KR20190107361A - Apparatus for displacement measuring have antagonist structure and robot joint module using the same, cloth for enhancing muscular strength - Google Patents

Abstract

The present invention relates to a displacement measuring device having an antagonistic structure, a robot joint module using the same, and clothes for improving muscular strength. The displacement measuring device having the antagonistic structure can measure the displacement rate of a spring sensor using a change rate of a voltage value by corresponding to contraction or relaxation of a spring sensor. According to the present invention, the displacement measuring device having the antagonistic structure includes: a first spring sensor contracted by an outer force; a second spring sensor relaxed by corresponding to the contraction of the first spring sensor by being connected to the first spring sensor in series and having a same physical property as that of the first spring sensor; a first voltage measuring unit measuring the voltage output from both ends of the first spring sensor in accordance with length change of the first spring sensor; a second voltage measuring unit measuring the voltage output from both ends of the second spring sensor in accordance with the length change of the second spring sensor; and a calculation unit calculating a third voltage value which is a difference value between a first voltage value measured by the first voltage measuring unit and a second voltage value measured by the second voltage measuring unit, wherein the calculation unit also calculates the displacement rate of the spring sensor based on a half value of the third voltage value and the voltage value in accordance with the predetermined displacement rate of the spring sensor.

Description

Displacement measuring device with antagonistic structure, robot joint module and garment for muscle strength enhancement using the same

The present invention relates to a displacement measuring device having an antagonistic structure, and a robot joint module and a garment for muscle strength enhancement using the same. More specifically, the spring sensor is generated by using a change in voltage value generated in response to contraction or relaxation of the spring sensor. The present invention relates to a displacement measuring device having an antagonistic structure capable of measuring a displacement amount, a robot joint module, and a garment for strengthening muscle strength using the same.

In general, displacement measuring sensors are referred to as linear variable differential transformers (LVDTs), which are magnetic fluxes induced from the primary coil to the secondary coil by the movement of the core that converts mechanical displacements into electrical signals. An electrical output is generated as a change, and the electrical output is displayed in analog or digital form and the displacement value is measured.

Such a conventional displacement measuring sensor includes a primary coil wound around a certain amount of coils in a former and a plurality of secondary coils, primary coils, and secondary coils wound around a symmetrical position from the center of the primary coil. It consists of a core which has a magnetic body between coil phases.

The former wound around the primary and secondary coils has a cylindrical shape, and the core is fastened to a shaft protruding out of the displacement measuring sensor.

The displacement sensor detects mechanical displacement by changing mutual inductances of the primary and secondary coils, which induce induced voltage generated in each secondary coil due to the movement of the magnetic core.

Since the displacement measuring sensor has no substantial contact between the core and the coil, there is no mechanical wear due to the sensor's operation, which can increase the response characteristics due to the low friction that affects the output and is not affected by the overload. Has characteristics.

However, the conventional displacement measuring sensor has a value in which the change value of the measured inductance changes nonlinearly. Therefore, the displacement measuring sensor using the inductance has a problem that can not measure the exact displacement.

Utility Model Registration Publication No. 20-1053196 (2010.01.26 registration notification, name of invention: displacement measuring sensor with a feed pack coil)

DISCLOSURE OF THE INVENTION An object of the present invention is to solve a conventional problem, and the present invention provides a displacement measurement having an antagonistic structure to accurately measure a displacement amount of a spring sensor by using a difference in voltage value according to a change in length of two spring sensors. The present invention provides a device, a robot joint module, and a garment for strengthening muscle strength using the same.

In order to achieve the above object of the present invention, the displacement measuring device having an antagonistic structure according to the present invention comprises a first spring sensor contracted by an external force; A second spring sensor connected in series with the first spring sensor to be relaxed while corresponding to the contraction of the first spring sensor, and having the same physical properties as the first spring sensor; A first voltage measuring unit measuring a voltage output from both ends of the first spring sensor according to a change in length of the first spring sensor; A second voltage measuring unit measuring a voltage output from both ends of the second spring sensor according to a change in length of the second spring sensor; And calculating a third voltage value that is a difference between the first voltage value measured by the first voltage measuring unit and the second voltage value measured by the second voltage measuring unit, and a voltage value according to a predetermined displacement amount of the spring sensor. And a calculation unit for calculating a displacement amount of the spring sensor based on a half value of the third voltage value.

