KR20200013376A - End effecter for robot and robot including the same - Google Patents

Abstract

An object of the present invention is to provide a terminal apparatus for a robot and the robot including the same, which can be used to transport patients on a bed in a hospital, and can also be applied to industrial transport robots. A terminal apparatus for a robot according to one embodiment comprises: a paddle member mounted on a robot body and inserted between a transfer target and the fixation surface; and a sensing member provided on the paddle member to sense whether the paddle member is completely inserted. The sensing member may be provided at a position adjacent to an end unit opposite to an end unit of the paddle member which is mounted on the robot body.

Description

End device for robots and robot including same {END EFFECTER FOR ROBOT AND ROBOT INCLUDING THE SAME}

The present invention relates to a terminal device for a robot and a robot including the same. More particularly, when the paddle member is inserted between the object to be transported and the fixed surface, the paddle member can be fully inserted and the paddle member is fixed to the fixed surface. The present invention relates to a robot end device capable of preventing injury due to contact between a paddle member and a transfer object and a robot including the same.

Existing lifesaving robots are mainly responsible for evacuation work. It is designed to help rescue workers navigate to the injured and bring the injured to life-saving robots and move them to a safe place.

In the case of a life-saving robot that can be injured alone without some rescue workers, it is designed to carry out a mission in which a gripper is connected to the robot to grab and pull the clothing worn by the injured.

Existing lifesaving robots are designed to be unsuitable to carry out rescue work alone without the help of rescue workers. In general, in the case of a human-like robot, the thickness of the robot is thick in order to insert both arms between the injured person and the ground in the case of the injured person. Alternatively, in the case of a robot similar to a vehicle, an environment that can be utilized in terms of size is limited in comparison with a general lifesaving robot.

Various lifesaving robots have been developed to improve this point.

Korean Patent Publication No. KR10-2017-0112263 discloses a terminal device for rescue robot having a passive compliance structure.

The background art described above is possessed or acquired by the inventors in the process of deriving the present invention, and is not necessarily a known technology disclosed to the public before the application of the present invention.

An object according to an embodiment of the present invention is an end device for a robot and a robot including the same, which are easily inserted between an injured person and the ground by a thin paddle member to easily transport an unconscious person or an injured person. To provide.

An object according to an embodiment is to provide a robot end device and a robot including the same that can more reliably confirm the complete insertion of the paddle member by a plurality of sensing members.

An object according to an embodiment is to provide a robot end device and a robot including the same that can prevent the secondary injury occurs by contacting the lower end of the paddle member and the injured during the operation of lowering the paddle member to the ground.

An object according to an embodiment is to provide a terminal device for a robot and a robot comprising the cable can be installed in the paddle member to prevent damage due to external exposure of the cable.

An object according to an embodiment is to provide a robot end device and a robot including the same to apply the paddle member, the sensing member and the compliance member to the rescue operation of the injured person and the robot alone.

An object according to an embodiment is to provide a robot end device and a robot including the same, which can eliminate the possibility of secondary damage because the robot can be rescued alone without the rescuer in a dangerous environment for rescue operations.

An object according to an embodiment is to provide a robot end device and a robot comprising the same, which can be utilized to transfer a patient on a bed in a hospital, and can also be applied to an industrial transfer robot.

End device for a robot according to an embodiment for achieving the above object, the paddle member is mounted to the robot body and inserted between the transfer target and the fixed surface; And a sensing member provided in the paddle member to sense whether the paddle member is fully inserted. The sensing member may be provided at a position adjacent to an end opposite to an end on which the paddle member is mounted to the robot body. have.

According to one side, the sensing member is provided in plural, the plurality of sensing members may be spaced apart from each other in a direction crossing with respect to the insertion direction of the paddle member at the other end of the paddle member.

According to one side, the sensing member, the elastic element is deformed by an external force applied from the object to be transferred; And a switch element that is turned on or off according to the deformation of the elastic element. The switch element may be turned on when the elastic element is deformed, and the switch element may be turned off when the elastic element is returned to its original state.

