KR102508871B1 - An end effector module to improve the quality of drilling hole processing - Google Patents

Abstract

The present invention provides a plurality of support parts for supporting the carbon fiber composite material, a fixing part positioned on the top of the carbon fiber composite material, a guide part extending from the lower surface of the fixing part toward the carbon fiber composite material, and a guide part located on both sides of the guide part and formed on the lower surface of the fixing part. an elastic part located on the upper surface of the carbon fiber composite material, a buffer part facing the elastic part, a sensor part located between the elastic part and the buffer part to measure the elastic force provided by the elastic part, communicating with the buffer part and circulating the air inside the buffer part. The vacuum pump unit that sucks, the sensor unit, and the control unit that controls the operation of the vacuum pump unit based on the force information transmitted from the sensor unit and electrically connected to the vacuum pump unit, and the fixing unit and the guide unit in a state mounted on the end of the robot arm. It provides an end-effector module, characterized in that it includes a tool unit for processing the carbon fiber composite material by passing through it.

Description

An end effector module to improve the quality of drilling hole processing}

The present invention relates to an end effector module for improving the quality of drilling holes, and more particularly, to an end effector module for improving the quality of drilling holes by firmly fixing a carbon fiber composite material (CFRP). .

Recently, a composite material having both the strength of metal and the light weight and moldability of plastic has been developed. Typical examples of these composites include fiber reinforced plastics (FRPs) including carbon fiber reinforced plastics (CFRPs), glass fiber reinforced plastics (GFRPs), and the like. . Such a composite material is a high-tech composite material attracting attention as a high-strength and high-elastic lightweight structural material using carbon fiber or glass fiber as a reinforcing material, and has excellent properties as a lightweight structural material.

Such a composite material may be fixed to a structure using fastening elements such as bolts or rivets, or may be combined with other materials such as metal or wood. For this reason, the composite material requires drilling to process a plurality of through-holes for passing the fastening elements as described above, and such drilling is typically performed using a drill.

However, such a composite material is a material that is difficult to process by laminating one or two or more prepregs in which a matrix resin is impregnated with carbon fiber and heat-forming or hot-pressing molding, and is a composite material processing apparatus and composite material processing method using a conventional general drill When drilling a composite material by using a drilling tool, there is a problem in that excessive wear occurs on the drilling tool and the quality of the through-hole part is deteriorated. For example, the inner diameter of the drilled through-hole is processed to be small, or the carbon fiber remains cut at the outlet through which the drilling tool passes (a phenomenon in which a part of the fiber forming the fiber-reinforced composite is not cut and remains around the processed through-hole) There was a problem in that peeling occurred or easily occurred between the laminates of the prepregs forming the fiber-reinforced composite.

In addition, in order to prevent this problem, when processing a composite material using a water jet, it is impossible to implement a vertical wall surface of the through-hole part, so the inner wall surface of the through-hole part is processed at an angle, resulting in a taper. When processing , there was a problem in that the processing time was long, resulting in low productivity and a deterioration phenomenon around the processed through-hole portion.

In addition, when drilling a widely spread carbon fiber composite material, there is a problem in that processing quality deteriorates as the carbon fiber composite material is not firmly fixed during the processing process.

(Patent Document 1) Patent Registration No. 10-2172018 (2020.10.26.)

(Patent Document 2) Patent Registration No. 10-2216644 (2021.02.09.)

An object of the present invention to solve the above problems is to support the carbon fiber composite material with a plurality of support parts and install an elastic part and a buffer part between the fixing part and the carbon fiber composite material to firmly fix the carbon fiber composite material, thereby improving processing quality and It is to provide an end effector module that improves the precision of hole processing.