In the displacement measuring device having an antagonistic structure according to the present invention, in order to supply an alternating current to the first spring sensor and the second spring sensor, one end is connected to the first spring sensor and the other end is the second spring sensor. It may further include an AC current supply unit connected to the.

A displacement measuring device having an antagonistic structure according to the present invention, comprising: a first driver disposed in parallel with the first spring sensor and changing a length of the first spring sensor while being contracted; A second driver connected to the first driver and relaxed in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor; And a mover disposed between the first spring sensor and the second spring sensor to move together with the first spring sensor and the second spring sensor.

In the displacement measuring device having an antagonistic structure according to the present invention, a drive motor; A power transmission member coupled to the drive motor and moved by the drive motor; And a mover coupled to the power transmission member to perform a linear movement, disposed between the first spring sensor and the second spring sensor to move the first spring sensor and the second spring sensor.

In the displacement measuring device having an antagonistic structure according to the present invention, the power transmission member may include a ball screw to move the mover while being rotated by the drive motor.

Robot joint module having a displacement measuring device having an antagonistic structure according to the present invention is a first joint link; A second joint link coupled to the first joint link and rotatable with respect to the first joint link; Displacement measuring device having an antagonistic structure; A first fixing member fixing one end of the first spring sensor and one end of the second spring sensor to the first joint link; A second fixing member fixed to the second joint link; A first connection member for connecting the other end of the first spring sensor and one side of the second fixing member; A second connecting member for connecting the other end of the second spring sensor to the other side of the second fixing member; A first driver disposed in parallel with the first spring sensor and contracted to change a length of the first spring sensor; And a second driver connected to the first driver to relax in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor.

In the robot joint module having a displacement measuring device having an antagonistic structure according to the present invention, the first driver may include a shape memory alloy spring deformed by heat.

In the robot joint module having a displacement measuring device having an antagonistic structure according to the present invention, the operation unit, based on the half value of the third voltage value, of the second joint link based on the first joint link It is characterized by converting the rotation angle.

The muscle strength-enhancing garment having a displacement measuring device having an antagonistic structure according to the present invention comprises: a garment body; A displacement measuring device having an antagonistic structure according to claim 1; A first fixing member fixing one end of the first spring sensor and one end of the second spring sensor to the garment body; A second fixing member installed on the garment main body and spaced apart from the first fixing member by a predetermined distance; A first connection member for connecting the other end of the first spring sensor and one side of the second fixing member; A second connecting member for connecting the other end of the second spring sensor to the other side of the second fixing member; A first driver disposed in parallel with the first spring sensor and contracted to change a length of the first spring sensor; And a second driver connected to the first driver to relax in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor.

Displacement measuring device having an antagonistic structure according to the present invention, the robot joint module and the clothing for strength increase using the same can measure the displacement amount of the spring sensor accurately using the change of the forearm generated in response to the length change of the spring sensor It works.

In addition, the displacement measuring device having an antagonistic structure according to the present invention, and the robot joint module and the muscle strength enhancing garment using the same, the robot joint module and the muscle strength enhancing garment are provided with a displacement measuring device having a simple structure, the robot joint module and There is an effect that the configuration of the clothes for muscle strength can be simplified to reduce the manufacturing cost and manufacturing time.

In addition, the displacement measuring device having an antagonistic structure according to the present invention, and the robot joint module and the muscle strength enhancing garment using the same, the robot joint module and the muscle strength enhancing garment are provided with a displacement measuring device having a simple structure, the robot joint module and It is possible to miniaturize the clothes for muscle strength.

1 is a view schematically showing the structure of a displacement measuring device according to a first embodiment of the present invention.
2 is a view for explaining the operation of the displacement measuring apparatus according to a first embodiment of the present invention.
3 is a graph showing a change in the voltage value of each spring sensor according to the position change of the mover according to the first embodiment of the present invention.
4 is a view for explaining a displacement measuring apparatus according to a second embodiment of the present invention.
5 is a view schematically showing the structure of a robot joint module to which the displacement measuring device of FIG. 1 is applied.
6 is a view for explaining the operation of the robot joint module to which the displacement measuring device of FIG.
7 is a graph comparing the rotation angle measured by the encoder and the rotation angle measured by the operation of the robot joint module to which the displacement measuring device of FIG. 5 is applied.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention in which the above-described problem to be solved may be specifically realized. In describing the present embodiments, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted below.