According to one side, the deformation direction of the elastic element is along the insertion direction of the paddle member, the switch element is in contact with a portion of the elastic element when the elastic element is deformed and the elastic element when the original element is returned to the original It may be arranged to be in contact.

According to one side, the sensing member further comprises a plate element fixed to both ends of the elastic element on the upper surface, the plate element is mounted to the bottom of the paddle member, a portion of the elastic element is the paddle member It can be exposed to the outside through the top of the.

According to one side, one end of the elastic element is fixed on the plate element in a position spaced forward from the switch element along the insertion direction of the paddle member, the other end of the elastic element is adjacent to the other end of the paddle member A portion fixed on the plate element in position, the portion adjacent to one end of the elastic element may be turned toward the other end of the elastic element in front of the switch element and bent towards the switch element.

According to one side, the electric field member is connected to the end of the paddle member receives a signal sensed by the switch element, the sensing member, one end is connected to the plate element and the other end of the paddle member And a cable laying element extending along the insertion direction of the paddle member so as to be connected to one end thereof, wherein a cable connected to the switch element may be laid on the cable laying element and connected to the electric component.

According to one side, a bracket member for mounting the paddle member to the robot body; further comprising, the bracket member may be hingedly connected to the electric member.

According to an embodiment of the present invention, a robot includes a robot body; And an end device mounted to a part of the robot body, wherein the end device comprises: a paddle member inserted between the object to be transported and the fixed surface; And a bracket member mounted between the paddle member and the robot body, wherein the paddle member and the bracket member are hingedly connected so that the paddle member and the bracket member are brought into contact with the paddle member and the transfer object. The angle of variance can be changed.

According to one side, the terminal device, the paddle member further comprises a sensing member for detecting whether the paddle member is fully inserted, the sensing member, the paddle member is disposed to extend along the insertion direction of the paddle member An elastic element deformed by an external force from the object to be transferred; And a switch element turned on or off by contact or non-contact with the elastic element, wherein the switch element contacts a portion of the elastic element when the elastic element is deformed and the elastic element when the elastic element is returned to its original state. It may be arranged to be in contact with the.

According to an end device for a robot and a robot including the same according to an embodiment, the paddle member having a thin thickness allows easy insertion between the injured person and the ground, thereby easily transporting an unconscious injured person or an uncomfortable injured person. .

According to an end device for a robot and a robot including the same, a full insertion of a paddle member may be confirmed more reliably by a plurality of sensing members.

According to an end device for a robot and a robot including the same according to an exemplary embodiment, secondary injury may be prevented by contacting a lower end of the paddle member and an injured person when the paddle member is lowered to the ground.

According to an end device for a robot and a robot including the same, a cable may be installed in a paddle member to prevent damage due to external exposure of the cable.

According to an end device for a robot and a robot including the same according to an embodiment, a paddle member, a sensing member, and a compliance member may be applied to allow the robot to be rescued from the evacuation work of the injured person.

According to an end device for a robot and a robot including the same according to an embodiment, the robot may be rescued by a robot alone without a rescuer in a dangerous environment, thereby eliminating the possibility of secondary damage.

According to an end device for a robot and a robot including the same according to an embodiment, it may be utilized to transfer a patient on a bed in a hospital and may be applied to an industrial transport robot.

1 illustrates a robot according to one embodiment.
2 is a perspective view of a terminal device for a robot.
3 is a bottom view of the end device for the robot.
4 is an enlarged view of the sensing member.
5 (a) and 5 (b) show before and after deformation of the elastic member.
6 is an enlarged view of the electric component and the compliance member.
7 shows the operation of the compliance member.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are assigned to the same components as much as possible even though they are shown in different drawings. In addition, in describing the embodiment, when it is determined that the detailed description of the related well-known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but there is another component between each component. It will be understood that may be "connected", "coupled" or "connected".

Components included in any one embodiment and components including common functions will be described using the same names in other embodiments. Unless stated to the contrary, the description in any one embodiment may be applied to other embodiments, and detailed descriptions thereof will be omitted in the overlapping range.

