Assembly structure and robot including same

Abstract

The invention relates to an assembly structure and a robot including the same. A fitting structure, for example for connecting a robot arm and a gripper or other such assembly, includes a fitting portion and an engagement portion disposed above the fitting portion. The fitting portion includes a body and a flange fixedly joined to an upper portion of the body. The engaging portion includes a base member and a sleeve member configured to surround an outer periphery of the base member. The flange is configured such that rotational movement of the flange relative to the base member about a rotational center axis is restricted. The sleeve member is configured to be rotatable relative to the base member, and the sleeve member and the flange are configured to interfere with each other in an upward / downward direction.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2023-0173608 filed in the Korean Intellectual Property Office on December 4, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an assembly structure and a robot including the assembly structure, and more particularly, to an assembly structure capable of easily engaging and disengaging a robot arm and a gripper configured to be engaged to an end of the robot arm and a robot including the assembly structure. Background Art

[0004] The method of joining a gripper that performs a gripping function to a robot arm provided on a robot is roughly divided into i) a first method of directly assembling the gripper to the robot arm by using a bolt member or the like and ii) a second method of using a separate component configured to connect the gripper and the robot arm. In the above method, the first method (i) is performed by loosening a member such as a bolt to separate the gripper to be replaced from the robot arm, bringing another gripper into close contact with the robot arm, and then tightening the bolt. In addition, the second method (ii) is performed by connecting the gripper and the robot arm using a quick-changer type coupling member.

[0005] However, in the prior art, the problem with the first method (i) is that a lot of time is required to disassemble and reattach the clamp, and the first method is inconvenient to use. In addition, the problem with the second method (ii) is that the type of connector that can be used to electrically connect the clamp and the robot arm is limited according to the structure and operation principle of the coupling member. For example, the method of coupling the clamp and the robot arm by rotating the coupling member has the problem that a plug-and-socket type connector structure cannot be applied. Summary of the invention

[0006] The present invention aims to provide a structure for connecting a robot arm and a gripper, wherein the structure can adopt various types of connector structures that can be easily installed and removed compared to the prior art.

[0007] In order to achieve the above-mentioned object, one aspect of the present invention provides an assembly structure including an assembly portion and a joint portion. The joint portion is arranged above the assembly portion and is configured to be attached to the assembly portion or to be detached from the assembly portion. The assembly portion includes a body configured to define the assembly portion and open on its upper side, and includes a flange fixedly joined to the upper part of the body. The joint portion includes a base member and a sleeve member. The sleeve member is configured to surround the outer periphery of the base member and open on its lower side. The flange is configured to penetrate the sleeve member and face the base member. The rotational movement of the flange relative to the base member around the rotation center axis AX of the assembly structure is restricted. The sleeve member is configured to be rotatable relative to the base member. When the rotation angle of the sleeve member relative to the base member is within a predetermined range, the sleeve member and the flange are configured to interfere with each other in the upward / downward direction H.

[0008] The engaging portion may further include a pin member protruding downward from a lower surface of the base member. The upper surface of the flange may define a pin insertion groove, and the pin insertion groove has a downwardly concave shape. The pin member may be inserted into the pin insertion groove.

[0009] The base member may include a base flange, the pin member is engaged to the base flange, and may include a base protrusion protruding upward from the base flange. The outer peripheral surface of the base protrusion may be defined with an interference area, and the interference area has a shape protruding outward. The sleeve member may include an upper sleeve, the upper sleeve is configured to define an upper area of ​​the sleeve member and surround the outer peripheral surface of the base protrusion. The upper sleeve may have a rotation interference groove, the rotation interference groove is defined on the inner peripheral surface of the upper sleeve and is configured to accommodate the interference area. The interference area may be configured to interfere with the upper sleeve at the boundary of the rotation interference groove based on the circumferential direction A.

[0010] The outer circumferential surface of the base protrusion may be defined with a recessed area, and the recessed area may be spaced apart from the interference area in the circumferential direction A. The recessed area may have an inwardly recessed shape. The engaging portion may further include a latch member rotatably engaged to the upper sleeve, and at least a portion of the latch member is configured to be inserted into the recessed area in a state where the sleeve member is engaged to the base member so that the interference area is located in the rotation interference groove.

[0011] The latch member may include an insertion area having a shape protruding toward the rotation center axis AX so as to be inserted into the recessed area. When the sleeve member is rotated relative to the base member so that the interference area is set adjacent to the boundary of one side of the rotation interference groove based on the circumferential direction A, the insertion area may face the recessed area.

[0012] The upper sleeve may have a latch receiving groove configured to receive the latch member and having a shape recessed in the upward / downward direction H. The latch rotation shaft may penetrate the latch member in the upward / downward direction H. The engaging portion may further include an elastic member configured to be opposite to the insertion area with the latch rotation shaft interposed therebetween. The elastic member may be provided between the latch member and an outer peripheral surface of the base protrusion.

[0013] An outer surface of a region of the latch member opposite to the elastic member may be exposed to the outside.

[0014] The sleeve member may further include a lower sleeve disposed below the upper sleeve, the lower sleeve being configured to surround the outer peripheral surface of the base flange and fixedly coupled to the upper sleeve. The lower sleeve may have a flange insertion area, the flange insertion area being defined in a portion of the inner peripheral surface of the lower sleeve and having an outwardly recessed shape. The flange may have a flange protruding area protruding outwardly from the outer peripheral surface of the flange. The width of the flange insertion area in the circumferential direction A of the assembly structure may be greater than the width of the flange protruding area in the circumferential direction A or may correspond to the width of the flange protruding area.