1 is a view schematically showing the structure of a displacement measuring device according to a first embodiment of the present invention.

Referring to FIG. 1, the displacement measuring apparatus 100 according to the first embodiment of the present invention may include a first spring sensor 11, a second spring sensor 12, a first voltage measuring unit 21, The second voltage measuring unit 22 and the calculating unit 40, the first driver 51, the second driver 52, and the mover 60 are included.

The first spring sensor 11 may be contracted by an external force to generate a linear length change, and the first spring sensor 11 may be formed to have conductivity to output a voltage in response to the change in length. .

The second spring sensor 12 is connected in series with the first spring sensor 11 and is relaxed in response to the contraction of the first spring sensor 11 so that a linear length change occurs. The spring sensor 12 may be formed to have conductivity to output a voltage in response to the change in length.

At this time, the first spring sensor 11 and the second spring sensor 12 is preferably formed to have the same physical properties in order to calculate the correct voltage value.

Although not shown, the second spring sensor 12 may be contracted by an external force, and the first spring sensor 11 may be relaxed in response to the contraction of the second spring sensor 12.

The first spring sensor 11 and the second spring sensor 12 should not only be easy to contract and relax for measuring the voltage output in response to the change in length, but also have to be conductive, forming memory alloy or silver, It is preferable that the conductive material such as copper is formed of a coated nylon or the like, but various embodiments of the material of the first spring sensor 11 and the second spring sensor 12 are not limited thereto. .

The first voltage measuring unit 21 is connected to both ends of the first spring sensor 11, the voltage output from both ends of the first spring sensor 11 in accordance with the change in the length of the first spring sensor 11 Measure

The second voltage measuring unit 22 is connected to both ends of the second spring sensor 12 and is output from both ends of the second spring sensor 12 according to the change in the length of the second spring sensor 12. Measure

On the other hand, the inductance of the spring sensor is inversely proportional to the length change of the spring sensor. In addition, the voltage output from both ends of the spring sensor is proportional to the inductance of the spring sensor. Therefore, the voltage output from both ends of the spring sensor is inversely proportional to the change in the length of the spring sensor.

Meanwhile, the displacement measuring apparatus 100 according to the first embodiment of the present invention may further include an AC current supply unit 30.

The AC current supply unit 30 has one end connected with the first spring sensor 11 and the other end connected with the second spring sensor 12 so that the first spring sensor 11 and the second spring sensor 12 are connected to each other. To supply AC current.

The calculation unit 40 is connected to the first voltage measuring unit 21 and the second voltage measuring unit 22, respectively, and measures the first voltage value V1 measured by the first voltage measuring unit 21 and the The third voltage value V3, which is a difference between the second voltage values V2 measured by the second voltage measuring unit 22, is calculated.

In this case, the calculation unit 40 calculates the displacement amount of the spring sensor based on a voltage value according to a predetermined displacement amount of the spring sensor and the half value of the third voltage value V3.

More specifically, the first voltage value V1 measured by the first voltage measuring unit 21 and the second voltage value V2 measured by the second voltage measuring unit 22 may obtain non-linear values. .

However, the difference between the first voltage value V1 and the second voltage value V2 may be linear to obtain the third voltage value V3.

That is, the calculation unit 40 calculates the displacement amount of the spring sensor based on the voltage value according to the displacement amount of the predetermined spring sensor and the half value of the third voltage value V3, thereby calculating the exact displacement amount of the driver to be described later. There are advantages to it.

The first driver 51 may be disposed in parallel with the first spring sensor 11 and change the length of the first spring sensor 11 while being contracted.

The second driver 52 may be disposed in parallel with the second spring sensor 12 in a state of being connected to the first driver 51, and may be relaxed in correspondence with the contraction of the first driver 51. have.

In this case, the first driver 51 and the second driver 52 may include a shape memory alloy spring that is contracted or relaxed by heat.

The shape memory alloy spring may be implemented by the wire of the shape memory alloy material through the spring processing, the shape may be modified to shrink or relax in response to heat.

