KR102645815B1 - Robot - Google Patents

Abstract

The present invention discloses a robot. The present invention includes a support part inserted into either the ground or an external device, a sensor part disposed on the support part, at least two or more connection parts connected to the support part, and a work part arranged at the end of the at least two or more connection parts. and a joint portion disposed between the adjacent connection portions and between the connection portion and the work portion.

Description

Robot {Robot}

The present invention relates to devices, and more specifically to robots.

Robots can be used in a variety of fields. In particular, among these robots, manufacturing robots used in the manufacture of objects can perform tasks by implementing various movements at the ends of the manufacturing robot while one end is restrained. In this case, the robot may be installed so that one end is restrained by an external object. Additionally, the robot may include at least two or more connection parts connected to one end of the restrained end, a work part connected to one of the two or more connection parts, and joint parts connecting adjacent connection parts and between the connection parts and the work part. In addition to the above configuration, the robot may include a sensor installed at the end of the work unit. In this case, the robot can only measure the force applied to the workpiece based on the results measured by the sensor.

When an external force is applied to the connection part of the robot as described above, the support part is fixed to an external object, which may cause the support part to apply force to the external object or break away from the external object. In addition, in the case of the above robot, when an external force is applied to the robot's joints or joints, it is impossible to measure with the above sensor alone.

Such a robot is specifically disclosed in Japanese Patent No. 5873799 (Invention Title: Improved Articulated Arm, Applicant: HEXAGON METROLOGY AKTIEBOLAGET).

Japanese Patent No. 5873799

The present invention seeks to provide a robot.

One aspect of the present invention includes a support part inserted into one of the ground or an external device, a sensor part disposed on the support part, at least two or more connection parts connected to the support part, and disposed at the ends of the at least two or more connection parts. It is possible to provide a robot including a work part and joint parts disposed between the adjacent connection parts and between the connection parts and the work part.

In addition, it may further include a restraining unit that is disposed on either the ground or the external device and restrains or releases the support unit based on a result measured by the sensor unit.

In addition, the restraint part may include a driving part disposed on either the ground or the external device, and a contact part connected to the driving part and selectively contacting the support part according to the operation of the driving part.

In addition, the restraint part may further include a guide part disposed between the contact part and one of the ground or the external device to guide the movement of the contact part.

In addition, it may further include a cushion portion disposed between the support portion and one of the ground or the external device.

Embodiments of the present invention are capable of detecting external force applied to a robot. Additionally, embodiments of the present invention can ensure the stability of the robot by releasing or restraining the support portion of the robot depending on the external force applied to the robot.

1 is a front view showing a robot according to an embodiment of the present invention.
Figure 2 is a plan view showing the restraint part of Figure 1.
FIG. 3 is a flowchart showing the control sequence of the robot shown in FIG. 1.
FIG. 4 is an operation diagram showing the first operation of the robot shown in FIG. 1.
FIG. 5 is an operation diagram showing the second operation of the robot shown in FIG. 1.

The present invention will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Meanwhile, the terms used in this specification are for describing embodiments and are not intended to limit the present invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used herein, “comprises” and/or “comprising” refers to the presence of one or more other components, steps, operations and/or elements. or does not rule out addition. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. Terms are used only to distinguish one component from another.

1 is a front view showing a robot according to an embodiment of the present invention. Figure 2 is a plan view showing the restraint part of Figure 1.

Referring to Figures 1 and 2, the robot 100 includes a support part 110, a sensor part 120, a connection part 130, a work part 140, a joint part 150, a restraint part 160, and a cushion part ( 170) and a control unit 180.

The support unit 110 may be installed either on the ground (B) or on an external device. At this time, the external device is generally a variety of devices on which the robot 100 can be installed, such as a movable device (e.g., a cart, a car, etc.), a separate support frame, and a separate manufacturing device (e.g., a machine tool, etc.). May include devices. However, for convenience of explanation, hereinafter, the detailed description will focus on the case where the robot 100 is placed on the ground (B) and installed on the ground (B).