[0015] When the assembly structure is viewed from above, the entire flange protruding area can be accommodated in the flange insertion area when the sleeve member is rotated relative to the base member so that the interference area is set adjacent to the boundary on the other side of the rotation interference groove based on the circumferential direction A.

[0016] The engaging portion may include a sliding member accommodated in an upper sleeve and may include a bolt member configured to be inserted into the outer peripheral surface of the upper sleeve and the sliding member. The outer peripheral area of ​​the upper sleeve may define a sliding member engaging groove. The sliding member engaging groove may have a concave shape and may define a space for accommodating the sliding member.

[0017] The size in the upward / downward direction H of the hole defined in the area of ​​the upper sleeve where the bolt member is inserted may be larger than the size in the upward / downward direction H of the area of ​​the bolt member inserted into the upper sleeve. The size in the upward / downward direction H of the hole defined in the area of ​​the sliding member where the bolt member is inserted may correspond to the size in the upward / downward direction H of the area of ​​the bolt member inserted into the sliding member.

[0018] The upper surface of the sliding member may include a shape of an inclined surface having a height decreasing in a direction away from the rotation center axis AX in an upward / downward direction H. A region of the sliding member engagement groove facing the upper surface of the sliding member may include a shape corresponding to the inclined surface defined on the upper surface of the sliding member.

[0019] The lower surface of the sliding member may be arranged to be in close contact with the upper surface of the base flange. The lower surface of the sliding member may be perpendicular to the rotation center axis AX.

[0020] The lower surface of the sliding member may include a shape of an inclined surface having a height increasing in an upward / downward direction H in a direction away from the rotation center axis AX. The lower surface of the sliding member may be arranged to be in close contact with the upper surface of the base flange. The area of ​​the upper surface of the base flange facing the lower surface of the sliding member may include a shape corresponding to the inclined surface defined on the lower surface of the sliding member.

[0021] The upper surface of the sliding member may be disposed to be in close contact with the sliding member engagement groove. The upper surface of the sliding member may be perpendicular to the rotation center axis AX.

[0022] The joint may further include a connector cover received in a lower surface of the base flange, and may include a joint connector provided between the connector cover and a region of the lower surface of the base flange receiving the connector cover.

[0023] The fitting portion may further include a fitting portion connector accommodated in an inner space of the fitting portion. The fitting portion connector may penetrate the connector cover and may be inserted into and engaged with the engaging portion connector.

[0024] Another aspect of the present invention provides a robot including an assembly structure, wherein the engagement portion is engaged to a robot arm provided on the robot, the assembly portion is engaged to a gripper, and the gripper is engaged to one side of the robot arm and is configured to perform a gripping function.

[0025] The present invention can provide a structure for connecting a robot arm and a gripper, wherein the structure can adopt various types of connector structures that can be easily installed and removed compared to the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram showing the structure of a robot according to the present invention.

[0027] Figure 2 1 is an upper perspective view showing the fitting portion and the joining portion of the fitting structure according to the present invention before the components are joined to each other.

[0028] Figure 3 It shows that according to the present invention Figure 2 A lower stereoscopic view of the assembly portion and the joint portion of the assembly structure.

[0029] Figure 4 is an exploded perspective view of an assembly structure according to the present invention.

[0030] Figure 5 It is an enlarged view of a base member of a joint portion provided in the assembly structure according to the present invention.

[0031] Figure 6 It is an enlarged view of an upper sleeve of a joint portion provided in the assembly structure according to the present invention.

[0032] Figure 7 It is an enlarged view of a lower sleeve of a joint portion provided in the assembly structure according to the present invention.

[0033] Figure 8 is a schematic diagram showing a horizontal cross section of a joining portion according to the present invention and showing a state in which a sleeve member is fixedly joined to a base member by a latch member.

[0034] Fig. 9 It shows that according to the present invention Figure 8 The figure is a schematic diagram of a horizontal cross-section of a joint portion and showing a state in which the sleeve member and the base member are disengaged.

[0035] Fig.10 : is a vertical cross-sectional view showing the engaging portion according to the present invention and showing a state before the sleeve member is moved upward by the bolt-nut engagement between the bolt member and the sliding member.

[0036] Fig.11 It shows that according to the present invention Fig.10 A vertical sectional view showing a state after the sleeve member is moved upward by the bolt-nut engagement between the bolt member and the sliding member.

[0037] Fig.12 : is a vertical cross-sectional view showing the assembled structure according to the present invention and showing a state after the assembled portion and the engaging portion are completely engaged.

[0038] Description of reference numerals:

[0039] 1: Robot

[0040] 2: Robotic Arm

[0041] 3: Gripper

[0042] 10: Assemble the structure

[0043] 100: Assembly Department

[0044] 110: Ontology

[0045] 120: Flange

[0046] 122: Pin insertion slot

[0047] 124: Flange protrusion area

[0048] 130: Assembly connector

[0049] 200: Joint

[0050] 210: Base component

[0051] 212: Base flange

[0052] 214: Base protrusion

[0053] 214a: Interference area

[0054] 214b: Recessed area

[0055] 220: Sleeve component

[0056] 222: Upper sleeve

[0057] 222a: Rotating interference groove

[0058] 222b: Latch receiving slot

[0059] 222b-1: Latch Rotating Axis

[0060] 222c: Sliding member engagement groove

[0061] 224: Lower sleeve

[0062] 224a: Flange insertion area

[0063] 224b: Sleeve protruding area

[0064] 230: Pin component

[0065] 240: Latch member

[0066] 240a: Insertion area

[0067] 250: Elastic member

[0068] 260: Sliding member

[0069] 270: Bolt assembly

[0070] 280: Connector cover

[0071] 290: Joint connector. DETAILED DESCRIPTION

[0072] In the following, the robot and assembly structure according to the present invention are described with reference to the accompanying drawings. When a component, device, element, etc. of the present invention is described as having a purpose or performing an operation, function, etc., the component, device or element should be considered as "configured to" meet the purpose or perform the operation or function.

