Robots for industrial use; humanoid robots with artificial intelligence for industrial use; autonomous robots for industrial use; industrial robots; robot arms for industrial use; industrial robots for military purposes; industrial robots for machine tools; industrial indoor self-driving robots for household purposes; industrial transport robots; industrial robots used in stores
09 - Scientific and electric apparatus and instruments
Goods & Services
Humanoid robots with artificial intelligence for use in scientific research; humanoid robots having communication and learning functions for assisting and entertaining people; humanoid robots with artificial intelligence for preparing beverages; security surveillance robots; teaching robots; downloadable computer application software for robots, namely, software for controlling robots; recorded computer application software for robots, namely, software for controlling robots; downloadable operating system software for robots; recorded operating system software for robots; downloadable application software for smart devices for the purpose of controlling robots; downloadable computer software for robot programming; recorded computer software for robot programming; controllers for robot
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robots for helping with daily chores for household purposes;
self-driving robots for household purposes (Term considered
too vague by the International Bureau pursuant to Rule 13
(2) (b) of the Regulations); reduction gears being parts of
machines; robots for art exhibitions; self-driving robots
for military purposes (Term considered too vague by the
International Bureau pursuant to Rule 13 (2) (b) of the
Regulations); control mechanisms for machines, engines or
motors; automatic control mechanisms for robots (Term
considered too vague by the International Bureau pursuant to
Rule 13 (2) (b) of the Regulations); robotic cleaning
machines; driving devices for robots; gears for robot;
actuators for robots (Term considered too vague by the
International Bureau pursuant to Rule 13 (2) (b) of the
Regulations); control mechanisms for robots; robots for shop
services (Term considered too vague by the International
Bureau pursuant to Rule 13 (2) (b) of the Regulations);
robots for promoting products (Term considered too vague by
the International Bureau pursuant to Rule 13 (2) (b) of the
Regulations); robots for disinfection; robots for safety
inspection and monitoring of industrial plants; robots for
industrial use; entertainment robots for industrial use;
self-driving robots for industrial use; robots for carrying
[machine]; industrial robots used in distribution and
logistics; household cleaning and laundry robots with
artificial intelligence; robots for industrial use for the
disaster response; robots for environmental remediation
(Term considered too vague by the International Bureau
pursuant to Rule 13 (2) (b) of the Regulations). Teaching robots; smart devices application software for
control of robots; computer software for control of robots;
smart devices application software for programming of
robots; computer software for programming of robots; robotic
electrical control apparatus; operating system software for
robots; remote control apparatus for robots; electronic
control apparatus for robots; computer application software
for robots; lenses for telescopes; reflectors for
telescopes; tripods for telescopes; telescopic target
surveillance apparatus; telescopic target trackers;
telescopic target location apparatus; telescopic sights;
security surveillance robots; telescopes for smartphones;
laboratory robots; computer software for remote
telecommunication; electric motor controllers; aiming
telescopes; apparatus and instruments for astronomy;
astronomical telescopes; mounts for astronomical telescopes;
lenses for astrophotography; astrometric apparatus and
instruments; camera mounts; telepresence robots;
surveillance and reconnaissance and search robots for
military purposes; robots for military purposes; humanoid
robots with artificial intelligence for disaster rescue;
robots for collecting disaster information; military robots
for life-saving purposes namely for detecting and removing
explosives; robots for reconnaissance; robots for military
purposes for detecting explosives. Laser operating machines; laser therapy apparatus; medical
robots used in laparoscopic surgery; cupping robots;
surgical robots; nanorobots for medical purposes; robotic
exoskeleton suits for medical purposes; dermabraders;
medical apparatus and instruments for the treatment of skin. Robotic cars; automatic guided vehicles; automatic transport
vehicles; autonomous cars; self-driving robots for delivery;
self-driving cars; electric vehicles. Rental of robots (Term considered too vague by the
International Bureau pursuant to Rule 13 (2) (b) of the
Regulations); design of robots; research and development of
robots; engineering services relating to robotics; rental of
parts for robots (Term considered too vague by the
International Bureau pursuant to Rule 13 (2) (b) of the
Regulations); design of parts for robots; research and
development of parts for robots; rental of mounts for
astronomical telescopes; design of mounts for astronomical
telescopes; research and development of mounts for
astronomical telescopes; design of parts of mounts for
astronomical telescopes; research and development of parts
of mounts for astronomical telescopes; rental of computer
software; design of computer software; installation and
maintenance of computer software; updating of computer
software; research and development of computer software.