 The mover 60 is disposed between the first spring sensor 11 and the second spring sensor 12 to move together with the first spring sensor 11 and the second spring sensor 12.

The displacement measuring apparatus 100 according to the first embodiment of the present invention proposes a structure in which the first driver 51 and the second driver 52 are antagonally disposed. In addition, the first spring sensor 11 and the second spring sensor 12 also have an antagonistic structure.

On the other hand, the displacement measuring device 100 according to the first embodiment of the first fixing frame 71 is fixed to one side of the first spring sensor 11 and one side of the first driver 51 and the first It may include a second fixing frame 72 is installed in a state spaced apart from the fixed frame 71 is fixed to one side of the second spring sensor 12 and one side of the second driver 52. .

That is, one side of the first spring sensor 11 is fixed to the lower region of the first fixing frame 71 and the other side of the first spring sensor 11 is fixed to one side of the lower region of the mover 60. One side of the first driver 51 may be connected to the upper region of the first fixing frame 71, and the other side of the first driver 51 may be connected to one side of the lower region of the mover 60. .

In addition, one side of the second spring sensor 12 is fixed to the lower region of the second fixing frame 72 and the other side of the second spring sensor 12 is fixed to the other side of the lower region of the mover (60). One side of the second driver 52 may be connected to the upper region of the second fixing frame 72, and the other side of the second driver 52 may be connected to the other side of the lower region of the mover 60. have.

2 is a view for explaining the operation of the displacement measuring apparatus according to a first embodiment of the present invention, Figure 3 is a voltage value of each spring sensor according to the position change of the mover according to the first embodiment of the present invention It is a graph showing the change. Here, the x-axis represents the position of the mover, the y-axis represents the voltage value.

At this time, (a) of Figure 3 shows the voltage value of the first spring sensor and the second spring sensor according to the change of the position of the mover, Figure 3 (b) is the first voltage value and the second according to the change of the position of the mover It is a graph which shows the change of the 3rd voltage value which is the difference value of 2 voltage values.

At this time, the dotted lines shown in (a) and (b) of FIG. 3 indicate the reference position of the mover. In this embodiment, the position of 100 mm is set as the reference position of the mover.

Referring to Figures 2 and 3, it will be described the operation of the displacement measuring apparatus 100 according to a first embodiment of the present invention.

2 and 3, when the first driver 51 is contracted, the second driver 52 connected in series with the first driver 51 is relaxed. At this time, the mover 60 moves in a direction in which the first driver 51 is contracted about the reference position of the mover.

As the first spring sensor 11 is contracted by the contraction of the first driver 51, the second spring sensor 12 is relaxed.

In the state where the AC current is supplied from the AC current supply unit 30 to the first spring sensor 11 and the second spring sensor 12, the first voltage sensor 21 may use the first spring sensor ( The voltage output from both ends of 11) is measured, and at the same time, the second voltage measuring unit 22 measures the voltage output from both ends of the second spring sensor 12.

In this case, as shown in (a) of FIG. 3, the first voltage value V1 of the first spring sensor 11 and the second spring sensor 12 according to the change of the position of the mover 60. The second voltage value V2 has a nonlinear voltage value.

At this time, as the first spring sensor 11 is contracted, the first voltage value V1 is nonlinearly increased, and the second spring sensor 12 is relaxed, and the second voltage value V2 is relaxed. ) Has a voltage value that decreases nonlinearly.

Next, the difference between the first voltage value V1 measured by the first voltage measurer 21 in the calculator 40 and the second voltage value V2 measured by the second voltage measurer 22. The third voltage value V3, which is a value, is calculated.

At this time, as shown in (b) of FIG. 3, the third voltage value V3 has a linear voltage value according to the position change of the mover 60.

The calculation unit 40 calculates the displacement amount of the spring sensor based on the voltage value according to the displacement amount of the spring sensor preset and the half value of the third voltage value V3.

4 is a view for explaining a displacement measuring apparatus according to a second embodiment of the present invention. Referring to Figure 4, the displacement measuring apparatus according to a second embodiment of the present invention will be described.

Referring to FIG. 4, the displacement measuring apparatus 100 according to the second embodiment of the present invention includes a first spring sensor 11, a second spring sensor 12, and a first voltage measuring unit (21 in FIG. 1). ), A second voltage measuring unit (22 of FIG. 1) and a calculating unit (40 of FIG. 1), a driving motor 80, a power transmission member 90, and a mover 60.

