Assembly structure and station for assembling and demoving same

Abstract

The present invention relates to an assembly structure and a station for assembling and disassembling the same, the assembly structure including an assembly portion including a body and a flange, and a coupling portion configured to be attachable to or detachable from the assembly portion, the coupling portion including a base and a bushing, the flange is configured to penetrate the bushing in a direction facing the base such that a rotational movement of the flange about a rotational center axis of the assembly structure is restricted with respect to a rotational movement of the base about the rotational center axis, the bushing being configured to be rotatable with respect to the base, the bushing and the flange are configured to interfere with each other in a longitudinal direction parallel to the rotational center axis based on a rotational angle of the bushing with respect to the base within a predetermined range, and an outer surface of the bushing in a radial direction perpendicular to the rotational center axis includes: a first bushing surface region having a first curvature; and a second bushing surface region connected to the first bushing surface region in the circumferential direction and having a second curvature different from the first curvature.

Description

[0001] Citations of Related Applications

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2024-0041286, filed on March 26, 2024, in the Korean Intellectual Property Office, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to an assembly structure and a station for assembling and disassembling the assembly structure, and more particularly, to such an assembly structure and a station capable of assembling and disassembling the assembly structure, wherein the assembly structure can be used to easily connect and disconnect a robot arm and a gripper configured to be connected to an end of the robot arm. Background Art

[0004] Methods for coupling a gripper (or other tool / functional element) configured to perform a gripping function to a robot arm provided on a robot are broadly categorized into i) a first method in which the gripper is directly assembled to the robot arm using bolts, etc., and ii) a second method in which a separate component is used to couple the gripper to the robot arm. Of these methods, i) the first method is performed by loosening a component 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 bolts. Furthermore, ii) the second method is performed by coupling the gripper to the robot arm using a quick-change coupling component.

[0005] However, in the related art, i) the first method suffers from the time-consuming and inconvenient nature of removing and reattaching the gripper. Furthermore, ii) the second method suffers from the limitations of the connector types that can be used to electrically connect the gripper to the robot arm, depending on the structure and operating principle of the coupling member. For example, the method of connecting the gripper to the robot arm by rotating the coupling member cannot be used with a plug-and-socket connector structure. Summary of the Invention

[0006] The following summary presents a simplified summary of certain features. This summary is not an exhaustive overview and is not intended to identify key or critical elements.

[0007] Systems, apparatus, and methods for assembling a structure, and stations for assembling and disassembling the assembly structure are described. An assembly structure may include: an assembly portion; and a coupling portion configured to be attachable to or detachable from the assembly portion. The assembly portion may include: a body including a first side forming a first opening; and a flange fixedly coupled to the first side of the body. The coupling portion may include: a base; and a bushing configured to surround a periphery of the base and include a second side forming a second opening. The flange may be configured to penetrate the bushing in a direction facing the base so that rotational movement of the flange about a rotational center axis of the assembly structure is limited relative to rotational movement of the base about the rotational center axis. The bushing may be configured to be rotatable relative to the base. The bushing and the flange may be configured to interfere with each other in a longitudinal direction parallel to the rotational center axis based on a rotation angle of the bushing relative to the base being within a predetermined range. The outer surface of the bushing in a radial direction perpendicular to the center axis of rotation may include: a first bushing surface area having a first curvature relative to the center axis of rotation; and a second bushing surface area connected to the first bushing surface area in a circumferential direction around the center axis of rotation and having a second curvature relative to the center axis of rotation, which is different from the first curvature. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a view showing the structure of a robot according to the present disclosure.

[0009] Figure 2 1 is a view showing a state before the assembling portion and the coupling portion of the assembling structure according to the present disclosure are coupled when viewed from above.

[0010] Figure 3 1 is a view showing a state before the assembling portion and the coupling portion of the assembling structure according to the present disclosure are coupled when viewed from below.

[0011] Figure 4 is an exploded perspective view of the assembly structure according to the present disclosure.

[0012] Figure 5 is an enlarged view of a base member of a coupling portion provided in the assembly structure according to the present disclosure.

[0013] Figure 6 is an enlarged view of an upper bushing of a coupling portion provided in the assembly structure according to the present disclosure.

[0014] Figure 7 is an enlarged view of a lower bushing of a coupling portion provided in the assembly structure according to the present disclosure.

[0015] Figure 81 is a view showing a structure of a horizontal cross section of a coupling portion according to the present disclosure, and shows a state in which a bushing member is fixedly coupled to a base member through a latch member.

[0016] Figure 9 1 is a view showing a structure of a horizontal cross section of a coupling portion according to the present disclosure, and shows a state in which a bushing member and a base member are disconnected.

[0017] Figure 10 is a vertical sectional view showing a coupling portion according to the present disclosure, and shows a state formed before the bushing member is moved upward by the bolt-nut coupling between the bolt member and the sliding member.

[0018] Figure 11 is a vertical sectional view showing a coupling portion according to the present disclosure, and shows a state formed after the bushing member is moved upward by the bolt-nut coupling between the bolt member and the sliding member.

[0019] Figure 12 is a vertical cross-sectional view showing the assembly structure according to the present disclosure, and shows a state after the assembling portion and the coupling portion are completely coupled.

[0020] Figure 13 is a perspective view of a station according to the present disclosure.

[0021] Figure 14 is an enlarged cross-sectional view showing a first holder portion surface area formed on a station holder portion of a station according to the present disclosure.

[0022] Figure 15 is an enlarged cross-sectional view showing an assembly portion placement area of ​​a station base portion of a station according to the present disclosure and its surrounding components.

[0023] Figure 16 is a top view showing another example of a station base portion of a station according to the present disclosure.

[0024] Figure 17 is a view showing a state in which a robot arm including a coupling part enters the station in a state in which a gripper including an assembling part is located on the station according to the present disclosure.

[0025] Figure 18 It shows that when the joint enters Figure 17 A cross-sectional view of the internal state of the connecting portion when standing in the middle.

[0026] Figure 19 It shows the Figure 17 A cross-sectional view of the state of the assembly part on the station.

[0027] Figure 20: is a view showing a state in which the robot arm is rotated after the coupling part enters the station according to the present disclosure so that the coupling part is in a state capable of being coupled to the gripper.

[0028] Figure 21 is shown when the robot arm Figure 20 The illustrated form is a cross-sectional view showing the state of the interior of the coupling portion when the coupling is rotated.

[0029] Figure 22 is a view showing a state in which the robot arm moves downward and the coupling part is coupled to the assembling part in the station according to the present disclosure.

[0030] Figure 23 The robot arm is shown in Figure 22 The illustrated form is a view of a state in which the coupling portion and the assembling portion are spaced apart from each other before the form is moved downward.

[0031] Figure 24 The robot arm is shown with Figure 22 The illustrated form is a view of a state in which the coupling portion and the assembling portion are coupled to each other.

[0032] Figure 25 is a view illustrating a state in which a robot arm rotates in a state in which a coupling part and an assembling part are coupled to each other in a station according to the present disclosure.

[0033] Figure 26 It shows the Figure 25 A cross-sectional view of the state of the assembly part on the station.