The present invention relates to a robot including a hydraulic power unit comprising: a body having a hydraulic channel through which a fluid is movable, a hydraulic power unit having a plurality of pumps and discharging a fluid to the hydraulic channel by using rotational force of the plurality of pumps, and a control unit for controlling the rotation of the plurality of pumps, wherein the plurality of pumps comprises: a first pump rotating in a first rotational direction and discharging a fluid to the hydraulic channel by a rotational force in the first rotational direction, and a second pump rotating in a second rotational direction and discharging a fluid to the hydraulic channel by a rotational force in the second rotational direction, wherein the first rotational direction is different from the second rotational direction.
The present invention relates to a method for determining a touchdown position of a robot performed by a computing device, the method comprising the steps of: detecting a disturbance during swing of a first leg of the robot toward a first touchdown position, calculating a second touchdown position based on a dynamic state of the robot in response to the detection of the disturbance, identifying a step obstacle region based on terrain information of the robot and determining whether the second touchdown position belongs to the step obstacle region, and determining a third touchdown position out of the step obstacle region as the touchdown position of the first leg, in a case in which the second touchdown position belongs to the step obstacle region.
B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
42 - Scientific, technological and industrial services, research and design
Goods & Services
Research and development of robots; research and development
of robot parts; design of robots; design of robot parts;
engineering services relating to robotics; research and
development of computer software; design of computer
software; installation and maintenance of computer software;
updating of computer software; research and development of
mounts for astronomical telescopes; research and development
of mount parts for astronomical telescopes; design of mounts
for astronomical telescopes; design of mount parts for
astronomical telescopes; rental of robots (terms considered
too vague in the opinion of the International Bureau - Rule
13 (2) (b) of the Common Regulations); rental of robot parts
(terms considered too vague in the opinion of the
International Bureau - Rule 13 (2) (b) of the Common
Regulations); rental of computer software; rental of mounts
for astronomical telescopes.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Research and development of robots; research and development
of robot parts; design of robots; design of robot parts;
engineering services relating to robotics; research and
development of computer software; design of computer
software; installation and maintenance of computer software;
updating of computer software; research and development of
mounts for astronomical telescopes; research and development
of mount parts for astronomical telescopes; design of mounts
for astronomical telescopes; design of mount parts for
astronomical telescopes; rental of robots (terms considered
too vague in the opinion of the International Bureau - Rule
13 (2) (b) of the Common Regulations); rental of robot parts
(terms considered too vague in the opinion of the
International Bureau - Rule 13 (2) (b) of the Common
Regulations); rental of computer software; rental of mounts
for astronomical telescopes.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Robots for helping with daily chores for household purposes; self-driving robots for household purposes (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); reduction gears being parts of machines; robots for art exhibitions; self-driving robots for military purposes (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); control mechanisms for machines, engines or motors; automatic control mechanisms for robots (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); robotic cleaning machines; driving devices for robots; gears for robot; actuators for robots (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); control mechanisms for robots; robots for shop services (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); robots for promoting products (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); robots for disinfection; robots for safety inspection and monitoring of industrial plants; robots for industrial use; entertainment robots for industrial use; self-driving robots for industrial use; robots for carrying [machine]; industrial robots used in distribution and logistics; household cleaning and laundry robots with artificial intelligence; robots for industrial use for the disaster response; robots for environmental remediation (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations).
(2) Teaching robots; smart devices application software for control of robots; computer software for control of robots; smart devices application software for programming of robots; computer software for programming of robots; robotic electrical control apparatus; operating system software for robots; remote control apparatus for robots; electronic control apparatus for robots; computer application software for robots; lenses for telescopes; reflectors for telescopes; tripods for telescopes; telescopic target surveillance apparatus; telescopic target trackers; telescopic target location apparatus; telescopic sights; security surveillance robots; telescopes for smartphones; laboratory robots; computer software for remote telecommunication; electric motor controllers; aiming telescopes; apparatus and instruments for astronomy; astronomical telescopes; mounts for astronomical telescopes; lenses for astrophotography; astrometric apparatus and instruments; camera mounts; telepresence robots; surveillance and reconnaissance and search robots for military purposes; robots for military purposes; humanoid robots with artificial intelligence for disaster rescue; robots for collecting disaster information; military robots for life-saving purposes namely for detecting and removing explosives; robots for reconnaissance; robots for military purposes for detecting explosives.
