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1. 发明申请

WO2013039281A1 MANIPULATOR WITH WEIGHT COMPENSATION MECHANISM AND FACE ROBOT USING THE SAME 审中-公开
标题翻译：具有重量补偿机构的操纵器和使用其的机器人
公开(公告)号：WO2013039281A1
公开(公告)日：2013-03-21
申请号：PCT/KR2011/009182
申请日：2011-11-30
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KIM, Seung Jong , CHO, Chang Hyun , CHOI, Jeong Soo , OH, Kyung Geune , JUNG, Chan Yul
发明人： KIM, Seung Jong , CHO, Chang Hyun , CHOI, Jeong Soo , OH, Kyung Geune , JUNG, Chan Yul
IPC分类号： B25J19/00 , B25J9/06
CPC分类号： B25J11/0015 , B25J19/0016
摘要： This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. In order to attain the above-described object, a manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts when the wires pressurize the spring or cancel the pressurized state thereof due to the rotation of respective rotation parts by the elastic restoring force of the spring.
摘要翻译：本公开涉及一种面向机器人，其类似于人体头部的运动和支持机器人面部的多关节机械手的操作，更具体地，涉及可以补偿由重力引起的影响并施加在旋转上的结构零件围绕其轴旋转。为了实现上述目的，提供了一种具有本公开的重量补偿机构的操纵器，所述操纵器具有连接到围绕其轴线旋转的多个轴线的旋转部分，所述操纵器包括：重量补偿机构，其支撑线连接到旋转部分，通过弹簧以旋转状态接收重力，并且当线路对弹簧施加压力或者由于各个旋转部分的旋转由于弹性恢复力而消除其加压状态时，补偿施加在旋转部件上的重力的影响的春天

2. 发明申请

WO2003027520A1 PASSIVE AND ACTIVE MAGNETIC BEARING BY USING THE LORENTZ FORCE 审中-公开
标题翻译：使用LORENTZ力的被动和主动磁力轴承
公开(公告)号：WO2003027520A1
公开(公告)日：2003-04-03
申请号：PCT/KR2002/001710
申请日：2002-09-12
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KIM, Seung-Jong , HWANG, Yo-Ha , LEE, Jong-Min
发明人： KIM, Seung-Jong , HWANG, Yo-Ha , LEE, Jong-Min
IPC分类号： F16C32/04
CPC分类号： F16C32/0436 , H02K7/09
摘要： The present invention relates to a passive and active magnetic bearing using the Lorentz force, which consists of a rotor with a permanent magnet at its center and several coils which are located at an outside axial air gap of the rotor and fixed to a stator. The air gap is designed to be narrow at the center and gets increasingly wider towards the radial direction so that flux density by the permanent magnet varies according to the radial position. For the passive function, a DC current flows in all coils so that the direction of the generated Lorenz forces is outside in the air gap. It makes it Possible that, when the rotor moves from the predesignated Position, a restoring force is generated which steadily levitates the rotor. While, it can also perform as an active magnetic bearing, if the currents are controlled depending on the location of the rotor.
摘要翻译：本发明涉及一种使用洛伦兹力的无源和主动磁轴承，其由在其中心处具有永磁体的转子和位于转子的外部轴向气隙处并固定到定子的若干线圈组成。气隙被设计成在中心处变窄并且朝向径向方向变得越来越宽，使得永磁体的磁通密度根据径向位置而变化。对于被动功能，直流电流在所有线圈中流动，使得所产生的洛伦兹力的方向在气隙中。这使得当转子从预先指定的位置移动时，可能产生使转子稳定地浮起的恢复力。而且，如果根据转子的位置来控制电流，它也可以作为主动磁轴承。