[0073] Robots and assembly structures

[0074] Figure 1 is a schematic diagram showing the structure of a robot according to the present invention.

[0075] refer to Figure 1 , the robot 1 according to the present invention may include a robot arm 2 and a gripper 3 configured to be coupled to the robot arm 2. In other words, the gripper 3 may be configured to be coupled to one side of the robot arm 2 and perform a gripping function for gripping an object.

[0076] On the other hand, the robot 1 according to the present invention may include an assembly structure 10 capable of attaching and detaching a robot arm 2 and a gripper 3. In particular, as described below, according to the present invention, the assembly structure 10 can more easily detach and attach the robot arm 2 and the gripper 3 and prevent the robot arm 2 and the gripper 3 from being unintentionally disengaged due to external force. Hereinafter, the structure of the assembly structure 10 is described in detail with reference to the accompanying drawings. However, the assembly structure 10 according to the present invention can be applied not only to attaching and detaching a robot arm and a gripper, but also in the same manner to a structure for joining two components that need to be repeatedly attached and detached.

[0077] Figure 2 1 is a schematic diagram showing a state before a fitting portion and a joining portion of an fitting structure according to the present invention are joined to each other, when viewed from above. Figure 3 : is a schematic diagram showing a state before the assembly portion and the engagement portion of the assembly structure according to the present invention are engaged with each other when viewed from below. Figure 4 is an exploded perspective view of an assembly structure according to the present invention.

[0078] refer to Figures 2 to 4, the assembly structure 10 according to the present invention may include an assembly portion 100 and a coupling portion 200. The coupling portion 200 may be disposed above the assembly portion 100 and configured to be attached to and detached from the assembly portion 100. For example, in the case where the assembly structure 10 is applied to a robot, the assembly portion 100 may be coupled to a gripper, which is coupled to one side of a robotic arm and is configured to perform a gripping function. The coupling portion 200 may be coupled to a robotic arm disposed on the robot. Therefore, the robotic arm and the gripper may be assembled to each other by coupling the assembly portion 100 and the coupling portion 200 of the assembly structure 10. Conversely, the robotic arm and the gripper may be separated from each other by disengaging the assembly portion 100 and the coupling portion 200.

[0079] refer to Figures 2 to 4 The fitting portion 100 may include a body 110 configured to define a body of the fitting portion 100 having a space therein and open at an upper side thereof, and may include a flange 120 coupled to an upper portion of the body 110. For example, the flange 120 may be fixedly coupled to the body 110.

[0080] The joint 200 may include a base member 210 and a sleeve member 220. The sleeve member 220 may be arranged to surround the periphery of the base member 210 and to be open at its lower side. As described below, according to the present invention, in the process of joining the assembly portion 100 and the joint 200, a portion of the assembly portion 100 may be inserted into the joint 200 through a space opened at the lower side of the sleeve member 220. Hereinafter, for ease of description, the description focuses on the case where the joint 200 is arranged in the lower area of ​​the assembly portion 100. However, in the actual process of using the assembly structure 10, a construction in which the joint 200 is arranged in the upper area of ​​the assembly portion 100 or the assembly portion 100 and the joint 200 are matched with each other in the horizontal direction may be used as needed.

[0081] refer to Figures 2 to 4 , the flange 120 may penetrate the sleeve member 220 and face the base member 210 in the upward / downward direction H of the assembly structure 10. According to the present invention, the sleeve member 220 may be configured to be rotatable relative to the base flange 212 and the assembly portion 100. In this specification, during the relative rotation between the sleeve member 220 and the base flange 212 and between the sleeve member 220 and the assembly portion 100, the center of the rotational movement is referred to as the rotation center axis AX of the assembly structure 10. In the case where the assembly portion 100 and the joint portion 200 are arranged in parallel with the upward / downward direction H, the rotation center axis AX may also be defined as being parallel to the upward / downward direction H.

[0082] On the contrary, in a state where the fitting portion 100 and the engaging portion 200 are completely engaged, the fitting portion 100 and the base member 210 may be engaged so that the fitting portion 100 and the base member 210 cannot rotate relative to each other. In other words, according to the present invention, the flange 120 may penetrate the sleeve member 220 and face the lower surface of the base member 210. In addition, the rotational movement of the flange 120 relative to the base member 210 around the rotation center axis AX of the fitting structure 10 may be restricted.

[0083] refer to Figures 2 to 4 In order to satisfy the condition that the rotational movement is restricted, the joint 200 may further include a pin member 230 that is coupled to the lower surface of the base member 210 and protrudes downward from the lower surface of the base member 210. For example, a recessed area may be defined in the lower surface of the base member 210 and may have a shape corresponding to the size of the pin member 230. The pin member 230 may be inserted into the recessed area defined in the lower surface of the base member 210. At least a partial area of ​​the pin member 230 may protrude downward from the base member 210.

[0084] On the other hand, the pin insertion groove 122 may be defined in the upper surface of the flange 120 and may have a downwardly concave shape. The pin member 230 may be inserted into the pin insertion groove 122. The size and shape of the pin insertion groove 122 may correspond to the size and shape of the pin member 230. Therefore, the area of ​​the pin member 230 protruding downward from the base member 210 may be inserted into the pin insertion groove 122. The rotational movement between the base member 210 and the flange 120 may be limited by the interference between the pin member 230 and the flange 120 and the interference between the pin member 230 and the base member 210. For example, Figure 3 and Figure 4 It is shown that the pin member 230 is provided as two pin members 230 .

