WO2021221442A1 - Robot à module de levage et à module d'empilement - Google Patents

Robot à module de levage et à module d'empilement Download PDF

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Publication number
WO2021221442A1
WO2021221442A1 PCT/KR2021/005328 KR2021005328W WO2021221442A1 WO 2021221442 A1 WO2021221442 A1 WO 2021221442A1 KR 2021005328 W KR2021005328 W KR 2021005328W WO 2021221442 A1 WO2021221442 A1 WO 2021221442A1
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WO
WIPO (PCT)
Prior art keywords
lift
link
module
connector
panel
Prior art date
Application number
PCT/KR2021/005328
Other languages
English (en)
Korean (ko)
Inventor
고두열
김정중
박진성
최상규
신병천
이종민
한형석
박도영
김창현
임재원
하창완
안병태
정성호
신영식
Original Assignee
한국기계연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국기계연구원 filed Critical 한국기계연구원
Publication of WO2021221442A1 publication Critical patent/WO2021221442A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065—Scissor linkages, i.e. X-configuration
    • B66F7/0666—Multiple scissor linkages vertically arranged

Definitions

  • the present disclosure relates to a lift module and a stacked module robot including the same.
  • robots are widely used in various industries including manufacturing, production, distribution, and logistics.
  • a conventional robot for transporting an object includes a lifting means for lifting the object to be transported and a moving means for moving the robot.
  • the lifting means and the moving means are developed as a single standalone device, and there is a problem in adaptability and expandability such as replacing or changing the functions of the robot according to the changed work environment. .
  • An embodiment provides a lift module that easily lifts an object to be transported, and a stacked module robot with reduced maintenance costs and reduced maintenance costs while at the same time improving adaptability and scalability by easy assembly, fastening and coupling between modules want to
  • One side of the lift unit includes a lift module body forming an accommodation space, a first connector mounted on a lower portion of the lift module body, and a scissors link positioned in the accommodation space and supported by the lift module body , a lift panel covering the receiving space, supported by the scissor link and lifted from the lift module body by the lift unit, a second connector mounted on the upper part of the lift panel, and the first connector It provides a lift module including a wire harness (wire harness) connected to the second connector through the inside of the scissor link.
  • a wire harness wire harness
  • the scissor link is rotatably supported on the lift module body, a first rotation link including a first internal space, is rotatably connected between the first rotation link and the lift panel, and forms a second internal space
  • a second rotation link including, and connecting between the first rotation link and the second rotation link may include a ring-shaped joint including a circular hole.
  • the wire harness may extend from the first connector to the second connector by sequentially passing through the first inner space, the circular hole, and the second inner space.
  • the scissor link is slidably supported on the lift module body, a first sliding link cross-connected with the first rotation link, and rotatably connected between the first sliding link and the lift panel, the second It may include a second sliding link cross-connected with the rotary link.
  • the lift unit is fixed to one side of the storage space, a fixed shaft rotatably supporting the first rotation link, horizontally moving the storage space, and a horizontal movement link slidably supporting the first sliding link , a screw extending in the horizontal direction from the receiving space and penetrating the horizontal movement link, a screw nut mounted on the horizontal movement link and screw-coupled to the screw, and a driving motor configured to rotate the screw .
  • the lift unit may further include a first proximity sensor positioned at one end of the screw, and a second proximity sensor spaced apart from the first proximity sensor in the horizontal direction with the horizontal movement link therebetween.
  • the lift unit may further include guide rollers connected to both ends of the horizontal movement link to guide the lift module body, and an LM guide positioned at one side of the horizontal movement link to guide the lift module body. have.
  • the lift panel may have a rectangular shape in plan view, and the lift panel may include a plurality of force sensors positioned at each corner of the rectangular shape.
  • the lift panel may further include a plurality of shock absorbing dampers adjacent to the plurality of force sensors.
  • one side includes a driving module including a moving means, a processor module stacked on the driving module and connected to the driving module, and a lift module stacked on the processor module and connected to the processor module
  • the The lift module includes a lift module body forming an accommodation space, a first connector connected to the processor module, mounted on a lower portion of the lift module body, positioned in the storage space, and supported by the lift module body link), a lift panel covering the storage space, supported by the scissor link and lifted from the lift module body by the lift unit, a second connector mounted on the upper part of the lift panel
  • a laminated module robot comprising a wire harness (wire harness) connected from the first connector to the second connector through the inside of the scissor link.
