公开(公告)号：US08950285B2

公开(公告)日：2015-02-10

申请号：US12878809

申请日：2010-09-09

申请人： Hyun Sik Sim ,  Soo Sang Yang ,  Youn Baek Lee ,  Yeon Taek Oh

发明人： Hyun Sik Sim ,  Soo Sang Yang ,  Youn Baek Lee ,  Yeon Taek Oh

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10

CPC分类号： B25J9/104 ,  B25J9/1025 ,  Y10S901/27 ,  Y10T74/20305 ,  Y10T74/20323

摘要： Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.

摘要翻译： 本文公开了一种机器人关节驱动方法，计算机可读介质和装置组件，其执行类似于人的运动，以及具有该运动的机器人。 这些运动通过配置适合于各个接头的特性的接合驱动装置来实现。 机器人关节驱动装置组件包括使用线的腱型接合驱动装置和使用齿轮减速法的谐波驱动型接头驱动装置。 腱型接头驱动装置用于驱动需要高背驱性的旋转接头，并且谐波驱动型接头驱动装置用于驱动需要高刚性和高精度的旋转接头。

公开(公告)号：US20140084131A1

公开(公告)日：2014-03-27

申请号：US13955550

申请日：2013-07-31

申请人： Hyun-Sik SIM ,  Yongjae KIM ,  Narae LEE ,  Youn Baek LEE

发明人： Hyun-Sik SIM ,  Yongjae KIM ,  Narae LEE ,  Youn Baek LEE

IPC分类号： B25J19/00

CPC分类号： B25J19/002

摘要： The present inventive concepts relate to an apparatus having a multi-jointed arm. The apparatus having a multi-jointed arm may include a body; a multi-jointed arm having a first link rotatably combined with the body at a first joint and a second link rotatably combined with the first link at a second joint; and a compensator generating a compensation moment cancelling out a moment being generated by a weight of the multi-jointed arm. The compensator includes a compensation load generating the compensation moment, and a compensation link connecting the compensation load and the multi-jointed arm so that the compensation load and the multi-jointed arm are on opposite sides of the first joint.

摘要翻译： 本发明构思涉及具有多关节臂的装置。 具有多关节臂的装置可以包括主体; 多关节臂，其具有在第一关节处可转动地与所述主体结合的第一连杆和在第二关节处与所述第一连杆可旋转地组合的第二连杆; 以及补偿器，其产生补偿力矩消除由多关节臂的重量产生的力矩。 补偿器包括产生补偿力矩的补偿负荷，以及连接补偿负荷和多关节臂的补偿连杆，使得补偿负荷和多关节臂位于第一关节的相对侧。

公开(公告)号：US08459139B2

公开(公告)日：2013-06-11

申请号：US12654300

申请日：2009-12-16

申请人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

发明人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  F16H27/02 ,  F16H29/02 ,  F16H29/20

CPC分类号： B25J9/1045 ,  Y10T74/18832 ,  Y10T74/20323 ,  Y10T74/20329

摘要： Disclosed are a robot joint driving apparatus and a robot having the same, capable of minimizing tension of a wire applied to a movable member by installing an idle pulley in a power transmission structure using a ball screw apparatus and the wire. The robot joint driving apparatus includes a reversible drive motor, a pair of movable members performing a linear movement according to rotation of the reversible drive motor, a wire connected to the movable members from both directions of the movable members, an idle pulley rotatably installed at one side of the wire, a joint part rotatably installed at an opposite side of the wire, and an adjustment unit to adjust tension of the wire.

摘要翻译： 公开了一种机器人关节驱动装置和具有该机器人关节驱动装置的机器人，其能够通过使用滚珠丝杠装置和线将动力传递结构中的怠速滑轮安装来最小化施加到可动构件的线的张力。 机器人关节驱动装置包括可逆驱动电动机，根据可逆驱动电动机的旋转而进行直线运动的一对可动部件，从可动部件的两个方向与可动部件连接的电线，可旋转地安装在 线的一侧，可旋转地安装在线的相对侧的接合部，以及用于调节线的张力的调节单元。

公开(公告)号：US20100061835A1

公开(公告)日：2010-03-11

申请号：US12461677

申请日：2009-08-20

申请人： Hyun Sik Sim

发明人： Hyun Sik Sim

IPC分类号： B25J15/08

CPC分类号： B25J5/00 ,  B25J9/104 ,  B25J15/0009

摘要： A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.