(3) Laser operating machines; laser therapy apparatus; medical robots used in laparoscopic surgery; cupping robots; surgical robots; nanorobots for medical purposes; robotic exoskeleton suits for medical purposes; dermabraders; medical apparatus and instruments for the treatment of skin.
(4) Robotic cars; automatic guided vehicles; automatic transport vehicles; autonomous cars; self-driving robots for delivery; self-driving cars; electric vehicles. (1) Rental of robots (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); design of robots; research and development of robots; engineering services relating to robotics; rental of parts for robots (Term considered too vague by the International Bureau pursuant to Rule 13 (2) (b) of the Regulations); design of parts for robots; research and development of parts for robots; rental of mounts for astronomical telescopes; design of mounts for astronomical telescopes; research and development of mounts for astronomical telescopes; design of parts of mounts for astronomical telescopes; research and development of parts of mounts for astronomical telescopes; rental of computer software; design of computer software; installation and maintenance of computer software; updating of computer software; research and development of computer software.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
42 - Scientific, technological and industrial services, research and design
Goods & Services
Robots for helping with daily chores for household purposes; self-driving housekeeping robots for household purposes not for use in delivery; reduction gears being parts of machines; industrial robots for use in art exhibitions; self-driving robots for military building construction purposes not for use in delivery; pneumatic or hydraulic control for machines, engines or motors; automatic control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; robotic vacuum cleaning machines; driving devices for robots, namely, driving motors other than for land vehicles; gears for robot; actuators for robots, namely, hydraulic and pneumatic linear actuators other than for land vehicles; control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; industrial robots for shop services, namely, preparing and serving food in shops; industrial robots for promoting products; industrial robots for disinfection; industrial robots for safety inspection and monitoring of industrial plants; robots for industrial use; entertainment robots for industrial use; self-driving robots for industrial use; industrial robots for carrying; industrial robots used in distribution and logistics; household cleaning and laundry robots with artificial intelligence; robots for industrial use for the disaster response; industrial robots for environmental remediation. Teaching robots; downloadable application software for smart devices for the control of robots; downloadable computer software for control of robots; downloadable application for smart devices for programming of robots; downloadable computer software for programming of robots; computer software for programming of robots; electrical control apparatus for control of robots; downloadable operating system software for robots; remote control apparatus for robots; electronic control apparatus for robots; downloadable computer application software for robots; lenses for telescopes; reflectors for telescopes; tripods for telescopes; telescopic target surveillance apparatus comprised of telescopes; telescopic target trackers; telescopic target location apparatus; telescopic sights; security surveillance robots; telescopes for smartphones; laboratory robots; downloadable computer software for remote telecommunication; electrical control apparatus for electric motors; aiming telescopes; apparatus and instruments for astronomy, namely astronomical telescopes; mounts for astronomical telescopes; lenses for astrophotography; astrometric apparatus and instruments, namely, telescopes; camera mounts; telepresence robots; surveillance and reconnaissance and search robots for military purposes; robots for military purposes; humanoid robots with artificial intelligence for disaster rescue; robots for collecting disaster information; military robots for life-saving purposes, namely, for detecting and removing explosives; robots for reconnaissance; robots for military purposes for detecting explosives. Laser operating machines for surgical use; laser therapy apparatus, namely, laser therapy stimulators; medical robots used in laparoscopic surgery; therapeutic cupping treatment robots; surgical robots; nanorobots for medical purposes; robotic exoskeleton suits for medical purposes; dermabraders for medical and therapeutic purposes; medical apparatus and instruments for the treatment of skin. Robotic cars; automatic guided vehicles; automatic transport vehicles, namely robotic transport vehicles; autonomous cars; self-driving robots for delivery; self-driving cars; electric vehicles, namely electric cars. Rental of robots; design of robots; research and development of robots; engineering services relating to robotics; rental of parts for robots; design of parts for robots; research and development of parts for robots; rental of mounts for astronomical telescopes; design of mounts for astronomical telescopes; research and development of mounts for astronomical telescopes; design of parts of mounts for astronomical telescopes; research and development of parts of mounts for astronomical telescopes; rental of computer software; design of computer software; installation and maintenance of computer software; updating of computer software; research and development of computer software.