[0085] Figure 5 It is an enlarged view of a base member of a joint portion provided in the assembly structure according to the present invention.

[0086] refer to Figure 5 The base member 210 may be divided into a plurality of regions in the upward / downward direction H. For example, the base member 210 may include a base flange 212 having a lower surface and may include a base protrusion 214, wherein the base flange 212 has a lower surface, and the pin member 230 (see Figure 3 The base flange 212 and the base protrusion 214 are connected to the lower surface, and the base protrusion 214 protrudes upward from the base flange 212. The base flange 212 and the base protrusion 214 can be distinguished by the relative difference in diameter. In other words, Figure 5As shown, the base flange 212 and the base protrusion 214 can each have an approximate disc shape. In this case, the diameter of the base flange 212 can be greater than the diameter of the base protrusion 214. However, the fact that the base flange 212 and the base protrusion 214 each have an approximate disc configuration does not mean that the two components have a perfect disc shape. It can be interpreted that when the two components are observed, the two components have a body of an approximate disc shape. On the contrary, as described below, in an embodiment of the present invention, it should be noted that even if an outwardly protruding component and an inwardly recessed component are additionally provided on the peripheral surface of the base protrusion 214, the base protrusion 214 also has an approximate disc shape. On the other hand, in this specification, in addition to the upper and lower surfaces of the components, the peripheral surface of any component can be understood as a surface defined in the direction of the component surface that intersects (more specifically, intersects perpendicularly) with the radial direction perpendicular to the rotation center axis AX of the assembly structure 10. In addition, the direction in which the peripheral surface of any component extends can be defined as the circumferential direction A of the assembly structure 10.

[0087] Continue to refer Figure 5 , the interference region 214a may be defined on the outer peripheral surface of the base protrusion 214 and may have a shape protruding outward in the radial direction. The interference region 214a may be configured to restrict the rotational movement of the sleeve member 220 within the predetermined rotational angle range by interfering with the sleeve member 220 when the sleeve member 220 is about to deviate from the predetermined rotational angle range and rotate relative to the base protrusion 214. Hereinafter, the detailed shape of the sleeve member 220 will be described.

[0088] Figure 6 It is an enlarged view of an upper sleeve of a joint portion provided in the assembly structure according to the present invention. Figure 7 It is an enlarged view of a lower sleeve of a joint portion provided in the assembly structure according to the present invention.

[0089] like Figure 4 , Figure 6 and Figure 7 As shown, the sleeve member 220 can be divided into a plurality of components. That is, the sleeve member 220 can include an upper sleeve 222, which is configured to define an upper region of the sleeve member 220 and surround the outer peripheral surface of the base protrusion 214. The sleeve member 220 can also include a lower sleeve 224 disposed below the upper sleeve 222, which is configured to surround the outer peripheral surface of the base flange 212 and fixedly engaged to the upper sleeve 222. For example, the upper sleeve 222 and the lower sleeve 224 can be fixedly engaged with each other by bolting.

[0090] The upper sleeve 222 may have a rotation interference groove 222a. The rotation interference groove 222a may be defined on the inner circumferential surface of the upper sleeve 222, which is the surface facing the base protrusion 214. The interference region 214a of the base protrusion 214 may be accommodated in the rotation interference groove 222a. The relative rotational movement of the base member 210 relative to the sleeve member 220 may be performed within a range where the interference region 214a and the rotation interference groove 222a do not interfere with each other. In other words, the interference region 214a and the rotation interference groove 222a may be configured to allow the sleeve member 220 including the upper sleeve 222 to perform relative rotational movement within a predetermined rotation angle range without rotating 360 degrees relative to the base member 210. More specifically, the interference region 214a may be arranged to interfere with the upper sleeve 222 at the boundary of the rotation interference groove 222a based on the circumferential direction A. That is, in the case where the interference region 214a is about to move in a direction deviating from the boundary of the rotation interference groove 222a based on the circumferential direction A, the interference region 214a interferes with the inner surface defined at one side end of the rotation interference groove 222a based on the circumferential direction A. Therefore, the relative rotational movement between the sleeve member 220 and the base member 210 is no longer further performed.

[0091] refer to Figure 2 , Figure 3 and Figure 5 , the recessed area 214b may be defined on the outer peripheral surface of the base protruding portion 214 of the assembly structure 10 according to the present invention. The recessed area 214b may be arranged to be spaced apart from the interference area 214a in the circumferential direction A and may have an inwardly recessed shape. In addition, the joint 200 may further include a latch member 240 rotatably engaged to the upper sleeve 222. In a state where the sleeve member 220 is engaged to the base member 210 so that the interference area 214a is located in the rotation interference groove 222a, at least a portion of the latch member 240 may be inserted into the recessed area 214b. The latch member 240 may be configured to be inserted into the recessed area 214b when the sleeve member 220 is located at a predetermined rotation position relative to the base member 210. In this way, the interference between the latch member 240 and the recessed area 214b may prevent the sleeve member 220 from rotating further relative to the base member 210. In other words, as long as the interference between the rotation interference groove 222a and the interference area 214a can limit the range of relative rotation allowed between the sleeve member 220 and the base member 210, the latch member 240 can be configured to be inserted into the recessed area 214b to fixedly engage the sleeve member 220 and the base member 210. In addition, when the latch member 240 is inserted into the recessed area 214b, the fitting portion 100 and the engaging portion 200 are fixedly engaged with each other.

[0092] For example, the latch member 240 may include an insertion region 240a having a shape protruding toward the rotation center axis AX to be inserted into the recessed region 214b. The insertion region 240a may have a size and shape corresponding to the recessed region 214b.