Among the configurations of the displacement measuring apparatus 100 according to the second embodiment of the present invention, the first spring sensor 11, the second spring sensor 12, the first voltage measuring unit 21, and the The second voltage measuring unit 22 and the calculating unit 40 may include the first spring sensor 11, the second spring sensor 12, and the first voltage measuring unit (1) according to the first embodiment of the present invention. 21 and the same structure as that of the second voltage measuring unit 22 and the calculating unit 40, and a detailed description thereof will be omitted.

That is, in the displacement measuring apparatus 100 according to the first embodiment of the present invention, when the first driver 51 is contracted, the second driver 52 connected to the first driver 51 is relaxed while the mover ( In the second embodiment of the present invention, the displacement measuring device 100 may move the mover 60 by the operation of the drive motor 80 and the power transmission member 90. Present a structure to make it work.

The drive motor 80 transmits the rotational force to the power transmission member 90 to be described later. At this time, the driving motor 80 may be a rotary motor.

In addition, as another example of the driving motor 80, a linear motor may be used. Although not shown, the LM guide may be used as a power transmission member to be described later when the driving motor is a linear motor.

The power transmission member 90 may be coupled to the drive motor 80 and moved by the drive motor 80.

The power transmission member 90 includes a ball screw to move the mover 60 while being rotated by the drive motor (80).

The mover 60 is coupled to the power transmission member 90 to perform a linear movement, disposed between the first spring sensor 11 and the second spring sensor 12 is the first spring sensor 11 And move the second spring sensor 12.

The drive motor 80 may be installed in the second fixed frame 72, the ball screw is coupled to the drive motor 80, one side is in the upper region of the first fixed frame 71. It is fixed and the other side may be installed in the state penetrated through the upper region of the second fixing frame (72).

In this case, one side of the first spring may be fixed to the lower region of the first fixing frame 71, and the other side of the first spring may be fixed to one side of the lower region of the mover 60.

In addition, one side of the second spring may be fixed to the upper region of the second fixing frame 72, and the other side of the second spring may be fixed to the other side of the lower region of the mover 60.

Referring to Figure 4 (b) and 3 (c), the operation of the displacement measuring apparatus 100 according to a second embodiment of the present invention will be described as follows.

When the drive motor 80 is operated, the ball screw, which is the power transmission member 90 coupled to the drive motor 80, is rotated to move the mover 60.

In this case, as shown in (b) of FIG. 3, when the mover 60 is moved in the left direction, the first spring sensor 11 is contracted by the mover 60 moved in the left direction. The second spring sensor 12 is relaxed.

On the contrary, as shown in (c) of FIG. 3, when the mover 60 is moved to the right direction, the second spring sensor 12 is contracted by the mover 60 moved to the right direction. The first spring sensor 11 is relaxed.

In this state, when the AC current is supplied to the first spring sensor 11 and the second spring sensor 12 from the AC current supply unit (30 in FIG. 1) as in the above-described first embodiment, the The first voltage measuring unit (21 in FIG. 1) measures the voltage output from both ends of the first spring sensor 11, and at the same time the second voltage measuring unit (22 in FIG. 1) the second spring The voltage output from both ends of the sensor 12 is measured.

In addition, the first voltage value V1 measured by the first voltage measurer 21 and the second voltage value V2 measured by the second voltage measurer 22 in the calculation unit 40 of FIG. 1. The third voltage value (V3) is calculated as a difference value of, and the displacement amount of the spring sensor based on the voltage value according to the displacement amount of the spring sensor predetermined in the calculation unit 40 and the half value of the third voltage value (V3). Will yield In the displacement measuring apparatus according to the present embodiment, the first spring sensor 11 and the second spring sensor 12 have an antagonistic structure.

5 is a view schematically showing the structure of a robot joint module to which the displacement measuring device of FIG. 1 is applied. Referring to FIG. 5, the robot joint module to which the displacement measuring device according to the first embodiment of the present invention is applied will be described.

1 and 5, the robot joint module 200 includes a first joint link 210, a second joint link 220, a first spring sensor 11, and a second spring sensor 12. And the first voltage measuring unit 21, the second voltage measuring unit 22, the calculating unit 40, the first fixing member 230, the second fixing member 240, and the first connecting member ( 261, a second connecting member 262, a first driver 51, and a second driver 52.