[0034] Figure 27 is a view showing a state in which the robot arm and the gripper are separated from the station.

[0035] The embodiments of the present invention may be described using the following elements in conjunction with the drawings.

[0036] 1: Robot

[0037] 2: Robotic Arm

[0038] 3: Gripper

[0039] 10: Assemble the structure

[0040] 100: Assembly Department

[0041] 110: Ontology

[0042] 112: Boot slot area

[0043] 112a: First guide groove surface area

[0044] 112b: Second guide groove surface area

[0045] 112b-1: Second-first guide groove surface area

[0046] 112b-2: Second - Second guide groove surface area

[0047] 120: flange

[0048] 122: Pin insertion slot

[0049] 124: Flange extension area

[0050] 130: Assembly connector

[0051] 200: Connection

[0052] 210: Base component

[0053] 212: Base flange

[0054] 214: Base protrusion

[0055] 214a: Interference area

[0056] 214b: Recessed area

[0057] 220: Bushing components

[0058] 220-1: First bushing surface area

[0059] 220-2: Second bushing surface area

[0060] 220-2a: Second-first bushing surface area

[0061] 220-2b: Second - Second bushing surface area

[0062] 222: Upper bushing

[0063] 222a: Rotating interference groove

[0064] 222b: Latch receiving slot

[0065] 222b-1: Latch rotation axis

[0066] 222c: Sliding member coupling groove

[0067] 224: Lower bushing

[0068] 224a: Flange insertion area

[0069] 224b: Bushing extension area

[0070] 230: Pin component

[0071] 240: Latch member

[0072] 240a: Insertion area

[0073] 250: Elastic member

[0074] 260: Sliding member

[0075] 270: Bolt assembly

[0076] 280: Connector cover

[0077] 290: Connector

[0078] 295: Elastic pressing member

[0079] 300: Station

[0080] 310: Station body

[0081] 330: Station base

[0082] 332: Main base

[0083] 334: Auxiliary base body

[0084] 334a: Assembly area

[0085] 336: Elastic connection body

[0086] 337: Moving Block Components

[0087] 337a: First moving block member

[0088] 337b: Second moving block member

[0089] 338: Compression spring

[0090] 338a: First pressing spring

[0091] 338b: Second pressing spring

[0092] 350: Station holder unit

[0093] 352: First retainer portion surface area

[0094] 352a: Protruding pressing part

[0095] 354: Second retainer portion surface area

[0096] 354a: Second-first retainer portion surface area

[0097] 354b: Second - Second retainer portion surface area DETAILED DESCRIPTION

[0098] Hereinafter, a robot and an assembly structure according to the present disclosure will be described with reference to the accompanying drawings.

[0099] In describing the examples of the present disclosure, well-known functions or structures are not described in detail because their detailed description would unnecessarily obscure the subject matter of the present disclosure. The same constituent elements in the drawings are denoted by the same reference numerals, and repeated or repetitive descriptions of the same elements are omitted.

[0100] In the present disclosure, if an element is simply referred to as being “connected to,” “coupled to,” or “linked to” another element, this may mean that the element is “directly connected to,” “directly coupled to,” or “directly linked to” the other element, or it may mean that the element is connected to, coupled to, or linked to the other element with other elements interposed therebetween. In addition, if a first element “includes,” “contains,” or “has” another element, the first element may also include the other elements unless specifically stated otherwise.

[0101] In this disclosure, unless otherwise specifically stated, the terms first, second, etc. are used only to distinguish one element from another and do not limit the order or importance of these elements. Thus, a first element in one instance may be called a second element in another instance, and similarly, a second element in one instance may be called a first element in another instance without departing from the scope of this disclosure.

[0102] In this disclosure, these elements are distinguished from each other in order to clearly describe each feature, but this does not necessarily mean that these elements are separate. In other words, multiple elements can be integrated into one hardware unit or software unit, or one element can be distributed and formed in multiple hardware units or software units. Therefore, even if not otherwise mentioned, such integrated or distributed examples are also included in the scope of this disclosure.

[0103] In the present disclosure, the elements described in multiple examples do not necessarily mean essential factors, and some of these elements may be optional elements. Therefore, examples consisting of a subset of the elements described in one example are also included in the scope of the present disclosure. Examples comprising other elements in addition to the elements described in multiple examples are also included in the scope of the present disclosure.

[0104] The advantages and features of the present disclosure and the manner in which these advantages and features are achieved will become apparent to those skilled in the art with reference to the examples of the present disclosure described in detail below in conjunction with the accompanying drawings. However, the examples of the present disclosure may be embodied in many different forms and should not be construed as being limited to the illustrative examples set forth herein. On the contrary, the examples described herein are provided to make the present disclosure more complete and to fully convey the scope of the present disclosure to those skilled in the art to which the present disclosure belongs.

[0105] In the present disclosure, each expression such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and each expression such as "at least one of A, B or C" and "at least one of A, B, C or a combination thereof" may include any one or all possible combinations of the items listed together in the corresponding one expression.

[0106] In the present disclosure, expressions of positional relationships such as "upper" and "lower" used in this specification are adopted for convenience of explanation. If the drawings shown in this specification are reversed or rotated, the positional relationships described in the specification can be understood in reverse or rotated form. If a component, device, element, etc. of the present disclosure is described as having a purpose or performing an operation, function, etc., then the component, device, or element should be considered herein as "configured to" meet the purpose or perform the operation or function.

[0107] Robots and assembly structures

[0108] Figure 1 is a view showing the structure of a robot according to the present disclosure.

[0109] refer to Figure 1 , the robot 1 according to the present disclosure may include a robot arm 2 and a gripper 3 configured to be coupled to the robot arm 2. That is, 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.

[0110] The robot 1 may include an assembly structure 10 that enables the robot arm 2 and the gripper 3 to be attached and detached together. Specifically, as described herein, the assembly structure 10 can facilitate attachment and detachment of the robot arm 2 and the gripper 3 and prevent the robot arm 2 and the gripper 3 from being accidentally disconnected due to external forces. The structure of the assembly structure 10 will be described in detail below with reference to the accompanying drawings. However, the assembly structure 10 can be applied not only to attaching and detaching the robot arm and the gripper, but also to structures that require coupling two components (e.g., structures that require reversible attachment and detachment).

[0111] Figure 2 is a view showing a state before the assembling portion and the coupling portion of the assembly structure according to the present disclosure are coupled when viewed from above, and Figure 3 : is a view of a state before the assembly part and the coupling part of the assembly structure according to the present disclosure are coupled when viewed from below. Figure 4 is an exploded perspective view of the assembly structure according to the present disclosure.

[0112] refer to Figures 2 to 4The assembly structure 10 may include an assembly portion 100 and a coupling portion 200, the coupling portion being configured to be attached to and detached from the assembly portion 100 (e.g., Figures 2 to 4 For example, if the assembly structure 10 is applied to a robot, the assembly portion 100 can be coupled to a gripper coupled to one side of a robot arm and configured to perform a gripping function, and the coupling portion 200 can be coupled to the robot arm provided on the robot. Thus, the robot arm and the gripper can be assembled to each other by coupling the assembly portion 100 and the coupling portion 200 of the assembly structure 10 together. The robot arm and the gripper can also be separated from each other by disconnecting the assembly portion 100 from the coupling portion 200.