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Research and development of robots; research and development of robot parts; design of robots; design of robot parts; engineering services relating to robotics; research and development of computer software; design of computer software; installation and maintenance of computer software; updating of computer software; research and development of mounts for astronomical telescopes; research and development of mount parts for astronomical telescopes; design of mounts for astronomical telescopes; design of mount parts for astronomical telescopes; rental of robots (terms considered too vague in the opinion of the International Bureau - Rule 13 (2) (b) of the Common Regulations); rental of robot parts (terms considered too vague in the opinion of the International Bureau - Rule 13 (2) (b) of the Common Regulations); rental of computer software; rental of mounts for astronomical telescopes.
42 - Scientific, technological and industrial services, research and design
Goods & Services
Research and development of robots; research and development of robot parts; design of robots; design of robot parts; engineering services relating to robotics; research and development of computer software; computer software design; installation and maintenance of computer software; updating of computer software; research and development of mounts for astronomical telescopes; research and development of mount parts for astronomical telescopes; design of mounts for astronomical telescopes; design of mount parts for astronomical telescopes; rental of laboratory robots and humanoid robots with artificial intelligence (AI); rental of robot parts for laboratory robots and for humanoid robots with artificial intelligence (AI); rental of computer software for controlling and managing robots; rental of mounts for astronomical telescopes
42 - Scientific, technological and industrial services, research and design
Goods & Services
Research and development of robots; research and development of robot parts; design of robots; design of robot parts; engineering services relating to robotics; research and development of computer software; computer software design; installation and maintenance of computer software; updating of computer software; research and development of mounts for astronomical telescopes; research and development of mount parts for astronomical telescopes; design of mounts for astronomical telescopes; design of mount parts for astronomical telescopes; rental of laboratory robots and humanoid robots with artificial intelligence (AI); rental of robot parts for laboratory robots and for humanoid robots with artificial intelligence (AI); rental of computer software for controlling and managing robots; rental of mounts for astronomical telescopes
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Research and development of robots; research and development of robot parts; design of robots; design of robot parts; engineering services relating to robotics; research and development of computer software; design of computer software; installation and maintenance of computer software; updating of computer software; research and development of mounts for astronomical telescopes; research and development of mount parts for astronomical telescopes; design of mounts for astronomical telescopes; design of mount parts for astronomical telescopes; rental of robots (terms considered too vague in the opinion of the International Bureau - Rule 13 (2) (b) of the Common Regulations); rental of robot parts (terms considered too vague in the opinion of the International Bureau - Rule 13 (2) (b) of the Common Regulations); rental of computer software; rental of mounts for astronomical telescopes.
09 - Scientific and electric apparatus and instruments
Goods & Services
Lenses for telescopes; reflectors for telescopes; tripods
for telescopes; telescopic target surveillance apparatus;
telescopic target trackers; telescopic target location
apparatus; telescopic sights; telescopes for smartphones;
aiming telescopes; astronomical telescopes; mounts for
astronomical telescopes; lenses for astrophotography; camera
mounts; astronomic measuring machines and instruments;
robotic electrical control apparatus; electric motor
controllers; laboratory robots; teaching robots; humanoid
robots with artificial intelligence for use in scientific
research; humanoid robots with artificial intelligence for
educational purposes; humanoid robots with artificial
intelligence for security surveillance; humanoid robots with
artificial intelligence for household purposes; humanoid
robots with artificial intelligence for recreational
purposes; humanoid robots with artificial intelligence for
use in disaster relief; security surveillance robots;
telepresence robots.
Gears for robot; reduction gears being parts of machines;
control mechanisms for machines, engines or motors; robots
for industrial use; industrial robots; robotic arms for
industrial purposes; industrial robots for use in art
exhibitions; industrial robots incorporating promotional
materials as part of the robot; robots for helping with
daily chores for household purposes; self-driving
housekeeping robots for household purpose; self-driving
robots for industrial use; entertainment robots for
industrial use; robots for shop services; robots for
industrial use for cooking, processing and serving of food
and drink; robots for cafe services; robots for industrial
use for the disaster response; robots for military
construction purpose; driving devices for robots; actuators
for robots; automatic control mechanisms for robots; control
mechanisms for robots; parts of industrial robots [frame].