In addition, an object of the present invention for solving the above problem is a sensor unit disposed between the elastic part and the buffer unit, a vacuum pump unit communicating with the buffer unit and sucking air inside the buffer unit, and force information transmitted from the sensor unit. To provide an end-effector module that doubles the processing quality and precision of hole processing by maximally maintaining the current state in which the carbon fiber composite material is fixed through a control unit that controls the operation of the vacuum pump unit based on the above.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

Configuration of the present invention for achieving the above object is a plurality of support units for supporting the carbon fiber composite; a fixing unit located on top of the carbon fiber composite; a guide part extending from the lower surface of the fixing part toward the carbon fiber composite; Elastic parts located on both sides of the guide part and formed on the lower surface of the fixing part; a buffer part located on the upper surface of the carbon fiber composite material and facing the elastic part; a sensor unit positioned between the elastic unit and the buffer unit to measure an elastic force provided by the elastic unit; a vacuum pump unit communicating with the buffer unit and sucking air inside the buffer unit; a control unit electrically connected to the sensor unit and the vacuum pump unit and controlling an operation of the vacuum pump unit based on force information transmitted from the sensor unit; and a tool unit for processing the carbon fiber composite material by passing through the fixing unit and the guide unit while being mounted on the end of the robot arm.

In addition, the configuration of the present invention for achieving the above object is a plurality of support units for supporting the carbon fiber composite; a fixing unit located on top of the carbon fiber composite; a guide part extending from the lower surface of the fixing part toward the carbon fiber composite; Elastic parts located on both sides of the guide part and formed on the lower surface of the fixing part; a buffer unit positioned on an upper surface of the carbon fiber composite material and coupled to the elastic unit; and a tool unit for processing the carbon fiber composite material by passing through the fixing unit and the guide unit while being mounted on the end of the robot arm.

In an embodiment of the present invention, the sensor unit measures the elastic force provided from the elastic unit to generate the force information, and the force information is a repulsive force by which the elastic unit pushes the fixing unit and the sensor unit. can do.

In an embodiment of the present invention, the control unit controls the operation of the vacuum pump unit so that the vacuum pump unit sucks less air inside the buffer unit than the current state when the force information is greater than the preset force information, thereby controlling the carbon fiber It may be characterized as fixing the composite.

In an embodiment of the present invention, when the force information is smaller than the preset force information, the control unit controls the operation of the vacuum pump unit so that the vacuum pump unit sucks more air inside the buffer unit than the current state, thereby controlling the carbon fiber It may be characterized as fixing the composite.

In an embodiment of the present invention, a suction hole is formed on one surface of the buffer unit facing the guide unit, and the vacuum pump unit passes dust generated when the tool unit processes the carbon fiber composite material through the suction hole to suck it in. It may be characterized by discharging to the outside after doing.

In an embodiment of the present invention, the plurality of support parts may be arranged to be spaced apart from each other by a predetermined distance to support the lower surface of the carbon fiber composite material.

In an embodiment of the present invention, a plurality of guide parts are formed at the center of the lower surface of the fixing part, and the plurality of guide parts are arranged to be spaced apart from each other by a diameter larger than the diameter of the tool part, so that the tool part can process the carbon fiber composite material. It may be characterized in that the dust generated during the discharge is discharged between the plurality of guide parts.

In an embodiment of the present invention, a fixing hole larger than a diameter of the tool portion may be formed at a central portion of the fixing portion so that the tool portion is inserted.

The effect of the present invention according to the configuration as described above is to support the carbon fiber composite material with a plurality of support parts, and install an elastic part and a buffer part between the fixing part and the carbon fiber composite material to firmly fix the carbon fiber composite material, thereby improving processing quality and hole quality. Processing precision can be improved.

In addition, the effect of the present invention according to the configuration as described above is the force information transmitted from the sensor unit disposed between the elastic part and the buffer unit, the vacuum pump unit communicating with the buffer unit and sucking the air inside the buffer unit, and the sensor unit. Based on the control unit that controls the operation of the vacuum pump unit, it is possible to double the processing quality and precision of hole processing by maximally maintaining the current state in which the carbon fiber composite material is fixed.