[0113] refer to Figures 2 to 4 The assembly portion 100 may include a body 110 configured to define the main body of the assembly portion 100. The body 110 may have a space formed therein and be open at a first (e.g., upper) side thereof. The assembly portion 100 may also include a flange 120 coupled to an upper portion of the body 110 (e.g., located at the opening in the first side of the body 110 and / or located at the first side of the opening of the body 110). For example, the flange 120 may be fixedly coupled to the body 110.

[0114] The coupling portion 200 may include a base member 210 (e.g., a base) and a bushing member 220 (e.g., a bushing) disposed around the periphery of the base member 210 and opening at its lower side. To couple the assembly portion 100 to the coupling portion 200, a portion of the assembly portion 100 may be inserted into the coupling portion 200 through a space opening at the second (e.g., lower) side of the bushing member 220. Hereinafter, for ease of description, the focus will be on a case where the coupling portion 200 is disposed in the lower region of the assembly portion 100. However, during actual use of the assembly structure 10, a configuration in which the coupling portion 200 is disposed in the upper region of the assembly portion 100 or the assembly portion 100 and the coupling portion 200 are aligned horizontally with each other may be employed as desired.

[0115] refer to Figures 2 to 4, the flange 120 can penetrate the bushing member 220 and face the base member 210 along the upward / downward direction H of the assembly structure 10. The bushing member 220 can be configured to be rotatable relative to the base flange 212 and the assembly portion 100. When describing the relative rotation between the bushing member 220 and the base flange 212 and between the bushing member 220 and the assembly portion 100 herein, the center of the rotational motion and / or rotational movement is referred to as the rotational center axis AX of the assembly structure 10. In the case where the assembly portion 100 and the coupling portion 200 are arranged parallel to the upward / downward direction H, the rotational center axis AX can also be defined as being parallel to the upward / downward direction H.

[0116] If the assembly portion 100 and the coupling portion 200 are fully coupled, the assembly portion 100 and the base member 210 can be coupled so that the assembly portion 100 and the base member 210 cannot rotate relative to each other. That is, the flange 120 can penetrate the bushing member 220 and face the lower surface of the base member 210, and the rotational movement of the flange 120 relative to the base member 210 around the rotation center axis AX of the assembly structure 10 can be restricted.

[0117] refer to Figures 2 to 4 In order to satisfy the condition of limiting rotational movement, the coupling portion 200 may include one or more pin members 230 coupled to the lower surface of the base member 210 and protruding 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 have a shape corresponding to the size of the pin member 230, and the pin member 230 may be inserted into the recessed area defined in the lower surface of the base member 210. At least a portion of the pin member 230 may protrude downward from the base member 210.

[0118] A pin insertion groove 122 may be defined in the upper surface of the flange 120 and have a downwardly concave shape so that the pin member 230 can be inserted into the pin insertion groove 122. The size and / or shape of the pin insertion groove 122 may correspond to the size and / or shape of the pin member 230. Therefore, the area of ​​the pin member 230 protruding downward from the base member 210 can be inserted into the pin insertion groove 122. The rotational movement between the base member 210 and the flange 120 can 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 The one or more pin members 230 are shown provided as two pin members 230 .

[0119] Figure 5 is an enlarged view of a base member of a coupling portion provided in the assembly structure according to the present disclosure.

[0120] 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 and a base protrusion 214 (eg, a protrusion), the base flange having a coupling pin member 230 (see Figure 3 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. Figure 5 As shown, the base flange 212 and the base protrusion 214 can each have a generally circular plate shape. In this case, the diameter of the base flange 212 can be larger than the diameter of the base protrusion 214. However, the fact that the base flange 212 and the base protrusion 214 each have a generally circular plate configuration does not mean that the two components have a perfect circular plate shape. For example, the base protrusion 214 can have a generally circular plate shape, but it can also have multiple components and / or portions that protrude outward or are recessed inward from the outer peripheral surface of the base protrusion 214. The peripheral surface of any component can be understood as a surface defined in a direction intersecting (more specifically, perpendicularly intersecting) a radial direction (the radial direction being perpendicular to the rotational axis AX of the assembly structure 10), other than the upper and lower surfaces of the component. Furthermore, the direction in which the peripheral surface of any component extends perpendicular to the rotational axis AX can be defined as the circumferential direction A of the assembly structure 10.

[0121] Continue to refer to Figure 5 Interference region 214a may be defined on the outer peripheral surface of base protrusion 214 and may have a shape that protrudes outward in the radial direction. Interference region 214a may be configured to restrict the rotational movement / displacement of bushing member 220 to a predetermined rotational angle range by interfering with bushing member 220 when bushing member 220 is about to deviate from the predetermined rotational angle range and rotate relative to base protrusion 214. The detailed shape of bushing member 220 will be described below.

[0122] Figure 6 is an enlarged view of an upper bushing of a coupling portion provided in an assembly structure according to the present disclosure, and Figure 7 is an enlarged view of a lower bushing of a coupling portion provided in the assembly structure according to the present disclosure.

[0123] like Figure 4 、 Figure 6 and Figure 7As shown in , the bushing member 220 can be divided into multiple parts. That is, the bushing member 220 can include an upper bushing 222 (e.g., a first bushing) configured to define an upper region of the bushing member 220 and surround the outer peripheral surface of the base protrusion 214, and a lower bushing 224, which is disposed below the upper bushing 222 and configured to surround the outer peripheral surface of the base flange 212. The lower bushing is fixedly coupled to the upper bushing 222. For example, the upper bushing 222 and the lower bushing 224 can be fixedly coupled to each other by bolting.

[0124] The upper bushing 222 may have a rotation interference groove 222a. The rotation interference groove 222a may be defined in the inner circumferential surface of the upper bushing 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 base member 210 can perform relative rotational movement relative to the bushing member 220 within a range where the interference region 214a and the rotation interference groove 222a do not interfere with each other. That is, the interference region 214a and the rotation interference groove 222a may be configured to allow the bushing member 220, including the upper bushing 222, to perform relative rotational movement within a predetermined rotation angle range, while preventing it from rotating 360 degrees relative to the base member 210. The interference region 214a may be arranged to interfere with the upper bushing 222 at a boundary of the rotation interference groove 222a based on the circumferential direction A. That is, when the interference area 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 area 214a interferes with the inner surface defined at one side end of the rotation interference groove 222a based on the circumferential direction A, so that the relative rotational motion / movement between the bushing member 220 and the base member 210 is no longer performed further.