  • the scissor link is rotatably supported on the lift module body, a first rotation link including a first internal space, is rotatably connected between the first rotation link and the lift panel, and forms a second internal space
  • a second rotation link including, and connecting between the first rotation link and the second rotation link may include a ring-shaped joint including a circular hole.
  • the wire harness may extend from the first connector to the second connector by sequentially passing through the first inner space, the circular hole, and the second inner space.
  • a lift module that easily lifts an object to be transported and a stacked module robot with reduced maintenance costs and reduced maintenance costs while improving adaptability and scalability due to easy assembly, fastening and coupling between modules is provided
  • FIG. 1 is a side view showing a stacked module robot according to an embodiment.
  • FIG. 2 is a side view showing that the lift panel of the lift module of the stacked module robot shown in FIG. 1 is raised.
  • FIG 3 is a perspective view illustrating a lift module of a multilayer module robot according to an embodiment.
  • FIG. 4 is a side view illustrating a lift module of a multilayer module robot according to an embodiment.
  • FIG. 5 is a perspective view illustrating a side of a lift module body of a lift module of a multilayer module robot according to an embodiment.
  • FIG. 6 is a perspective view illustrating a lift panel side of a lift module of a multilayer module robot according to an embodiment.
  • FIG. 7 is a perspective view illustrating an example of a coupling method between modules of a stacked module robot according to an embodiment.
  • the stacked module robot according to an embodiment is a transfer robot that transports and lifts objects, but is not limited thereto, and may be easily changed to a robot that performs another function by replacing the lift module with a module performing another function.
  • FIG. 1 is a side view showing a stacked module robot according to an embodiment.
  • a multilayer module robot 1000 includes a driving module 100 , a processor module 200 , and a lift module 300 .
  • the driving module 100, the processor module 200, and the lift module 300 are sequentially stacked in the vertical direction, but the stacking order of the processor module 200 and the lift module 300 is changed without being limited thereto. 100), the lift module 300, and the processor module 200 may be sequentially stacked in a vertical direction.
  • the lift module 300 may be replaced with another module having a different configuration.
  • another module having a different configuration may be further stacked on the lift module 300 .
  • the traveling module 100 performs a traveling function of the stacked module robot 1000 and includes a moving means 110 .
  • the driving module 100 is connected to the processor module 200 , and may receive a signal from the processor module 200 to perform a driving function using the moving means 110 .
  • the moving means 110 may include a plurality of wheels. Movement of the moving means 110 may be controlled by a signal transmitted from the processor module 200 , but is not limited thereto.
  • the moving means 110 is controlled to avoid it when there is an obstacle on the travel path of the stacked module robot 1000, or another module It can be controlled to adjust the position for binding with the robot.
  • the processor module 200 is stacked on the driving module 100 , and is connected to the driving module 100 and the lift module 300 .
  • the processor module 200 may supply power to the driving module 100 and the lift module 300 , and transmit/receive signals to/from each module to control the operation of each module.
  • the processor module 200 may be connected through a connector formed in each of the driving module 100 and the lift module 300 and wires such as a wire harness, but is not limited thereto.
  • the processor module 200 is connected to another module robot or an external device by wire or wirelessly to enable communication, and thus can transmit and receive various control signals and command signals to and from each other.
  • the processor module 200 may include a sensor.
  • the sensor included in the processor module 200 may sense an environment and a state around the stacked module robot 1000 , and sense an operating state of the stacked module robot 1000 .
  • the plurality of sensors may be located on the front, rear, and left and right sides of the processor module 200 , but is not limited thereto.
  • the sensor of the processor module 200 may use at least one sensing means among ultrasonic waves, infrared rays, ultraviolet rays, and laser beams, but is not limited thereto, and various known sensing means may be used.
  • the processor module 200 uses a sensor to sense whether there is an obstacle around or on the movement path of the stacked module robot 1000, and whether there is a possibility of colliding with the obstacle. In the process of adjusting the relative positions between the robots, the operating state of the module robots may be sensed.
  • the processor module 200 may receive a sensing signal sensed by the sensor, and control the operation of the driving module 100 and the lift module 300 based on the received signal.
  • the lift module 300 is stacked on the processor module 200 and is connected to the processor module 200 .
  • the operation of the lift module 300 may be controlled by the processor module 200 , but is not limited thereto.
