公开(公告)号：KR1020130026293A

公开(公告)日：2013-03-13

申请号：KR1020110089821

申请日：2011-09-05

Applicant: 한국과학기술원

Inventor： 김정 ,  구광민

IPC: G01L1/24 ,  G01B11/16 ,  B25J19/02

Abstract: PURPOSE: A robot sensor and a robot using the same are provided to improve durability of a product by removing fatigue of a sensor unit when repetitive external force is applied. CONSTITUTION: A robot sensor comprises a transformation block(1), a pair of optical sensors(3), and a cover unit. The transformation block comprises a transformation unit(12) transformed by the external force. A pair of optical sensors transfers a voltage signal in vector directions according to transformation of the transformation unit when external force of an axial direction is applied to the transformation block and is arranged to transfer the voltage signal of the vector direction different from each other when the shear force is applied in the direction crossing at a right angle of the axial direction. The cover unit is connected to the transformation block in order to close a pair of the optical sensors. The transformation unit comprises an interrupt(121) arranged in each optical slit unit(31) of the optical sensors. Each optical sensor is comprised in order to transfer the voltage signal according to position change in the optical slit unit of the interrupt.

Abstract translation: 目的：提供机器人传感器和使用其的机器人，以通过在施加重复的外力时消除传感器单元的疲劳来提高产品的耐用性。 构成：机器人传感器包括变换块（1），一对光学传感器（3）和盖单元。 变换块包括通过外力变换的变换单元（12）。 当轴向的外力施加到变换块时，一对光学传感器根据变换单元的变换向矢量方向传递电压信号，并且被布置成当矢量方向的电压信号彼此不同时传递 沿轴向直角交叉的方向施加剪切力。 盖单元连接到变换块以封闭一对光学传感器。 变换单元包括布置在光学传感器的每个光学狭缝单元（31）中的中断（121）。 包括每个光学传感器以便根据中断的光学狭缝单元中的位置变化来传送电压信号。

公开(公告)号：KR1020120074809A

公开(公告)日：2012-07-06

申请号：KR1020100136756

申请日：2010-12-28

Applicant: 한국과학기술원

Inventor： 장평훈 ,  구광민

IPC: G01L3/12 ,  B25J5/00

CPC classification number: G01L3/101 ,  B25J13/08 ,  B25J19/02

Abstract: PURPOSE: A torque sensor and a robot in which the torque sensor is applied are provided to preciously measure a torque generated in a torque generator without errors caused by a gap between components. CONSTITUTION: A torque sensor and a robot in which the torque sensor comprises a torque generator(10), a transformation unit, and a sensor unit(40). The torque generator rotates around a fixing unit with a rotator by being joined to the rotator. The transformation unit is arrange between the torque generator and the fixing unit and formed into one body with the torque generator and the fixing unit. The transformation unit is consisted of a material in which an elastic transformation is possible and transformed in order to allow rotation of the torque generator around the fixing unit and recovered to an original position after the transformation. The sensor unit senses an extent of the transformation of the torque generator to the fixing unit.

Abstract translation: 目的：提供扭矩传感器和其中施加扭矩传感器的机器人，以便在扭矩发生器中产生的转矩产生误差，而不会由部件之间的间隙引起误差。 构成：扭矩传感器和机器人，其中扭矩传感器包括扭矩发生器（10），变换单元和传感器单元（40）。 转矩发生器通过与转子接合而围绕具有转子的定影单元旋转。 转换单元布置在扭矩发生器和固定单元之间，并与扭矩发生器和定影单元形成一体。 变换单元由能够进行弹性变形而进行变形的材料构成，以使扭矩发生器能够在定影单元周围旋转，并在变形后恢复到初始位置。 传感器单元感测到转矩发生器与定影单元的变换的程度。