[0125] refer to Figure 2 、 Figure 3 and Figure 5In the assembly structure 10 of the present disclosure, a recessed area 214b may be defined in the outer circumferential surface of the base protrusion 214. The recessed area 214b may be spaced apart from the interference area 214a in the circumferential direction A and have an inwardly recessed shape. Furthermore, the coupling portion 200 may further include a latch member 240 (e.g., a latch) rotatably coupled to the upper bushing 222. When the bushing member 220 is coupled to the base member 210 such that the interference area 214a is positioned within the rotation interference groove 222a, at least a portion of the latch member 240 may be inserted into the recessed area 214b. When the bushing member 220 is positioned at a predetermined rotational position relative to the base member 210, the latch member 240 may be configured to be inserted into the recessed area 214b such that the interference between the latch member 240 and the recessed area 214b prevents the bushing member 220 from further rotating relative to the base member 210. That is, while the interference between the rotation interference groove 222a and the interference region 214a may limit the relative rotation range allowed between the bushing member 220 and the base member 210, the latch member 240 may be configured to be inserted into the recessed region 214b to fixedly couple the bushing member 220 and the base member 210. Furthermore, when the latch member 240 is inserted into the recessed region 214b, the assembling portion 100 and the coupling portion 200 are fixedly coupled to each other.

[0126] For example, the latch member 240 may include an insertion area 240a having a shape protruding toward the rotation center axis AX to be inserted into the recessed area 214b. The insertion area 240a may have a size and shape corresponding to the recessed area 214b.

[0127] refer to Figure 4 and Figure 6 The connecting portion 200 of the assembly structure 10 may further include an elastic pressing member 295 (e.g., an elastic insert, an elastic material structure, etc.), which is accommodated in the rotation interference groove 222a and extends in the circumferential direction of the assembly structure 10 (i.e., in the direction of the elastic pressing member 295 around the rotation center axis AX).

[0128] The elastic pressing member 295 may be configured to press the interference region 214a by being compressed by a change in the position of the interference region 214a relative to the rotation interference groove 222a. More specifically, referring to Figure 4 and Figure 6One side end of the elastic pressing member 295 can be positioned to face one side boundary of the rotation interference groove 222a based on the circumferential direction A, and the other side end of the elastic pressing member 295 can be positioned to face the interference region 214a. Therefore, when the interference region 214a moves in a direction toward one side boundary of the rotation interference groove 222a based on the circumferential direction A as the base member 210 rotates, the elastic pressing member 295 can be compressed, and the compressed elastic pressing member 295 presses the interference region 214a in a direction opposite to the direction in which the interference region 214a rotates. Therefore, when the external force causing the base member 210 to rotate is eliminated, the base member 210 can return to the state before the rotation of the base member 210 due to the pressing force of the elastic pressing member 295. Therefore, when the latch member 240 is inserted into the recessed region 214b, the elastic pressing member 295 can be configured to allow the assembly portion 100 and the coupling portion 200 to be more securely and fixedly coupled to each other.

[0129] refer to Figures 2 to 4 , the outer surface of the bushing member 220 provided in the assembly structure 10 may be divided into a plurality of regions according to its shape.

[0130] More specifically, the outer surface of the bushing member 220 based on the radial direction perpendicular to the rotation center axis AX may include a plurality of first bushing surface regions 220-1 and one or more second bushing surface regions 220-2, each of the first bushing surface regions having a curved shape around the rotation center axis AX (e.g., a first curvature relative to or toward the rotation center axis), and each of the second bushing surface regions connected to the first bushing surface regions (e.g., connected between the first bushing surface regions and / or connected to one side end of the first bushing surface region) and having a second curvature different from the first curvature of the first bushing surface region 220-1. For example, Figures 2 to 4 As shown, a first bushing surface region 220 - 1 and a second bushing surface region 220 - 2 may be formed on the upper bushing 222 and the lower bushing 224 .

[0131] More specifically, the radially outer portion of the cross-sectional shape formed by cutting the first liner surface area 220-1 in a direction perpendicular to the rotational center axis AX may have a circumferential shape, and the radially outer portion of the cross-sectional shape formed by cutting the second liner surface area 220-2 in a direction perpendicular to the rotational center axis AX may have a line segment shape. This configuration can be understood as a configuration in which the first liner surface area 220-1 has a shape of a portion of a cylinder, while the second liner surface area 220-2 has a planar shape.

[0132] As described below, the second bushing surface area 220-2 can be configured to prevent the bushing member 220 from rotating when the base member 210 rotates during the process of coupling and disconnecting the assembly portion 100 with the coupling portion 200 at the station. Therefore, during the process of coupling and disconnecting the assembly portion 100 with the coupling portion 200, the first bushing surface area 220-1 and the second bushing surface area 220-2 can be in close contact with the first retainer portion surface area 352 and the second retainer portion surface area 354 of the station, which will be described below, respectively.

[0133] The second bushing surface region 220-2 can be provided as a plurality of second bushing surface regions 220-2. More specifically, the second bushing surface region 220-2 can include a second-first bushing surface region 220-2a and a second-second bushing surface region 220-2b spaced apart from each other in the circumferential direction of the first bushing surface region, wherein the first bushing surface region 220-1 is interposed between the second-first bushing surface region and the second-second bushing surface region. More specifically, the second-first bushing surface region 220-2a and the second-second bushing surface region 220-2b can be provided parallel to each other. The second-first bushing surface region 220-2a and the second-second bushing surface region 220-2b can be shaped symmetrically about the rotational center axis AX.

[0134] refer to Figure 5 and Figure 6 , the upper bushing 222 may have a latch receiving groove 222b configured to receive the latch member 240 and having a shape that is recessed in the upward / downward direction H (e.g., a longitudinal direction parallel to the rotation center axis AX). That is, the latch receiving groove 222b may be configured to define an internal space for receiving the latch member 240. For example, Figure 6 The latch receiving groove 222b is shown in a state in which the latch receiving groove 222b has a downwardly open shape. 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 is shown in which the latch rotation shaft 222b-1 protrudes downward from the upper surface of the latch receiving groove 222b.

[0135] refer to Figures 2 to 4 , the body 110 of the assembling portion 100 may have a substantially cylindrical shape, and a partial region of the body 110 of the assembling portion 100 may include a concavely recessed region.

[0136] More specifically, the body 110 may include a guide groove region 112 formed in an outer surface of the body 110 based on a radial direction perpendicular to the rotation center axis AX, and the guide groove region 112 may have a shape extending in the circumferential direction A and recessed radially inward. In this case, the outer surface of the guide groove region 112 may be divided into a plurality of regions according to its shape.

[0137] More specifically, the outer surface of the guide groove area 112 based on the radial direction may include a plurality of first guide groove surface areas 112a and a plurality of second guide groove surface areas 112b, each first guide groove surface area having a curved shape around the rotation center axis AX, and each second guide groove surface area being connected to a side end of the first guide groove surface area 112a and having a curvature different from the curvature of the first guide groove surface area 112a.

[0138] More specifically, the radially outer portion of the cross-sectional shape formed by cutting the first guide groove surface area 112a in a direction perpendicular to the rotation center axis AX may have a circumferential shape, and the radially outer portion of the cross-sectional shape formed by cutting the second guide groove surface area 112b in a direction perpendicular to the rotation center axis AX may have a line segment shape. This configuration can be understood as a configuration in which the first guide groove surface area 112a has a shape of a portion of a cylinder, while the second guide groove surface area 112b has a planar shape.

[0139] As described below, the second guide groove surface area 112b may be an area located on the assembly portion seating area of ​​the station base portion during the process of the station coupling and disconnecting the assembly portion 100 with the coupling portion 200. More specifically, the second guide groove surface area 112b may be provided to face the moving block member of the station base portion to be described below.