  • FIG. 2 is a side view showing that the lift panel of the lift module of the stacked module robot shown in FIG. 1 is raised.
  • the lift module 300 vertically lifts the lift panel 340 using the scissor link 331 to vertically lift the object stacked on the lift panel 340 . While the lift module 300 has a small size and weight, since the lift panel 340 has to be raised to a high position, the lift module 300 may be of a scissor lift type, but is not limited thereto and may have various known shapes.
  • FIG. 3 is a perspective view illustrating a lift module of a multilayer module robot according to an embodiment.
  • 4 is a side view illustrating a lift module of a multilayer module robot according to an embodiment.
  • the lift module 300 includes a lift module body 310 , a first connector 320 , a lift unit 330 , a lift panel 340 , a second connector 350 , and a wire harness. (360).
  • FIG. 5 is a perspective view illustrating a side of a lift module body of a lift module of a multilayer module robot according to an embodiment.
  • the wire harness is not shown for convenience of understanding.
  • a part of the lift module body is shown transparently so that the inside of the lift module body can be checked for convenience of understanding.
  • the lift module body 310 is in the form of a quadrangular pole, and a receiving space 311 is formed therein. Meanwhile, the lift module body 310 may have various shapes such as a triangular pole, a pentagonal pole, a circular pole, and a loop-type pole.
  • the first connector 320 and the lift unit 330 are positioned in the receiving space 311 of the lift module body 310 .
  • the first connector 320 is mounted on the lower portion of the lift module body 310 in the receiving space 311 .
  • the first connector 320 includes an upper connector and a lower connector communicating with each other.
  • the upper connector of the first connector 320 faces the receiving space 311
  • the lower connector faces the processor module 200 .
  • a lower connector of the first connector 320 may be connected to the processor module 200 .
  • the lower connector of the first connector 320 may be connected to the processor module 200 by being coupled to a connector provided on the upper portion of the processor module 200 , which will be described later.
  • the upper connector of the first connector 320 may be connected to the lift panel 340 through the wire harness 360 .
  • the upper connector of the first connector 320 may be connected to the lift unit 330 .
  • the first connector 320 may have various well-known shapes, and may connect between the processor module 200 and the lift module 300 and between the processor module 200 and the lift unit 330 .
  • the lift unit 330 is located in the storage space 311 .
  • the lift unit 330 lifts the lift panel 340 in a vertical direction.
  • the lift unit 330 includes a scissor link 331, a fixed shaft 332, a horizontal moving link 333, a screw 334, a screw nut 335, a drive motor 336, a first proximity sensor 337a, It includes a second proximity sensor 337b, a guide roller 338, an LM guide 339, and a manual adjustment unit 334a.
  • the scissor link 331 is supported by the lift module body 310 to vertically elevate the lift panel 340 .
  • the scissor link 331 includes a first rotation link 331a, a second rotation link 331c, an annular joint 331e, a first sliding link 331f, and a second sliding link 331g.
  • the first rotation link 331a, the second rotation link 331c, the first sliding link 331f, and the second sliding link 331g may each have a hollow shape to form an inner space. .
  • the components constituting the scissor link 331 may be configured as a pair in parallel with each other and disposed on both sides of the lift module body 310 .
  • the first rotation link 331a is rotatably supported by the lift module body 310 and includes a first internal space 331b. One end of the first rotation link 331a is rotatably supported on the lift module body 310, and the other end is rotatably supported on the second rotation link 331c through the annular joint 331e.
  • the second rotation link 331c is rotatably connected between the first rotation link 331a and the lift panel 340 and includes a second internal space 331d.
  • One end of the second rotation link 331c is rotatably supported by the first rotation link 331a through the annular joint 331e, and the other end is rotatably supported by the lift panel 340 .
  • the annular joint 331e connects between the first rotation link 331a and the second rotation link 331c, and includes a circular hole 331h.
  • the annular joint 331e connects between the first sliding link 331f and the second sliding link 331g.
  • the annular joint 331e connects between the central portion of the first rotational link 331a and the central portion of the first sliding link 331f, and the central portion of the second rotational link 331c and the second sliding link 331g ) between the central parts of the
  • the wire harness 360 through the first inner space 331b of the first rotary link 331a, the circular hole 331h of the annular joint 331e, and the second inner space 331d of the second rotary link 331c ) is connected from the first connector 320 to the second connector 350 .