In the configuration of the displacement measuring apparatus 100 according to the present embodiment, the first spring sensor 11, the second spring sensor 12, the first voltage measuring unit 21, and the second voltage measurement The unit 22 and the calculator 40 may include the first spring sensor 11, the second spring sensor 12, the first voltage measuring unit 21, and the first spring sensor 11 according to the first embodiment of the present invention. Since the structure of the second voltage measuring unit 22 and the calculating unit 40 is the same, a detailed description thereof will be omitted.

 One side of the displacement measuring device 100 is fixed to the first joint link 210 via a first fixing member 230 to be described later.

One side of the second joint link 220 may be rotatably coupled to the first joint link 210. In this case, the second joint link 220 is rotated based on the first joint link 210.

On the other hand, the displacement measuring device 100 according to the present embodiment is a first fixing frame 251 is fixed to one side of the first spring sensor 11 and one side of the first driver 51, and the first fixed The second fixing frame 252 may be installed to be spaced apart from the frame 251 so that the other side of the first spring sensor 11 and the other side of the first driver 51 are fixed.

In addition, the third fixing frame 253 is fixed to one side of the second spring sensor 12 and one side of the second driver 52, and is installed in a state spaced apart from the third fixed frame 253 at a predetermined interval. The other side of the second spring sensor 12 and the other side of the second driver 52 may include a fourth fixing frame 254 is fixed.

At this time, the first fixing frame 251 and the third fixing frame 253 are coupled to the first fixing member 230, one side of the displacement measuring device 100 to the first joint link (210) Is fixed.

The second fixing member 240 may be fixed to the second joint link 220.

In this case, one side of the second fixing member 240 may be connected to the second fixing frame 252, and the other side of the second fixing member 240 may be connected to the fourth fixing frame 254.

The first connection member 261 connects one side of the second fixing frame 252 and the second fixing member 240, and the second connection member 262 is connected to the fourth fixing frame 254. The other side of the second fixing member 240 is connected. Wires may be used as the first connection member 261 and the second connection member 262.

The first driver 51 and the second driver 52 may include a shape memory alloy spring that is deformed by heat.

The shape memory alloy spring may be implemented by the wire of the shape memory alloy material through the spring processing, the shape may be modified to shrink or relax in response to heat.

Meanwhile, the calculation unit 40 converts the rotation angle of the second joint link 220 based on the first joint link 210 based on the half value of the third voltage value V3. .

That is, by using the relationship between the rotational motion and the length change of the spring sensor, how much the second joint link 220 is rotated relative to the first joint link 210 according to the length change amount of the spring sensor in advance. The rotation angle of the second joint link 220 is stored based on the first joint link 210 based on the calculated third voltage value V3 after storing the rotation angle information about the calculation unit 40. Will be converted.

6 is a view for explaining the operation of the robot joint module to which the displacement measuring device of FIG. 6A illustrates an operation of bending the second joint link of the robot joint module, and FIG. 6B illustrates an operation of unfolding the second joint link of the robot joint module.

Referring to Figure 6, the operation of the robot joint module to which the displacement measuring device according to the first embodiment of the present invention will be described.

First, the operation of bending the second joint link 220 of the robot joint module 200 is as follows.

As shown in FIG. 6A, when the second driver 52 is contracted to bend the second articulation link 220, the second fixing member is fixed by the second connecting member 262. 240 is pulled. At this time, the second spring sensor 12 is also contracted together with the second driver 52.

 When the second fixing member 240 is pulled, the second joint link 220 is rotated counterclockwise with respect to the first joint link 210.

When the second joint link 220 is rotated, the first connection member 261 connected to the second fixing member 240 is pulled out.

When the first connection member 261 is pulled, the first driver 51 is relaxed by the first connection member 261. At this time, the first spring sensor 11 is also relaxed together with the first driver 51.

In this state, when the AC current is supplied from the AC current supply unit 30 to the first spring sensor 11 and the second spring sensor 12, the first voltage measuring unit 21 provides the first spring. The voltage output from both ends of the sensor 11 is measured, and at the same time, the second voltage measuring unit 22 measures the voltage output from both ends of the second spring sensor 12.

