
B62D 57/028 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p. ex. par jambes mécaniques ayant des roues et des jambes mécaniques
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B60G 3/28 - Suspensions élastiques pour une seule roue avec plusieurs bras articulés, p. ex. parallélogramme un des bras lui-même au moins étant élastique, p. ex. ressort à lame
A driving module of an autonomous mobile robot is provided. The driving module includes a first wheel in constant contact with ground or road surface and having a first rotational axis; second and third wheels constrained in their positions relative to each other; a rear bar on which a second rotational axis of the second wheel is positioned at one end, an upper axis portion is provided at the other end, and an intermediate axis portion is provided in the middle; a front bar on which a third rotational axis of the third wheel is positioned at one end, in which the other end of the front bar is pivotably coupled to the intermediate axis portion; and a suspension unit of which one end is pivotably coupled to the upper axis portion and the other end is pivotably coupled to the third rotational axis or the front bar.
B60G 17/06 - Suspensions élastiques permettant d'ajuster les caractéristiques des ressorts ou des amortisseurs de vibrations, de réguler la distance entre la surface porteuse et la partie suspendue du véhicule ou de bloquer la suspension pendant l'utilisation pour s'adapter aux conditions variables du véhicule ou du terrain, p. ex. en fonction de la vitesse ou de la charge les caractéristiques des amortisseurs
B60G 5/06 - Suspensions élastiques pour un jeu de roues ou d'essieux en tandem à mouvement coordonné avec plusieurs bras articulés, leurs mouvements étant élastiquement coordonnés les bras tournant sur un pivot commun
14.
MOBILE ROBOT PLATFORM SYSTEM AND OPERATION METHOD THEREFOR
A mobile robot platform system evolves autonomous driving ability of a mobile robot through reinforcement learning in various environments. The mobile robot platform system includes a remote control unit configured to perform remote control of the mobile robot according to its purpose of use; an autonomous driving unit configured to autonomously drive the mobile robot in an autonomous driving section based on a preset criterion; a data collection unit configured to collect data for driving of the mobile robot; a learning unit configured to train the mobile robot using reinforcement learning data including the collected data; and a determination unit configured to determine a remote control section and the autonomous driving section based on a level of the training when the mobile robot moves to a corresponding destination.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p. ex. utilisant des pilotes automatiques
A module and method for linking information of a plurality of driving units, and a module and method for linking driving units of a robot system in which a master controls a plurality of driving units included in a plurality of slave devices through communication are provided. The module and method for linking driving units of a robot system provide compatibility with an existing robot motion table that uses one driving unit for one device without requiring a separate conversion operation.
G05B 19/41 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'interpolation, p. ex. par le calcul de points intermédiaires entre les points extrêmes programmés pour définir le parcours à suivre et la vitesse du déplacement le long de ce parcours
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
An autonomous mobile robot is provided. The autonomous mobile robot includes an upper module including a cargo space provided therein, and a cover, a lower module positioned under the upper module and providing a driving force, and a driving module provided in the lower module, in which the driving module includes a plurality of pairs of wheels capable of asynchronously contacting a road surface or ground so as to overcome a step or a stair.
B62D 61/12 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec un nombre variable de roues en contact avec le sol, p. ex. avec certaines roues disposées plus haut que les autres ou avec des roues rétractables
18.
System and method for efficient communication bus arbitration
A system and method for efficient communication bus arbitration in a communication protocol are provided. The system and method for efficient communication bus arbitration are a system and method for slave communication bus arbitration in multi-drop communication, and provide efficient and fast communication speed by improving the packet structure in a manner in which a slave controller sequentially responds to a query of a master controller.
G06F 13/366 - Gestion de demandes d'interconnexion ou de transfert pour l'accès au bus ou au système à bus communs avec commande d'accès centralisée utilisant un arbitre d'interrogation centralisé
An embodiment of the present invention provides a companion robot which stimulates the care emotion in a user, wherein the companion robot comprises: an input unit which receives inputs of environmental information, the user's location, and whether the user is approaching; a determination unit which determines the user's intention with respect to the robot through the user's location information and the number of approaches by the user; an interaction storage unit in which are stored a plurality of scenarios corresponding to the user's intention determined by the determination unit; and a first output unit which outputs information corresponding to the scenarios in the interaction storage unit to express emotions of the robot.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
21.
Elastic body having variable rigidity, and actuator module including same
Proposed is an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.
F16D 3/10 - Accouplements avec moyens pour faire varier la relation angulaire de deux arbres coaxiaux pendant le mouvement d'entraînement
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
41 - Éducation, divertissements, activités sportives et culturelles
Produits et services
Educational services, namely, conducting classes, seminars, and programs in the fields of science, technology, engineering, and math, and distribution of training materials in connection therewith; Organizing, conducting and operating robotics tournaments; Providing on-line tutorial videos in the field of robotics, not downloadable; Education services, namely, providing tutorial sessions in the field of robotics
23.
MICROCONTROLLER UNIT-BASED DRIVER RECOGNITION DEVICE AND METHOD
The present invention relates to a microcontroller unit-based driver recognition device and method. According to one embodiment of the present invention, a microcontroller unit-based driver recognition device and method manage and distribute, outside a firmware, a driver code for a slave device through a script language, thereby being capable of supporting plug and play of the slave device during runtime.
An embodiment of the present invention provides a driving module of an autonomous mobile robot, the driving module being characterized by comprising: a first wheel which is constantly in contact with a ground surface or a road surface and has a first rotary shaft; a second wheel and a third wheel having fixed relative positions; a rear bar which has a second rotary shaft of the second wheel positioned at one end, an upper shaft part provided at the other end, and a middle shaft part provided in the middle; a front bar which has a third rotary shaft of the third wheel positioned at one end, and has the other end rotatably coupled to the middle shaft part; and a suspension unit which has one end rotatably coupled to the upper shaft part, and has the other end rotatably coupled to the third rotary shaft or the front bar.
1 larger than a curvature radius of each pin and a first circular arc coming into contact with one contact point and a second circular sector having a second curvature radius larger than the curvature radius of each pin and a second circular arc coming into contact with another contact point, the first curvature radius and the second curvature radius passing through a center point of each pin and having the same size as each other.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
In order to achieve the above technical objective, one embodiment of the present invention provides an autonomous mobile robot, comprising: an upper module having a cargo transport space formed therein and a cover; a lower module positioned under the upper module and providing a driving force; a driving module provided in the lower module, wherein the driving module has a plurality of pairs of wheels capable of non-simultaneously contacting a road surface or the ground so as to get over an elevation or a step.
