KR20210015112A - Multi-Axis Force Sensor and Multi-Axis Force Detecting Forceps - Google Patents
Multi-Axis Force Sensor and Multi-Axis Force Detecting Forceps Download PDFInfo
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- KR20210015112A KR20210015112A KR1020190093453A KR20190093453A KR20210015112A KR 20210015112 A KR20210015112 A KR 20210015112A KR 1020190093453 A KR1020190093453 A KR 1020190093453A KR 20190093453 A KR20190093453 A KR 20190093453A KR 20210015112 A KR20210015112 A KR 20210015112A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/165—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in capacitance
Abstract
Description
본 발명은 간단한 구조로 세밀하게 힘 측정을 할 수 있는 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게에 관한 것이다.The present invention relates to a multiaxial force sensor capable of detailed force measurement with a simple structure, and to a forceps capable of detecting a multiaxial force using the same.
본 발명은 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게로서, 보다 구체적으로는 간단한 구조로 세밀하게 힘 측정을 할 수 있는 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게이다.The present invention is a multi-axial force sensor and a forceps capable of detecting a multi-axial force using the same, and more specifically, a multi-axial force sensor capable of detailed force measurement with a simple structure, and a forceps capable of detecting a multi-axial force using the same.
1. 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게를 제공.1. Provides multi-axis force sensor and tongs that can detect multi-axis force using the same.
2. 단순한 구조로 정밀한 힘 측정을 할 수 있는 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게를 제공.2. Provides a multi-axis force sensor capable of precise force measurement with a simple structure, and a forceps that can detect multi-axis force using the same.
3. 수술시 사용되는 로봇 집게가 환부에 가하는 힘을 정확하게 측정할 수 있도록 하는 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게를 제공.3. Provides a multi-axis force sensor that accurately measures the force exerted by the robotic forceps used in surgery and the forceps that can detect the multiaxial force using the same.
본 발명의 일 실시예에 따른 다축 힘 센서를 이용한 다축 힘을 감지할 수 있는 집게는 제1 부재와 제1 돌출모듈로 구성되는 제1 동작부;제1 부재에서 형성되는 탄성체를 포함하는 탄성부;상기 탄성부를 사이에 두고 제1 부재와 제1 돌출모듈이 각각 제2 부재와 제 2 돌출모듈을 마주보는 형태로 구성되는 제 2 동작부;전원이 전극부에 전해지면 전극부는 제 2 동작부와 함께 전기용량을 형성하고, 동작부의 위치변화에 따른 전기용량의 변화량으로 힘을 측정하는 전극부;3축 센서 유닛이 하나의 PCB에 전기 용량을 측정할 수 있는 적어도 하나의 힘 센서를 포함한다.A forceps capable of detecting a multi-axial force using a multi-axial force sensor according to an embodiment of the present invention includes a first operation unit composed of a first member and a first protrusion module; an elastic unit including an elastic body formed from the first member ; A second operation unit configured in a shape in which the first member and the first protrusion module face each second member and the second protrusion module with the elastic part therebetween; When power is transmitted to the electrode unit, the electrode unit is a second operation unit An electrode unit that forms an electric capacity together with and measures a force by a change in electric capacity according to a change in the position of the operation unit; The 3-axis sensor unit includes at least one force sensor capable of measuring electric capacity in one PCB. .
다축 힘 센서를 서로 결합하여 집게를 형성하고 연산부를 이용해 상기 다축 힘 센서에서 측정된 정보를 바탕으로 외력에 대한 다축 힘 값을 구함으로써, 집게가 너무 강한 힘을 환부에 가하면서 발생하는 손상문제를 해결할 수 있는 다축 힘을 감지할 수 있는 집게가 제공됨.Multiaxial force sensors are combined to form tongs, and the multiaxial force value for the external force is calculated based on the information measured by the multiaxial force sensor using the calculation unit, thereby solving the damage problem that occurs when the forceps applies too strong force to the affected area. Tongs are provided to detect multiaxial forces that can be solved.
도 1은 본 발명의 디스플레이의 외관을 나타낸 사시도이다.1 is a perspective view showing the appearance of a display of the present invention.
이하, 첨부된 도면을 참조하여 본 명세서에 개시된 실시예를 상세히 설명하되, 도면 부호에 관계없이 동일하거나 유사한 구성요소는 동일한 참조 번호를 부여하고 이에 대한 중복되는 설명은 생략하기로 한다. 이하의 설명에서 사용되는 구성요소에 대한 접미사 "모듈" 및 "부"는 명세서 작성의 용이함만이 고려되어 부여되거나 혼용되는 것으로서, 그 자체로 서로 구별되는 의미 또는 역할을 갖는 것은 아니다. 또한, 본 명세서에 개시된 실시예를 설명함에 있어서 관련된 공지 기술에 대한 구체적인 설명이 본 명세서에 개시된 실시예의 요지를 흐릴 수 있다고 판단되는 경우 그 상세한 설명을 생략한다. 또한, 첨부된 도면은 본 명세서에 개시된 실시예를 쉽게 이해할 수 있도록 하기 위한 것일 뿐, 첨부된 도면에 의해 본 명세서에 개시된 기술적 사상이 제한되지 않으며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다. Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other. In addition, in describing the embodiments disclosed in the present specification, when it is determined that detailed descriptions of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, detailed descriptions thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.
제1, 제2 등과 같이 서수를 포함하는 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 상기 구성요소들은 상기 용어들에 의해 한정되지는 않는다. 상기 용어들은 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용된다.Terms including ordinal numbers, such as first and second, may be used to describe various elements, but the elements are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another component.
