KR20220142596A - An end effector module to improve the quality of drilling hole processing - Google Patents

Abstract

The present invention provides an end effector module for improving processing quality and accuracy of drilling hole processing. According to the present invention, the end effector module includes: multiple support units supporting a carbon fiber composite; a fixing unit positioned in the upper part of the carbon fiber composite; a guide unit extended from the lower surface of the fixing unit to the carbon fiber composite; an elastic unit formed on the lower surface of the fixing unit and located on both sides of the guide unit; a shock absorbing unit located on the upper surface of the carbon fiber composite, and facing the elastic unit; a sensor unit located between the elastic unit and the shock absorbing unit, and measuring elasticity provided by the elastic unit; a vacuum pump unit communicating with the shock absorbing unit and sucking inner air of the shock absorbing unit; a control unit electrically connected to the sensor unit and the vacuum pump unit, and controlling operation of the vacuum pump unit based on power information transmitted from the sensor unit; and a tool unit processing the carbon fiber composite by passing through the fixing unit and the guide unit while being mounted at an end of a robot arm.

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 hole processing, and more particularly, to an end effector module for improving the quality of hole processing during drilling hole processing by firmly fixing carbon fiber composite (CFRP). .

Recently, a composite material having both the strength of metal and the lightness and moldability of plastic has been developed. Representative examples of these composites include fiber reinforced plastic (FRP) including carbon fiber reinforced plastic (CFRP), glass fiber reinforced plastic (GFRP), and the like. . Such a composite material is a high-tech composite material attracting attention as a lightweight structural material with high strength and high elasticity 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 the structure using fastening elements, such as bolts or rivets, or may be combined with other materials such as metal or wood. For this reason, in the composite material, a drilling process of processing a plurality of through-holes for passing the fastening elements as described above is essential, and such drilling is typically performed using a drill.

However, such a composite material is a difficult-to-process material formed by laminating one or two or more prepregs in which a matrix resin is impregnated with carbon fibers and heat-forming or hot-pressing molding. When drilling a composite material using the For example, the inner diameter of the drilled through-hole portion is machined to be small, or the carbon fiber is cut off at the outlet through which the drilling tool passes (a phenomenon in which a portion of the fibers forming the fiber-reinforced composite material remain around the machined through-hole portion without being cut) There was a problem in that it occurs, or peeling between the laminations of the prepreg forming the fiber-reinforced composite material easily occurs.

In addition, in order to prevent such a problem, when processing a composite material using a waterjet, it is impossible to realize a vertical wall surface of the through-hole portion, so the inner wall surface of the through-hole portion is processed to be inclined, resulting in a taper. During machining, there was a problem in that the machining time was long, resulting in decreased productivity and deterioration in the vicinity of the machined through-hole portion.

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

(Patent Document 1) Registered Patent Publication No. 10-2172018 (2020.10.26.)

(Patent Document 2) Registered Patent Publication No. 10-2216644 (2021.02.09.)

It is an object of the present invention to solve the above problems by supporting the carbon fiber composite material with a plurality of support parts and by installing 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, 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 problems is the sensor unit disposed between the elastic unit and the buffer unit, the vacuum pump unit communicating with the buffer unit and sucking the internal air of the buffer unit, and force information transmitted from the sensor unit It is to provide an end effector module that doubles the processing quality and precision of hole processing by maximally maintaining the fixed state of the carbon fiber composite material through the control unit that controls the operation of the vacuum pump unit based on the

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

The configuration of the present invention for achieving the above object is a plurality of support parts for supporting the carbon fiber composite; a fixing part located on the upper portion of the carbon fiber composite; a guide portion extending from the lower surface of the fixing portion toward the carbon fiber composite; an elastic part positioned on both sides of the guide part and formed on a 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 part positioned between the elastic part and the buffer part to measure the elastic force provided by the elastic part; a vacuum pump unit communicating with the buffer unit and sucking the internal air of 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 part for processing the carbon fiber composite material through the fixing part and the guide part 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 parts for supporting the carbon fiber composite; a fixing part located on the upper portion of the carbon fiber composite; a guide portion extending from the lower surface of the fixing portion toward the carbon fiber composite; an elastic part positioned on both sides of the guide part and formed on a lower surface of the fixing part; a buffer portion positioned on the upper surface of the carbon fiber composite material and coupled to the elastic portion; and a tool part for processing the carbon fiber composite material through the fixing part and the guide part while being mounted on the end of the robot arm.