摘要翻译： 一种机器人手，其使致动器的数量最小化并且通过扭矩限制器调节关节的弯曲角度以灵活地和精细地控制手指单元，以及具有机器人手的类人机器人。 机器人手包括设置在多个接头的至少任何一个接头上的扭矩限制器，以通过动力传递构件将多个接头的另一接头与任何一个接头连接。

公开(公告)号：US08342586B2

公开(公告)日：2013-01-01

申请号：US12461677

申请日：2009-08-20

申请人： Hyun Sik Sim

发明人： Hyun Sik Sim

IPC分类号： B25J15/10

CPC分类号： B25J5/00 ,  B25J9/104 ,  B25J15/0009

摘要： A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.

摘要翻译： 一种机器人手，其使致动器的数量最小化并且通过扭矩限制器调节关节的弯曲角度以灵活地和精细地控制手指单元，以及具有机器人手的类人机器人。 机器人手包括设置在多个接头的至少任何一个接头上的扭矩限制器，以通过动力传递构件将多个接头的另一接头与任何一个接头连接。

公开(公告)号：US07689315B2

公开(公告)日：2010-03-30

申请号：US11877542

申请日：2007-10-23

申请人： Pyong-II Cho ,  Hyun-Sik Sim ,  Kyoung-Hwan Choi

发明人： Pyong-II Cho ,  Hyun-Sik Sim ,  Kyoung-Hwan Choi

IPC分类号： G06F19/00 ,  G05B11/01 ,  G06F11/30 ,  G21C17/00

CPC分类号： G05B19/042 ,  G05B2219/2602

摘要： A semiconductor equipment control system and method is provided. The semiconductor equipment control system preferably includes semiconductor equipment having a process recipe stored therein and a host connected to the semiconductor equipment through a network. The host preferably includes a database in which a reference recipe is stored and is preferably configured to receive and compare a final modification time of the process recipe with a final modification time of the reference recipe. When the final modifications times are equal, the host is preferably configured to instruct the semiconductor equipment to perform a process according to the process recipe. When the final modification times are different, the host is preferably configured to check a recipe body of the process recipe against a recipe body of the reference recipe to determine if the process recipe is within an established tolerance. If the process recipe is within tolerance, the host may instruct the semiconductor equipment to perform the process according to the process recipe. If the process recipe is not within tolerance, the host preferably interlocks the process. Using this semiconductor equipment and control method, unconditional checking of the process recipe body can be eliminated, thereby resulting in significant time savings and a more efficient manufacturing process.

摘要翻译： 提供了一种半导体设备控制系统和方法。 半导体设备控制系统优选地包括其中存储有工艺配方的半导体设备和通过网络连接到半导体设备的主机。 主机优选地包括其中存储参考食谱的数据库，并且优选地被配置为接收和比较处理食谱的最终修改时间与参考食谱的最终修改时间。 当最终修改时间相等时，主机优选地被配置为指示半导体设备执行根据处理配方的处理。 当最终修改时间不同时，主机优选地被配置为根据参考食谱的配方主体检查处理配方的配方主体，以确定处理配方是否在建立的公差内。 如果处理配方在公差范围内，则主机可以指示半导体设备根据处理配方进行处理。 如果工艺配方不在公差范围内，则主机优选地将该过程互锁。 利用这种半导体设备和控制方法，可以消除对过程配方体的无条件检查，从而节省大量的时间和更高效的制造过程。

公开(公告)号：US20110056321A1

公开(公告)日：2011-03-10

申请号：US12878809

申请日：2010-09-09

申请人： Hyun Sik SIM ,  Soo Sang Yang ,  Youn Baek Lee ,  Yeon Taek Oh

发明人： Hyun Sik SIM ,  Soo Sang Yang ,  Youn Baek Lee ,  Yeon Taek Oh

IPC分类号： B25J17/00

CPC分类号： B25J9/104 ,  B25J9/1025 ,  Y10S901/27 ,  Y10T74/20305 ,  Y10T74/20323

摘要： Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision.