1 is a conceptual diagram showing an end effector module and a robot arm according to a first embodiment of the present invention.
2 is a cross-sectional view in one direction showing a carbon fiber composite material, a processing hole, and a guide part and a tool part provided in the end effector module according to the first and second embodiments of the present invention.
3 is a conceptual diagram illustrating an end effector module according to a first embodiment of the present invention.
FIG. 4 is a conceptual diagram illustrating that a tool unit processes a carbon fiber composite material in the end effector module according to the first embodiment of the present invention.
FIG. 5 is a conceptual diagram showing that the tool part returns to its original position after processing the carbon fiber composite material in the end effector module according to the first embodiment of the present invention.
6 is a conceptual diagram illustrating an end effector module and a robot arm according to a second embodiment of the present invention.
7 is a conceptual diagram illustrating an end effector module according to a second embodiment of the present invention.
FIG. 8 is a conceptual diagram illustrating that a tool unit processes a carbon fiber composite material in an end effector module according to a second embodiment of the present invention.
FIG. 9 is a conceptual diagram illustrating that the tool part returns to its original position after processing the carbon fiber composite material in the end effector module according to the second embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and, therefore, is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1. Embodiment 1: End-effector module 200

Hereinafter, the end effector module according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5 .

1 is a conceptual diagram showing an end effector module and a robot arm according to a first embodiment of the present invention.

Referring to FIG. 1 , the end effector module 200 according to the first embodiment of the present invention includes a support part 210, a fixing part 220, a guide part 230, an elastic part 240, and a buffer part 250. , It includes a sensor unit 260, a vacuum pump unit 270, a control unit 280 and a tool unit 290.

The support part 210 is formed in plurality to support the carbon fiber composite material 10 (CFRP: Carbon Fiber Reinforced Plastics).

Specifically, as shown in FIG. 1 , the plurality of support parts 210 are arranged to be spaced apart from each other to support the lower surface of the carbon fiber composite material 10 .

The plurality of support parts 210 for this purpose are preferably made of a material with high rigidity in order to firmly support the carbon fiber composite material 10 .

In addition, since the support part 210 has a hexahedral shape, it can more firmly support the carbon fiber composite material 10 as it makes surface contact with the carbon fiber composite material 10 .

In addition, the plurality of support parts 210 are preferably arranged to have the same height in order to improve the processing quality of the carbon fiber composite material 10 .

The fixing part 220 is located on top of the carbon fiber composite material 10 . Referring to FIG. 1, the fixing part 220 is a plate member having a predetermined thickness, and a fixing hole larger than the diameter of the tool part 290 so that the tool part 290 is inserted in the central part of the fixing part 220 ( 221) is formed.

Since the fixing part 220 has to withstand the elastic force provided from the elastic part 240, it is preferable to be made of a material with high rigidity.

2 is a cross-sectional view in one direction showing a carbon fiber composite material, a processing hole, a guide part and a tool part provided in the end effector module according to the first and second embodiments of the present invention.

Referring to FIG. 1 , the guide part 230 extends from the lower surface of the fixing part 220 toward the carbon fiber composite material 10 .

Specifically, as shown in FIGS. 1 and 2 , a plurality of guide parts 230 are formed in the central part when the lower surface of the fixing part 220 is formed.

In addition, since the plurality of guide parts 230 are arranged to be spaced apart from each other larger than the diameter of the tool part 290, dust generated when the tool part 290 processes the carbon fiber composite material 10 is removed from the plurality of guide parts ( 290) is discharged between them.

Referring to FIG. 1 , the elastic part 240 is located on both sides of the guide part 230 and is formed on the lower surface of the fixing part 220 .

Specifically, one end of the elastic part 240 is formed on both sides of the lower surface of the fixing part 220 and is disposed in the vertical direction, and the other end of the elastic part 240 is coupled to the sensor unit 260 .

The elastic part 240 in the present invention is described as providing an elastic force pushing the fixing part 220 and the sensor part 260, and accordingly, the elastic part 240 is disposed in a compressed state.

However, the elastic part 240 may provide a pulling elastic force to the fixing part 220 and the sensor part 260 as needed, contrary to the above description, and at this time, the elastic part 240 is disposed in a tensioned state. .

The elastic part 240 may be a spring made of an elastic material capable of providing an illustrative elastic force.