In an embodiment of the present invention, the sensor unit generates the force information by measuring the elastic force provided from the elastic part, and the force information is a repulsive force that the elastic part pushes against the fixing part and the sensor part. can do.

In an embodiment of the present invention, 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 internal air of the buffer unit than the current state by controlling the operation of the carbon fiber It may be characterized in that the composite material is fixed.

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 the internal air of the buffer unit more than the current state by controlling the operation of the carbon fiber It may be characterized in that the composite material is fixed.

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

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 the guide parts are formed in the central portion of the lower surface of the fixing part, and the plurality of guide parts are spaced apart from each other to be 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 between the plurality of guide parts.

In an embodiment of the present invention, a fixing hole larger than a diameter of the tool part may be formed in the central part of the fixing part so that the tool part is introduced.

The effect of the present invention according to the above configuration is that the carbon fiber composite is supported by a plurality of support parts and the elastic part and the buffer part are installed between the fixing part and the carbon fiber composite to firmly fix the carbon fiber composite, so that the processing quality and hole The processing precision can be improved.

In addition, the effect of the present invention according to the above configuration is the force information transmitted from the sensor unit disposed between the elastic unit and the buffer unit, the vacuum pump unit communicating with the buffer unit and sucking the internal air of 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 fixed state of the carbon fiber composite material.

1 is a conceptual diagram illustrating 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, 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.
4 is a conceptual diagram illustrating that the tool unit processes the carbon fiber composite material in the end effector module according to the first embodiment of the present invention.
5 is a conceptual diagram illustrating that the tool unit returns to its original position after processing the carbon fiber composite 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.
8 is a conceptual diagram illustrating that the tool unit processes the carbon fiber composite material in the end effector module according to the second embodiment of the present invention.
9 is a conceptual view illustrating that the tool unit 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 several different forms, and thus 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 "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member interposed therebetween. "Including cases where In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

1. First embodiment: end effector module 200

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

1 is a conceptual diagram illustrating 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 . , 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 disposed to be spaced apart from each other by a predetermined distance to support the lower surface of the carbon fiber composite material 10 .

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

In addition, as the support part 210 has a hexahedral shape, it may more firmly support the carbon fiber composite material 10 as it surface-contacts 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 the upper portion 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 into 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 that the fixing part 220 is 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 of the lower surface of the fixing part 220 .

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

Referring to FIG. 1 , the elastic part 240 is positioned 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 disposed in the vertical direction, and the other end of the elastic part 240 is coupled to the sensor part 260 .

The elastic part 240 in the present invention has been described as providing an elastic force for pushing the fixing part 220 and the sensor part 260 , and the elastic part 240 according to this is arranged in a compressed state.

However, if necessary, the elastic part 240 may provide an elastic force pulling the fixing part 220 and the sensor part 260 as opposed to the above description, and in this case, the elastic part 240 is arranged in a tensioned state. .

The elastic part 240 may be, for example, a spring made of an elastic material that can provide an elastic force.

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

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

The suction hole 251 is a passage through which the 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 purpose may be, for example, a force sensor.

In more detail, the sensor unit 260 generates force information based on measuring the elastic force provided from the elastic unit 240 , and in this case, the force information includes the elastic unit 240 , the fixing unit 220 and the sensor unit ( 260) is the repulsive force that repels it.

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

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

The vacuum pump unit 270 passes the dust generated when the tool unit 290 processes the carbon fiber composite material 10 through the suction hole 251, sucks it, 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, when the force information is greater 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 less internal air of the buffer unit 250 than the current state. By doing so, the carbon fiber composite material 10 is fixed.

On the other hand, 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 the internal air of the buffer unit 250 more 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 in a state continuously maintained in a flat state, and accordingly, the processing quality is improved.

The tool part 290 passes through the fixing part 220 and the guide part 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 a drilling process.

2. First embodiment: 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 positioned. At this time, the tool part 290 mounted on the end of the robot arm 100 is located 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, in the state shown in FIG. 3 , as the robot arm 100 is driven and moved downward, the tool part 290 passes through the fixing hole 221 and a plurality of guide parts 230 as shown in FIG. 4 . is located inside of

4 is a conceptual diagram illustrating that the tool unit processes the 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 part 290 drills the carbon fiber composite material 10, and the dust P generated accordingly is vacuum It passes between the plurality of guide parts 230 by the suction force of the pump unit 270 , and flows into the suction hole 251 , and then is discharged to the outside by the vacuum pump unit 270 .