[0140] The second guide groove surface area 112b may be provided as a plurality of second guide groove surface areas 112b. More specifically, the second guide groove surface area 112b may include a second-first guide groove surface area 112b-1 and a second-second guide groove surface area 112b-2 that are spaced apart from each other in the circumferential direction, wherein the first guide groove surface area 112a is interposed between the second-first guide groove surface area and the second-second guide groove surface area. More specifically, as Figure 2 and Figure 4 As shown, the second-first guide groove surface area 112b-1 and the second-second guide groove surface area 112b-2 may be arranged to extend in directions intersecting each other. That is, the second-first guide groove surface area 112b-1 and the second-second guide groove surface area 112b-2 may not be parallel to each other.

[0141] Figure 8is a view showing the structure of a horizontal cross section of the coupling portion and showing a state in which the bushing member is fixedly coupled to the base member by the latch member, and Figure 9 It is a view showing the structure of a horizontal cross section of the coupling portion and showing a state in which the bushing member and the base member are disconnected.

[0142] The assembly structure 10 may further include a configuration that applies a force to enable the latch member 240 to press against the recessed area 214b, thereby maintaining the latch member 240 inserted into the recessed area 214b even after the latch member 240 is inserted into the recessed area 214b. More specifically, the coupling portion 200 may further include an elastic member 250. The elastic member 250 is disposed facing the insertion area 240a of the latch member 240, with the latch rotation axis 222b-1 interposed therebetween, and is disposed 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 rotational center axis AX (i.e., in a radial direction). Therefore, the insertion region 240a of the latch member 240 may press the recessed region 214b by means of the force pressing the latch member 240 applied by the elastic member 250, thereby preventing the insertion region 240a of the latch member 240 from being separated from the recessed region 214b.

[0143] According to an exemplary embodiment of the present disclosure, the user can manipulate the latch member 240 in a direction away from the insertion area 240a. That is, when the user presses the area of ​​the latch member 240 facing the insertion area 240a (wherein the latch rotation axis 222b-1 is interposed between the latch member and the insertion area), the insertion area 240a can be moved in a direction away from the recessed area 214b while overcoming the restoring force of the elastic member 250. In this case, as shown in FIG. Figure 8 and Figure 9 As shown, the outer surface of the area of ​​the latch member 240 facing the elastic member 250 can be exposed to the outside, allowing the user to easily manipulate the latch member 240. This configuration can be understood as a configuration in which the accommodating space of the latch member 240 defined by the latch accommodating groove 222b is open in a direction away from the rotation center axis AX (i.e., in the radial direction). In this case, because the user can press the exposed area of ​​the latch member 240 toward the rotation center axis AX, as if the user is pressing a button, the degree of separation between the insertion area 240a and the recessed area 214b can be easily adjusted, and the assembly portion 100 can be easily disconnected from the coupling portion 200.

[0144] Return Reference Figure 7, the lower bushing 224 may have flange insertion areas 224a defined in a portion of the inner circumferential surface of the lower bushing 224 and each having 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 include a flange extension region 124 that protrudes outward from the outer circumferential surface of the flange 120 (i.e., protrudes in a direction away from the rotational center axis AX). In this case, according to the present disclosure, the width of the flange insertion region 224a in the circumferential direction A of the assembled structure 10 may be greater than, or correspond to, the width of the flange extension region 124 in the circumferential direction A. More specifically, the width of the flange insertion region 224a in the circumferential direction A may be slightly greater than or substantially equal to the width of the flange extension region 124 in the circumferential direction A. This is to allow the flange extension region 124 to pass through the flange insertion region 224a, that is, to allow the flange 120 to pass through the lower bushing 224, only when the flange extension region 124 is located at a predetermined rotational position relative to the lower bushing 224.

[0145] According to the present disclosure, during the process of coupling the assembling portion 100 and the coupling portion 200, in the process of the assembling portion 100 moving upward relative to the lower region of the coupling portion 200, the flange protruding region 124 may pass through the space defined by the flange insertion region 224a, and then the flange 120 may be in close contact with the lower surface of the base flange 212. More specifically, in a case where the pin members 230 are provided as a plurality of pin members 230 and the plurality of pin members 230 are respectively inserted into the pin insertion grooves 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 region 124 may face the space defined by the flange insertion region 224a in the upward / downward direction, and the flange protruding region 124 may be defined above the space defined by the flange insertion region 224a. This configuration 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 in an upper region of the flange insertion region 224 a .

[0146] The assembly structure 10 may include a configuration that prevents the assembly portion 100 and the coupling portion 200 from being separated from each other in the upward / downward direction H when the assembly portion 100 and the coupling portion 200 are fully coupled. More specifically, according to the present disclosure, when the rotation angle of the bushing member 220 relative to the base member 210 is within a predetermined range, the bushing member 220 and the flange 120 may be configured to interfere with each other in the upward / downward direction H.

[0147] More specifically, when the bushing member 220 is rotated 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, interference between the flange 120 and the bushing member 220 in the upward / downward direction H may occur. That is, when the bushing member 220 is rotated at a predetermined rotation angle 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, at least a portion of the lower area of ​​each of the plurality of flange protruding areas 124 does not further face each of the plurality of flange insertion areas 224a, and the plurality of flange protruding areas 124 face the plurality of bushing protruding areas 224b (see Figure 3 and Figure 7 ), each bushing extension area 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 bushing 224 and protruding inwardly toward the rotation center axis AX. That is, the bushing extension area 224b can be defined in an area of ​​the inner circumferential surface of the lower bushing 224 where the flange insertion area 224a is not defined. The inner circumferential surface of the lower bushing 224 can have a concave-convex structure in which the flange insertion area 224a and the bushing extension area 224b are alternately defined in the circumferential direction A.

[0148] That is, according to the present disclosure, the interference between the flange protruding area 124 and the bushing protruding area 224b can prevent the assembly portion 100, including the flange 120, and the coupling portion 200, including the lower bushing 224, from separating in the upward / downward direction H. A spring member (not shown) may be additionally provided between the lower surface of the base flange 212 and the upper surface of the flange 120. For example, one side of the spring member may be fixedly coupled to the lower surface of the base flange 212 or the upper surface of the flange 120. In this case, the spring member can press the lower surface of the base flange 212 and the upper surface of the flange 120 upward and downward. Therefore, when the assembly portion 100 and the coupling portion 200 are coupled, the flange protruding area 124 and the bushing protruding area 224b can be maintained in close contact with each other while pressing against each other, allowing the assembly portion 100 and the coupling portion 200 to be more stably coupled.

[0149] like Figure 8 As shown, according to an example of the present disclosure, when the bushing member 220 is rotated relative to the base member 210 so that the interference area 214a of the base member 210 is located adjacent to the boundary of the rotation interference groove 222a of the upper bushing 222 on one side 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. That is, in Figure 8In the state where the insertion area 240a is inserted into the recessed area 214b, more specifically, in the state where the insertion area 240a is inserted into the recessed area 214b, the boundary of one side of the rotation interference groove 222a based on the circumferential direction A may contact the interference area 214a.