The buffer part 250 is located on the upper surface of the carbon fiber composite material 10 and faces the elastic part 240, and as shown in FIG. 1, two may be formed.

In addition, a suction hole 251 is formed on one side of the buffer unit 250 facing the guide unit 230 .

The suction hole 251 is a passage through which dust generated when the tool unit 290 processes the carbon fiber composite material 10 is sucked by the operation of the vacuum pump unit 270 .

The sensor unit 260 is positioned between the elastic unit 240 and the buffer unit 250 to measure the elastic force provided by the elastic unit 240 . The sensor unit 260 for this may be illustratively a force sensor.

In more detail, the sensor unit 260 generates force information based on the measured elastic force provided from the elastic unit 240, and at this time, the force information is generated by the elastic unit 240 between the fixing unit 220 and the sensor unit ( 260) is the repulsive force that pushes it away.

In addition, the sensor unit 260 is coupled to the elastic unit 240 and the buffer unit 250, and as shown in FIG. 1, two may be formed.

The vacuum pump unit 270 communicates with the two buffer units 250 and sucks air inside the buffer unit 250 .

The above vacuum pump unit 270 passes dust generated when the tool unit 290 processes the carbon fiber composite material 10 through the suction hole 251 to suck it in and then discharges it to the outside.

The control unit 280 is electrically connected to the sensor unit 260 and the vacuum pump unit 270 and controls the operation of the vacuum pump unit 270 based on force information transmitted from the sensor unit 260 .

Specifically, the control unit 280 controls the operation of the vacuum pump unit 270 so that the vacuum pump unit 270 sucks less air inside the buffer unit 250 than the current state when the force information is greater than the preset force information. By doing so, the carbon fiber composite material 10 is fixed.

Meanwhile, when the force information is smaller than the preset force information, the control unit 280 controls the operation of the vacuum pump unit 270 so that the vacuum pump unit 270 sucks in more air inside the buffer unit 250 than the current state. By doing so, the carbon fiber composite material 10 is fixed.

Through the control unit 280, the carbon fiber composite material 10 is processed by the tool unit 290 while continuously maintaining a flat state, thereby improving the processing quality.

The tool unit 290 passes through the fixing unit 220 and the guide unit 230 while being mounted on the end of the robot arm 100 to process the carbon fiber composite material 10 .

For example, the tool unit 290 may be a drill tool for performing drilling.

2. Embodiment 1: Operation of the end-effector module 200

Hereinafter, the operation of the end effector module according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 3 to 5 .

First, as shown in FIG. 1, the robot arm 100 and the end effector module 200 are located. At this time, the tool unit 290 mounted on the end of the robot arm 100 is positioned above the fixing hole 221 .

3 is a conceptual diagram illustrating an end effector module according to a first embodiment of the present invention.

Next, as the robot arm 100 is driven and moved downward in the state shown in FIG. 3 , the tool unit 290 passes through the fixing hole 221 to form a plurality of guide units 230 as shown in FIG. 4 . is located inside

FIG. 4 is a conceptual diagram illustrating that a tool unit processes a carbon fiber composite material in the end effector module according to the first embodiment of the present invention.

Next, as the robot arm 100 is driven and moved further downward in the state shown in FIG. 3, the tool unit 290 drills the carbon fiber composite material 10, and the dust P generated accordingly is vacuumed. After passing between the plurality of guide parts 230 by the suction force of the pump unit 270 and flowing into the suction hole 251, it is discharged to the outside by the vacuum pump unit 270.

FIG. 5 is a conceptual diagram showing that the tool part returns to its original position after processing the carbon fiber composite material in the end effector module according to the first embodiment of the present invention.

When the drilling process is completed, the tool unit 290 moves upward from the state shown in FIG. 4 to the state shown in FIG. 5 .

3. Second embodiment: end-effector module 200

Hereinafter, an end effector module according to a second embodiment of the present invention will be described with reference to FIGS. 2 and 6 to 9 .