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

When the drilling process is completed, the tool part 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 control unit provided 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, the plurality of support portions 210 ′ are arranged to be spaced apart from each other by a predetermined distance as shown in FIG. 6 to support the lower surface of the carbon fiber composite material 10 .

For this purpose, the plurality of support portions 210 ′ are preferably made of a material having high rigidity in order to firmly support the carbon fiber composite material 10 .

In addition, as the support part 210 ′ has a hexahedral shape, it can more firmly support the carbon fiber composite material 10 by making 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 the upper portion 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' must withstand the elastic force provided from the elastic part 240', it is preferable that the fixing part 220' is 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 , the guide part 230 ′ is formed in a plurality in the central portion of the lower surface of the fixing part 220 ′.

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

Referring to FIG. 6 , 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 disposed in the vertical direction, and the other end of the elastic part 240' is coupled to the buffer part 250'.

In the present invention, the elastic part 240' is described as providing an elastic force for pushing the fixing part 220' and the buffer part 250', and the elastic part 240' is disposed in a compressed state. do.

However, if necessary, the elastic part 240' may provide an elastic force that pulls to the fixing part 220' and the buffer part 250' as opposed to the above description, and at this time, the elastic part 240' is tensioned. placed in state

The elastic part 240 ′ may be, for example, a spring made of an elastic material that can provide an elastic force.

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

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 a drilling process.

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

8 is a conceptual diagram illustrating that the tool unit processes the carbon fiber composite material in the end effector module according to the 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 part 290 drills the carbon fiber composite material 10, and the dust P generated accordingly is vacuum After passing through between the plurality of guide parts 230 by the suction force of the pump part 270 and flowing into the suction hole 251, it is discharged to the outside by the vacuum pump part 270, and related contents are shown in FIG. do.

9 is a conceptual view illustrating that the tool unit 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 foregoing description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains 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, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may also 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 their equivalents should be construed as being included in the scope of the present invention.

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

Claims (9)

A plurality of supports for supporting the carbon fiber composite;
a fixing part located on the upper portion of the carbon fiber composite;
a guide portion extending from the lower surface of the fixing portion toward the carbon fiber composite;
an elastic part positioned on both sides of the guide part and formed on a 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 part positioned between the elastic part and the buffer part to measure the elastic force provided by the elastic part;
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
and a tool part for processing the carbon fiber composite material through the fixing part and the guide part while being mounted on the end of the robot arm.
A plurality of supports for supporting the carbon fiber composite;
a fixing part located on the upper portion of the carbon fiber composite;
a guide portion extending from the lower surface of the fixing portion toward the carbon fiber composite;
an elastic part positioned on both sides of the guide part and formed on a lower surface of the fixing part;
a buffer portion positioned on the upper surface of the carbon fiber composite material and coupled to the elastic portion; and
and a tool part for processing the carbon fiber composite material through the fixing part and the guide part while being mounted on the end of the robot arm.
The method of claim 1,
The sensor unit generates the force information by measuring the elastic force provided from the elastic unit,
The force information is an end effector module, characterized in that the elastic part is a repulsive force that pushes the fixing part and the sensor part.
4. The method of claim 3,
When the force information is greater than the preset force information, the control unit fixes the carbon fiber composite material by controlling the operation of the vacuum pump unit so that the vacuum pump unit sucks less internal air of the buffer unit than the current state. end effector module.
4. The method of claim 3,
When the force information is smaller than the preset force information, the control unit fixes the carbon fiber composite material by controlling the operation of the vacuum pump unit so that the vacuum pump unit sucks the internal air of the buffer unit more than the current state. end effector module.
The method of claim 1,
A suction hole is formed on one surface of the buffer unit opposite to the guide unit,
The vacuum pump unit passes the dust generated when the tool unit processes the carbon fiber composite material through the suction hole, sucks it, and then discharges it to the outside.
3. The method according to claim 1 and 2,
The plurality of support parts are arranged to be spaced apart from each other by a predetermined distance, and the end effector module, characterized in that it supports the lower surface of the carbon fiber composite material.
3. The method according to claim 1 and 2,
The guide part is formed in plurality in the central part of the lower surface of the fixing part,
As the plurality of guide parts are spaced apart from each other to be larger than the diameter of the tool part, the end effector module, characterized in that the dust generated when the tool part processes the carbon fiber composite material is discharged between the plurality of guide parts.
3. The method according to claim 1 and 2,
The end effector module, characterized in that a fixing hole larger than a diameter of the tool part is formed in the central part of the fixing part so that the tool part is introduced.

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