FIG. 1 shows a robot according to one embodiment, FIG. 2 is a perspective view of the end device for a robot, FIG. 3 is a bottom view of the end device for a robot, FIG. 4 is an enlarged view of a sensing member, and FIG. ) And (b) show before and after deformation of the elastic member, FIG. 6 is an enlarged view of the electric member and the compliance member, and FIG. 7 shows the operation of the compliance member.

Referring to FIG. 1, a robot 10 according to an embodiment may include a robot body 100 and an end device 200.

The robot body 100 may be part of the robot 10.

In this case, the robot 10 may include, for example, a medical robot or an industrial robot for lifting and transporting a transport target.

Hereinafter, a case in which the robot 10 is a lifesaving robot and the object to be transported will be described as an example.

However, it is obvious that the robot 10 may be a patient transport robot, and the transport object may be a patient.

The end device 200 may be mounted to a part of the robot body 100 to constitute a part of the robot 10.

In this case, a part of the robot body 100 may be, for example, the elbow joint of the robot 10. In this case, the distal device 200 may serve as the forearm or forearm of the robot 10.

In addition, as shown in Figure 1, the robot body 100 is equipped with a plurality of end devices 200, the plurality of end devices 200 may perform the function of both arms.

Specifically, when the transfer target is the injured person, the terminal device 200 may lift the injured person from a fixed surface such as the ground to transfer to the desired position. Alternatively, when the object to be transferred is a patient in a hospital, the end device 200 may lift the patient from a fixed surface such as a bed and transfer it to a desired position.

In particular, with reference to FIG. 2 or 3, the end device 200 may include a paddle member 210, a sensing member 220, an electrical component 230, a bracket member 240, and a compliance member 250. .

The paddle member 210 may be mounted on the robot body 100.

In addition, the paddle member 210 may be inserted between the object to be transferred and the fixed surface.

In detail, when the injured person is lying on the ground, the paddle member 210 may be inserted between the injured person and the ground to lift the injured person. At this time, the paddle member 210 may be inserted toward the other side from one side of the torso body.

Hereinafter, it will be described that the insertion direction of the paddle member 210 is the X-axis direction, and the lift direction of the paddle member 210 or the lift direction of the injured person is the Z-axis direction.

In addition, the paddle member 210 may be elongated in the X-axis direction, which is the insertion direction of the paddle member 210. For example, the length of the paddle member 210 may be formed longer than the distance between one side of the torso of the injured body.

The paddle member 210 may have a width direction in the Y-axis direction, and the paddle member 210 may have a width sufficient to stably support the injured person.

As such, the paddle member 210 can be any size provided that it is appropriately sized to lift the injured.

In particular, the paddle member 210 is provided with a thin thickness to facilitate insertion between the injured person and the ground, so that an unconscious injured person or an ineligible person can be easily transported.

In detail, the paddle member 210 may include a first compartment 212, a second compartment 214, and a third compartment 216.

The first compartment 212 is a compartment in which one end of the paddle member 210 is located, one end of which is connected to the electric component 230, and the other end thereof may be connected to the second compartment 214. At this time, the first compartment 212 is formed to be bent, so that one end of the first compartment 212 may be positioned higher than the other end.

The second compartment 214 is a compartment substantially supporting the injured person, one end of which may be connected to the first compartment 212 and the other end of which may be connected to the third compartment 216. In this case, the second compartment 214 may be formed flat.

The third compartment 216 is a compartment in which the other end of the paddle member 210 is located, and may be first contacted with the injured person when the paddle member 210 is inserted. In this case, the third compartment 216 may include a through hole 2162 so that a part of the sensing member 220 may be exposed to the outside through the through hole 2162.

As described above, the paddle member 210 may be provided with a sensing member 220.

The sensing member 220 may detect whether the paddle member 210 is completely inserted between the injured person and the ground.

Specifically, the sensing member 220 may include an elastic element 222, a switch element 224, a plate element 226 and a cable laying element 228.

The elastic element 222 and the switch element 224 may be provided at a position adjacent to the end (or other end) opposite the end (or one end) on which the paddle member 210 is mounted to the robot body 100. In other words, the elastic element 222 and the switch element 224 may be located in the third compartment 216 of the paddle member 210.