어떤 구성요소가 다른 구성요소에 "연결되어" 있다거나 "접속되어" 있다고 언급된 때에는, 그 다른 구성요소에 직접적으로 연결되어 있거나 또는 접속되어 있을 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다고 이해되어야 할 것이다. 반면에, 어떤 구성요소가 다른 구성요소에 "직접 연결되어" 있다거나 "직접 접속되어" 있다고 언급된 때에는, 중간에 다른 구성요소가 존재하지 않는 것으로 이해되어야 할 것이다.When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.
단수의 표현은 문맥상 명백하게 다르게 뜻하지 않는 한, 복수의 표현을 포함한다.Singular expressions include plural expressions unless the context clearly indicates otherwise.
본 출원에서, "포함한다" 또는 "가지다" 등의 용어는 명세서상에 기재된 특징, 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것이 존재함을 지정하려는 것이지, 하나 또는 그 이상의 다른 특징들이나 숫자, 단계, 동작, 구성요소, 부품 또는 이들을 조합한 것들의 존재 또는 부가 가능성을 미리 배제하지 않는 것으로 이해되어야 한다.In the present application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.
본 발명은 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게로서, 보다 구체적으로는 간단한 구조로 세밀하게 힘 측정을 할 수 있는 다축 힘 센서 및 이를 이용한 다축 힘을 감지할 수 있는 집게이다.The present invention is a multi-axial force sensor and a forceps capable of detecting a multi-axial force using the same, and more specifically, a multi-axial force sensor capable of detailed force measurement with a simple structure, and a forceps capable of detecting a multi-axial force using the same.
도 1은 본 발명의 디스플레이의 외관을 나타낸 사시도이다.1 is a perspective view showing the appearance of a display of the present invention.
본 발명의 일 실시예는 제1 부재와 제1 돌출모듈로 구성되는 제1 동작부, 제1 부재에서 형성되는 탄성체를 포함하는 탄성부, 상기 탄성부를 사이에 두고 제1 부재와 제1 돌출모듈이 각각 제2 부재와 제 2 돌출모듈을 마주보는 형태로 구성되는 제 2 동작부, 전원이 전극부에 전해지면 전극부는 제 2 동작부와 함께 전기용량을 형성하고, 동작부의 위치변화에 따른 전기용량의 변화량으로 힘을 측정하는 전극부, 3축 센서 유닛이 하나의 PCB에 전기 용량을 측정할 수 있는 적어도 하나의 힘 센서를 포함한다.An embodiment of the present invention is a first operation unit composed of a first member and a first protruding module, an elastic unit including an elastic body formed from the first member, the first member and the first protruding module with the elastic unit interposed therebetween. When the power is transmitted to the electrode unit, the second operation unit is configured to face the second member and the second protruding module, respectively, and the electrode unit forms an electric capacitance with the second operation unit, and electricity according to the position change of the operation unit The electrode unit for measuring force by the amount of change in capacity, and the 3-axis sensor unit includes at least one force sensor capable of measuring electric capacity in one PCB.
상기의 상세한 설명은 모든 면에서 제한적으로 해석되어서는 아니되고 예시적인 것으로 고려되어야 한다. 본 발명의 범위는 첨부된 청구항의 합리적 해석에 의해 결정되어야 하고, 본 발명의 등가적 범위 내에서의 모든 변경은 본 발명의 범위에 포함된다.The above detailed description should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.
Claims (1)
제1 부재에서 형성되는 탄성체를 포함하는 탄성부;
상기 탄성부를 사이에 두고 제1 부재와 제1 돌출모듈이 각각 제2 부재와 제 2 돌출모듈을 마주보는 형태로 구성되는 제 2 동작부;
전원이 전극부에 전해지면 전극부는 제 2 동작부와 함께 전기용량을 형성하고, 동작부의 위치변화에 따른 전기용량의 변화량으로 힘을 측정하는 전극부;
3축 센서 유닛이 하나의 PCB에 전기 용량을 측정할 수 있는 적어도 하나의 힘 센서를 포함하는, 다축 힘 센서를 이용한 다축 힘을 감지할 수 있는 집게.A first operation unit composed of a first member and a first protrusion module;
An elastic part including an elastic body formed in the first member;
A second operation unit in which the first member and the first protruding module face the second member and the second protruding module, respectively, with the elastic part therebetween;
When power is delivered to the electrode unit, the electrode unit forms an electric capacity together with the second operation unit and measures a force based on a change in electric capacity according to a position change of the operation unit;
A three-axis sensor unit comprising at least one force sensor capable of measuring electric capacity on one PCB, a forceps capable of detecting a multi-axis force using a multi-axis force sensor.
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| KR101266210B1 (en) | 2011-09-22 | 2013-05-21 | 성균관대학교산학협력단 | Six-axis sensor measuring power and torque |
| KR101358669B1 (en) | 2012-05-21 | 2014-02-24 | 한국과학기술원 | Apparatus for measuring force or torque of multi-DOFs gripper device on a slider of robot arms and method of the same |
| KR101401844B1 (en) | 2011-03-17 | 2014-05-29 | 해리스 코포레이션 | Robotic grasping device with multi-force sensing at base of fingers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101401844B1 (en) | 2011-03-17 | 2014-05-29 | 해리스 코포레이션 | Robotic grasping device with multi-force sensing at base of fingers |
| KR101266210B1 (en) | 2011-09-22 | 2013-05-21 | 성균관대학교산학협력단 | Six-axis sensor measuring power and torque |
| KR101358669B1 (en) | 2012-05-21 | 2014-02-24 | 한국과학기술원 | Apparatus for measuring force or torque of multi-DOFs gripper device on a slider of robot arms and method of the same |
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