  • the first sliding link 331f is slidably supported on the lift module body 310 and is cross-connected to the first rotation link 331a through an annular joint 331e.
  • One end of the first sliding link 331f is slidably supported by the lift module body 310, and the other end is rotatably supported by the second sliding link 331g through the annular joint 331e.
  • one end of the first sliding link 331f may be rotatably supported by a horizontal movement link 333 to be described later that horizontally moves the accommodation space 311 .
  • the second sliding link 331g is rotatably connected between the first sliding link 331f and the lift panel 340, and is cross-connected with the second rotation link 331c through the annular joint 331e.
  • One end of the second sliding link 331g is rotatably supported by the first sliding link 331f through the annular joint 331e, and the other end is slidably supported by the lift panel 340 .
  • the other end of the second sliding link 331g may be rotatably supported by a moving block slidably installed under the lift panel 340 .
  • the fixed shaft 332 is fixed to one side of the accommodation space 311 .
  • the fixed shaft 332 rotatably supports one end of the first rotation link 331a.
  • the horizontal moving link 333 horizontally moves the receiving space 311 and rotatably supports one end of the first sliding link 331f. That is, one end of the first sliding link 331f may be rotatably and slidably supported by the lift module body 310 .
  • the horizontal movement link 333 horizontally moves the accommodation space 311 according to the rotation of the screw 334 .
  • the horizontal moving link 333 may rotatably support a pair of first sliding links 331f at both ends.
  • the screw 334 extends in the horizontal direction in the receiving space 311 and passes through the horizontal moving link 333 .
  • the screw 334 and the horizontal moving link 333 may be arranged in a direction crossing each other, for example, perpendicular to each other.
  • the screw 334 may be connected to the driving motor 336 to be rotated by the driving motor 336 .
  • the screw 334 may be in the form of a triple screw in which a plurality are arranged side by side, but is not limited thereto, and may be double or quadruple or more.
  • the screw nut 335 is mounted on the horizontal moving link 333 and is screwed with the screw 334 .
  • the driving motor 336 is connected to the screw 334 and rotates the screw 334 .
  • the driving motor 336 may be connected to the processor module 200 through the first connector 320 to be controlled by the processor module 200 .
  • the screw nut 335 horizontally moves along the screw 334 so that the horizontal movement link 333 horizontally moves the receiving space 311 .
  • the first sliding link 331f slides and rotates at the same time. Accordingly, the first rotating link 331a connected to the first sliding link 331f through the annular joint 331e rotates in the opposite direction to the first sliding link 331f, and the scissor link 331 is the lift panel. (340) can be lifted in the vertical direction.
  • the first proximity sensor 337a is located at one end of the screw 334 .
  • the second proximity sensor 337b is horizontally spaced apart from the first proximity sensor 337a with the horizontal movement link 333 interposed therebetween.
  • the first proximity sensor 337a and the second proximity sensor 337b may measure a horizontal movement limit of the horizontal movement link 333 .
  • the first proximity sensor 337a and the second proximity sensor 337b may be connected to the processor module 200 through the first connector 320 , and the first proximity sensor 337a and the second proximity sensor 337b
  • the measured horizontal movement limit value of the horizontal movement link 333 may be transmitted to the processor module 200 .
  • the guide roller 338 is connected to both ends of the horizontal moving link 333 and is guided to the lift module body 310 .
  • the guide roller 338 horizontally moves along one guide rail formed in the lift module body 310 according to the horizontal movement of the horizontal movement link 333 .
  • the LM guide 339 is connected to one side of the horizontal moving link 333 and is guided to the lift module body 310 .
  • the LM guide 339 horizontally moves along the other guide rails formed in the lift module body 310 according to the horizontal movement of the horizontal movement link 333 .
  • the guide roller 338 and the LM guide 339 are connected to the horizontal movement link 333 to guide the horizontal movement link 333 in the horizontal direction according to the horizontal movement of the horizontal movement link 333, whereby the scissor link 331 is The external force applied to the horizontal moving link 333 is distributed according to the driving of the .
  • the manual adjustment part 334a is located at the end of the screw 334 .
  • the manual adjustment unit 334a may have various known structures capable of adjusting the height and position of the screw 334 using a hand tool.
  • the lift panel 340 may include a gyro sensor 345 .
  • the gyro sensor 345 may be installed in the center of the lift panel 340 and may measure vibration of the lift panel 230 .