Further, the elastic element 222 may be provided to be deformed by an external force applied from the injured person, and the switch element 224 may be turned on or off depending on the deformation of the elastic element 222.

In this case, the deformation direction of the elastic element 222 may follow the insertion direction of the paddle member 210.

In detail, when an external force by the injured person is applied to the elastic element 222, the switch element 224 is turned on by the contact of the elastic element 222 and the switch element 224 while the shape of the elastic element 222 is changed. Can be.

On the other hand, when the external force caused by the injured in the elastic element 222 is removed, the shape of the elastic element 222 is returned to its original shape, the switch element 224 is turned off by the non-contact of the elastic element 222 and the switch element 224. Can be.

In particular, with reference to FIG. 4, the elastic element 222 may be provided with a first end 2222, a bent portion 2224, an exposed portion 2226 and a second end 2228.

For example, the elastic element 222 may be formed to be elongated along the insertion direction or the X-axis direction of the paddle member 210, and may be formed along the plate element (along the insertion direction or the X-axis direction of the paddle member 210). 226 can be fixed.

The first end 2222 may be disposed at a position spaced forward of the switch element 224 to be fixed on the plate element 226 through the fixing hole H.

In this case, the fixing hole H is elongated along the X-axis direction, so that the elastic element 222 extends in the X-axis direction by a length corresponding to the length of the fixing hole H when the elastic element 222 is deformed. Can be moved.

For example, when an external force by an injured person is applied to the elastic element 222 and the exposed portion 2226 is pressed, the first end 2222 of the elastic element 222 may be moved in the X-axis direction toward the front. On the other hand, when the external force is removed from the elastic element 222 and the exposed portion 2226 is returned to its original state, the first end 2222 of the elastic element 222 may be moved toward the rear in the -X axis direction.

The bent portion 2224 may be connected to the first end 2222 described above.

The bent portion 2224 is a portion to be turned in the elastic element 222, the elastic element 222 in the bent portion 2224 may be rearward in the -X axis direction and forward in the X axis direction.

In addition, the bent portion 2224 may be disposed adjacent to the front of the switch element 224, so that it may be in contact or non-contact with the switch element 224 depending on the deformation of the elastic element 222.

For example, when an external force by an injured person is applied to deform the elastic element 222, the bent portion 2224 is in contact with the switch element 224, and the external force is removed from the elastic element 222 so that the elastic element 222 is deformed. When is returned to its original position, the bent portion 2224 can be in contact with the switch element 224.

The exposed portion 2226 may be connected to the curved portion 2224 described above.

At this time, one end of the exposed portion 2226 is connected to the bent portion 2224 located above the plate element 226, and the other end is connected to the second end 2228 fixed on the plate element 226, The exposed portion 2226 may be disposed to be inclined.

The exposed portion 2226 is exposed to the outside through the through hole 2162 provided in the third section 216 of the paddle member 210, so that the exposed portion 2226 is in direct contact with the injured upon insertion of the paddle member 210 It can be deformed by receiving an external force from it.

At this time, the external force due to the injured person may act on the upper surface of the exposed portion 2226 in the -Z axis direction, and the maximum displacement in the Z axis direction of the exposed portion 2226 may be, for example, the upper surface of the paddle member 210 and the exposed portion. There may be a height difference between the top surfaces of 2226.

Thus, when an external force by the injured person is acted upon, the upper surface of the exposed part 2226 is deformed to be pressed and the external part by the injured person is removed, and the exposed part 2226 can be returned to its original state.

The second end 2228 may be connected to the above-described exposed portion 2226.

The second end 2228 may be disposed adjacent the other end of the paddle member 210 away from the switch element 224 to be fixed on the plate element 226 through the fixing hole H.

In this case, the fixing hole H is elongated along the X-axis direction, so that the elastic element 222 extends in the X-axis direction by a length corresponding to the length of the fixing hole H when the elastic element 222 is deformed. Can be moved.