3. 发明申请

WO2009054562A1 AIRFOIL-MAGNETIC HYBRID BEARING AND A CONTROL SYSTEM THEREOF 审中-公开
标题翻译：气动磁悬浮轴承及其控制系统
公开(公告)号：WO2009054562A1
公开(公告)日：2009-04-30
申请号：PCT/KR2007/005811
申请日：2007-11-19
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , LEE, Yong Bok , KIM, Chang Ho , KIM, Seung Jong , LEE, Sang Hwa , KIM, Hee Soo
发明人： LEE, Yong Bok , KIM, Chang Ho , KIM, Seung Jong , LEE, Sang Hwa , KIM, Hee Soo
IPC分类号： F16C27/02
CPC分类号： F16C32/0444 , F16C17/024 , F16C32/0402 , F16C32/048
摘要： The present invention relates to an airfoil-magnetic hybrid bearing, which is a combination of a magnetic bearing and airfoil bearing. An airfoil- magnetic hybrid bearing of the present invention comprises: a housing around a rotating shaft of a rotation device; an airfoil bearing positioned between the housing and the rotating shaft for forming dynamic pressure to levitate the rotating shaft during rotation of the rotating shaft; a magnetic bearing including a plurality of cores positioned radially between inner surface of the housing and outer surface of the airfoil bearing, the cores being projected to the center of the rotating shaft, and coils wound to the cores to levitate the rotating shaft using a magnetic attractive force generated by a current application thereto; and a coupling segment for coupling the airfoil bearing to the magnetic bearing directly.
摘要翻译：本发明涉及一种磁性轴承和翼型轴承的组合的翼型 - 磁性混合轴承。本发明的翼型磁性混合轴承包括：围绕旋转装置的旋转轴的壳体; 位于所述壳体和所述旋转轴之间的翼型轴承，用于在所述旋转轴旋转期间形成动态压力以使所述旋转轴悬浮; 一种磁性轴承，包括径向位于壳体的内表面和翼型件的外表面之间的多个芯体，芯体突出到旋转轴的中心，线圈缠绕到芯体上以使用磁性悬浮在旋转轴上由当前应用产生的吸引力; 以及用于将翼型轴承直接连接到磁性轴承的联接段。

4. 发明申请

WO2006068364A1 VENTILATION APPARATUS 审中-公开
标题翻译：通风装置
公开(公告)号：WO2006068364A1
公开(公告)日：2006-06-29
申请号：PCT/KR2005/003414
申请日：2005-10-13
申请人： SAMSUNG ELECTRONICS, CO., LTD. , KIM, Sung-Ki , KIM, Seo-Young , KIM, Seung-Jong , KIM, Won-Nyun
发明人： KIM, Sung-Ki , KIM, Seo-Young , KIM, Seung-Jong , KIM, Won-Nyun
IPC分类号： F04D25/08
CPC分类号： F04D33/00
摘要： A ventilation apparatus includes a stator, a vibrator arranged close to the stator, a permanent magnet to generate a magnet flux to form a path of the magnet flux along the stator and the vibrator, a coil wound around the stator or vibrator, and a ventilator coupled to the vibrator and operated by a linear reciprocating motion of the vibrator generated when an electric current is applied to the coil to change the magnet flux of the permanent magnet. Thus, the ventilation apparatus having a simplified ventilation structure increases a ventilation efficiency.
摘要翻译：通风装置包括定子，靠近定子设置的振动器，永磁体，用于产生磁通以形成沿着定子和振子的磁通量的路径，缠绕在定子或振动器上的线圈和通气机耦合到振动器并且当电流施加到线圈时产生的振动器的线性往复运动来操作，以改变永磁体的磁通量。因此，具有简化的通气结构的通气装置增加了通气效率。