An embodiment of the present invention provides an autonomous mobile robot comprising: an upper module in which a freight transport space is provided and which includes a cover; a lower module which is disposed under the upper module and provides a driving force; a driving module which is provided in the lower module; and a controller which controls the operation of the driving module, wherein the driving module has multiple pairs of wheels capable of non-simultaneous contact with a road surface or the ground so as to be able to go over a sill or step.
The present invention relates to a load torque detection technology and, more specifically, to a device and method for load torque detection in a robot system. According to an embodiment of the present invention, load torque can be accurately detected without a self-multiple-revolution function of a position sensor included in a load torque measurement actuator or an additional power supply device therefor.
G01L 3/14 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple est autre qu'un arbre élastique en torsion
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
29.
MODULE AND METHOD FOR LINKING DRIVING UNITS OF ROBOT SYSTEM
The present invention relates to a module and method for linking the information of a plurality of driving units. In the module and method for linking driving units of a robot system, a master controls the plurality of driving units comprised in a plurality of slave devices by means of communication. The module and method for linking driving units of a robot system according to embodiments of the present invention provide compatibility with an existing robot motion table, in which a single driving unit is used for a single device, without a separate switching work.
The present invention relates to a system and method for efficient communication bus arbitration over a communication protocol. According to an embodiment of the present invention, the system and method for efficient communication bus arbitration are a system and method for slave communication bus arbitration in multi-drop communication, and provide an efficient and fast communication speed by improving a structure of a packet in a method in which a slave controller sequentially responds to queries of a master controller.
An actuator module includes a drive unit for generating a rotational force, a deceleration unit connected to the drive unit to receive the rotational force therefrom for reducing a rotational speed transmitted thereto to increase the rotational force, a flexible unit connected to the deceleration unit to receive the rotational force therefrom and having a plurality of elastic members in a stacked form, the elastic members being variable by an external force, and an output unit connected to the flexible unit to receive the rotational force therefrom for outputting the transmitted rotational force to the outside, wherein the elastic members have the same elastic force or different elastic forces, and are selectively varied depending on the magnitude of the external force applied to the output unit.
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
32.
MOBILE ROBOT PLATFORM SYSTEM AND OPERATION METHOD THEREFOR
The present invention relates to a mobile robot platform system and an operation method therefor. The mobile robot platform system according to one embodiment of the present invention comprises: a remote control unit for remotely controlling a mobile robot according to a utilization purpose; an autonomous driving unit for autonomously driving the mobile robot in a autonomous driving section based on a preset criterion; a data collection unit for collecting data for driving of the mobile robot; a learning unit for training the mobile robot by using reinforcement learning data comprising the collected data; and a determination unit for determining a remote control section and the autonomous driving section on the basis of the level of learning, when the mobile robot is moving towards a corresponding destination.
An embodiment of the present invention provides an elastic body having variable rigidity, wherein the elastic body is used in a series elastic actuator module, connects an input and an output, and has a rigidity that varies according to the applied torque. The elastic body having variable rigidity comprises: a connection part which receives torque from the input side or the output side; and a spring part connected to and receiving torque from the one selected from among the input side and the output side which is different from the connection part, wherein the spring part is formed integrally with the connection part and has a rigidity that varies as the connection part and the spring part come into contact with each other due to deformation caused by the applied torque.
A multi-axis actuator according to one embodiment of the present invention comprises: a rectangular parallelepiped housing having first and second output surfaces vertical to each other, and first and second facing surfaces, which are respectively arranged in parallel to the first and second output surfaces so as to be vertical to each other; a first output gear for rotating around a first rotary shaft vertical to the first output surface; a second output gear for rotating around a second rotary shaft vertical to the second output surface, wherein the second rotary shaft is positioned at a height different from that of the first rotary shaft; and first and second driving motors provided inside the housing so as to respectively provide rotating power to the first and second output gears.
The present invention relates to a robot motion control technology and, more particularly, to a device and a method for controlling a robot motion through buffer control-based stream transmission of motion data. One embodiment of the present invention, as a low-specification embedded robot control system, can perform, beyond the limitations of internal memory capacity, various motions according to scenarios sent from a robot motion control device, and an existing motion download procedure can be omitted. Accordingly, the variety of robot operations can be significantly enhanced, and the efficiency of controlling a robot can be improved.
One embodiment of the present invention provides an actuator having a wiring accommodation space. The actuator having a wiring accommodation space comprises: a housing; a drive module accommodated in the housing and having an output end exposed from the housing; wiring which is electrically connected to the drive module and exposed to the outside of the housing; and a wiring processing unit coupled to the housing at an output end side, the wiring processing unit having an opening corresponding to the output end and a wiring accommodation space formed around the opening, wherein the wiring extending along the outer surface of the housing has extra wiring so as not to disturb the rotation of the output end, wherein the extra wiring is bent and accommodated in the wiring accommodation space, and the other end of the wiring is drawn out of the wiring processing unit through the opening.
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
The present invention relates to a robot serial interface technology and, more particularly, to a robot interface apparatus and a method for executing plug and play in a serial interface. According to an embodiment of the present invention, an application based on the plug and play functionality of existing operating systems can be used on a device without an operating system, and thus, a low-cost microcontroller can be more easily applied to fields that require the plug and play functionality.
An embodiment of the present invention provides a driving device having an elastic member for connecting input and output. The driving device includes: a motor; a gear module connected to the motor; an elastic member which is provided in vicinity of the gear module, and receives power transferred from the gear module; an output unit which is connected to the elastic member and acts upon an external load; an input position feedback unit which is connected to the elastic member or the motor so as to avoid interference with the gear module; an output position feedback unit which is connected to the output unit and extends to the vicinity of the motor so as to avoid interference with the gear module; and a sensing module. The sensing module is provided in the vicinity of the motor so as to avoid interference with the gear module, and senses the deformation of each of the input position feedback unit and the output position feedback unit caused by the deformation of the elastic member when the output unit acts upon the load.