[0093] refer to Figure 5 and Figure 6 , the upper sleeve 222 may have a latch receiving groove 222b configured to receive the latch member 240 and having a shape recessed in the upward / downward direction H. That is, the latch receiving groove 222b may be configured to define an inner space for receiving the latch member 240. For example, Figure 6 The state in which the latch receiving groove 222b has a shape that opens downward is shown. On the other hand, the latch receiving groove 222b may have a latch rotation axis 222b-1 configured to penetrate the latch member 240. The latch rotation axis 222b-1 may serve as a rotation center axis of the latch member 240. For example, Figure 6 A state in which the latch rotation shaft 222b-1 protrudes downward from the upper surface of the latch receiving groove 222b is shown.

[0094] Figure 8 It is a schematic diagram showing the structure of the engaging portion according to the present invention through a horizontal cross section and showing a state in which a sleeve member is fixedly engaged to a base member through a latch member. Fig. 9 It is a schematic diagram showing the structure of the engaging portion according to the present invention through a horizontal cross section and showing a state in which the sleeve member and the base member are disengaged.

[0095] The assembly structure 10 according to the present invention may further include a configuration that provides a force to allow the latch member 240 to press the recessed area 214b. Therefore, even after the latch member 240 is inserted into the recessed area 214b, the state in which the latch member 240 is inserted into the recessed area 214b can be maintained. More specifically, the joint 200 may further include an elastic member 250. The elastic member 250 is arranged to be opposite to the insertion area 240a of the latch member 240 when the latch rotation axis 222b-1 is inserted between the insertion area 240a of the latch member 240 and the elastic member 250. The elastic member 250 is arranged between the latch member 240 and the outer peripheral surface of the base protrusion 214. The elastic member 250 may be configured to press the latch member 240 in a direction away from the rotation center axis AX (i.e., a radial direction). Therefore, the insertion region 240a of the latch member 240 can press the recessed region 214b by the force applied by the elastic member 250, thereby pressing the latch member 240. The insertion region 240a of the latch member 240 is thereby prevented from being separated from the recessed region 214b.

[0096] According to an example of the present invention, the user can manipulate the latch member 240 in a direction away from the insertion region 240a. In other words, when the user presses the region of the latch member 240 opposite to the insertion region 240a with the latch rotation axis 222b-1 interposed between the insertion region 240a and the region of the latch member 240 opposite to the insertion region 240a, the insertion region 240a can move in a direction away from the recessed region 214b while overcoming the restoring force of the elastic member 250. In this case, as shown in FIG. Figure 8 and Fig. 9 As shown, the outer surface of the area opposite to the elastic member 250 of the latch member 240 can be exposed to the outside so that the user can easily manipulate the latch member 240. This can be understood as a configuration in which the accommodation space for the latch member 240 defined by the latch accommodation groove 222b is open in a direction away from the rotation center axis AX (i.e., radial direction). In this case, since the user can press the area of ​​the latch member 240 exposed to the outside toward the rotation center axis AX like pressing a button, the degree to which the insertion area 240a and the recessed area 214b are spaced apart from each other can be easily adjusted. Therefore, the assembly portion 100 and the engagement portion 200 can be easily disengaged.

[0097] Return to reference Figure 7 , the lower sleeve 224 may have a flange insertion area 224a defined in a portion of the inner circumferential surface of the lower sleeve 224 and each flange insertion area 224a may have a shape that is recessed outward (ie, in a direction away from the rotation center axis AX). Figures 2 to 4 , the flange 120 may have a flange protruding area 124 that protrudes outward from the outer circumferential surface of the flange 120, that is, protrudes in a direction away from the rotation center axis AX. In this case, according to the present invention, the width of the flange insertion area 224a in the circumferential direction A of the assembly structure 10 may be greater than the width of the flange protruding area 124 in the circumferential direction A or may correspond to the width of the flange protruding area 124. More specifically, the width of the flange insertion area 224a in the circumferential direction A may be slightly greater than or substantially equal to the width of the flange protruding area 124 in the circumferential direction A. This is to allow the flange protruding area 124 to pass through the flange insertion area 224a, that is, to allow the flange 120 to pass through the lower sleeve 224 only when the flange protruding area 124 is located at a predetermined rotational position relative to the lower sleeve 224.

[0098] According to the present invention, during the upward movement of the fitting portion 100 from the lower area of ​​the engaging portion 200 in the process of engaging the fitting portion 100 and the engaging portion 200, the flange protruding area 124 may pass through the space defined by the flange insertion area 224a. Then, the flange 120 may be in close contact with the lower surface of the base flange 212. More specifically, in the case where the pin member 230 is provided as a plurality of pin members 230 and the plurality of pin members 230 are respectively inserted into the pin insertion groove 122 defined in the upper surface of the flange 120 so that the flange 120 and the base flange 212 are in close contact with each other, the flange protruding area 124 may face the space defined by the flange insertion area 224a in the upward / downward direction. The flange protruding area 124 may be defined above the space defined by the flange insertion area 224a. This may be understood as a configuration in which, when the pin member 230 is inserted into the pin insertion groove 122 , the flange protruding region 124 may pass through the flange insertion region 224 a and be positioned at an upper region of the flange insertion region 224 a .

[0099] The fitting structure 10 according to the present invention may include a configuration that prevents the fitting portion 100 and the engaging portion 200 from being separated from each other in the upward / downward direction H when the fitting portion 100 and the engaging portion 200 are fully engaged. More specifically, according to the present invention, when the rotation angle of the sleeve member 220 relative to the base member 210 is within a predetermined range, the sleeve member 220 and the flange 120 may be configured to interfere with each other in the upward / downward direction H.