[0150] On the contrary, Figure 9 As shown, according to an example of the present disclosure, when the bushing member 220 rotates relative to the base member 210 so that the interference area 214a of the base member 210 is located adjacent to the boundary of one side of the rotation interference groove 222a of the upper bushing 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 the latch member 240 is located at a position Figure 9 When the assembled structure 10 is viewed from above in the state in which the assembled structure 10 is in the middle position, the entire flange extension area 124 of the flange 120 can be accommodated in the flange insertion area 224a of the lower bushing 224, as shown in FIG. Figure 3 That is, Figure 9 The state shown in FIG may correspond to a state in which the flange protruding area 124 may pass through the flange insertion area 224a during the process of coupling the assembly part 100 including the flange 120 to the coupling part 200 including the bushing 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 disposed so as to be accommodated in the flange insertion area 224a of the lower bushing 224, the boundary on the other side of the rotation interference groove 222a may contact the interference area 214a.

[0151] According to the present disclosure, in order to more securely couple the base member 210 and the bushing member 220 , the assembly structure 10 may further include other configurations in addition to the latch member 240 .

[0152] Figure 10 is a vertical sectional view showing the coupling portion and showing a state before the bushing member is moved upward by the bolt-nut coupling between the bolt member and the sliding member, and Figure 11 is a vertical sectional view showing the coupling portion and shows a state formed after the bushing member is moved upward by the bolt-nut coupling between the bolt member and the sliding member.

[0153] refer to Figure 10 and Figure 11 The coupling portion 200 may further include a sliding member 260 accommodated in the upper bushing 222 and a bolt member 270 configured to be inserted into the outer peripheral surface of the upper bushing 222 and the sliding member 260. More specifically, the sliding member coupling groove 222c (see Figure 6) may be defined in a peripheral region of the upper bushing 222. The sliding member coupling groove 222c has a concave shape and defines a space for accommodating the sliding member 260. The shape and size of the sliding member coupling groove 222c may correspond to those of the sliding member 260.

[0154] The coupling force between the base member 210 and the bushing member 220 can be increased by adjusting the degree to which the sliding member 260 and the bolt member 270 are coupled to each other. Therefore, an increased coupling between the coupling portion 200 and the flange 120 can be achieved.

[0155] Specifically, according to the present disclosure, the upper surface of the flange 120 can be pressed against the lower surface of the base flange 212 of the connecting part 200 by means of a sliding member 260 and a bolt member 270 and is arranged to be in close contact with the lower surface of the base flange of the connecting part, so that a clamping connection between the connecting part 200 and the flange 120 can be achieved.

[0156] To achieve the above-mentioned purpose, according to the present disclosure, the bushing member 220 can be moved in the upward / downward direction H relative to the base member 210 by adjusting the degree of the bolt-nut coupling between the sliding member 260 and the bolt member 270. More specifically, referring to Figure 4 、 Figure 10 and Figure 11 The upper surface of the sliding member 260 may include an inclined surface shape whose height along the upward / downward direction H decreases in a direction away from the rotation center axis AX (i.e., in a radial direction). The area of ​​the sliding member coupling 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 the shape of an inclined surface.

[0157] Because the upper surface of the sliding member 260 has an inclined surface and the sliding member coupling groove 222c has a shape corresponding to the inclined surface, the bushing 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 coupling groove 222c.

[0158] That is, reference Figure 10 and Figure 11As bolt member 270 rotates and adjusts the bolt-nut coupling between bolt member 270 and sliding member 260, the relative horizontal position between bolt member 270 and sliding member 260 changes. In this case, because bolt member 270 penetrates upper bushing 222 and couples to sliding member 260, the horizontal movement of bolt member 270 is limited by the side surface of upper bushing 222, while sliding member 260 moves horizontally. To allow for horizontal movement of sliding member 260, the horizontal width of the interior space defined by sliding member coupling groove 222c may be greater than the horizontal width of sliding member 260.

[0159] Therefore, when the sliding member 260 moves in the horizontal direction, the bushing member 220 including the upper bushing 222 that accommodates 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 connecting groove 222c facing the inclined surface.

[0160] For example, when the bolt member 270 rotates and the sliding member 260 moves toward the rotation center axis AX, the bushing member 220 moves downward relative to the base member 210 (before clamping coupling), as shown in FIG. Figure 10 On the contrary, when the bolt member 270 rotates and the sliding member 260 moves in a direction away from the rotation center axis AX, the bushing member 220 moves upward relative to the base member 210 (clamping connection), as shown in FIG. Figure 11 shown.

[0161] In order to provide a path along which the bushing member 220 can move in the upward / downward direction H by the rotation of the bolt member 270, the size of the hole defined in the region of the upper bushing 222 into which the bolt member 270 is inserted in the upward / downward direction H may be larger than the size of the region of the bolt member 270 inserted into the upper bushing 222 in the upward / downward direction H. In addition, the size of the hole defined in the region of the sliding member 260 into which the bolt member 270 is inserted in the upward / downward direction H may correspond to the size of the region of the bolt member 270 inserted into the sliding member 260 in the upward / downward direction H. Figure 10 and Figure 11 As shown, according to an example of the present disclosure, the lower surface of the sliding member 260 can be arranged to be in close contact with the upper surface of the base flange 212, and the lower surface of the sliding member 260 can be perpendicular to the rotation center axis AX. That is, the lower surface of the sliding member 260 can include a non-inclined surface.

[0162] On the contrary, unlike Figure 10 and Figure 11In the configuration shown in , the inclined surface defined on the sliding member 260 can be defined on the lower surface of the sliding member 260. That is, according to another example of the present disclosure, the lower surface of the sliding member 260 can include an inclined surface shape whose height along the upward / downward direction H increases as it moves away from the rotational center axis AX. The lower surface of the sliding member 260 can 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 can include a shape corresponding to the inclined surface defined on the lower surface of the sliding member 260. Furthermore, the upper surface of the sliding member 260 can be arranged to be in close contact with the sliding member coupling groove 222c, and the upper surface of the sliding member 260 can be perpendicular to the rotational center axis AX. Using a similar principle to the case where the inclined surface is defined on the upper surface of the sliding member 260, relative movement between the bushing member 220 and the base member 210 can be performed in the upward / downward direction H even when the inclined surface is defined on the lower surface of the sliding member 260.

[0163] The assembly structure 10 may further include a configuration for electrically connecting the assembly portion 100 and the coupling portion 200 .

[0164] Figure 12 is a vertical sectional view showing the assembled structure and shows a state after the assembling portion and the coupling portion are completely coupled.

[0165] refer to Figure 4 and Figure 12 , the coupling portion 200 may include: a connector cover 280, which is accommodated in the lower surface of the base flange 212; and a coupling portion connector 290, which is 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 assembling portion 100 may include an assembling portion connector 130 accommodated in the internal space of the assembling portion 100. In this case, the assembling portion connector 130 may penetrate the connector cover 280 and be inserted into and coupled to the coupling portion connector 290. Specifically, in the case of the structure of the assembly structure 10 according to the present disclosure, connector structures having various shapes including a plug and socket type connector structure may be applied to the assembly structure 10.