The support portion 110 may be inserted into the ground (B). At this time, at least a portion of the support portion 110 may be formed in the shape of one of a portion of an ellipse, a hemisphere, a sphere, or an ellipse. In this case, the support part 110 is inserted into the ground B and can move in various ways when the connection part 130 moves in various shapes.

An insertion groove 110a into which a part of the restraint part 160 is inserted may be formed in the support part 110 as described above. At this time, the insertion groove 110a may be formed on the outer surface of the support part 110 to correspond to the number of restraint parts 160.

The sensor unit 120 may be installed on the support unit 110. At this time, the sensor unit 120 is capable of detecting at least one of force, torque, and displacement applied to at least one of the connection part 130, the work part 140, and the joint part 150. At this time, the sensor unit 120 may include a force-torque sensor or a displacement sensor.

At least two connection parts 130 may be provided. At this time, at least two or more connection parts 130 may be connected to the support part 110 and may be connected to enable relative movement.

The connection part 130 may include a first connection part 131 connected to the support part 110. In addition, the connection portion 130 includes a second connection portion 132 connected to the first connection portion 131, a third connection portion 133 connected to the second connection portion 132, and a fourth connection portion connected to the third connection portion 133. It may include a connection portion 134. At this time, the number of connection parts 130 is not limited to the above, and may be provided less or more than the above depending on need. However, for convenience of explanation, hereinafter, the detailed description will focus on the case where the connection part 130 includes the first connection parts 131 to the fourth connection parts 134.

The work part 140 may be connected to the ends of at least two connection parts 130. Specifically, the work part 140 may be connected to the fourth connection part 134. At this time, the work unit 140 may have various shapes to enable work to be performed. For example, the work unit 140 may be provided with a pad to enable suction. As another embodiment, the work unit 140 may include a structure similar to a human finger to grip an object. As another embodiment, the work unit 140 may include a welding body or a laser generator to weld an object. At this time, the work unit 140 is not limited to the above, and may include any shape and structure suitable for the work being performed. However, for convenience of explanation, hereinafter, the detailed description will focus on the case where the work unit 140 is not provided with a structure for performing work.

The joint portion 150 may be disposed between adjacent connection portions 130 and between the connection portion 130 and the work portion 140. At this time, the joint portion 150 may connect adjacent connection portions 130 to enable relative movement. Additionally, the joint unit 150 may connect the connection unit 130 and the work unit 140 to allow relative movement. These connection parts 130 include a reducer, a motor, etc., and can cause each connection part 130 and the work part 140 to move differently. The joint portion 150 as described above includes a first joint portion 151 connecting the first connection portion 131 and the second connection portion 132, and a second joint portion connecting the second connection portion 132 and the third connection portion 133. (152), the third joint portion 153 connecting the third connection portion 133 and the fourth connection portion 134, and the fourth joint portion 154 connecting the fourth connection portion 134 and the work portion 140. l can do it.

The restraint part 160 may be placed on the ground (B). At this time, the restraining unit 160 may restrain or release the support unit 110 based on the results measured by the sensor unit 120. Specifically, if it is determined that an external force has been applied to the robot 100 based on the results measured by the sensor unit 120, the restraint unit 160 may release the restraint of the support unit 110. On the other hand, in a general case, the restraint unit 160 can fix the position of the robot 100 by restraining the support unit 110.

A plurality of restraint parts 160 may be provided. At this time, the plurality of restraint parts 160 may be arranged at the same angle with respect to the center of the support part 110. In this case, the plurality of restraint units 160 may operate simultaneously to restrain or release the support unit 110. Additionally, it is possible for the plurality of restraint parts 160 to be arranged to face each other. Hereinafter, for convenience of explanation, the plurality of restraint parts 160 includes four, and the plurality of restraint parts 160 include the first restraint part 161, the second restraint part 162, and the third restraint part ( 163) and the fourth restraint part 164 will be described in detail. In addition, since the first to fourth restraint parts 161 to 164 are formed the same or similar to each other, hereinafter, they will be described in detail focusing on the first restraint part 161.