摘要翻译： 本文公开了一种机器人关节驱动方法，计算机可读介质和装置组件，其执行类似于人的运动，以及具有该运动的机器人。 这些运动通过配置适合于各个接头的特性的接合驱动装置来实现。 机器人关节驱动装置组件包括使用线的腱型接合驱动装置和使用齿轮减速法的谐波驱动型接头驱动装置。 腱型接头驱动装置用于驱动需要高背驱性的旋转接头，并且谐波驱动型接头驱动装置用于驱动需要高刚性和高精度的旋转接头。

公开(公告)号：US20100162846A1

公开(公告)日：2010-07-01

申请号：US12654300

申请日：2009-12-16

申请人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

发明人： Youn Baek Lee ,  Hyun Sik Sim ,  Soo Sang Yang

IPC分类号： B25J18/00

CPC分类号： B25J9/1045 ,  Y10T74/18832 ,  Y10T74/20323 ,  Y10T74/20329

摘要： Disclosed are a robot joint driving apparatus and a robot having the same, capable of minimizing tension of a wire applied to a movable member by installing an idle pulley in a power transmission structure using a ball screw apparatus and the wire. The robot joint driving apparatus includes a reversible drive motor, a pair of movable members performing a linear movement according to rotation of the reversible drive motor, a wire connected to the movable members from both directions of the movable members, an idle pulley rotatably installed at one side of the wire, a joint part rotatably installed at an opposite side of the wire, and an adjustment unit to adjust tension of the wire.

摘要翻译： 公开了一种机器人关节驱动装置和具有该机器人关节驱动装置的机器人，其能够通过使用滚珠丝杠装置和线将动力传递结构中的怠速滑轮安装来最小化施加到可动构件的线的张力。 机器人关节驱动装置包括可逆驱动电动机，根据可逆驱动电动机的旋转而进行直线运动的一对可动部件，从可动部件的两个方向与可动部件连接的电线，可旋转地安装在 线的一侧，可旋转地安装在线的相对侧的接合部，以及用于调节线的张力的调节单元。

公开(公告)号：US08635929B2

公开(公告)日：2014-01-28

申请号：US12987244

申请日：2011-01-10

申请人： Soo Sang Yang ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

发明人： Soo Sang Yang ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

IPC分类号： F16H9/04

CPC分类号： B25J9/104 ,  B25J17/0241

摘要： A robot joint driving apparatus has an improved structure, a robot having the same, and a cable linkage method of the robot joint driving apparatus. In the robot joint driving apparatus, lines of a cable to drive a robot joint unit are connected plural times in parallel, thereby increasing torsional stiffness of the robot joint unit. Further, a cable fixing unit is provided on an output pulley, thereby preventing slippage of the cable on the output pulley. Moreover, the overall size of the robot joint driving apparatus is reduced due to an improved power transmission structure from a driving motor to the output pulley.

摘要翻译： 机器人关节驱动装置具有改进的结构，具有该机器人的机器人，以及机器人关节驱动装置的缆线连接方法。 在机器人关节驱动装置中，用于驱动机器人关节单元的电缆的线路并联多次，从而增加机器人关节单元的扭转刚度。 此外，在输出滑轮上设置电缆固定单元，从而防止电缆在输出滑轮上的滑动。 此外，由于从驱动马达到输出滑轮的改进的动力传递结构，机器人关节驱动装置的总体尺寸减小。

公开(公告)号：US20110167945A1

公开(公告)日：2011-07-14

申请号：US12987244

申请日：2011-01-10

申请人： Soo Sang YANG ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

发明人： Soo Sang YANG ,  Youn Baek Lee ,  Hyun Sik Sim ,  Yeon Taek Oh

IPC分类号： B25J17/00

CPC分类号： B25J9/104 ,  B25J17/0241

摘要： A robot joint driving apparatus has an improved structure, a robot having the same, and a cable linkage method of the robot joint driving apparatus. In the robot joint driving apparatus, lines of a cable to drive a robot joint unit are connected plural times in parallel, thereby increasing torsional stiffness of the robot joint unit. Further, a cable fixing unit is provided on an output pulley, thereby preventing slippage of the cable on the output pulley. Moreover, the overall size of the robot joint driving apparatus is reduced due to an improved power transmission structure from a driving motor to the output pulley.

摘要翻译： 机器人关节驱动装置具有改进的结构，具有该机器人的机器人，以及机器人关节驱动装置的缆线连接方法。 在机器人关节驱动装置中，用于驱动机器人关节单元的电缆的线路并联多次，从而增加机器人关节单元的扭转刚度。 此外，在输出滑轮上设置电缆固定单元，从而防止电缆在输出滑轮上的滑动。 此外，由于从驱动马达到输出滑轮的改进的动力传递结构，机器人关节驱动装置的总体尺寸减小。