G01D 5/02 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens mécaniques
G01D 5/245 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant les caractéristiques d'impulsionsMoyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant un nombre variable d'impulsions dans un train
G01D 5/249 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant les caractéristiques d'impulsionsMoyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant des impulsions codées
G01B 7/16 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour mesurer les déformations dans un solide, p. ex. au moyen d'une jauge de contrainte à résistance
G01P 13/04 - Indication du sens positif ou négatif d'un mouvement linéaire ou du sens horaire ou anti-horaire d'un mouvement de rotation
The present invention relates to a gear module comprising a two-point contact internal gear and, more specifically, to a gear module applicable to a reduction gear. The present invention provides a gear module comprising: an external gear, which can eccentrically rotates and includes multiple teeth formed on the circumferential surface thereof; and an internal gear, which includes multiple grooves formed on the inner peripheral surface thereof and pins arranged in the grooves so as to adjoin to the external gear, respectively, wherein: the grooves and the pins come into contact with each other at two contact points; each of the grooves is formed by a recessed part at which a first circular sector and a second circular sector overlap each other, the first circular sector having a first curvature radius larger than that of the pin and including a first circular arc coming into contact with one of contact points, the second circular sector having a second curvature radius larger than that of the pin and including a second circular arc coming into contact with the other contact point; and the first curvature radius and the second curvature radius are connected to the contact points through the center point of the pin, respectively, and equal to each other in the size.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
The present invention relates to a semi-hollow actuator module and, more particularly, to a semi-hollow actuator module that has solved the problem that wires (cables) are entangled when an actuator module including a motor and a reducer therein is combined with another actuator module or a module connection member, etc. by improving a connection structure of the wires.
The present invention relates to an actuator module having a ductile part and, more specifically, to an actuator module having improved intrinsic stability, the actuator module being mounted on a robot that comprises multiple joints and having a ductile part capable of sensing an abnormal load through a sensor-based accurate load measurement. One embodiment of the present invention provides an actuator module comprising: a driving part for generating rotational force; a speed reducing part connected to the driving part so as to receive the rotational force, and reducing the received rotational speed so as to increase the rotational force; a ductile part connected to the speed reducing part so as to receive the rotational force, and formed in a shape in which a plurality of elastic members that can vary by external force are stacked; and an output part connected to the ductile part so as to receive the rotational force, and outputting the received rotational force to the outside, wherein the plurality of elastic members have the same or different elastic force, and are selectively varied according to the magnitude of the external force applied to the output part.
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
According to one embodiment of the present invention, a multi-joint robot comprises first and second output shafts respectively perpendicular to first and second output surfaces, which are adjacent to each other, wherein the first and second output shafts include: multi-axis actuators located at different heights in a direction perpendicular to the first and second output shafts; and a first connection member connected to the first output shaft so as to be driven by the first output shaft.
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
43.
UNIVERSAL INPUT/OUTPUT INTERFACE DEVICE AND METHOD FOR CONTROLLING SAME
The present invention relates to a universal input/output interface device. The universal input/output interface device comprises: a central processing portion comprising multiple communication terminals and multiple selection control terminal groups having multiple selection control terminals; multiple input terminals connected to the multiple communication terminals, respectively; multiple multiplexers each having multiple selection control terminals connected to respective selection control terminal groups and an output terminal connected to one of the multiple input terminals according to a selection control signal applied to the multiple selection control terminals; and a storage portion connected to the central processing portion and configured to store the value of a selection control signal output to each of the selection control terminal groups according to a determined communication scheme. The central processing portion uses the value stored in the storage portion so as to output a selection control signal in the corresponding state to at least one selection control terminal group according to the communication scheme. At least one multiplexer connects one of the multiple communication terminals to the output terminal according to a signal applied to a selection control terminal through the at least one selection control terminal group.
The present invention relates to a slave device comprising: an identification number setting operation detection sensor for detecting an operation of a user for an identification number setting operation relating to the slave device; a slave control unit connected to the identification number setting operation detection sensor; and a storage unit which is connected to the slave control unit and stores an identification number corresponding to a state range, wherein when an identification number setting command packet is transmitted from a master device, the slave control unit determines a state determined according to the identification number setting operation by the user, using a signal of the identification number setting operation detection sensor, so as to determine, as an identification number of the slave device, an identification number corresponding to the state in the storage unit.
A multi-axis actuator according to one embodiment of the present invention comprises: a rectangular parallelepiped housing having first and second output surfaces vertical to each other, and first and second facing surfaces, which are respectively arranged in parallel to the first and second output surfaces so as to be vertical to each other; a first output gear for rotating around a first rotary shaft vertical to the first output surface; a second output gear for rotating around a second rotary shaft vertical to the second output surface, wherein the second rotary shaft is positioned at a height different from that of the first rotary shaft; and first and second driving motors provided inside the housing so as to respectively provide rotating power to the first and second output gears.
One embodiment of the present invention provides a speed reducer having a position feedback device provided therein. The speed reducer having a position feedback device, according to one aspect, comprises: a speed reducer case which is formed so as to surround the outer circumferential surface of the speed reducer; an insert gear module which has a hollow, linearly-shaped power transmission path, and an output shaft of a bearing-integrated both-end support structure, and which receives a power input, reduces the speed thereof, and then outputs same; and an encoder which is mounted to the insert gear module, wherein the encoder is provided on one side of the lower end of the output shaft of the bearing-integrated both-end support structure, and is provided in an embedded groove provided to the speed reducer case.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An embodiment of the present invention provides an actuator module which can be equipped with a motor, a reduction gear and a control circuit, the actuator module comprising: a first housing which can have an active shaft, connected to a motor, pass through and be coupled thereto; and a second housing which is coupled to the first housing and has a passive idler horn, provided in a position in correspondence with the active shaft, pass through and be coupled thereto, wherein the idler horn has interposed a tube-shaped bearing, having a hollow portion formed in the center thereof, is coupled to a side of the second housing, and can have a cable connected into the second housing through the hollow portion of the tube-shaped bearing.
H02K 7/00 - Dispositions pour la mise en œuvre d'énergie mécanique associées structurellement aux machines dynamo-électriques, p. ex. association structurelle avec des moteurs mécaniques d'entraînement ou des machines dynamo-électriques auxiliaires
H02K 5/22 - Parties auxiliaires des enveloppes non couvertes par les groupes , p. ex. façonnées pour former des boîtes à connexions ou à bornes
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
H02K 11/30 - Association structurelle à des circuits de commande ou à des circuits d’entraînement
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
H01R 13/639 - Moyens additionnels pour maintenir ou verrouiller les pièces de couplage entre elles après l'engagement
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H01R 13/58 - Moyens pour atténuer l'effort de tension sur le câble de connexion, p. ex. serre-câble
H02K 7/08 - Association structurelle avec des paliers
The present invention relates to a semi-hollow actuator module and, more specifically, to a semi-hollow actuator module having a motor and a speed reducer embedded therein, and having an improved connection structure of wiring (cables) so as to solve the problem of tangled wiring when the actuator module is coupled with another actuator module, a module connection member, or the like.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The present invention relates to a method for synchronization of slave devices and, more specifically, to a method for synchronization of a plurality of slave devices which are connected to a master device in a multi-drop configuration and have the same or different virtual IDs and different unique IDs, the method comprising the steps of: receiving a command packet from the master device; analyzing the command packet and determining if IDs included in the command packet match the virtual IDs or unique IDs; and executing the command packet if the IDs included in the command packet match the virtual IDs or unique IDs.