However, the end effector module 200' according to the second embodiment does not have a sensor unit, a vacuum pump unit, and a controller included in the end effector module 200 according to the first embodiment, and other components are the same.

6 is a conceptual diagram illustrating an end effector module and a robot arm according to a second embodiment of the present invention.

The end effector module 200' according to the second embodiment of the present invention includes a support part 210', a fixing part 220', a guide part 230', an elastic part 240', and a buffer part 250'. , and a tool portion 290'.

The support part 210' is formed in plurality to support the carbon fiber composite material 10 (CFRP: Carbon Fiber Reinforced Plastics).

Specifically, as shown in FIG. 6 , the plurality of support parts 210 ′ are arranged to be spaced apart from each other to support the lower surface of the carbon fiber composite material 10 .

The plurality of support parts 210' for this purpose are preferably made of a material with high rigidity in order to firmly support the carbon fiber composite material 10.

In addition, since the support part 210' has a hexahedral shape, it can more firmly support the carbon fiber composite material 10 as it makes surface contact with the carbon fiber composite material 10.

In addition, it is preferable that the plurality of support parts 210' are arranged to have the same height in order to improve the processing quality of the carbon fiber composite material 10.

The fixing part 220' is located on the upper part of the carbon fiber composite material 10. Referring to FIG. 6, the fixing part 220' is a plate member having a predetermined thickness, and the diameter of the tool part 290' is larger than the diameter of the tool part 290 so that the tool part 290' is inserted into the central part of the fixing part 220'. A fixing hole 221' is formed.

Since the fixing part 220' has to withstand the elastic force provided from the elastic part 240', it is preferable to be made of a material with high rigidity.

Referring to FIG. 6 , the guide part 230 extends from the lower surface of the fixing part 220 toward the carbon fiber composite material 10 .

Specifically, as shown in FIGS. 2 and 6 , a plurality of guide parts 230' are formed in the center of the lower surface of the fixing part 220'.

In addition, since the plurality of guide parts 230' are arranged to be spaced apart from each other by a diameter greater than the diameter of the tool part 290', dust generated when the tool part 290' processes the carbon fiber composite material 10 is greatly reduced. It is discharged between the guide parts 290'.

Referring to FIG. 6 , elastic parts 240' are located on both sides of the guide part 230' and are formed on the lower surface of the fixing part 220'.

Specifically, one end of the elastic part 240' is formed on both sides of the lower surface of the fixing part 220' and is disposed in the vertical direction, and the other end of the elastic part 240' is coupled to the buffer part 250'.

The elastic part 240' in the present invention is described as providing an elastic force that pushes the fixing part 220' and the buffer part 250', and accordingly, the elastic part 240' is placed in a compressed state. do.

However, the elastic part 240' may provide a pulling elastic force to the fixing part 220' and the buffer part 250', contrary to the above description, if necessary. At this time, the elastic part 240' is tensioned. placed in a state

The elastic part 240' described above may be a spring made of an elastic material capable of providing an illustrative elastic force.

The buffer part 250' is located on the upper surface of the carbon fiber composite material 10 and is coupled to the elastic part 240', and as shown in FIG. 6, two may be formed.

The tool unit 290' passes through the fixing unit 220' and the guide unit 230' while being mounted on the end of the robot arm 100 to process the carbon fiber composite material 10.

For example, the tool unit 290' may be a drill tool for performing drilling.

4. Second Embodiment: Operation of the end-effector module 200

Hereinafter, the operation of the end effector module according to the second embodiment of the present invention will be described with reference to FIGS. 6 to 9 .

First, as shown in FIG. 6, the robot arm 100 and the end effector module 200 are located. At this time, the tool unit 290 mounted on the end of the robot arm 100 is positioned above the fixing hole 221 .

7 is a conceptual diagram illustrating an end effector module according to a second embodiment of the present invention.

Next, as the robot arm 100 is driven and moved downward in the state shown in FIG. 6, the tool part 290 passes through the fixing hole 221, and as shown in FIG. 7, a plurality of guide parts 230 is located inside

FIG. 8 is a conceptual diagram illustrating that a tool unit processes a carbon fiber composite material in an end effector module according to a second embodiment of the present invention.