In addition, the difference between the first voltage value V1 measured by the first voltage measuring unit 21 in the calculation unit 40 and the second voltage value V2 measured by the second voltage measuring unit 22. The third voltage value V3 is calculated.

In this case, the second joint link 220 on the basis of the first joint link 210 based on the voltage value according to the displacement amount of the spring sensor preset by the calculation unit 40 and the half value of the third voltage value V3. The rotation angle of) is calculated.

As described above, the second joint link 220 of the robot joint module 200 is bent by the above-described process, and the second joint link 220 is bent through the displacement measuring device 100. The rotation angle of the second articulation link 220 with respect to the losing operation can be calculated.

 Next, the operation of unfolding the second joint link 220 of the robot joint module 200 will be described.

As shown in (a) of FIG. 6, when the first driver 51 is contracted so that the second articulation link 220 is bent in a bent state, the first connection member 261 is moved by the first connection member 261. The second fixing member 240 is pulled out. In this case, together with the first driver 51, the first spring sensor 11 is also contracted.

 When the second fixing member 240 is pulled, the second articulation link 220 is rotated in the clockwise direction with respect to the first articulation link 210.

When the second joint link 220 is rotated, the second connection member 262 connected to the second fixing member 240 is pulled out.

When the second connection member 262 is pulled out, the second driver 52 is relaxed by the second connection member 262. At this time, the second spring sensor 12 is also relaxed together with the second driver 52.

Here, the process of calculating the rotation angle of the second joint link 220 based on the first joint link 210 through the displacement measuring device 100 is the operation of bending the second joint link 220. In the same manner as described above, detailed description thereof will be omitted.

By the above-described process, the cover of the second joint link 220 of the robot joint module 200 is operated, and the second joint link 220 is unfolded through the displacement measuring device 100. May calculate the rotation angle of the second articulation link 220 with respect to the operation.

7 is a graph comparing the rotation angle measured by the encoder and the rotation angle measured by the operation of the robot joint module to which the displacement measuring device of FIG. 5 is applied. At this time, the y-axis on the left side represents the rotation angle measured by the encoder, the y-axis on the right side represents the rotation angle calculated by the displacement measuring device, the x-axis represents the measurement time.

Here, the dotted line is the rotation angle measured by the encoder, and the solid line is the rotation angle calculated using the displacement measuring device, that is, the spring sensor.

Although not shown, an encoder is mounted on a portion where the first joint link and the second joint link are connected to measure an angle of rotation of the second joint link rotated relative to the first joint link. By using the displacement measuring device according to an example it is possible to compare the mutual by measuring the angle of rotation of the second joint link is rotated relative to the first joint link.

As a result, as shown in FIG. 7, it can be confirmed that the rotation angle of the second joint link measured by the encoder coincides with the rotation angle measured by the displacement measuring device.

Hereinafter, the muscle strength-enhancing garment to which the displacement measuring device according to the first embodiment of the present invention is applied is as follows.

Although not shown, the muscle strength enhancing garment to which the displacement measuring apparatus according to the first embodiment of the present invention is applied includes a garment body, a first spring sensor, a second spring sensor, a first voltage measuring unit, and a second voltage. And a measuring unit and a calculating unit, a first fixing member, a second fixing member, a first connecting member, a second connecting member, a first driver, and a second driver.

The first fixing member may be installed on the garment body, and fixes one end of the first spring sensor and one end of the second spring sensor to the garment body.

The second fixing member is installed on the garment body, and is spaced apart from the first fixing member by a predetermined interval.

A band-shaped structure may be applied to the first fixing member and the second fixing member fixed to the garment body.

The first connection member connects the other end of the first spring sensor and one side of the second fixing member.

The second connection member connects the other end of the second spring sensor to the other side of the second fixing member.

The first driver is disposed in parallel with the first spring sensor, thereby changing the length of the first spring sensor while being contracted.

The second driver is connected to the first driver to relax in correspondence with the contraction of the first driver, and is disposed in parallel with the second spring sensor.

That is, the configuration not described among the components of the muscle strength enhancing garment to which the displacement measuring apparatus is applied according to the first embodiment is the same as the configuration of the robot joint module to which the displacement measuring apparatus is applied according to the first embodiment. Omit.