The first restraint part 161 may be formed in various shapes. For example, in one embodiment, the first restraint part 161 includes a magnet part disposed on one of the support part 110 or the ground B and an electromagnet part disposed on the other one of the support part 110 or the ground B. It can be included. In this case, the support unit 110 can be restrained or released by operating the electromagnet unit based on the results measured by the sensor unit 120. In particular, the electromagnet unit can prevent the support unit from moving by forming the same polarity as the magnet unit or forming different polarities from each other. In another embodiment, the first restraint part 161 may include an electromagnet disposed on one of the support portion 110 or the ground B and a magnetic material disposed on the other one of the support portion 110 or the ground B. do. In this case, the electromagnet unit may restrain the support unit 110 by forming a magnetic field based on the results measured by the sensor unit 120. As another embodiment, the first restraint part 161 may include a first driving part 161a, a first contact part 161b, and a first guide part 161c. At this time, the first restraint part 161 is not limited to the above, and may include all structures and devices that restrain or release the support part 110 based on the results measured by the sensor unit 120. However, for convenience of explanation, hereinafter, the first restraint part 161 will be described in detail focusing on the case where it includes the first driving part 161a, the first contact part 161b, and the first guide part 161c. .

The first driving part 161a is connected to the first contact part 161b and can cause the first contact part 161b to move linearly. As an example, the first driving unit 161a may include a first motor 161a-1 and a first screw 161a-2 connecting the motor and the first contact unit 161b. In this case, the first screw 161a-2 rotates according to the operation of the first motor 161a-1, and the first contact portion 161b may move linearly according to the rotation of the first screw 161a-2. . As another example, the first driving part 161a may include a cylinder connected to the first contact part 161b. As another embodiment, the first driving unit 161a may include a linear motor disposed between the first contact part 161b and the ground B. At this time, the first driving unit 161a is not limited to the above, and may include any device or structure that is connected to the first contact part 161b and causes the first contact part 161b to linearly move. However, for convenience of explanation, hereinafter, the detailed description will focus on the case where the first driving unit 161a includes the first motor 161a-1 and the first screw 161a-2.

The first contact part 161b may move linearly according to the operation of the first driving part 161a. At this time, the first contact part 161b may selectively contact the support part 110 according to the operation of the first driving part 161a. In particular, the first contact portion 161b can prevent the support portion 110 from moving by being inserted into the insertion groove 110a of the support portion 110. The first contact portion 161b may be formed in various shapes. For example, the first contact portion 161b may be formed of a metal material. Additionally, the first contact portion 161b may be formed in the form of an electromagnet. The first contact portion 161b as described above may have a wedge shape. At this time, the first contact portion 161b is formed so that the portion of the first contact portion 161b disposed on the upper side of the support portion 110 protrudes more than the portion of the support portion 110 disposed on the lower side of the support portion 110. can be formed. Therefore, it is possible to effectively prevent the support portion 110 from moving when the first contact portion 161b is contacted.

The first guide portion 161c may be disposed between the first contact portion 161b and the ground B to guide the movement of the first contact portion 161b. At this time, the first guide unit 161c may be formed integrally with the first driving unit 161a, or may be formed separately. The first guide portion 161c may include a linear motion guide connecting the first contact portion 161b and the ground B.

The cushion portion 170 may be disposed between the support portion 110 and the ground (B). At this time, a groove may be formed in the ground B so that the support part 110 can be inserted. These grooves may be formed the same or similar to the shape of the support portion 110. The support part 110 is disposed between the inner surface of the groove as described above and the outer surface of the support part 110 and can absorb vibration, external force, etc. when the support part 110 moves.