09 - Scientific and electric apparatus and instruments
Goods & Services
Lenses for telescopes; reflectors for telescopes; tripods
for telescopes; telescopic target surveillance apparatus;
telescopic target trackers; telescopic target location
apparatus; telescopic sights; telescopes for smartphones;
aiming telescopes; astronomical telescopes; mounts for
astronomical telescopes; lenses for astrophotography; camera
mounts; astronomic measuring machines and instruments;
robotic electrical control apparatus; electronic control
apparatus for electric motors; laboratory robots; teaching
robots; humanoid robots with artificial intelligence for use
in scientific research; humanoid robots with artificial
intelligence for educational purposes; humanoid robots with
artificial intelligence for security surveillance; humanoid
robots with artificial intelligence for household purposes;
humanoid robots with artificial intelligence for
recreational purposes; humanoid robots with artificial
intelligence for use in disaster relief; security
surveillance robots; telepresence robots.
Gears for robot; reduction gears being parts of machines;
control mechanisms for machines, engines or motors; robots
for industrial use; industrial robots; robotic arms for
industrial purposes; industrial robots for use in art
exhibitions; industrial robots incorporating promotional
materials as part of the robot; robots for helping with
daily chores for household purposes; self-driving
housekeeping robots for household purpose; self-driving
robots for industrial use; entertainment robots for
industrial use; robots for shop services; robots for
industrial use for cooking, processing and serving of food
and drink; robots for cafe services; robots for industrial
use for the disaster response; robots for military
construction purpose; driving devices for robots; actuators
for robots; automatic control mechanisms for robots; control
mechanisms for robots; parts of industrial robots [frame].
09 - Scientific and electric apparatus and instruments
Goods & Services
Lenses for telescopes; reflectors for telescopes; tripods for telescopes; telescopic target surveillance apparatus comprised of telescopes; telescopic target tracking devices; telescopic target location apparatus; telescopic sights; telescopes for smartphones; aiming telescopes; astronomical telescopes; mounts for astronomical telescopes; lenses for astrophotography; camera mounts; robotic electrical control apparatus; electric motor controllers; laboratory robots; teaching robots; humanoid robots with artificial intelligence for use in scientific research; teaching humanoid robots with artificial intelligence for educational purposes; humanoid robots with artificial intelligence for security surveillance; humanoid robots with artificial intelligence having communication and learning functions for assisting and entertaining people for household purposes; humanoid robots with artificial intelligence for recreational purposes, namely, humanoid robots having communication and learning functions for assisting and entertaining people; humanoid robots with artificial intelligence for use in disaster relief; security surveillance robots; telepresence robots
Gears for robot; reduction gears being parts of machines; control mechanisms, namely, pneumatic or hydraulic controls for machines, engines or motors; robots for industrial use; industrial robots; robotic arms for industrial purposes, namely, industrial robots; industrial robots for use in art exhibitions; industrial robots incorporating promotional materials as part of the robot; robots for helping with daily chores in the nature of household cleaning, household laundry, and cooking for household purposes; self-driving housekeeping robots for household purpose not for use in delivery; self-driving robots for industrial use not for use in delivery; entertainment robots for industrial use; industrial robots for preparing and serving food in shops; robots for industrial use for cooking, processing and serving of food and drink; industrial robots for cafe services; robots for industrial use for the disaster response; robots for military building construction purpose; driving devices for robots, namely, driving motors other than for land vehicles; actuators for robots, namely, hydraulic and pneumatic linear actuators other than for land vehicles; automatic control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; frame parts of industrial robots, namely, bearing or mandrels as parts of machines
Gears for robot; reduction gears being parts of machines; control mechanisms, namely, pneumatic or hydraulic controls for machines, engines or motors; robots for industrial use; industrial robots; robotic arms for industrial purposes, namely, industrial robots; industrial robots for use in art exhibitions; industrial robots incorporating promotional materials as part of the robot; robots for helping with daily chores in the nature of household cleaning, household laundry, and cooking for household purposes; self-driving housekeeping robots for household purpose not for use in delivery; self-driving robots for industrial use not for use in delivery; entertainment robots for industrial use; industrial robots for preparing and serving food in shops; robots for industrial use for cooking, processing and serving of food and drink; industrial robots for cafe services; robots for industrial use for the disaster response; robots for military building construction purpose; driving devices for robots, namely, driving motors other than for land vehicles; actuators for robots, namely, hydraulic and pneumatic linear actuators other than for land vehicles; automatic control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; control mechanisms, namely, pneumatic or hydraulic controls for machines for robots; frame parts of industrial robots, namely, bearing or mandrels as parts of machines