H04L 7/02 - Commande de vitesse ou de phase au moyen des signaux de code reçus, les signaux ne contenant aucune information de synchronisation particulière
51.
METHOD FOR PREVENTING PACKET COLLISION IN COMMUNICATIONS SYSTEM SUPPORTING MULTIPLE PROTOCOLS
The present invention relates to a method for preventing a packet collision in a communications system supporting multiple protocols and, more specifically, to a method for preventing a collision between packets, involving a master device and a plurality of slave devices which are connected in a multi-drop configuration and use different protocols, wherein: the master device transmits an isolation packet to a particular slave device; and the particular slave device receives the isolation packet from the master device and then, if a command packet is transmitted from the master device, does not receive or receives and discards the command packet, thereby controlling the slave device using a particular protocol not to execute the command packet transmitted from the master device.
A device for editing and playing a robot motion comprises: a storage configured to store a 3D image file of a robot and further store time-dependent stationary postures of the robot edited by a user input in units of key frames; and a robot motion viewer configured to display, as a video, motion units of the robot obtained by connecting the stationary postures stored in units of key frames using an interpolation technique.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
The present invention relates to a gripper for a robot hand capable of adaptive gripping. An embodiment of the present invention provides a gripper for a robot hand capable of adaptive gripping, comprising a finger portion having at least one finger, wherein: the finger comprises a first link having one end rotatably fixed to a casing, a second link having one end joint-coupled to the other end of the first link, a third link having one end rotatably fixed to the casing such that the same receives driving force from the outside and operates, a fourth link having one end joint-coupled to the other end of the third link, and a gripping member joint-coupled to the other end of the second link and to the other end of the fourth link; and driving of two members selected from the first link, the second link, the third link, the fourth link, and the gripping member is limited such that a pinch grip and an encompassing grip occur selectively or successively.
The present invention relates to an apparatus and a method for measuring a tooth profile of a cycloid gear and, more particularly, to an apparatus and a method for measuring a tooth profile of a cycloid gear for precisely measuring the accuracy of a tooth profile of a cycloid gear. The present invention relates to an apparatus for measuring the tooth profile of a cycloid gear, comprising: a main body; a driving unit; a probe unit; a displacement measuring unit; a pressing unit; and a determination unit. The driving unit is provided in the main body, and rotates the cycloid gear. The probe unit has a probe provided so as to be in contact with a tooth surface of the cycloid gear. The displacement measuring unit measures the displacement from the center of the cycloid gear to the probe to calculate measured displacement information. The pressing unit is interlocked with the displacement measuring unit so as to apply pressure to maintain the probe in contact with the tooth surface. The determination unit determines the accuracy of the shape of the tooth profile of the cycloid gear.
G01B 5/30 - Dispositions pour la mesure caractérisées par l'utilisation de techniques mécaniques pour mesurer la déformation dans un solide, p. ex. indicateur de déformation mécanique
Disclosed is a gripper for robot hand capable of adaptive grasp, including a finger unit having one or more finger which includes a first link of which one end is rotatably fixed to a casing; a second link of which one end is jointly coupled with the other end of the first link; a third link of which one end is rotatably fixed to the casing, which is operated by receiving a driving force from the outside; a fourth link of which one end is jointly coupled with the other end of the third link; and a gripping member jointly coupled with the other end of the second link and the other end of the fourth link.
A detachable industrial network module, including: a housing in which a plurality of through holes are formed; and a communication module embedded in the housing and including a plurality of terminal portions to be electrically connected to an external device, wherein the through holes of the housing are provided in a lattice pattern and the housing is selectively detachable from or attachable to an outer surface of the actuator module, at least one guide groove is provided in the housing to prevent wiring bundles coupled to the terminal portions of the communication module from interfering with each other, and the communication module is electrically connected to the actuator module by a sub-connector as a medium.
H05K 5/00 - Enveloppes, coffrets ou tiroirs pour appareils électriques
H01R 13/514 - SoclesBoîtiers formés comme un bloc ou un assemblage modulaire, c.-à-d. composés de parties coopérantes pourvues de pièces de contact ou maintenant entre elles des pièces de contact
An embodiment of the present invention provides an actuator module which can be equipped with a motor, a reduction gear and a control circuit, the actuator module comprising: a first housing which can have an active shaft, connected to a motor, pass through and be coupled thereto; and a second housing which is coupled to the first housing and has a passive idler horn, provided in a position in correspondence with the active shaft, pass through and be coupled thereto, wherein the idler horn has interposed a tube-shaped bearing, having a hollow portion formed in the center thereof, is coupled to a side of the second housing, and can have a cable connected into the second housing through the hollow portion of the tube-shaped bearing.
An embodiment of the present invention provides a device for attaching/detaching an idler horn for an actuator module which can have a motor, a reduction gear and a control circuit equipped therein. The device, for attaching/detaching an idler horn, comprises: a ring-shaped elastic switch which surrounds the inner end part of a cylindrical hollow portion provided on one side of a housing that forms the outer skin of an actuator module; and a ring-shaped cover member which is for fixing the ring-shaped elastic switch, wherein the ring-shaped elastic switch can be selectively attached/detached to/from an idler horn by means of elasticity.
One embodiment of the present invention relates to a pulley having a slit and, more particularly, to a pulley having a slit which can reduce the press-fit strength of a spindle by adding a slit regarding the degree of looseness/tightness according to dimensional deviations when a spindle part is inserted. According to a pulley with a slit of one embodiment of the present invention, a space for contraction and expansion is formed in the pulley, thereby forming a structure which enables contraction and expansion at the time of assembling or separation.