The cushion portion 170 may have various shapes. For example, in one embodiment, the cushion part 170 may be formed in a ring shape and placed on the outer surface of the support part 110. At this time, the cushion portion 170 may form a closed loop by traveling along the outer surface of the support portion 110. In another embodiment, a plurality of cushion parts 170 are provided, and the plurality of cushion parts 170 may be arranged on the outer surface of the support part 110 to be spaced apart from each other. In this case, the plurality of cushion parts 170 may be arranged on the outer surface of the support part 110 at a certain distance from each other.

One embodiment of the cushion portion 170 as described above may be formed of an elastic material such as rubber, silicone, synthetic resin, or elastic metal. Another embodiment of the cushion portion 170 may be formed in the form of a ball plunger. At this time, the cushion portion 170 is not limited to the above, and may include any device and any material disposed between the support portion 110 and the ground B and capable of absorbing energy. However, for convenience of explanation, hereinafter, the cushion part 170 will be described in detail focusing on the case where the cushion part 170 is formed in a ring shape made of rubber and is installed on the support part 110.

The control unit 180 may be placed outside or inside the robot 100 to control the joint unit 150, the work unit 140, and the restraint unit 160. At this time, the control unit 180 may be in various forms such as a circuit board, personal computer, mobile phone, or portable terminal. Hereinafter, for convenience of explanation, the controller 180 will be described in detail focusing on the case where it is a circuit board placed inside the robot 100.

Hereinafter, a specific control method of the robot 100 will be described in detail.

FIG. 3 is a flowchart showing the control sequence of the robot shown in FIG. 1. FIG. 4 is an operation diagram showing the first operation of the robot shown in FIG. 1. FIG. 5 is an operation diagram showing the second operation of the robot shown in FIG. 1.

Referring to FIGS. 3 to 5 , when a robot (not shown) operates, the robot may move each connection part (not shown) and the work unit (not shown) to an initial position for operation. In this case, the control unit (not shown) can control the joint unit (not shown) to arrange the positions of each of the connection units and the work unit to correspond to preset positions. That is, the control unit can control or activate each component so that the robot can start work (step S110).

After the above process is completed, work can be performed through the robot. In this case, the restraint part 160 may fix the support part 110. Looking specifically at the operation of the first restraint part 161, when the control unit transmits a control signal to the first driving part 161a, the first driving part 161a operates to connect the first contact part 161b to the support part 110. can be contacted. At this time, the control unit can fix the position of the support part 110 by controlling the first to fourth restraint parts 161 to 164 to bring each contact part into contact with the support part 110. In this case, the first restraint parts 161 to 4th restraint parts 164 may restrain the support portion 110 as shown in FIG. 4 (step S120).

While the support unit 110 is fixed and work is performed as described above, the sensor unit (not shown) can detect whether there is an external force, etc. applied to the robot.

The sensor unit is disposed between the support part 110 and the connection part and can measure one of force, torque, or displacement applied to the connection part. The sensor unit may transmit the measured results to the control unit. The control unit may calculate an external force applied to the connection unit, the work unit, and the joint unit (not shown) by comparing the value measured by the sensor unit with a preset value. Specifically, the control unit may have a preset range of one of force, torque, or displacement that may occur when performing work on the work unit. At this time, if one of the force, torque, or displacement measured by the sensor unit is outside a preset range, the control unit may determine that an external force has been applied to at least one of the connection unit, the work unit, and the joint unit. For example, when one of the force, torque, or displacement measured by the sensor unit is less than the minimum value of the preset range or exceeds the maximum value of the preset range, the control unit, the connection unit, and the work unit And it may be determined that an external force has been applied to at least one of the joints (step S130).

If the controller determines that no external force has occurred based on the above results, it can control the robot to continuously perform the task. At this time, the robot can execute a preset driving motion (step S141).