09 - Scientific and electric apparatus and instruments
Goods & Services
Lenses for telescopes; reflectors for telescopes; tripods for telescopes; telescopic target surveillance apparatus comprised of telescopes; telescopic target tracking device; telescopic target location apparatus; telescopic sights; telescopes for smartphones; aiming telescopes; astronomical telescopes; mounts for astronomical telescopes; lenses for astrophotography; camera mounts; robotic electrical control apparatus; electronic control apparatus for electric motors; laboratory robots; teaching robots; humanoid robots with artificial intelligence for use in scientific research; teaching humanoid robots with artificial intelligence for educational purposes; humanoid robots with artificial intelligence for security surveillance; humanoid robots with artificial intelligence having communication and learning functions for assisting and entertaining people for household purposes; humanoid robots with artificial intelligence for recreational purposes, namely, humanoid robots having communication and learning functions for assisting and entertaining people; humanoid robots with artificial intelligence for use in disaster relief; security surveillance robots; telepresence robots
The present invention relates to a stator coil winding machine including: a stator transfer unit adapted to transfer a linear type stator having a plurality of stator cores in directions of X and Y axes; a winding guide unit adapted to guide the transferred stator to coil winding; a winding unit adapted to wind a coil on the stator; a tension adjusting unit adapted to adjust tension on the coil being wound on the stator; and a controller adapted to control operations of the stator transfer unit, the winding guide unit, and the winding unit to allow the coil to be wound on the stator by means of three-phase Y connection, based on a previously set winding sequence.
Provided is a stator coil winding machine including: a stator transfer unit adapted to transfer a linear type stator having a plurality of stator cores in directions of X and Y axes; a winding guide unit adapted to guide the transferred stator to coil winding; a winding unit adapted to wind a coil on the stator; a tension adjusting unit adapted to adjust tension on the coil being wound on the stator; and a controller adapted to control operations of the stator transfer unit, the winding guide unit, and the winding unit to allow the coil to be wound on the stator by means of three-phase Y connection on the basis of a previously set winding sequence.
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
H02K 15/06 - Embedding prefabricated windings in the machines
Provided is a braking device for a driving shaft, and the braking device includes: a brake ring coupled to the driving shaft in such a manner as to rotate according to rotation of the driving shaft and having one or more locking pieces with cross-shaped ends; a support frame fixed to an interior of a robot articulation; brake wings rotatable around brake shafts formed on the support frame and having locking protrusions adapted to stop the rotation of the driving shaft through physical interference with the cross-shaped ends of the locking pieces of the brake ring; position regulators adapted to rotate the brake wings to allow positions of the locking protrusions to be moved; and elastic members adapted to apply elastic forces to the brake wings rotating.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
F16D 63/00 - Brakes not otherwise provided forBrakes combining more than one of the types of groups
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
F16D 65/16 - Actuating mechanisms for brakesMeans for initiating operation at a predetermined position arranged in or on the brake
F16D 121/20 - Electric or magnetic using electromagnets
F16D 121/22 - Electric or magnetic using electromagnets for releasing a normally applied brake
33.
Series elastic actuator, method for controlling series elastic actuator and system thereof
Provided are an SEA, a method of controlling the SEA and a system using the same. The SEA includes a motor-side rotation unit coupled to a driving motor and rotated by rotatory power of the driving motor, a load-side rotation unit coupled to the motor-side rotation unit to transfer the rotatory power of the driving motor to a load, and at least one pair of elastic members provided in spaces between the motor-side rotation unit and the load-side rotation unit. A frame having accommodation spaces to which the pair of elastic members is fixed is formed in any one of the motor-side rotation unit and the load-side rotation unit.