[0166] Hereinafter, the station will be described with reference to the accompanying drawings.

[0167] stand

[0168] Figure 13 is a perspective view of a station according to the present disclosure, and Figure 14 : is an enlarged cross-sectional view showing a surface area of ​​a first retainer portion formed on a station retainer portion of a station according to the present disclosure. Figure 15is an enlarged cross-sectional view showing an assembly portion placement area of ​​a station base portion of a station according to the present disclosure and its surrounding components.

[0169] According to the present disclosure, the station 300 may be configured to automatically couple and disconnect the assembling portion 100 and the coupling portion 200 of the assembly structure 10 .

[0170] More specifically, if Figures 13 to 15 As shown, the station 300 may include a station body portion 310 configured to define a body of the station 300, a station base portion 330 fixed to one side of the station body portion 310, and a station holder portion 350 having a shape protruding upward from an upper surface of the station base portion 330. For example, the station base portion 330 may have a plate shape having a substantially constant thickness in the upward / downward direction.

[0171] The assembly unit seating area 334a may be formed on the station base 330 and have a horizontally inwardly recessed shape. The body 110 may be positioned on the assembly unit seating area 334a. More specifically, during the process of the station 300 coupling and disconnecting the assembly unit 100 and the coupling unit 200, the guide groove area 112 of the body 110 may be positioned on the assembly unit seating area 334a, and the lower surface of the portion of the body 110 connected to the upper end of the guide groove area 112 may be supported by the upper surface of the station base 330.

[0172] The station holder portion 350 may be a component on which the coupling portion 200 is located during the process of coupling and disconnecting the assembling portion 100 and the coupling portion 200. More specifically, the station holder portion 350 may have a shape protruding upward from the upper surface of the portion of the station base portion 330 where the assembling portion seating area 334a is formed.

[0173] Furthermore, the horizontal cross-sectional shape of the station holder portion 350 may correspond to the horizontal cross-sectional shape of the assembly unit seating area 334a. More specifically, the station holder portion 350 may have a shape that is spaced apart from the upper surface of a region spaced apart at a predetermined interval from the inner surface of the portion of the station base portion 330 defining the assembly unit seating area 334a. The horizontal cross-sectional shape of the station holder portion 350 and the horizontal cross-sectional shape of the assembly unit seating area 334a may each have an approximately U-shape.

[0174] The inner surface of the station holder portion 350 can be divided into a plurality of regions according to its shape. More specifically, the inner surface of the station holder portion 350 may include a first holder portion surface region 352 and a plurality of second holder portion surface regions 354, the first holder portion surface region 352 having a shape curved in a direction intersecting the upward / downward direction, each second holder portion surface region connected to one side end of the first holder portion surface region 352 and having a curvature different from the curvature of the first holder portion surface region 352.

[0175] refer to Figures 2 to 4 and Figures 13 to 15 During the process of coupling and disconnecting the assembling portion 100 and the coupling portion 200, the first retainer portion surface area 352 may contact the first bushing surface area 220-1 provided on the bushing member 220 of the coupling portion 200, and the second retainer portion surface area 354 may contact the second bushing surface area 220-2 provided on the bushing member 220. Therefore, the shape of the first retainer portion surface area 352 may correspond to the shape of the first bushing surface area 220-1, and the shape of the second retainer portion surface area 354 may correspond to the shape of the second bushing surface area 220-2.

[0176] More specifically, the inner portion of the cross-section formed by cutting the first retainer portion surface area 352 in a direction intersecting the upward / downward direction can have a roughly circular shape, and the inner portion of the cross-section formed by cutting the second retainer portion surface area 354 in a direction intersecting the upward / downward direction can have a line segment shape.

[0177] In addition, the second retainer portion surface area 354 may include a second-first retainer portion surface area 354a and a second-second retainer portion surface area 354b, the second-first retainer portion surface area and the second-second retainer portion surface area being arranged to be spaced apart from each other in the circumferential direction of the first retainer portion surface area 352, wherein the first retainer portion surface area 352 is interposed between the second-first retainer portion surface area and the second-second retainer portion surface area. Figure 13 As shown, the second-first retainer portion surface area 354a and the second-second retainer portion surface area 354b may be disposed parallel to each other.

[0178] As described above, the inner portion of the horizontal cross-section of the first retainer portion surface area 352 may have a substantially circular shape. However, a portion of the inner surface of the first retainer portion surface area 352 may have a protruding shape. More specifically, as Figure 14 As shown, the first retainer portion surface region 352 may include a protruding pressing portion 352a (e.g., a protrusion) provided on the inner surface of the first retainer portion surface region 352 and having an inwardly protruding shape. For example, the distance between the protruding pressing portion 352a and the second-first retainer portion surface region 354a may be substantially equal to the distance between the protruding pressing portion 352a and the second-second retainer portion surface region 354b.

[0179] When the coupling portion 200 enters the station holder portion 350, the protruding pressing portion 352a can press the latch member 240 provided on the coupling portion 200, so that the insertion area 240a of the latch member 240 moves away from the recessed area 214b of the base protruding portion 214, so that the bushing member 220 can be in a rotatable state relative to the base member 210. In order to exhibit the above-mentioned function, the protruding pressing portion 352a can be configured to contact the portion of the latch member 240 facing the insertion area 240a when the coupling portion 200 enters the station holder portion 350, wherein the latch rotation axis 222b-1 is interposed between the protruding pressing portion and the portion of the latch member facing the insertion area.

[0180] The station base portion 330 may further include a configuration configured to be movable in a horizontal direction through the guide groove region 112 when the guide groove region 112 of the body 110 is located on the assembling portion seating region 334 a .

[0181] More specifically, refer to Figure 13 and Figure 15 , the station base portion 330 may include: a moving block member 337 (moving block), which is provided in the inner surface of the assembly portion placement area 334a and is configured to be movable in a direction toward and away from the space defined by the assembly portion placement area 334a; and a pressing spring 338, each of a plurality of pressing springs being provided at one side of each of a plurality of moving block members 337 and configured to press the moving block member 337 toward the space defined by the assembly portion placement area 334a. Therefore, when the guide groove area 112 is located on the assembly portion placement area 334a, the moving block member 337 can move in the horizontal direction by being pressed by the guide groove area 112. When the pressing force of the guide groove area 112 is eliminated, the moving block member 337 can return to its initial state by the pressing force of the pressing spring 338. For example, as Figure 13 and Figure 15As shown, the moving block member 337 may include a first moving block member 337a and a second moving block member 337b, the first moving block member and the second moving block member being arranged to face each other, wherein the space defined by the assembly portion placement area 334a is between the first moving block member and the second moving block member. The pressing spring 338 may include a first pressing spring 338a and a second pressing spring 338b respectively arranged on one side of the first moving block member 337a and one side of the second moving block member 337b and configured to press the first moving block member 337a and the second moving block member 337b. More specifically, the first guide groove surface area 112a and the second guide groove surface area 112b may contact the first moving block member 337a and the second moving block member 337b respectively. However, in this case, the contact between the first guide groove surface area 112a and the first moving block member 337a and the contact between the second guide groove surface area 112b and the second moving block member 337b can be selectively performed rather than simultaneously. Therefore, as described above, the second-first guide groove surface area and the second-second guide groove surface area extend in directions intersecting with each other, and the surface of the first moving block member 337a facing the space defined by the assembly portion seating area 334a (i.e., the surface to be in contact with the second-first guide groove surface area), and the surface of the second moving block member 337b facing the space defined by the assembly portion seating area 334a (i.e., the surface to be in contact with the second-second guide groove surface area) can be formed to be parallel to each other.