For example, when an external force by an injured person is applied to the elastic element 222 and the exposed portion 2226 is pressed, the second end 2228 of the elastic element 222 may move in the X-axis direction toward the front. On the other hand, when the external force is removed from the elastic element 222 and the exposed portion 2226 is returned to its original state, the second end 2228 of the elastic element 222 may be moved toward the rear in the -X axis direction.

On the other hand, a switch element 224 may be disposed behind the elastic element 222 described above.

For example, the switch element 224 may be arranged to be in contact or non-contact with the bent portion 2224 at the rear of the bent portion 2224 of the elastic element 222.

In addition, the switch element 224 can detect whether the paddle member 210 is fully inserted.

Specifically, before the paddle member 210 is inserted between the injured person and the ground, the elastic element 222 is in an undeformed state, as shown in FIG. 5 (a), and the bent portion 2224 is the switch element ( The switch element 224 may be turned off in contact with 224.

Then, when the paddle member 210 is inserted between the injured person and the ground, the elastic element 222 is deformed, as shown in FIG. 5 (b), such that the bent portion 2224 contacts the switch element 224. Switch element 224 may be turned on.

Thus, the switch element 224 can be turned on because an external force by the injured person is applied to the exposed portion 2226 throughout the paddle member 210 is inserted between the injured person and the ground.

Furthermore, when the paddle member 210 is fully inserted between the injured person and the ground, it returns to the state shown in Fig. 5A. In other words, the elastic element 222 can be returned to its original position, such that the bent portion 2224 is in contact with the switch element 224, so that the switch element 224 can be turned off.

By confirming that the switch element 224 is turned on or off in this series of procedures, it is possible to determine whether the paddle member 210 is fully inserted.

For example, if the switch element 224 remains on, it means that the paddle member 210 has not been fully inserted or the paddle member 210 has not been inserted to lift and transport the injured person. Can mean sound.

As such, the configuration of the switch element 224 can be any as long as it can generate an electrical signal on or off depending on the deformation of the elastic element 222 or the contact with the elastic element 222.

For example, as shown in FIGS. 5A and 5B, the switch element 224 is pushed back by the deformation of the elastic element 222 and then by the original return of the elastic element 222. It may return to its original state and may protrude forward again. Alternatively, the switch element 224 remains fixed and can only sense contact with the elastic element 222.

In addition, as described above, once the full insertion of the paddle member 210 is confirmed by the switch element 224, the robot body 100 may begin operation. For example, if full insertion of the paddle member 210 is confirmed by the switch element 224, the robot body 100 can be operated to transport the injured person to the desired position. On the other hand, if full insertion of the paddle member 210 is not confirmed by the switch element 224, the robot body 100 may not start operation.

On the other hand, the elastic element 222 and the switch element 224 described above may be mounted to the plate element 226.

The plate element 226 may be elongated in the X-axis direction to be mounted at the bottom of the paddle member 210, and may be provided to fix both ends of the elastic element 222 on the upper surface thereof.

Meanwhile, the sensing member 220 may be provided in plurality.

The plurality of sensing members 220 may each consist of an elastic element 222, a switch element 224 and a plate element 226 as described above.

In addition, the sensing members 220 may be spaced apart from each other in a direction crossing the insertion direction of the paddle member 210, for example, in the Y-axis direction or in the width direction of the paddle member 210.

As such, when the plurality of sensing members 220 are included, the paddle member 210 is completely inserted only when the plurality of sensing members 220 are subjected to the same off-on-off process. Whether the paddle member 210 is fully inserted can be confirmed reliably.

In addition, when the paddle member 210 includes a plurality of sensing members 220, an additional plate element 2226 may be disposed between the plurality of plate elements 226.

The additional plate elements 2262 may be elongated in the Y-axis direction or in the width direction of the paddle member 210, and may be arranged to connect the ends of the plurality of plate elements 226 to each other. Thereby, the plurality of plate elements 226 and the additional plate elements 2262 can be in the 'c' shape.

However, this 'c' shape is one example, it is obvious that the overall shape of the plurality of plate elements 226 and additional plate elements 2226 may be configured differently.

Meanwhile, the cable laying element 228 can be connected to the plate element 226.