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Provided is a stator coil winding apparatus which can easily wind a coil around a stator core configuring a stator employed in a BLDC motor. The provided apparatus comprises: a stator transfer unit for transferring a linear stator in the X-axis direction and the Y-axis direction; a winding guide unit for guiding coil winding around the transferred stator; a winding unit for winding a coil around the stator; a tension adjusting unit for adjusting tension of the coil wound around the stator; and a control unit for controlling the operations of the stator transfer unit, the winding guide unit, and the winding unit so as to enable the coil to be wound around the stator on the basis of a preconfigured winding sequence.
Disclosed is a stator coil winding device capable of easily winding a coil on a stator core of a stator employed in a BLDC motor. The stator coil winding device comprises: a stator transfer unit for transferring a stator having a linear shape in an X-axial or a Y-axial direction; a winding guide unit for guiding winding of a coil on the stator that has been transferred; a winding unit for winding the coil on the stator; a tension adjusting unit for adjusting tension of the coil that is wound on the stator; and a controller for controlling operations of the stator transfer unit, the winding guide unit, and the winding unit such that the winding of the coil is performed on the basis of a preset winding sequence.
The present invention relates to a device for braking a drive shaft, the device comprising: a brake ring coupled to a drive shaft to rotate according to a rotation of the drive shaft and including at least one locking piece having a cross-shaped distal end part; a support frame fixed to the inside of a robot joint; a brake wing which is rotatable about a brake shaft formed at the support frame and has a locking protuberance for stopping the rotation of the drive shaft by physical interference with the cross-shaped distal end part of the locking piece formed on the brake ring; a location adjustment unit for rotating the brake wing to move the location of the locking protuberance; and an elastic member for applying an elastic force to the rotation of the brake wing.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
38.
Region division method for laser treatment, and laser treatment method and apparatus using the same
Provided is a region division method for laser treatment, and a laser treatment method and apparatus using the same. The region division method for laser treatment according to the present invention divides an area of an object to be treated by laser irradiation into a plurality of treatment regions and includes constructing a three-dimensional image of the object; using the three-dimensional image to obtain a normal vector for each of a plurality of points located on a surface of the object; dividing the points on the surface of the object into one or more groups based on a similarity between the obtained normal vectors; and generating a closed curve including at least some of points grouped into the same group to set a treatment region.
Provided are a laser irradiation apparatus using a robot arm and a method thereof which can automatically scan an object and irradiate with laser beam to the surface of the object based on the scanned information. The laser irradiation method using a robot, includes: collecting a raw data by scanning an object; constituting a three-dimensional image of the object on the basis of the raw data; setting a region of interest (ROI) on a surface of the object in the three-dimensional image; setting a guide path passing through the region of interest; and irradiating a laser on the surface of the object corresponding to the guide path using the robot arm having an end-effector.
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 18/20 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61N 5/067 - Radiation therapy using light using laser light
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 18/18 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
40.
Method for controlling moving pattern for laser treatment and laser irradiation device using same
Provided are a method of controlling motion pattern for a laser treatment and a laser irradiation apparatus using the same, which can perform the efficient laser treatment. The method of controlling a motion pattern for a laser treatment, the method includes constituting a three-dimensional image of an object; setting a region of therapy on which a laser is irradiated on a surface of the object using the three-dimensional image; setting a guide path passing through the region of therapy; setting a plurality of laser irradiation points arranged on the guide path; and sequentially irradiating the laser on a position corresponding to each of the laser irradiation point among the surface of the object; wherein the guide path includes a first section for entering the region of therapy, a second section for linearly moving at the same speed within the region of therapy, and a third section for reentering to the region of therapy by moving along a curved path while varying the speed outside the region of therapy; and the laser is irradiated at a constant frequency in the second section.
A61B 18/20 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61N 5/067 - Radiation therapy using light using laser light
41.
Laser control method and laser irradiation apparatus using same
Provided are a laser control method and a laser irradiation apparatus thereof, which can efficiently perform the laser treatment. The laser control method includes a setting step of setting a guide path on a surface of an object; and an irradiating step of irradiating a laser onto the surface of the object corresponding to the guide path, wherein at least one of a fluence or a frequency of the laser is gradually increased at the beginning stage of the laser irradiation and at least one of the fluence or the frequency of the laser is gradually decreased at the end of the laser irradiation.
