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KR-102963605-B1 - Multi-joint module capable of easy posture adjustment

KR102963605B1KR 102963605 B1KR102963605 B1KR 102963605B1KR-102963605-B1

Abstract

The present invention provides a multi-joint module having a predetermined length and equipped with a separate working tool module at its end to perform a predetermined operation on a workpiece, wherein the module protrudes long with a predetermined length from a predetermined installation surface or structure, is divided into a plurality of unit joint units, each of which is connected so as to be independently rotatable, and the length of at least one of the plurality of unit joint units is independently adjustable, and the position of the working tool module is adjusted in correspondence with the shape and position of the workpiece.

Inventors

  • 민성준
  • 김환준
  • 이상은

Assignees

  • 주식회사 휴고다이나믹스

Dates

Publication Date
20260513
Application Date
20251117

Claims (11)

  1. In a multi-joint module having a certain length and equipped with a separate working tool module at the end portion to perform a pre-set operation on a workpiece, It protrudes long with a certain length from a pre-set installation surface or structure, is divided into multiple unit joint units, and each is connected so as to rotate independently. The length of at least one of the plurality of the above-mentioned unit joint units is independently adjustable, and The above unit joint unit comprises: a fixed block having a fixed length and having a driving motor inside; a movable block provided on one side along the longitudinal direction of the fixed block and sliding on the fixed block to adjust its length; an extension motor provided on either the fixed block or the movable block to slide the movable block to adjust its extension length; a rotating screw protruding from either the movable block or the fixed block toward the other, inserted and coupled, and rotating by the extension motor to adjust the position of the movable block; and a guide part formed protruding from the movable block parallel to the rotating screw, inserted into the interior of the fixed block, and guiding the sliding direction of the movable block. The fixed block of the other unit joint unit is rotatably coupled to one side along the longitudinal direction of the above-mentioned moving block, and The above unit joint unit is a multi-joint module that adjusts the position of the working tool module in correspondence with the shape and position of the workpiece.
  2. In paragraph 1, The above unit joint unit is, A multi-joint module in which multiple units are connected in succession along the longitudinal direction, and each is equipped with a separate drive motor to independently adjust the rotation angle.
  3. In paragraph 2, The above unit joint unit is, A multi-joint module characterized in that at least one of the plurality is divided into a plurality of members and slides to selectively adjust its length.
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  7. In paragraph 1, A multi-joint module further comprising a control module that adjusts the operation of the unit joint unit to change to a new movement path when interference occurs on a pre-set movement path due to an obstacle when the working tool module approaches the workpiece while the position information of the workpiece is specified.
  8. In Paragraph 7, The above control module is, A sensing unit positioned facing forward in the above-mentioned working tool module or the above-mentioned unit joint unit to detect whether an object is approaching; and A control unit that controls the operation of the unit joint unit for the operation of the above workpiece and modifies the movement path by reflecting the detection information transmitted from the detection unit; A multi-joint module including
  9. In paragraph 1, The above working tool module is, A multi-joint module characterized by being formed protruding from the above unit joint and selectively loading or reloading the side of the workpiece.
  10. In paragraph 1, The above working tool module is, A multi-joint module characterized by being formed protruding from the above unit joint unit, having a certain surface area, configured to be rotatable, and rotating with a preset pressure while in contact with the above workpiece.
  11. In paragraph 1, The above working tool module is, A multi-joint module characterized by including a separate tilt detection sensor and moving at a preset angle to contact the workpiece while in close proximity to the workpiece.

Description

Multi-joint module capable of easy posture adjustment The present invention relates to a multi-joint module with easy posture control, and specifically, to a multi-joint module with easy posture control that can perform work stably by avoiding obstacles through the independent movement of the multi-joint module and bringing the working tool module close to the workpiece. A robot is a mechanical device capable of performing tasks, such as movement, based on commands or specific operations provided by a system, and is utilized in various tasks to replace humans. The robot industry has developed rapidly, and research is currently expanding beyond industrial or specialized robots to include household and educational robots designed to assist human work and bring enjoyment to human life. In Korea, robots began to be introduced in the late 1960s, and most of them were industrial robots such as manipulators and conveyor robots intended for the automation and unmanned operation of production work in factories. Meanwhile, as the applications of robots have diversified recently, their movements and positions are also becoming more complex. In particular, robots capable of performing human-like movements are gaining prominence as essential systems in environments where specific work conditions are largely set up based on human standards. Research aimed at realizing safe robots can be broadly divided into technologies that use non-contact sensors to predict and avoid collisions, technologies that mechanically absorb collision forces, and technologies that detect and respond to collisions within a short period of time. From this perspective, while technology for detecting obstacles in advance and preventing collisions during robot task execution is important, there is also a need for technology that performs the task while avoiding obstacles rather than stopping after detecting them during actual operation. In particular, when robots are used in various fields, they can achieve work efficiency similar to that of humans by detecting obstacles and performing tasks while avoiding interference within complex work environments. Therefore, it is necessary to develop technology to solve these problems. FIG. 1 is a schematic diagram showing the configuration of a multi-joint working device including a multi-joint module with easy posture adjustment according to the present invention; FIG. 2 is a side view showing the configuration of a multi-joint working device according to an embodiment of the present invention; FIG. 3 is a schematic drawing of a multi-joint module in the multi-joint working device of FIG. 1; FIG. 4 is a drawing showing the internal configuration of the multi-joint module of FIG. 3; FIG. 5 is a drawing showing the operating state of the multi-joint module of FIG. 3; FIG. 6 is a diagram showing the state of detecting a workpiece and determining whether there is interference in the multi-joint working device of FIG. 1; and Figure 7 is a diagram showing the process of detecting an obstacle and modifying the movement path when approaching a workpiece in the multi-joint working device of Figure 1. Preferred embodiments of the present invention, in which the objectives of the present invention can be specifically realized, will be described below with reference to the attached drawings. In describing these embodiments, the same names and reference numerals are used for identical components, and additional explanations thereof will be omitted. In addition, in describing the embodiments of the present invention, it is stated in advance that while the same names and symbols are used for components having the same function, they are not substantially identical to the prior art. Furthermore, the terms used in the embodiments of the present invention are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. Furthermore, in the embodiments of the present invention, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. The multi-joint module according to the present invention has various postures and movement paths and can stably approach a workpiece to perform work. To facilitate the smooth description of the embodiments, a multi-joint work device including the multi-joint module will be described below. First, referring to FIGS. 1 to 5, the configuration of the working device according to the present invention is schematically as follows. A multi-joint working device including a multi-joint module according to the present invention comprises a base module (100), a multi-j