  • the vibration signal sensed by the gyro sensor 345 may be transmitted to the processor module 200 and used to control vibration reduction during driving of the driving module 100 .
  • a distance measuring sensor 344 may be provided in the lift module body 310 .
  • the distance measuring sensor 344 measures a distance from the lift module body 310 to the lift panel 340 and may include an optical sensor. Since the optical sensor measures the absolute distance, it has the advantage of not being affected by clearance and deformation compared to the distance measuring method using an encoder.
  • the measurement signal measured by the distance measurement sensor 344 may be transmitted to the processor module 200 and used to control the height of the lift panel 340 that is raised or lowered.
  • FIG. 6 is a perspective view illustrating a lift panel side of a lift module of a multilayer module robot according to an embodiment.
  • the wire harness is not shown in FIG. 6 for convenience of understanding.
  • a portion of the lift panel is shown transparently so that the inside of the lift panel is visible.
  • the lift panel 340 covers the receiving space 311 of the lift module body 310 , is supported by the scissor link 331 , and is supported by the lift unit 330 . It is lifted from the lift module body 310 .
  • the lift panel 340 may have a shape corresponding to the lift module body 310 , for example, may have a rectangular shape in plan view.
  • Each corner of the rectangle of the lift panel 340 includes a plurality of force sensors 342 , a plurality of force sensors 342 , and a plurality of shock absorption dampers 341 adjacent to each other.
  • the plurality of shock absorbing dampers 341 absorb shocks caused by objects stacked on the lift panel 340 .
  • the plurality of force sensors 342 measure the weight of the object stacked on the lift panel 340 and the position of the center of gravity.
  • the plurality of force sensors 342 are connected to the processor module 200 through the second connector 350 , the wire harness 360 , and the first connector 320 , and are connected to the object measured by the plurality of force sensors 342 .
  • the weight distribution value may be transmitted to the processor module 200 .
  • the second connector 350 is mounted on the lift panel 340 .
  • the second connector 350 includes an upper connector and a lower connector communicating with each other.
  • the upper connector of the second connector 350 faces the upper side of the lift panel 340
  • the lower connector faces the receiving space 311 of the lift module body 310 .
  • the lower connector of the second connector 350 may be connected to the first connector 320 through the wire harness 360 to be connected to the processor module 200 .
  • the upper connector of the second connector 350 may be connected to another module that may be stacked on the lift panel 340 of the lift module 300 . For example, by being coupled with a connector provided at the lower part of the module stacked on the upper part of the lift module 300 , it may be connected to the module stacked on the upper part.
  • An upper connector or a lower connector of the second connector 350 may be connected to the lift panel 340 .
  • the second connector 350 may have various well-known forms, between the processor module 200 through the lift panel 340 and the first connector 320 and between the lift module 300 and the lift module 300 . Connections can be made between different modules that can be stacked.
  • the wire harness 360 connects between the first connector 320 and the second connector 350 .
  • the wire harness 360 is connected from the first connector 320 to the second connector 350 through the inside of the scissor link 331 .
  • the wire harness 360 is connected to the first connector 320 from the first connector 320 to the first inner space 331b of the first rotation link 331a, and the circular hole 331h of the annular joint 331e. , and the second inner space 331d of the second rotation link 331c sequentially passes through and is connected to the second connector 350 .
  • the wire harness 360 is connected to the first connector 320 from the first connector 320 to the inner space of the first sliding link 331f, the circular hole 331h of the annular joint 331e. , may be connected to the second connector 350 by sequentially passing through the inner space of the second sliding link (331g).
  • the wire harness 360 extends through the inside of the scissor link 331 to connect the first connector 320 mounted on the lift module body 310 and the second connector 350 mounted on the lift panel 340 . By doing so, even if the lift panel 340 is lifted in the vertical direction by the driving of the scissor link 331, the wiring length of the wire harness 360 is minimized and the wire harness due to the interference of the scissor link 331 ( 360) is prevented from breaking and kinking.
  • a wiring of a known structure extends through the inside of the scissor link 331 , and the first connector 320 and the lift panel 340 mounted on the lift module body 310 . ) may be connected between the second connectors 350 mounted on the .
  • FIG. 7 is a perspective view illustrating an example of a coupling method between modules of a stacked module robot according to an embodiment.
  • two connectors 510 are located on the upper portion of one module 500 located at the lower side among a plurality of sequentially stacked modules included in the stacked module robot according to an embodiment, and the upper side Two other connectors 610 are located under the other module 600 located at .