Disclosed is a multi-input reduction gear having an input/output position feedback, including: a reduction gear body including an input unit and an output unit; an output feedback unit which is detachably provided in the reduction gear body and detects a position of the output unit; an input mediating unit which is detachably provided in the reduction gear body, is connected to a shaft of a power source, and transmits power to the input unit; and an input feedback unit which is stacked between and coupled to the reduction gear body and the input mediating unit and detects a position of the input unit.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
The present invention provides a device for supporting connection between host and client devices concerning a plurality of kinds of physical layers, the device comprising: an input interface unit capable of processing N kinds of physical layer-related signals comprising kth physical layer-related signals, the input interface unit performing a function of receiving a host device signal transmitted from the host device; a host physical layer analysis unit (21) for performing functions of analyzing the host device signal and extracting information regarding the physical layer of the host device; a signal conversion unit (30) comprising N transceivers (31), each transceiver converting an input physical layer signal to an output physical layer signal and outputting the same, the kth transceiver processing the kth physical layer-related signal; a signal switching unit (40) configured such that, when it is confirmed as a result of analysis by the host physical layer analysis unit (21) that the host device signal is the jth physical layer-related signal, a signal path is formed to make the host device signal become an input physical layer signal of the jth transceiver; and an output interface unit connected to the client device to perform a function of transmitting the output physical layer signal of the jth transceiver to the client device.
One example of the present invention relates to a cycloid gear measurement apparatus and gear measurement method and, more specifically, provides a cycloid gear measurement apparatus and gear measurement method which can compare and evaluate the exactness of the tooth form of a gear being measured, which is a cycloid gear, as a method for measuring, by a displacement measurement sensor, a change in the displacement of the gear being measured according to rotation of a master gear, which is a trochoid gear, by inscribing or circumscribing the master gear, and the gear being measured, which corresponds to the master gear.
F16H 1/34 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital comportant des engrenages ayant essentiellement des éléments engrenants autres que des dentures à développante ou cycloïdales
The present invention provides a unit-expandable communication device case that can achieve various functions. According to an embodiment of the present invention, the unit-expandable mobile communication device case includes a case, couplers, and a unit. The case has a flat plate which has a plurality of coupling holes formed with regular intervals in any one of a column direction and a row direction, and is detachably attached to a mobile communication device. The couplers are coupled to the coupling holes. The unit has one or more coupling holes and detachably attached to the case by being coupled to the couplers.
The present invention relates to a multi-input reduction gear having input/output position feedback and, more specifically, to a multi-input reduction gear, having input/output position feedback, enabling easy forming of an automation device. To this end, the present invention comprises: a reduction gear body having an input unit and an output unit; an output feedback means, detachably provided on the reduction gear body, for detecting the position of the output unit; an input mediating means, detachably provided on the reduction gear body, for transmitting power to the input unit by being connected to a shaft of a power source; and an input feedback means, laminated and coupled between the reduction gear body and the input mediating means, for detecting the position of the input unit, wherein the reduction gear body has a mounting groove provided toward the inner direction of the input unit such that the output feedback means is detachable, and the input unit is provided with an output feedback means coupling hole formed on the mounting groove and an input feedback means coupling hole formed on the peripheral portion of the mounting groove. By having feedbacks of input unit and output unit positions through input/output feedback means provided on a reduction gear in a detachable-coupling structure, the present invention can enable more meticulous and precise control.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
65.
CURRENT MEASUREMENT DEVICE FOR MOTOR, AND CURRENT MEASUREMENT METHOD USING SAME
The present invention relates to a current measurement device for a motor, and a current measurement method using same, the device formed so as to accurately measure the current value of a motor. A current measurement device for a motor according to the present invention comprises a current measuring unit, an analogue/digital converter, a direct memory access unit and a control unit, wherein the current measuring unit measures at fixed intervals the current detection value. Therefore, a current measurement device for a motor, and a current measurement method using same, according to the present invention, have the advantage of accurately measuring the current value of a motor even with respect to a current waveform of a motor that has a low inductance.
G01R 19/165 - Indication de ce qu'un courant ou une tension est, soit supérieur ou inférieur à une valeur prédéterminée, soit à l'intérieur ou à l'extérieur d'une plage de valeurs prédéterminée
H02P 6/04 - Dispositions pour commander ou réguler la vitesse ou le couple de plusieurs moteurs
The present invention relates to a detachable industrial network module and, more specifically, to a detachable industrial network module which can effectively support network communication by being connected to a compact actuator module. To this end, the present invention comprises: a housing which has a plurality of through holes formed thereon; and a communication module which is equipped in the housing and is provided with a plurality of terminal portions so as to exchange electric current with an external means, wherein the through holes on the housing are provided in a lattice arrangement and are selectively detachable from the outer surface of an actuator module, the housing is provided with one or more guide grooves so as to prevent mutual interference of wiring bundles coupled to the terminal portions of the communication module, and the communication module is connected by means of a sub-connector so as to exchange electric current with the actuator module. By having created a network module that is size-reduced and lightweight, the present invention can enhance structural utilization through various coupling types to a single actuator module.
H01R 13/514 - SoclesBoîtiers formés comme un bloc ou un assemblage modulaire, c.-à-d. composés de parties coopérantes pourvues de pièces de contact ou maintenant entre elles des pièces de contact
67.
ROBOT CONTROLLED BY SMART DEVICE AND ROBOT CONTROL SYSTEM
According to one embodiment of the present invention, provided is a robot controlled by a smart device, comprising: a communication module for receiving a command packet generated through a control application installed in the smart device, by referring to an ID, an address, and a control value allocated to an actuator module of the robot when a motion of the robot is selected by a user input on the smart device; a controller for controlling the actuator module corresponding to the ID so as to perform an operation by transmitting the received command packet to a daisy chain link connected to the actuator module; and the actuator module for performing the operation corresponding to the command packet by confirming the command packet transmitted to the daisy chain link.
According to one embodiment of the present invention, an apparatus is disclosed for editing and playing back robot motion, comprising a storage unit for storing a 3D image file of a robot and stop motion of the robot edited by a user input for each key frame; and a robot motion viewer for displaying robot motion units as video wherein the stored stop motion is joined together using interpolation between the key frames.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
According to one embodiment of the present invention, provided is a robot assembly device comprising: a storage unit which stores 3D image files relating to a plurality of components constituting a robot, and IDs, position data, characteristics data and required voltage data relating to a plurality of robot modules that either respectively operate the plurality of components or are associated therewith, and data about electrical connections between the robot modules, as well as data about electrical connections between the robot modules and a controller for controlling the robot modules; and a robot assembly viewer which displays 3D images relating to the plurality of components and uses the data about the electrical connections so as to display, on an assembly screen window, data relating to at least one robot module that can be connected to the controller, and data about robot modules that can be connected together.