5. 发明申请

WO2006043734A1 MICRO POWER GENERATING DEVICE 审中-公开
标题翻译：微型发电装置
公开(公告)号：WO2006043734A1
公开(公告)日：2006-04-27
申请号：PCT/KR2004/003058
申请日：2004-11-25
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , LEE, Yong Bok , KIM, Seung-Jong , KIM, Chang Ho , RYU, Keun
发明人： LEE, Yong Bok , KIM, Seung-Jong , KIM, Chang Ho , RYU, Keun
IPC分类号： F02C3/00
CPC分类号： H02K7/1823 , F01D25/22 , F02C3/05 , F05D2240/52 , F05D2250/82
摘要： There is provided a micro power generating device. A compressor impeller and a turbine wheel are coupled to the ends of a rotating shaft. A cooler is provided for lowering a temperature of the compressed air from the compressor impeller. The compressed air is mixed with the fuel and combusted in a combustion chamber. An air foil thrust bearing for supporting the rotating shaft has a thrust collar coupled to the rotating shaft, as well as a pair of thrust discs located apart from the thrust collar and fixed to the housing. Impeller type seals are formed at both surfaces of the thrust collar and impulse turbine blades are formed at the periphery of the thrust collar. A generator is positioned between the air foil thrust bearing and the compressor impeller. A portion of the cool air is bypassed toward the generator and the impulse turbine blades from the cooler.
摘要翻译：提供了微型发电装置。压缩机叶轮和涡轮机叶轮联接到旋转轴的端部。提供了一种用于降低来自压缩机叶轮的压缩空气的温度的冷却器。压缩空气与燃料混合并在燃烧室中燃烧。用于支撑旋转轴的气翼止推轴承具有联接到旋转轴的止推环，以及一对与推力环相隔离并固定到壳体的推力盘。叶片型密封件形成在推力环的两个表面处，并且冲击式涡轮叶片形成在推力套环的周边。发电机位于气翼推力轴承和压缩机叶轮之间。冷空气的一部分绕冷却器朝向发生器和脉冲涡轮机叶片旁路。

6. 发明申请

WO2006126788A1 BEARINGLESS STEP MOTOR 审中-公开
标题翻译：无轴步进电机
公开(公告)号：WO2006126788A1
公开(公告)日：2006-11-30
申请号：PCT/KR2006/001660
申请日：2006-05-03
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KIM, Seung Jong , BACH, Du Jin , KONG, Hosung
发明人： KIM, Seung Jong , BACH, Du Jin , KONG, Hosung
IPC分类号： H02K37/04
CPC分类号： H02K7/09 , F16C32/0425 , H02K37/18
摘要： There is provided a bearingless step motor in which a rotating shaft can rotate while rising from a main body by a magnetic force without using a mechanical bearing. The bearingless step motor comprises a stator including stator cores having winding portions and a rotor including a rotating shaft and rotor cores. The rotor rotates by a magnetic interaction between the rotor cores and the stator cores. A first permanent magnet is mounted to the rotor and a second permanent magnet is mounted to the stator. The first permanent magnet and the second permanent magnet are arranged so that a repulsive force is generated between magnetic poles. There is little power consumption for raising the rotating shaft and a complicated system for controlling the rise of the rotating shaft is unnecessary. Thus, the motor can be manufactured with a light and compact structure.
摘要翻译：提供了一种无轴承步进电机，其中旋转轴可以在不使用机械轴承的情况下通过磁力从主体上升而旋转。无轴承步进电动机包括定子，该定子包括具有绕组部分的定子铁心和包括转轴和转子铁心的转子。转子通过转子芯和定子芯之间的磁相互作用旋转。第一永磁体安装在转子上，第二永久磁铁安装在定子上。第一永磁体和第二永久磁铁配置成在磁极之间产生排斥力。用于提升旋转轴的功耗很小，并且不需要用于控制旋转轴的上升的复杂系统。因此，电动机可以用轻且紧凑的结构制造。