[0100] More specifically, after the flange protruding area 124 defined on the flange 120 passes through the flange insertion area 224a and the flange protruding area 124 reaches the upper side of the flange insertion area 224a, when the sleeve member 220 rotates, interference between the flange 120 and the sleeve member 220 in the upward / downward direction H may occur. In other words, after the flange protruding area 124 passes through the flange insertion area 224a and the flange protruding area 124 reaches the upper side of the flange insertion area 224a, when the sleeve member 220 rotates by a predetermined rotation angle, at least a portion of the lower area of ​​each flange protruding area 124 no longer faces each flange insertion area 224a. In addition, the flange protruding area 124 faces the sleeve protruding area 224b (see Figure 3 and Figure 7 ), each sleeve protruding area 224b has a shape extending in the circumferential direction A from the end of the flange insertion area 224a based on the circumferential direction A on the inner circumferential surface of the lower sleeve 224 and protruding inward toward the rotation center axis AX. That is, the sleeve protruding area 224b can be defined in an area of ​​the inner circumferential surface of the lower sleeve 224 where the flange insertion area 224a is not defined. The inner circumferential surface of the lower sleeve 224 may have a concave-convex structure in the circumferential direction A in which the flange insertion area 224a and the sleeve protruding area 224b are alternately defined.

[0101] According to the present invention, the interference between the flange protruding area 124 and the sleeve protruding area 224 b may prevent the fitting portion 100 including the flange 120 and the engaging portion 200 including the lower sleeve 224 from being separated from each other in the upward / downward direction H.

[0102] like Figure 8 As shown, according to an example of the present invention, when the sleeve member 220 is rotated relative to the base member 210 so that the interference area 214a of the base member 210 is set adjacent to the boundary of one side of the rotation interference groove 222a of the upper sleeve 222 based on the circumferential direction A, the insertion area 240a of the latch member 240 can face the recessed area 214b of the base protrusion 214. In other words, the insertion area 240a can be Figure 8 More specifically, in a state where the insertion region 240a is inserted into the recessed region 214b, a boundary of one side of the rotation interference groove 222a based on the circumferential direction A may contact the interference region 214a.

[0103] On the contrary, Fig. 9 As shown, according to an example of the present invention, in a state where the sleeve member 220 is rotated relative to the base member 210 so that the interference area 214a of the base member 210 is set adjacent to the boundary of the other side of the rotation interference groove 222a of the upper sleeve 222 based on the circumferential direction A, the insertion area 240a of the latch member 240 can be spaced apart from the recessed area 214b of the base protrusion 214 in the circumferential direction A. In this case, when Fig. 9 When the assembly structure 10 is observed from above the assembly structure 10 in the state, the entire flange protruding area 124 of the flange 120 can be accommodated in the flange insertion area 224a of the lower sleeve 224, such as Figure 3 That is, Fig. 9 The state shown may correspond to a state in which the flange protruding area 124 may pass through the flange insertion area 224a during the process of joining the assembly part 100 including the flange 120 to the joining part 200 including the sleeve member 220. More specifically, when the assembly structure 10 is viewed from above, in a state in which the entire flange protruding area 124 of the flange 120 is set to be accommodated in the flange insertion area 224a of the lower sleeve 224, the boundary of the other side of the rotation interference groove 222a may contact the interference area 214a.

[0104] According to the present invention, in order to more securely engage the base member 210 and the sleeve member 220 , the assembly structure 10 may further include other configurations in addition to the latch member 240 .

[0105] Fig.10: is a vertical cross-sectional view showing the engaging portion according to the present invention and showing a state before the sleeve member is moved upward by the bolt-nut engagement between the bolt member and the sliding member. Fig.11 : is a vertical cross-sectional view showing the engaging portion according to the present invention and showing a state after the sleeve member is moved upward by the bolt-nut engagement between the bolt member and the sliding member.

[0106] refer to Fig.10 and Fig.11 , the engaging portion 200 may further include a sliding member 260 accommodated in the upper sleeve 222 and may further include a bolt member 270 configured to be inserted into the outer peripheral surface of the upper sleeve 222 and the sliding member 260. More specifically, the sliding member engaging groove 222c (see Figure 6 ) may be defined at an outer peripheral area of ​​the upper sleeve 222. The sliding member engagement groove 222c has a concave shape and defines a space for accommodating the sliding member 260. The shape and size of the sliding member engagement groove 222c may correspond to the shape and size of the sliding member 260.

[0107] The engagement force between the base member 210 and the sleeve member 220 can be increased by adjusting the degree to which the sliding member 260 and the bolt member 270 engage with each other. Therefore, it is possible to achieve increased engagement between the engagement portion 200 and the flange 120.

[0108] In particular, according to the present invention, the upper surface of the flange 120 can be pressed against and arranged to be in close contact with the lower surface of the base flange 212 of the joint 200 by means of the sliding member 260 and the bolt member 270. Therefore, the clamping joint between the joint 200 and the flange 120 can be achieved.

[0109] To achieve the above object, according to the present invention, the sleeve member 220 can be moved in the upward / downward direction H relative to the base member 210 by adjusting the degree of bolt-nut engagement between the sliding member 260 and the bolt member 270. More specifically, referring to Figure 4 , Fig.10 and Fig.11 , the upper surface of the sliding member 260 may include a shape of an inclined surface having a height that decreases in the upward / downward direction H in a direction away from the rotation center axis AX (i.e., in a radial direction). The area of ​​the sliding member engagement groove 222c facing the upper surface of the sliding member 260 may include a shape corresponding to the inclined surface defined on the upper surface of the sliding member 260. For example, the entire upper surface of the sliding member 260 may have a shape of an inclined surface.