Next, as the robot arm 100 is driven and moved further downward in the state shown in FIG. 7, the tool unit 290 drills the carbon fiber composite material 10, and the dust P generated accordingly is vacuumed. The suction force of the pump unit 270 passes between the plurality of guide units 230 and flows into the suction hole 251, and then is discharged to the outside by the vacuum pump unit 270, and related information is shown in FIG. do.

FIG. 9 is a conceptual diagram showing that the tool part returns to its original position after processing the carbon fiber composite material in the end effector module according to the second embodiment of the present invention.

When the drilling process is completed, the tool unit 290 moves upward from the state shown in FIG. 9 to the state shown in FIG. 8 .

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: Carbon fiber composite (CFRP)
100: robot arm
200: end effector module
210: support
220: fixing part
221: fixed hole
230: guide unit
240: elastic part
250: buffer part
251: suction hole
260: sensor unit
270: vacuum pump unit
280: control unit
290: tool part

Claims (9)

A plurality of support parts for supporting the carbon fiber composite;
a fixing unit located on top of the carbon fiber composite;
a guide part extending from the lower surface of the fixing part toward the carbon fiber composite;
Elastic parts located on both sides of the guide part and formed on the lower surface of the fixing part;
a buffer part located on the upper surface of the carbon fiber composite material and facing the elastic part;
a sensor unit positioned between the elastic unit and the buffer unit to measure an elastic force provided by the elastic unit;
a vacuum pump unit communicating with the buffer unit and sucking air inside the buffer unit;
a control unit electrically connected to the sensor unit and the vacuum pump unit and controlling an operation of the vacuum pump unit based on force information transmitted from the sensor unit; and
The end effector module comprising a; tool part for processing the carbon fiber composite material by passing through the fixing part and the guide part in a state mounted on the end of the robot arm.
A plurality of support parts for supporting the carbon fiber composite;
a fixing unit located on top of the carbon fiber composite;
a guide part extending from the lower surface of the fixing part toward the carbon fiber composite;
Elastic parts located on both sides of the guide part and formed on the lower surface of the fixing part;
a buffer unit positioned on an upper surface of the carbon fiber composite material and coupled to the elastic unit; and
The end effector module comprising a; tool part for processing the carbon fiber composite material by passing through the fixing part and the guide part in a state mounted on the end of the robot arm.
According to claim 1,
The sensor unit measures the elastic force provided from the elastic unit to generate the force information;
The force information is an end effector module, characterized in that the repulsive force by which the elastic part pushes the fixing part and the sensor part.
According to claim 3,
When the force information is greater than the preset force information, the control unit controls the operation of the vacuum pump unit so that the vacuum pump unit sucks less air inside the buffer unit than the current state, thereby fixing the carbon fiber composite material. End effector module.
According to claim 3,
When the force information is smaller than the preset force information, the control unit controls the operation of the vacuum pump unit so that the vacuum pump unit sucks more air inside the buffer unit than in the current state, thereby fixing the carbon fiber composite material. End effector module.
According to claim 1,
A suction hole is formed on one surface of the buffer unit facing the guide unit,
The end-effector module, characterized in that the vacuum pump unit passes dust generated when the tool unit processes the carbon fiber composite material through the suction hole to suck it in and then discharges it to the outside.
According to claim 1 or 2,
The end effector module, characterized in that the plurality of support parts are arranged to be spaced apart from each other to support the lower surface of the carbon fiber composite material.
According to claim 1 or 2,
The guide part is formed in a plurality of central parts when the fixing part is formed,
The end-effector module according to claim 1 , wherein dust generated when the tool unit processes the carbon fiber composite material is discharged between the plurality of guide units as the plurality of guide units are spaced apart from each other by a diameter greater than a diameter of the tool unit.
According to claim 1 or 2,
The end-effector module of claim 1, wherein a fixing hole larger than a diameter of the tool part is formed at a central portion of the fixing part so that the tool part is inserted therein.

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