The cable laying element 228 is for laying a cable (not shown) connected between the switch element 224 and the electric field PCB (not shown) provided in the electric member 230.

Specifically, the cable laying element 228 may be mounted at the bottom of the paddle member 210, and may extend elongated toward the electric component 230 along the insertion direction of the paddle member 210. For example, the cable laying element 228 can be connected to the center of the additional plate element 2226 and extend along the center of the paddle member 210 to the first compartment 212 of the paddle member 210.

As such, a cable connected between the switch element 224 and the electric component PCB (not shown) provided in the electric member 230 by the cable laying element 228 is installed in the paddle member 210 and damaged by external exposure of the cable. Can be prevented.

Meanwhile, the electrical component 230 may be connected to one end of the paddle member 210 described above.

The electrical component 230 may include a housing element 232 accommodating an electrical component PCB (not shown) therein and a cover element 234 that opens or closes the housing element 234.

Although not shown in detail, the electrical component PCB includes a receiver (not shown) for receiving a signal transmitted from the switch element 224, a tilt sensor (not shown) for measuring the inclination of the paddle member 210, and a switch element 224. A microprocessor may be provided to process the signal transmitted from or the slope data of the paddle member 210.

Meanwhile, the bracket member 240 may be connected to one side of the electric component 230.

The bracket member 240 is for attaching and detaching the terminal device 200 to the robot body (100).

In particular, as shown in FIG. 3, the mounting position 242 may be provided on the outside of the bracket member 240. For example, after the elbow joint of the robot body 100 comes into contact with the mounting position 242, the bracket member 240 may be fixed to the robot body 100. Or, it is natural that the bracket member 240 can be detached from the robot body 100.

As such, by varying the shape of the bracket member 240, the terminal device 200 may be detachably attached to various robot bodies 100, thereby improving compatibility.

In addition, although the case where the bracket member 240 is connected to the electrical component 230 has been described as an example, it is obvious that the bracket member 240 may be directly connected to the paddle member 210.

In particular, with reference to FIGS. 2 and 6, the compliance member 250 may be disposed between the electrical component 230 and the bracket member 240.

The compliance member 250 is intended to prevent injury due to contact of the lower end of the paddle member 210 and the injured while the paddle member 210 descends downward toward the injured person.

Specifically, the compliance member 250 may include a first hinge base element 251, a second hinge base element 252, a shaft element 253, a torsion spring element 254, and a connecting element 255. .

The first hinge base element 251 may be provided on the top surface of the cover element 234, and the second hinge base element 252 may be provided on the front surface of the bracket member 240.

In addition, the shaft element 253 is coupled through the first hinge base element 251 and the second hinge base element 252 after the first hinge base element 251 and the second hinge base element 252 are assembled. Can be.

At this time, the torsion spring element 254 may be mounted to the shaft element 253.

For example, a plurality of torsion spring elements 254 may be mounted spaced apart from each other.

Specifically, the first hinge base element 251, the second hinge base element 252, and the torsion spring element 254 may be alternately arranged along the longitudinal direction of the shaft element 253.

In addition, the connection element 255 may be connected to one end of the shaft element 253 and one side of the housing element 232.

The electric component 230 and the bracket member 240 may be hinged to each other by the compliance member 250 configured as described above.

As described above, when the bracket member 240 is connected to the paddle member 210, the compliance member 250 may be connected between the paddle member 210 and the bracket member 240.

In particular, with reference to FIGS. 7A and 7B, when the paddle member 210 comes into contact with the lower end of the paddle member 210 while the injured person is contacted by the compliance member 250, The inclination of the paddle member 210 is changed by adjusting the angles of the electric member 230 and the bracket member 240, and it is possible to prevent the paddle member 210 from applying an external force against the injured person.

If the lower end of the paddle member 210 and the injured person are in contact with each other, the angle between the electric member 230 and the bracket member 240 is restored by the compliance member 250, in particular by the torsion spring element 254. The paddle member 210 may be maintained perpendicular to the electrical component 230 or the bracket member 240.