A61B 18/20 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
A61B 17/00 - Surgical instruments, devices or methods
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61N 5/067 - Radiation therapy using light using laser light
09 - Scientific and electric apparatus and instruments
Goods & Services
Teaching robots for art exhibitions; Tactical robots for military purposes; Electric actuators for robots; Industrial automation controls for robots; Electrical controllers for robots; Power controllers for machines, engines and motors
Robots for industrial use; Industrial robots; Robotic arms for industrial purposes; Robots [machines]; Guidance of frameworks for machine tools; Daily chores helping robots for household purposes; Driving devices for machines; Actuators for mechanisms; Reduction gears being parts of machines; Control mechanisms for machines, engines or motors; Electronic controls for motors.
44.
Real-time control system, real-time control device and system control method
A system controlling method according to an embodiment of the present invention comprises operating a plurality of agents having mutually independent processes using a shared memory; obtaining hardware control data for controlling one or more devices from each of references generated from the plurality of agents and stored in the shared memory; and transferring control signals according to the references to the one or more devices selected from the hardware control data.
Provided is a real-time robot controlling system which includes a GPOS (General Purpose Operation System); a RTOS (Real Time Operation System) operated on the GPOS to drive a device controlling system; and one or more devices being controlled in hard real-time connected to the RTOS in a real-time device controlling system, wherein the device controlling system providing a user interface to the GPOS; performing real-time device control processes according to the interface input or time synchronization; and processing communication with the one or more devices according to the control processes.
The present invention relates to a series elastic actuator device, a series elastic actuator control method, and a system using the same, the device comprising: a motor-side rotation part connected to a driving motor so as to rotate by the rotation power of the driving motor; a load-side rotation part coupled to the motor-side rotation part so as to transmit rotation power of the driving motor to a load; and at least one pair of elastic members provided in a space between the motor-side rotation part and the load-side rotation part, wherein any one of the motor-side rotation part and the load-side rotation part has a frame having an accommodation space for allowing one pair of elastic members to be fixed therein.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
H02K 11/215 - Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
H02K 7/00 - Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
Provided is a real-time robot controlling system which includes a first layer comprising one or more control target devices; a second layer comprising a device control module controlling directly the devices at upper level of the first layer; a third layer comprising a shared memory connected to the device control module at upper level of the second layer; a fourth layer comprising one or more agents performing independent processes using the shared memory at upper level of the third layer; and a fifth layer controlling the one or more agents according to user commands at upper level of the fourth layer.
A system control method, according to an embodiment of the present invention, comprises the steps of: operating by a plurality of agents using shared memory and having processes that are independent from each other; obtaining, from each reference generated from the plurality of agents and stored in the shared memory, hardware control data for controlling one or more devices; and transmitting a control signal, on the basis of the reference, to the one or more devices selected from the hardware control data.
A real-time robot control system, according to an embodiment of the present invention, comprises: a first hierarchy comprising one or more devices to be controlled; a second hierarchy comprising a device control module which is for directly controlling the devices on the upper level of the first hierarchy; a third hierarchy comprising shared memory which is connected to the device control module on the upper level of the second hierarchy; a fourth hierarchy comprising one or more agents which are for performing independent processes using the shared memory on the upper level of the third hierarchy; and a fifth hierarchy for controlling the one or more agents in accordance with a user command on the upper level of the fourth hierarchy.
A real-time robot control system according to an embodiment of the present invention, in a real-time device control system, comprises: a general purpose operating system (GPOS); a real-time operating system (RTOS) which operates on the GPOS and is for driving a device control system; and one or more devices which are connected to the RTOS and are controlled in hard real time, wherein the device control system provides a user interface which is for the GPOS, processes real-time device control on the basis of interface input or time synchronization, and processes communication with the devices in accordance with the control processing.
09 - Scientific and electric apparatus and instruments
Goods & Services
Computer software; computer operating software; computer software to maintain and operate computer system; Computer programs (downloadable software); Data synchronization programs; Computer programs for user interface design; Operating system programs; Computer programs for the enabling of access or entrance control; Computer operating programs; Computer software applications, downloadable; Computer software for data processing; Computer software for database management; Application software for smart phones; Computer software for controlling the operation of audio and video devices; Computer software for remote telecommunication; Computer application software for robots; Operating system software for robots; Medical device software; Computer software for controlling and managing access server applications; Computer programs for electronic media devices.