According to an embodiment of the present invention, provided is a robot for controlling a smart device, the robot comprising: a communication unit that implements communication with a smart device through a preset control protocol when a control application installed in the smart device is executed; and a control unit for generating a command packet including an ID, an address, commands, and control values designated for the smart device through a robot action control programming tool, and then transmitting same to the smart device, and for enabling the smart device to perform the corresponding actions in the command packet through a control table included in the control application.
Disclosed is a five-axis rotation reducer for a robot control module. More specifically, the present invention relates to a five-axis rotation reducer, for a robot control module, controlling a frame contained in a scientific robotic instrument so that the frame operates on multiple axes. One embodiment according to the present invention for a five-axis rotation reducer for a robot control module comprises: a housing provided with first to third driving shafts; a power means accommodated in the housing; a reducing means engaging with the power means and controlling the received rotational power; a main output shaft engaging with the reducing means and provided with first and second output parts at both ends; and a sub-output shaft engaging with the main output shaft and provided with third to fifth output parts at one end, wherein the reducing means comprises first to fourth gear members, the first to third gear members being penetratingly inserted into the first to third driving shafts, the fourth gear member being penetratingly inserted into the main output shaft with an elastic clutch as an intermediary, and the sub-output shaft is provided with first to third output shafts, each shaft being provided with a fifth gear member at the end thereof to engage with the main output shaft via a crown gear.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
F16H 1/06 - Transmissions à engrenages pour transmettre un mouvement rotatif sans engrenages à mouvement orbital comportant uniquement deux organes engrenés dont les axes sont parallèles
F16H 1/12 - Transmissions à engrenages pour transmettre un mouvement rotatif sans engrenages à mouvement orbital comportant uniquement deux organes engrenés dont les axes ne sont pas parallèles
The present invention relates to an apparatus for assembling a robot, the apparatus assisting a user so that the components of a robot can be easily examined and effectively notifying the user of components necessary to actually make the robot. An apparatus for assembling a robot according to an embodiment of the present invention comprises a storage unit, a package selection unit and an example robot display unit. Here, the storage unit has information about a robot and a plurality of components constituting the robot, and information about one or more packages, each of which contains a plurality of previously set components. The package selection unit displays at least one package stored in the storage unit, and allows a user to select at least one package by displaying a selection window by means of which an input for the package quantity, numbering at least one, is received. And, the example robot display unit determines the robots which can be made using the components in the package selected from the package selection window, displays the robots on an example robot display window, and allows the user to select a robot.
Disclosed is a rivet tool for installing and removing an elastic rivet. More specifically, disclosed is a rivet tool for installing and removing elastic rivets allowing a frame included in a scientific instrument to be effectively separated and attached. One embodiment according to the present invention comprises: a body portion; and a first extraction means extending from one end of the body portion, and provided so as to install and remove elastic rivets, wherein in between the ends of the first extraction means is a first open portion in open communication so that a pair of first support plates can be provided at both ends of the first extraction means, each first support plate being provided with a first hooking part on the inner side thereof to hook an elastic rivet and a curved first supporting part at the end of the first support plate so that an elastic rivet can be installed and removed vertically by means of the first hooking parts.
Described herein is a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop scheme including the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. Accordingly, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to limitations on the length of each field in accordance with an instruction set and a definition of a parameter.
G05B 15/02 - Systèmes commandés par un calculateur électriques
H04L 29/08 - Procédure de commande de la transmission, p.ex. procédure de commande du niveau de la liaison
G05B 19/414 - Structure du système de commande, p. ex. automate commun ou systèmes à multiprocesseur, interface vers le servo-contrôleur, contrôleur à interface programmable
75.
CASE FOR MOBILE COMMUNICATION DEVICE HAVING SECURITY MONITORING FUNCTION
Provided is a case for a mobile communication device, the case having a security monitoring function according to an embodiment of the present invention comprising: a body part having an accommodation part for detachably accommodating a mobile communication device; a security monitoring unit, provided on the body part, having an infrared sensor or a magnetic sensor; an external communication unit for transmitting and receiving signals to and from the mobile communication device; a control unit, electrically connected to the security monitoring unit and the outer communication unit, for controlling same; and a function extending structure, on the body part, for allowing the security function to be extended.
H04B 1/38 - Émetteurs-récepteurs, c.-à-d. dispositifs dans lesquels l'émetteur et le récepteur forment un ensemble structural et dans lesquels au moins une partie est utilisée pour des fonctions d'émission et de réception
H04W 12/00 - Dispositions de sécuritéAuthentificationProtection de la confidentialité ou de l'anonymat
76.
CASE FOR MOBILE COMMUNICATION DEVICE HAVING GAME CONTROLLER FUNCTIONS
Provided is a case for a mobile communication device, the case having game controller functions according to an embodiment of the present invention comprising: a body part having an accommodation part for detachably accommodating a mobile communication device; a key input unit, attached to the body part, for receiving entered commands for controlling a game from a user; an external communication unit for transmitting and receiving signals to and from the mobile communication device; a control unit, electrically connected to the key input unit and the external communication unit, for controlling same; and a function extending structure, on the body part, for allowing the game control functions to be extended.
H04B 1/38 - Émetteurs-récepteurs, c.-à-d. dispositifs dans lesquels l'émetteur et le récepteur forment un ensemble structural et dans lesquels au moins une partie est utilisée pour des fonctions d'émission et de réception
An actuator for controlling joint movement of a robot includes a first deceleration module and a second deceleration module, which receives and outputs driving force by being in gear with the first deceleration module. The first deceleration module includes a driving motor, a first print circuit board for controlling the driving motor by feeding back the output of the second deceleration module, at least one first reduction gear which is rotated by a driving motor, and a housing on which the driving motor, the first print circuit board, and the first reduction gear are mounted. The second deceleration module includes at least one other reduction gear, which rotates by being in gear with the first reduction gear, and a case on which the second reduction gear is mounted and which is connected to the housing.
F16H 1/20 - Transmissions à engrenages pour transmettre un mouvement rotatif sans engrenages à mouvement orbital comportant plus de deux organes engrenés
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
F16H 35/00 - Transmissions ou mécanismes ayant d'autres caractéristiques de fonctionnement particulières
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
F16H 37/04 - Combinaisons uniquement de transmissions à engrenages
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
78.