On the other hand, if it is determined that an external force has been applied to the robot based on the above results, the control unit may control the restraint unit 160 to release the restraint of the support unit 110. Specifically, if we focus on the first restraint unit 161, the first drive unit 161a may operate in the opposite direction to the above in accordance with the control signal from the control unit. In this case, the first screw 161a-2 rotates as the first motor 161a-1 operates, and as the first screw 161a-2 rotates, the first contact portion 161b is connected to the first guide portion ( Linear movement can be performed along 161c). At this time, the first contact portion 161b may be pulled out from the groove of the support portion 110 and spaced apart from the support portion 110. The second to fourth restraint parts 162 to 164 may operate in the same manner as the first restraint part 161. In this case, as shown in Figure 5, the first to fourth restraint parts 161 to 164 can completely release the restraint of the support part 110. (Step S142)

When the support portion 110 is restrained or released as described above, the cushion portion (not shown) may absorb the shock applied to the support portion 110. Specifically, while the support part 110 is restrained, it is possible to absorb vibration, shock, etc. that occur according to the work of the work part. In addition, when an external force is applied while the support part 110 is restrained, it is also possible to absorb shock or vibration applied to the support part 110 by the external force. When the support part 110 is released as described above, the support part 110 can be prevented from moving in the groove on the ground B due to the gap between the outer surface of the support part 110 and the inner surface of the groove on the ground B. In addition, when an external force is applied to the robot while the support unit 110 is released as described above, the robot can be prevented from falling due to the external force.

When the above process is completed, the controller can prevent the robot from operating. At this time, the control unit can block the application of a control signal or current to the robot from the outside by turning off the servo of the robot (step S150).

When the above process is completed, the control unit can notify that an external force has been applied to the outside through an alarm unit (not shown). At this time, the alarm unit can inform the external user of information through images or sounds. The alarm unit may include a speaker, a light, a display panel, etc.

When information is transmitted from the alarm unit as described above, the user can determine whether an external force has been applied to the robot based on the value measured with the naked eye or the sensor unit and check whether there is any problem with the robot. (Step S160) )

If it is determined that there is something wrong with the robot according to this result, the robot can be completely stopped and the robot can be repaired or corrected. On the other hand, if it is determined that there is no problem with the robot, the robot can be operated again through the switch. At this time, the robot can be set to the initial position (Servo on) for performing the task. (Step S110)

Accordingly, the robot can prevent excessive stress from occurring between the support part 110 and the ground by releasing the restraint on the support part 110 when it is applied to one of the connection part, the joint part, and the work part. The robot can monitor the external force applied to the entire robot by placing the sensor unit between the support unit 110 and the connection unit. By providing the cushion portion, the robot can absorb shock or vibration that occurs when an external force is applied to the robot. The robot can ensure stability during work by restraining the support portion 110 during work.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, various modifications and variations can be made without departing from the spirit and scope of the invention. Accordingly, the scope of the appended patent claims will include such modifications or variations as long as they fall within the gist of the present invention.

100: Robot
110: support part
120: sensor unit
130: connection part
140: Work unit
150: Joint part
160: Restraint part
170: Cushion part
180: control unit

Claims (5)

A support part inserted into either the ground or an external device;
A sensor unit disposed on the support unit;
At least two or more connection parts connected to the support part;
Work portions disposed at ends of the at least two connection portions;
Joint portions disposed between the adjacent connecting portions and between the connecting portions and the work portion; and
A robot comprising: a restraining unit disposed on one of the ground or the external device and restraining or releasing the support unit based on a result measured by the sensor unit. According to claim 1,
The restraint part,
If it is determined that an external force has been applied to at least one of the connection part, the work part, and the joint part based on the result measured by the sensor part, the restraint of the support part is released,
A robot that restrains the support while the robot performs a task. According to claim 1,
The restraint part,
a driving unit disposed on either the ground or the external device; and
A robot comprising a contact part connected to the driving part and selectively contacting the support part according to the operation of the driving part. According to claim 3,
The restraint part,
A robot further comprising a guide part disposed between the contact part and one of the ground or the external device to guide the movement of the contact part. According to claim 1,
A robot further comprising a cushion portion disposed between the support portion and one of the ground or the external device.

Images