  • One connector 510 and the other connector 610 may be located at both ends of the upper and lower surfaces of each module.
  • the plurality of modules may be stacked in a vertical direction.
  • the one module 500 and the other module 600 may be any one of a driving module, a processor module, and a lift module included in the stacked module robot according to the above-described embodiment, respectively, but is not limited thereto, and the above-described module It may be a module with a different function or a different configuration from that of the .
  • the second connector 350 of the above-described lift module 300 may be an example of one connector 510
  • the first connector 320 may be an example of the other connector 610 .
  • One of the two connectors 510 may be a power connector for connecting power, and the other may be a signal connector for connecting a signal, but is not limited thereto.
  • One of the two other connectors 610 may be a power connector for connecting power, and the other may be a signal connector for connecting a signal, but is not limited thereto.
  • one connector 510 and the other connector 610 may be disposed at positions corresponding to each other and may have shapes corresponding to each other.
  • one of the connector 510 and the other connector 610 is in the form of a male connector protruding outward in a vertical direction
  • the other is in the shape of a male connector protruding outward in a vertical direction to correspond to the male connector. It may have the form of a recessed female connector. Accordingly, as one module 500 and the other module 600 are stacked and coupled in a vertical direction, one connector 510 and the other connector 610 may be mechanically coupled and electrically connected.
  • the other connectors 610 of the other module 600 are connected to one connector 510 of one module 500, and a fastening means ( Another module 600 is coupled to one module 500 using 700 .
  • the fastening means 700 may include four screws 710 and four guide pins 720 .
  • another module 600 is stacked on one module 500 , and four guide pins 720 penetrate the other module 600 and are inserted into the pinholes of one module 500 to form one module 500 .
  • the other connectors 610 of the other module 600 are coupled to one connector 510 of The other module 600 may be fixedly coupled to one module 500 by being screwed into the screw hole of the 500 .
  • the coupling between the modules of the stacked module robot may be performed by the above coupling method, but is not limited thereto.
  • the wire harness 360 extends through the inside of the scissor link 331 and the first connector mounted on the lift module body 310 .
  • the guide roller 338 and the LM guide 339 are connected to the horizontal movement link 333 to move the horizontal movement link 333 horizontally.
  • the external force applied to the horizontal movement link 333 is distributed according to the driving of the scissor link 331, It is suppressed that the lift unit 330 is damaged by an external force.
  • the lift module 300 for easily lifting the object to match the transfer height of the object to be transferred is provided.
  • the stacked module robot 1000 includes a driving module 100 for moving the stacked module robot 1000 , a lift module 300 for lifting an object to transport an object, a traveling module 100 and By including the processor module 200 stacked between the lift modules 300 to control the driving module 100 and the lift module 300, a module having a different configuration is added to the upper part of the lift module 300, or a lift module Because it is easy to replace the 300 or the driving module 100 with another lift module, another driving module, or a module having a different configuration, adaptability and expansion of replacing or changing the function of the robot according to the changed work environment While the performance is improved, the maintenance cost of the modules that are part of the robot is reduced.
  • Lift module body 310 First connector 320 , scissor link 331 , lift panel 340 , second connector 350 , wire harness 360 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)

Abstract

Un module de levage comprend : un corps de module de levage formant un espace de stockage ; un premier connecteur monté sur la partie inférieure du corps du module de levage dans l'espace de stockage ; une unité de levage qui est située dans l'espace de stockage et comprend une liaison à ciseaux supportée par le corps du module de levage ; un panneau de levage qui recouvre l'espace de stockage et est supporté par la liaison à ciseaux de telle sorte que le panneau de levage est soulevé par l'unité de levage à partir du corps du module de levage ; un second connecteur monté sur la partie supérieure du panneau de levage ; et un faisceau de câbles reliant le premier connecteur et le second connecteur et se prolongeant jusqu'au second connecteur à partir du premier connecteur à travers l'intérieur de la liaison à ciseaux.
PCT/KR2021/005328 2020-04-27 2021-04-27 Robot à module de levage et à module d'empilement WO2021221442A1 (fr)

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KR10-2020-0050879 2020-04-27

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KR102612190B1 (ko) * 2022-11-28 2023-12-11 주식회사 나우로보틱스 재킹 타입 및 피킹 타입 호환 로봇용 적재유닛과 물류로봇시스템

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