MOBILE COMMUNICATION DEVICE CASE WITH EXTENDABLE UNIT
One embodiment of the present invention provides a mobile communication device case with an extendable unit having various functions. The mobile communication device case with an extendable unit according to an embodiment of the present invention comprises a case, coupling openings, and a unit. Here, the case has a flat-type plate penetrated by a plurality of coupling opening at a predetermined distance according to at least one of the vertical direction or the horizontal direction, and is detachably coupled to the mobile communication device case. The coupling openings are coupled to coupling holes. In addition, the unit has at least one coupling hole and is coupled to coupling openings so as to be detachably provided to the case.
Provided are a link mechanism which is variously combined, assembled and disassembled, and a universal coupler including the same. The link mechanism according to one embodiment of the present invention includes a plate and a coupling piece. The plate has a flat plate shape and a thickness and includes a plurality of coupling holes formed to pass therethrough, the coupling holes have the same size and shape and are disposed at a interval in at least one of a column direction and a row direction. The coupling piece is inserted into the coupling holes of two or more plates to couple two or more plates to each other.
F16B 5/00 - Jonction de feuilles ou de plaques soit entre elles soit à des bandes ou barres parallèles à elles
F16B 19/10 - Rivets creuxRivets en plusieurs morceaux fixés par action mécanique
F16B 5/06 - Jonction de feuilles ou de plaques soit entre elles soit à des bandes ou barres parallèles à elles par brides ou clips
F16B 19/02 - Chevilles ou manchons pour positionner les parties de machines, p. ex. goupilles coniques à encoche, goupilles de montage, manchons, bagues excentriques d'ajustement
F16B 2/26 - Clips, c.-à-d. dispositifs de fixation à serrage effectué uniquement par la résistance à la déformation inhérente au matériau dont est fait le dispositif en matériau non élastique pliable, p. ex. des ligatures pour plantes
An actuator assembly according to one embodiment of the present invention comprises: a driving motor; one or more reduction gears rotating by the driving motor; and a lower frame on which the driving motor and the first reduction gear are provided and which is formed in a rectangular shape having two coupling surfaces in parallel to each other and two connection surfaces perpendicular to the coupling surfaces, wherein the lower frame has a plurality of coupling members formed to be separated from each other at a first interval parallel to the long sides of the coupling surfaces and a first width parallel to the short sides of the coupling surfaces.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
A general-purpose peripheral interface according to an embodiment of the present invention has a pair of complementary connectors including at least one input terminal, at least one output terminal, at least one source terminal, and a ground terminal, wherein upon a connector of a peripheral engaging a connector of the control apparatus an identification voltage with a range varying according to the kinds of peripherals may appear at the input terminal. In this case, the voltage ranges may be set so as not to overlap each other for different kinds of peripherals, which may be an input type, a mixed type of input and output, or an output type.
According to an embodiment of the present invention, an actuator assembly includes: a housing having an insert body and an insertion hole formed in the front side of the insert body; a horn gear mounted through the insertion hole; a rotational shaft arranged inside the housing so as to rotate along with the horn gear; a magnet mounted on the rotational shaft so as to rotate along with the rotational shaft; an encoder installed inside the housing so as to be separated from the magnet for detecting a magnetic field generated according to a rotation of the magnet; and a calibration jig mountable to the front side of the insert body having a reception part for fixedly receiving the insert body and a fixing hole formed through one side corresponding to the front side, wherein the calibration jig has an internal gear formed in the internal periphery of the fixing hole so as to engage the horn gear.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
An elastic coupler, according to one embodiment of the present invention, comprises: a hollow socket having an upper holding protrusion and a lower holding protrusion which are inserted into a first insertion hole and a second insertion hole which are respectively formed in a first object to be coupled and a second object to be coupled so as to couple the first object to be coupled and second object to be coupled and respectively protrude from an outer peripheral surface so as to be disposed on the upper end portion and the lower end portion of the hollow socket, and two or more guide slots which are formed on the outer peripheral surface from the lower end in a direction parallel to the direction of insertion; support pins which are inserted into the hollow socket so as to limit the movement of the upper holding protrusion and the lower holding protrusion towards the inside of the hollow socket; and fixing pins having two or more guide protrusions which protrude from the outer peripheral surfaces of the support pins and respectively move along the guide slots.
The present invention relates to an integrated cycloid decelerator, and to a cycloid decelerator comprising an input unit for receiving a power input, a decelerating unit for decelerating the input power by a deceleration ratio, an output unit for outputting the decelerated power, and a case containing the input unit, the decelerating unit, and the output unit, wherein a pin gear, which contacts and decelerates a plate gear (configuring the decelerating unit) by the number of teeth thereof, is integrally formed on the inner peripheral surface of the case. The cycloid decelerator also comprises: a bearing slot integrally formed into the inner peripheral surface of the case at a distance from the pin gear in the output shaft direction; and a bearing having a portion inserted into the bearing slot and the remaining portion inserted in the outer peripheral surface of the output unit to rotatably support the output unit. According to the present invention, by integrating the case, the pin gear, and the bearing, processing errors and assembling errors can be eliminated to achieve high precision and high deceleration properties, manufacturing costs can be reduced, and the overall volume of the decelerator can be reduced.
F16H 1/34 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital comportant des engrenages ayant essentiellement des éléments engrenants autres que des dentures à développante ou cycloïdales
F16H 1/28 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital
86.