As a result, the displacement measuring apparatus according to the first embodiment of the present invention can be applied not only to the above-described robot joint module but also to the clothes for muscle strength enhancement.

Although the preferred embodiments of the present invention have been described with reference to the drawings as described above, those skilled in the art can variously change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. Can be modified or changed.

11: first spring sensor 12: second spring sensor
21: first voltage measuring unit 22: second voltage measuring unit
30: AC current supply unit 40: calculation unit
51: first driver 52: second driver
60: mover 71: first fixed frame
72: second fixed frame 80: drive motor
90: power transmission member 100: displacement measuring device
200: robot joint module 210: first joint link
220: second joint link 230: first fixing member
240: third fixing member 251: first fixing frame
252: second fixed frame 253: third fixed frame
254: fourth fixing frame 261: first connecting member
262: second connecting member
V1: first voltage value V2: second voltage value
V3: third voltage value

Claims (9)

A first spring sensor contracted by an external force;
A second spring sensor connected in series with the first spring sensor to be relaxed while corresponding to the contraction of the first spring sensor, and having the same physical properties as the first spring sensor;
A first voltage measuring unit measuring a voltage output from both ends of the first spring sensor according to a change in length of the first spring sensor;
A second voltage measuring unit measuring a voltage output from both ends of the second spring sensor according to a change in length of the second spring sensor; And
Calculates a third voltage value that is a difference between the first voltage value measured by the first voltage measuring unit and the second voltage value measured by the second voltage measuring unit, and calculates a voltage value according to a predetermined displacement of the spring sensor; And a calculation unit configured to calculate a displacement of the spring sensor based on the half value of the third voltage value. The method of claim 1,
In order to supply an alternating current to the first spring sensor and the second spring sensor, one end is connected to the first spring sensor and the other end is connected to the second spring sensor; Displacement measuring device having an antagonistic structure. The method of claim 1,
A first driver disposed in parallel with the first spring sensor and contracted to change a length of the first spring sensor;
A second driver connected to the first driver and relaxed in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor; And
And a mover disposed between the first spring sensor and the second spring sensor to move together with the first spring sensor and the second spring sensor. The method of claim 1,
Drive motor;
A power transmission member coupled to the drive motor and moved by the drive motor; And
And a mover coupled to the power transmission member to perform a linear movement, the mover being disposed between the first spring sensor and the second spring sensor to move the first spring sensor and the second spring sensor. Displacement measuring device having an antagonistic structure. The method of claim 4, wherein
The power transmission member is a displacement measuring device having an antagonistic structure, characterized in that it comprises a ball screw for moving the mover while being rotated by the drive motor. First joint link;
A second joint link coupled to the first joint link and rotatable with respect to the first joint link;
A displacement measuring device having an antagonistic structure according to claim 1;
A first fixing member fixing one end of the first spring sensor and one end of the second spring sensor to the first joint link;
A second fixing member fixed to the second joint link;
A first connection member for connecting the other end of the first spring sensor and one side of the second fixing member;
A second connecting member for connecting the other end of the second spring sensor to the other side of the second fixing member;
A first driver disposed in parallel with the first spring sensor and contracted to change a length of the first spring sensor; And
And a second driver connected to the first driver and relaxed in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor. Robot joint module. The method of claim 6,
The first driver is a robot joint module with a displacement measuring device having an antagonistic structure characterized in that it comprises a shape memory alloy spring deformed by heat. The method of claim 7, wherein
The calculation unit,
The robot joint module having a displacement measuring device having an antagonistic structure, wherein the rotation angle of the second joint link is converted on the basis of the half value of the third voltage value. Clothing body;
A displacement measuring device having an antagonistic structure according to claim 1;
A first fixing member installed at the garment body to fix one end of the first spring sensor and one end of the second spring sensor to the garment body;
A second fixing member installed on the garment main body and spaced apart from the first fixing member by a predetermined distance;
A first connection member for connecting the other end of the first spring sensor and one side of the second fixing member;
A second connecting member for connecting the other end of the second spring sensor to the other side of the second fixing member;
A first driver disposed in parallel with the first spring sensor and contracted to change a length of the first spring sensor; And
And a second driver connected to the first driver and relaxed in correspondence with the contraction of the first driver, the second driver being disposed in parallel with the second spring sensor. Muscle strength apparel.

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