7. 发明申请

WO2003101675A1 FLEXIBLE GRIPPER APPARATUS WITH MULTIPLE GRIPPING POINTS FOR PARTS HANDLING 审中-公开
标题翻译：柔性抓斗装置，具有多个用于部件处理的抓斗点
公开(公告)号：WO2003101675A1
公开(公告)日：2003-12-11
申请号：PCT/KR2002/001846
申请日：2002-10-04
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGIE , KIM, Mun, Sang , HWANG, Yo, Ha , KIM, Seung, Jong , SHIN, Hyun, Oh , SHIN, Jong, Ryul , OH, Seung, Jae , LIM, Jeong, Chan , PARK, Sung, Kee , CHOI, Jonk, Suk
发明人： KIM, Mun, Sang , HWANG, Yo, Ha , KIM, Seung, Jong , SHIN, Hyun, Oh , SHIN, Jong, Ryul , OH, Seung, Jae , LIM, Jeong, Chan , PARK, Sung, Kee , CHOI, Jonk, Suk
IPC分类号： B25J9/00
CPC分类号： B25J15/0052 , B25J15/0061 , B25J15/06
摘要： The present invention presents a flexible gripper apparatus with multiple gripping points for parts handling, installed at loader/unloader of a robot or a press with a state that the gripper locations of the gripping apparatus can be moved into arbitrary three dimensional locations, that changes the locations of gripping points according to the size and the shape of an object part and performs repetitive operations continually with fixing the locations thereat. Consequently, a flexible gripper apparatus with multiple gripping points for parts handling, of which. each gripping point can be operated independently or some gripping points are linked to be operated to control the gripping locations in three-dimensional space, controls the gripper locations by manual operation and/or by a pre-inputted program according to the size and the shape of an object part when an object part is being changed.
摘要翻译：本发明提出了一种具有多个用于零件处理的夹持点的柔性夹持装置，其安装在机器人的装载机/卸载机上或具有夹持装置的夹持器位置能够移动到任意三维位置的状态下的压力机，根据物体部件的尺寸和形状，夹持点的位置，并且在固定位置的同时进行重复操作。因此，具有用于部件处理的多个夹紧点的柔性夹持器装置。每个夹持点可以独立操作，或者一些夹持点被联接以操作以控制三维空间中的夹持位置，通过手动操作和/或通过预先输入的程序根据尺寸和形状来控制夹持器位置当对象部分被改变时的对象部分。

8. 发明申请

WO2008029969A1 DEVICE FOR GENERATING STIFFNESS AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME 审中-公开
标题翻译：用于产生包含其的机器人操纵器的刚度和接头的装置
公开(公告)号：WO2008029969A1
公开(公告)日：2008-03-13
申请号：PCT/KR2006/005282
申请日：2006-12-07
申请人： KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY , KANG, Sung Chul , KIM, Munsang , KIM, Seung Jong , YUN, Seung Kook , YOO, Jeonghoon
发明人： KANG, Sung Chul , KIM, Munsang , KIM, Seung Jong , YUN, Seung Kook , YOO, Jeonghoon
IPC分类号： B25J17/02
CPC分类号： B25J19/0004 , Y10T74/20329
摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.
摘要翻译：本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。电流调节装置调节施加到线圈的电流。

9. 发明申请

WO03027520A8 PASSIVE AND ACTIVE MAGNETIC BEARING BY USING THE LORENTZ FORCE 审中-公开
标题翻译：使用LORENTZ力的被动和主动磁力轴承
公开(公告)号：WO03027520A8
公开(公告)日：2004-05-06
申请号：PCT/KR0201710
申请日：2002-09-12
申请人： KOREA INST SCI & TECH , KIM SEUNG-JONG , HWANG YO-HA , LEE JONG-MIN
发明人： KIM SEUNG-JONG , HWANG YO-HA , LEE JONG-MIN
IPC分类号： F16C32/04 , F16C39/06 , H02K7/09
CPC分类号： F16C32/0436 , H02K7/09
摘要： The present invention relates to a passive and active magnetic bearing using the Lorentz force, which consists of a rotor with a permanent magnet at its center and several coils which are located at an outside axial air gap of the rotor and fixed to a stator. The air gap is designed to be narrow at the center and gets increasingly wider towards the radial direction so that flux density by the permanent magnet varies according to the radial position. For the passive function, a DC current flows in all coils so that the direction of the generated Lorenz forces is outside in the air gap. It makes it Possible that, when the rotor moves from the predesignated Position, a restoring force is generated which steadily levitates the rotor. While, it can also perform as an active magnetic bearing, if the currents are controlled depending on the location of the rotor.
摘要翻译：本发明涉及一种使用洛伦兹力的无源和主动磁轴承，其由在其中心处具有永磁体的转子和位于转子的外部轴向气隙处并固定到定子的若干线圈组成。气隙被设计成在中心处变窄并且朝向径向方向变得越来越宽，使得永磁体的磁通密度根据径向位置而变化。对于被动功能，直流电流在所有线圈中流动，使得所产生的洛伦兹力的方向在气隙中。这使得当转子从预先指定的位置移动时，可能产生使转子稳定地浮起的恢复力。而且，如果根据转子的位置来控制电流，它也可以作为主动磁轴承。

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