CYCLOID DECELERATOR ENABLED WITH LOCATION FEEDBACK
According to one embodiment of the present invention, a cycloid decelerator comprises: a case having a mounting space, and a plurality of pin gears which are formed so as to protrude from an inner circumferential surface of the mounting space along the inner circumferential surface; an input gear which is rotatable by means of a driving force that is inputted from outside; first and second eccentric shafts, which are eccentrically placed with respect to the center of rotation of the input gear; first and second plate gears, which are installed on the first and second eccentric shafts, respectively, and rotate by coming into contact with the pin gear as a result of the rotation of the first and second eccentric shafts, respectively; an output member which is fixed to the plate gears and rotates with the plate gears; and a location detector for detecting the rotation of the output member, converting the result that is detected into an electric signal and transmitting same.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
According to one embodiment of the present invention, an actuator for controlling joint movement of a robot comprises a first deceleration module and a second deceleration module, which receives and outputs driving force by being in gear with the first deceleration module, wherein the first deceleration module comprises a driving motor, a first print circuit board for controlling the driving motor by feeding back the output of the second deceleration module, at least one first reduction gear which is rotated by a driving motor, and a housing on which the driving motor, the first print circuit board, and the first reduction gear are mounted, and wherein the second deceleration module comprises at least one second reduction gear, which rotates by being in gear with the first reduction gear, and a case on which the second reduction gear is mounted and which is connected to the housing.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 1/00 - Transmissions à engrenages pour transmettre un mouvement rotatif
According to the one embodiment of the present invention, an actuator for controlling joint movement of a robot comprises: a first deceleration module comprising a driving motor, at least one first reduction gear which is rotated by the driving motor, and a housing on which the driving motor and the first reduction gear are mounted; a second deceleration module comprising at least one second reduction gear which rotates by receiving driving force from the first reduction gear, and a case on which the second reduction gear is mounted; a first pulley module comprising a first gear, which rotates by being in gear with the first gear, and a first pulley housing on which the first pulley is mounted and which is fixed to the housing; a second pulley module comprising an output gear which rotates by being in gear with the second reduction gear, a second gear which rotates by being in gear with the output gear, the second pulley which rotates with the second gear, and a second pulley housing on which the second pulley is mounted and which is fixed to the housing; and a belt, which is connected to the first pulley and the second pulley, for transferring the driving force from the first pulley to the second pulley.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
F16H 1/00 - Transmissions à engrenages pour transmettre un mouvement rotatif
The present invention relates to a method for controlling a network-type actuator module, and provides a method for controlling a plurality of network-type actuator modules which are connected to a main controller through a multi-drop method comprising the steps of: the main controller transmitting to the actuator module one instruction packet comprising a plurality of IDs; and an actuator module, which corresponds to the ID, transmitting a status packet to the main controller, wherein the actuator module transmits the status packet according to the order of the ID, which is expressed on the instruction packet. According to the present invention, unlimited information required from the plurality of actuators can be read from a single transmission of the packet instruction by flexibly expanding limitations due to a limitation on the length of each field in accordance with a instruction set and a definition of a parameter, and more refined, sophisticated, and accurate control is enabled by allowing control of each of the actuators.
The present invention relates to a decelerator structure using a plurality of two-speed spur gears, and an actuator module including same, and the decelerator structure using the plurality of two-speed spur gears for reducing a high-speed rotation of a rotary motor to a low speed so as to transfer torque to an output gear, which is provided with a teeth surface on the outer circumferential surface thereof, comprises: a first speed reduction portion comprising an upper spur gear and a lower spur gear, which is integrally formed with a lower portion of the upper spur gear, and a two-speed spur gear, which rotatably coupled to the output gear, for a first speed reduction; and a second speed reduction portion, which is formed between a last two-speed spur gear of the first speed reduction portion and the output gear, comprising at least two two-speed spur gears for a secondary speed reduction, further comprising an upper spur gear, which is in gear with a lower spur gear of the last two-speed spur gear of the first speed reduction portion, and the lower spur gear which is in gear and moves in linkage with the teeth surface of the output gear, wherein the at least two two-speed spur gears for the second speed reduction are symmetrically formed.
F16H 1/06 - Transmissions à engrenages pour transmettre un mouvement rotatif sans engrenages à mouvement orbital comportant uniquement deux organes engrenés dont les axes sont parallèles
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
09 - Appareils et instruments scientifiques et électriques
Produits et services
Robot machines; Actuators for mechanisms; Gears for machines; Driving devices for machines; Motor for machines; Industrial robots; Handling machines{automatic}(manipulators); Power transmissions for machines; Reduction gears other than for land vehicles; Gears other than for land vehicles; Driving devices for lifts. Computer programs for designing and remotely controlling motorized toys; Downloadable software programs; Educational robot kits; Downloadable electronic publications; Computer programs{downloadable software}; Frequency converter; Computer software for mobile phones; Video game cartridges; Downloadable music files; Electronic magnetic recording media, pre-recorded software; Pre-recorded compact disc; Remote controllers, programmable controllers; Computer controllers, electrical controllers; Robot for educational purposes; USB flash drives.
09 - Appareils et instruments scientifiques et électriques
28 - Jeux, jouets, articles de sport
Produits et services
Robot machines; Actuators for mechanisms; Gears for machines; Driving devices for machines; Motor for machines; Industrial robots; Handling machines{automatic}(manipulators); Power transmissions for machines; Reduction gears other than for land vehicles; Gears other than for land vehicles; Driving devices for lifts. Computer programs for designing and remotely controlling motorized toys; Educational robot kits; Video game cartridges; Pre-recorded compact disc; Remote controllers, programmable controllers; Computer controllers, electrical controllers; Robot for educational purposes. Toy robots; Dolls; Toys; Apparatus for games; Games; Toys [playthings]; Transforming robotic toys.
09 - Appareils et instruments scientifiques et électriques
28 - Jeux, jouets, articles de sport
Produits et services
Robot machines; Actuators for mechanisms; Gears for machines; Driving devices for machines; Motor for machines; Industrial robots; Handling machines{automatic}(manipulators); Power transmissions for machines; Reduction gears other than for land vehicles; Gears other than for land vehicles; Driving devices for lifts; all the aforesaid goods excluding apparatus and instruments and their parts and fittings for the culinary preparations of food and/or beverages. Computer programs for designing and remotely controlling motorized toys; Downloadable software programs; Educational robot kits; Downloadable electronic publications; Computer programs{downloadable software}; Frequency converter; Computer software for mobile phones; Video game cartridges; Downloadable music files; Electronic magnetic recording media, pre-recorded software; Pre-recorded compact disc; Remote controllers, programmable controllers; Computer controllers, electrical controllers; Robot for educational purposes; USB flash drives. Toy robots; Dolls; Toys; Apparatus for games; Games; Toys [playthings]; Transforming robotic toys .
Pneumatic valve actuators, hydraulic valve actuators, rotary actuators, and controllers used therewith sold as a unit; reduction gears other than for land vehicles; gears for machines; gear motors not for land vehicles; motors other than for land vehicles, all of the foregoing for use in connection with robots
The present invention relates to a PC-based module-type humanoid robot. A PC-based module-type humanoid robot platform includes: a main control device using one general PC or a plurality of general PCs for a plurality of users as a main control device; and a plurality of robot modules controlled on a bus by the main control device having an allocated original ID according to a communication protocol. Therefore, according to the present invention, since a PC operates as the main control device, the PC-based module-type humanoid robot platform, in which a humanoid robot can autonomously make determinations and perform actions according to the situation and surroundings thereof without a user operating a controller, is provided.