As described above, the robot according to the embodiment may prevent the secondary injury from occurring by contacting the lower end of the paddle member and the injured during the operation of lowering the paddle member to the ground, and without putting rescuers into dangerous environments for rescue operations. The robot can be rescued by itself, eliminating the possibility of secondary damage. Furthermore, the robot according to an embodiment may be utilized to transfer a patient on a bed in a hospital and may be applicable to an industrial transfer robot.

Although embodiments have been described with reference to the accompanying drawings as described above, various modifications and variations are possible to those skilled in the art from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components of the described structure, apparatus, etc. may be combined or combined in a different form than the described method, or may be combined with other components or equivalents. Appropriate results can be achieved even if they are replaced or substituted.

10: robot
100: robot body
200: terminal device
210: paddle member
212: first compartment
214: second compartment
216: third compartment
2162: through hole
220: sensing member
222: elastic element
2222: first end
2224: bend block
2226: exposure compartment
2228: second end
H: fixing hole
224: switch element
226: plate element
2262: Additional Plate Elements
228 cable laying element
230: Battlefield member
232: housing element
234: cover element
240: bracket member
250: absence of compliance
251: first hinge base element
252: second hinge base element
253: shaft element
254: torsion spring element
255: connection element

Claims (10)

A paddle member mounted to the robot body and inserted between the transfer target and the fixed surface; And
A sensing member provided in the paddle member to sense whether the paddle member is fully inserted;
Including,
And the sensing member is disposed at a position adjacent to an end opposite to an end on which the paddle member is mounted to the robot body.
The method of claim 1,
The sensing member is provided in plurality,
And a plurality of sensing members are spaced apart from each other in a direction intersecting with an insertion direction of the paddle member at the other end of the paddle member.
The method of claim 1,
The sensing member,
An elastic element deformed by an external force applied from the object to be conveyed; And
A switch element turned on or off in accordance with the deformation of the elastic element;
Including,
When the elastic element is deformed, the switch element is turned on,
And said switch element is turned off when said elastic element is returned to its original position.
The method of claim 3,
The deformation direction of the elastic element is along the insertion direction of the paddle member,
The switch element is arranged to contact a portion of the elastic element upon deformation of the elastic element and to be in contact with the elastic element upon return of the elastic element.
The method of claim 3,
The sensing member,
A plate element having an upper end fixed to both ends of the elastic element;
More,
The plate element is mounted to the bottom of the paddle member,
And a portion of the elastic element is exposed to the outside through the top surface of the paddle member.
The method of claim 5,
One end of the elastic element is fixed on the plate element at a position spaced forwardly from the switch element along the insertion direction of the paddle member,
The other end of the elastic element is fixed on the plate element at a position adjacent the other end of the paddle member,
And a portion adjacent one end of the resilient element is turned toward the other end of the resilient element in front of the switch element to bend toward the switch element.
The method of claim 6,
An electrical component connected to an end of the paddle member to receive a signal sensed by the switch element;
More,
The sensing member,
A cable laying element formed so as to extend along the insertion direction of the paddle member such that one end is connected to the plate element and the other end is connected to one end of the paddle member;
More,
And a cable connected to the switch element is laid on the cable laying element and connected to the electrical component.
The method of claim 7, wherein
A bracket member for mounting the paddle member to the robot body;
More,
And the bracket member is hingedly connected to the electrical component.
Robot body; And
An end device mounted to a portion of the robot body;
Including,
The terminal device,
A paddle member inserted between the transfer target and the fixed surface; And
A bracket member mounted between the paddle member and the robot body;
Including,
The paddle member and the bracket member are hingedly connected,
The paddle member and the robot can change the angle between the paddle member and the bracket member by the contact of the transfer object.
The method of claim 9,
The terminal device,
A sensing member provided in the paddle member to sense whether the paddle member is fully inserted;
More,
The sensing member,
An elastic element arranged to extend along an insertion direction of the paddle member and deformed by an external force applied from the object to be transferred; And
A switch element turned on or off by contact or non-contact with said elastic element;
Including,
And the switch element is arranged to be in contact with a portion of the elastic element upon deformation of the elastic element and to be in contact with the elastic element upon return of the elastic element.

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