[0110] Since the upper surface of the sliding member 260 has an inclined surface and the sliding member engaging groove 222 c has a shape corresponding to the inclined surface, the sleeve member 220 may move in the upward / downward direction H relative to the base member 210 by interference between the sliding member 260 and the sliding member engaging groove 222 c.

[0111] refer to Fig.10 and Fig.11 , when the bolt member 270 rotates and adjusts the bolt-nut engagement between the bolt member 270 and the sliding member 260, the relative horizontal position between the bolt member 270 and the sliding member 260 changes. In this case, since the bolt member 270 penetrates the upper sleeve 222 and engages to the sliding member 260, the horizontal movement of the bolt member 270 is restricted by the side surface of the upper sleeve 222, but the sliding member 260 moves in the horizontal direction. In order to allow the horizontal movement of the sliding member 260, the horizontal width of the internal space defined by the sliding member engagement groove 222c may be greater than the horizontal width of the sliding member 260.

[0112] Therefore, when the sliding member 260 moves in the horizontal direction, the sleeve member 220 including the upper sleeve 222 accommodating the sliding member 260 moves in the upward / downward direction relative to the base member 210 by interference between the inclined surface defined on the upper surface of the sliding member 260 and the sliding member engaging groove 222c facing the inclined surface.

[0113] For example, Fig.10 As shown, when the bolt member 270 is rotated and the slide member 260 moves toward the rotation center axis AX, the sleeve member 220 moves downward relative to the base member 210 (before the clamping engagement). Fig.11 As shown, when the bolt member 270 is rotated and the slide member 260 is moved in a direction away from the rotation center axis AX, the sleeve member 220 is moved upward relative to the base member 210 (clamping engagement).

[0114] In order to provide a path through which the sleeve member 220 can move in the upward / downward direction H by the rotation of the bolt member 270, the size in the upward / downward direction H of the hole defined in the region of the upper sleeve 222 into which the bolt member 270 is inserted may be larger than the size in the upward / downward direction H of the region of the bolt member 270 inserted into the upper sleeve 222. In addition, the size in the upward / downward direction H of the hole defined in the region of the sliding member 260 into which the bolt member 270 is inserted may correspond to the size in the upward / downward direction H of the region of the bolt member 270 inserted into the sliding member 260. Fig.10 and Fig.11As shown, according to an example of the present invention, the lower surface of the sliding member 260 may be arranged to be in close contact with the upper surface of the base flange 212. The lower surface of the sliding member 260 may be perpendicular to the rotation center axis AX. In other words, the lower surface of the sliding member 260 may not include an inclined surface.

[0115] On the contrary, Fig.10 and Fig.11 Different from the configuration shown, the inclined surface defined in the sliding member 260 may be defined in the lower surface of the sliding member 260. That is, according to another example of the present invention, the lower surface of the sliding member 260 may include the shape of an inclined surface having a height that increases in the upward / downward direction H in the direction away from the rotation center axis AX. The lower surface of the sliding member 260 may be arranged to be in close contact with the upper surface of the base flange 212. In this case, the area of ​​the upper surface of the base flange 212 facing the lower surface of the sliding member 260 may include a shape corresponding to the inclined surface defined in the lower surface of the sliding member 260. In addition, the upper surface of the sliding member 260 may be arranged to be in close contact with the sliding member engagement groove 222c. The upper surface of the sliding member 260 may be perpendicular to the rotation center axis AX. According to a principle similar to the case where the inclined surface is defined in the upper surface of the sliding member 260, even in the case where the inclined surface is defined in the lower surface of the sliding member 260, the relative movement between the sleeve member 220 and the base member 210 can be performed in the upward / downward direction H.

[0116] The mounting structure 10 according to the present invention may further include a configuration for electrically connecting the mounting portion 100 and the engaging portion 200 .

[0117] Fig.12 : is a vertical cross-sectional view showing the assembled structure according to the present invention and showing a state after the assembled portion and the engaging portion are completely engaged.

[0118] refer to Figure 4 and Fig.12 , the joint part 200 may include a connector cover 280 accommodated in the lower surface of the base flange 212 and may include a joint part connector 290 provided between the connector cover 280 and the area of ​​the lower surface of the base flange 212 that accommodates the connector cover 280. In addition, the assembly part 100 may include an assembly part connector 130 accommodated in the internal space of the assembly part 100. In this case, the assembly part connector 130 may penetrate the connector cover 280 and be inserted and engaged to the joint part connector 290. In particular, in the case of the structure of the assembly structure 10 according to the present invention, connector structures having various shapes including a plug-and-socket type connector structure may be applied to the assembly structure 10.

[0119] The present invention has been described with reference to various embodiments and drawings, but the present invention is not limited thereto. The present invention can be implemented in various forms by a person skilled in the art within the technical spirit of the present invention and the scope of the appended claims.

Claims

1. An assembly structure, comprising: Assembly Department; and an engaging portion disposed above the fitting portion and configured to be attachable to or detachable from the fitting portion; Wherein, the assembly part comprises: a body configured to define the body of the fitting portion and open at an upper side thereof; and a flange fixedly coupled to an upper portion of the body; Wherein, the joint portion comprises: a base member; and a sleeve member configured to surround the outer circumference of the base member and open at a lower side thereof; wherein the flange is configured to penetrate the sleeve member and face the base member; the rotational movement of the flange relative to the base member around the rotational center axis of the assembly structure is restricted; The sleeve member is configured to be rotatable relative to the base member; When a rotation angle of the sleeve member relative to the base member is within a predetermined range, the sleeve member and the flange are configured to interfere with each other in an upward / downward direction.

2. The assembly structure according to claim 1, wherein: The engaging portion further includes a pin member that protrudes downward from a lower surface of the base member; The upper surface of the flange is defined with a pin insertion groove, and the pin insertion groove has a downwardly concave shape; The pin member is inserted into the pin insertion groove.

3. The assembly structure according to claim 2, wherein: The base member comprises: a base flange to which the pin member is engaged; and a base protrusion that protrudes upward from the base flange; wherein the outer peripheral surface of the protruding portion of the base defines an interference area, and the interference area has a shape protruding outward; The sleeve member includes an upper sleeve configured to define an upper region of the sleeve member and surround an outer peripheral surface of the base protruding portion; The upper sleeve has a rotation interference groove defined on an inner peripheral surface of the upper sleeve and configured to accommodate the interference area; The interference region is configured to interfere with the upper sleeve at a boundary of the rotation interference groove based on the circumferential direction.

4. The assembly structure according to claim 3, wherein: The outer peripheral surface of the protruding portion of the base defines a recessed area, the recessed area being spaced apart from the interference area in the circumferential direction; The recessed area has an inwardly recessed shape; The engaging portion further includes a latch member rotatably engaged to the upper sleeve, and at least a portion of the latch member is configured to be inserted into the recessed area in a state where the sleeve member is engaged to the base member so that the interference area is located in the rotation interference groove.

5. The assembly structure according to claim 4, wherein: The latch member includes an insertion region having a shape protruding toward the rotation center axis AX to be inserted into the recessed region; The insertion region faces the recessed region in a state in which the sleeve member is rotated relative to the base member so that the interference region is disposed adjacent to a boundary of one side of the rotation interference groove based on the circumferential direction.

6. The assembly structure according to claim 5, wherein: The upper sleeve has a latch receiving groove configured to receive the latch member and having a shape that is recessed in an upward / downward direction; The latch rotation axis penetrates the latch member in an upward / downward direction H; The engaging portion further includes an elastic member configured to be opposed to the insertion area with the latch rotation shaft interposed between the insertion area and the elastic member, and the elastic member is provided between the latch member and an outer peripheral surface of the base protrusion.

7. The assembly structure according to claim 6, wherein: An outer surface of a region of the latch member opposing the elastic member is exposed to the outside.

8. The assembly structure according to claim 3, wherein: The sleeve member further includes a lower sleeve disposed below the upper sleeve, the lower sleeve being configured to surround an outer peripheral surface of the base flange and fixedly coupled to the upper sleeve; The lower sleeve has a flange insertion area, which is defined at a portion of the inner peripheral surface of the lower sleeve and has an outwardly concave shape; The flange has a flange protruding area, and the flange protruding area protrudes outward from the outer peripheral surface of the flange; The width of the flange insertion area in the circumferential direction of the assembly structure is greater than the width of the flange protruding area in the circumferential direction or corresponds to the width of the flange protruding area.

9. The assembly structure according to claim 8, wherein: When the assembly structure is viewed from above, the entire flange protruding area is accommodated in the flange inserting area in a state where the sleeve member is rotated relative to the base member so that the interference area is disposed adjacent to the boundary of the other side of the rotation interference groove based on the circumferential direction.

10. The assembly structure according to claim 3, wherein: The joint portion comprises: a sliding member received in the upper sleeve; and a bolt member configured to be inserted into the outer peripheral surface of the upper sleeve and the sliding member; wherein the outer peripheral area of ​​the upper sleeve is defined with a sliding member engagement groove; The sliding member engagement groove has a concave shape and defines a space for accommodating the sliding member.

11. The assembly structure according to claim 10, wherein: The size of the hole defined in the region of the upper sleeve into which the bolt member is inserted in the upward / downward direction is larger than the size of the region of the bolt member inserted in the upper sleeve in the upward / downward direction; The dimension in the upward / downward direction H of the hole defined in the region of the sliding member into which the bolt member is inserted corresponds to the dimension in the upward / downward direction of the region of the bolt member inserted into the sliding member.

12. The assembly structure according to claim 10, wherein: the upper surface of the sliding member includes a shape of an inclined surface whose height decreases in an upward / downward direction in a direction away from the rotation center axis; A region of the sliding member engagement groove facing the upper surface of the sliding member includes a shape corresponding to an inclined surface defined on the upper surface of the sliding member.

13. The assembly structure according to claim 12, wherein: The lower surface of the sliding member is arranged to be in close contact with the upper surface of the base flange, and the lower surface of the sliding member is perpendicular to the rotation center axis.

14. The assembly structure according to claim 10, wherein: the lower surface of the sliding member includes a shape of an inclined surface whose height increases in an upward / downward direction in a direction away from the rotation center axis; The lower surface of the sliding member is arranged to be in close contact with the upper surface of the base flange; An area of ​​the upper surface of the base flange facing the lower surface of the sliding member includes a shape corresponding to an inclined surface defined on the lower surface of the sliding member.

15. The assembly structure according to claim 14, wherein: The upper surface of the sliding member is disposed to be in close contact with the sliding member engagement groove, and the upper surface of the sliding member is perpendicular to the rotation center axis AX.

16. The assembly structure according to claim 3, wherein: The joint further comprises: a connector cover received in a lower surface of the base flange; and A joint connector is provided between the connector cover and an area of ​​the lower surface of the base flange that receives the connector cover.

17. The assembly structure according to claim 16, wherein: The fitting portion further includes a fitting portion connector received in the interior space of the fitting portion; The fitting portion connector penetrates the connector cover and is inserted into and engaged with the engaging portion connector.

18. A robot comprising the assembly structure according to claim 1, wherein: The engaging portion is engaged to a robot arm provided on a robot, and the fitting portion is engaged to a gripper that is engaged to one side of the robot arm and is configured to perform a gripping function.

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