[0182] Figure 16 is a top view showing another example of a station base portion of a station according to the present disclosure.

[0183] exist Figure 16 The structure of the station base portion 330 shown in FIG is substantially similar to that of the above reference Figures 13 to 15 The structure of the station base portion described above is consistent with the Figures 13 to 15 The structure of the station base portion described is different in that the body constituting the station base portion is provided as a plurality of bodies configured to be movable relative to each other. Figure 16 The following description of the structure of the station base portion 330 is described in addition to Figure 16 The description of the station base portion 330 shown in FIG. Figures 13 to 15 The description of the station base portion 330 is replaced.

[0184] refer to Figure 16The station base portion 330 may include a main base body 332, an auxiliary base body 334 provided to be spaced apart from the main base body 332, and an elastic connection body 336 configured to connect the main base body 332 and the auxiliary base body 334. In this case, an assembly portion seating area 334a may be formed on the auxiliary base body 334 and coupled to the moving block member 337.

[0185] According to the above reference Figure 16 With the structure described above, the impact applied to the station base portion 330 can be minimized during the process of coupling and disconnecting the assembling portion 100 and the coupling portion 200 in the station. Figure 16 In the structure described above, when an impact is applied to the auxiliary base body 334 of the station base portion 330 during the process of connecting and disconnecting the assembly portion 100 and the coupling portion 200, the auxiliary base body 334 moves while the length of the elastic connection body 336 changes, so that the magnitude of the impact force applied to the auxiliary base body 334 can be reduced compared to the case where the auxiliary base body 334 is fixed and does not move. The elastic connection body 336 can be used without limitation as long as the elastic connection body 336 can be reversibly deformed in shape by an external force. For example, the elastic connection body 336 can be a spring or a wire made of a material having elasticity.

[0186] Hereinafter, a process of coupling a robot arm and a gripper by coupling a coupling portion and an assembling portion of an assembling structure in a station will be described with reference to the above description and the accompanying drawings.

[0187] Figure 17 is a view showing a state in which a robot arm including a coupling portion enters the station in a state in which a gripper including an assembling portion is located on the station according to the present disclosure, and Figure 18 It shows that when the joint enters Figure 17 A cross-sectional view of the internal state of the connecting portion when standing in the middle. Figure 19 It shows the Figure 17 A cross-sectional view of the state of the assembly part on the station.

[0188] refer to Figures 17 to 19 , the assembly portion 100 coupled to the gripper 3 and the coupling portion 200 coupled to the robot arm 2 are respectively positioned on the station base portion 330 and the station holder portion 350 of the station 300. More specifically, when the guide groove region 112 is positioned in the space defined by the assembly portion seating region 334a, the assembly portion 100 is positioned on the station base portion 330. With the second bushing surface region 220-2 formed on the bushing member 220 in close contact with the second holder portion surface region 354, the coupling portion 200 is positioned on the station holder portion 350.

[0189] In this case, if Figure 18As shown, when the coupling portion 200 is positioned on the station retainer portion 350 until the first bushing surface area 220-1 comes into close contact with the first retainer portion surface area 352, the protruding pressing portion 352a formed on the first retainer portion surface area 352 presses the latch member 240 of the coupling portion 200, causing the latch member 240 to move away from the recessed area 214b of the base protruding portion 214. As a result, the bushing member 220 and the base member 210 of the coupling portion 200 are in a state movable relative to each other.

[0190] like Figure 19 As shown, when the assembly part 100 is located on the station base part 330, the second-first guide groove surface area 112b-1 of the guide groove area 112 is in close contact with the first moving block member 337a, and the second-second guide groove surface area 112b-2 is spaced apart from the second moving block member 337b in the circumferential direction.

[0191] Figure 20 is a view showing that the robot arm is rotated so that the coupling portion is in a state capable of being coupled to the gripper after the coupling portion enters the station according to the present disclosure, and Figure 21 The figure shows that when the robot arm is Figure 20 A cross-sectional view showing the internal state of the coupling portion during mid-rotation.

[0192] As described above, when the robot arm 2 rotates in a state where the bushing member 220 and the base member 210 are rotatable relative to each other, the base member 210 fixed relative to the robot arm 2 rotates. Figure 20 and Figure 21 As shown, when the base member 210 rotates clockwise, the interference area 214a of the base protrusion 214 moves in the direction toward the latch member 240 while compressing the elastic pressing member 295. The rotation of the robot arm is performed until it is coupled to the base flange 212 (see FIG. Figure 4 ) of the lower surface of the pin member 230 (see Figure 4 ) and formed on the flange 120 (see Figure 4 ) in the pin insertion groove 122 (see Figure 4 ) are positioned to face each other in an upward / downward direction.

[0193] Figure 22 is a view showing a state in which the robot arm moves downward and the coupling part is coupled to the assembling part in the station according to the present disclosure, and Figure 23 It shows that Figure 22 A view of a state in which the coupling portion and the assembling portion are spaced apart from each other before the robot arm moves downward. Figure 24 The robot arm is shown in Figure 22 A view of a state in which the coupling portion and the assembling portion are moved downward and coupled to each other.

[0194] When the pin member and the pin insertion groove are positioned to face each other in the upward / downward direction as described above, the robot arm 2 moves downward, and the pin member is inserted into the pin insertion groove, as shown in FIG. Figure 22 shown. Figure 23 shows a state in which the assembling portion 100 and the coupling portion 200 are spaced apart from each other in the upward / downward direction before the robot arm 2 moves downward, and Figure 24 The robot arm 2 is shown in a state where the assembling portion 100 and the coupling portion 200 are coupled to each other. When the pin member is inserted into the pin insertion groove, the assembling portion 100 and the coupling portion 200 are fixed to each other so that they cannot rotate relative to each other.

[0195] Figure 25 is a view showing a state in which the robot arm rotates in a state in which the coupling portion and the assembling portion are coupled to each other in the station according to the present disclosure, and Figure 26 It shows the Figure 25 A cross-sectional view of the state of the assembly part on the station.

[0196] like Figure 25 As shown, when the robot arm 2 rotates in a state where the assembling portion 100 and the coupling portion 200 are fixed to each other so that the assembling portion 100 and the coupling portion 200 cannot rotate relative to each other, in a state where the bushing member 220 is fixed by the station holder portion 350, the assembling portion 100 and the coupling portion 200 rotate together except for the bushing member 220. The rotation of the assembling portion 100 and the rotation of the coupling portion 200 can be performed to prevent the assembling portion 100 and the coupling portion 200 from moving away from each other in the upward / downward direction. That is, the rotation of the assembling portion 100 is performed until the lower bushing 224 (see Figure 7 etc.) of the bushing extension area 224b (see Figure 7 etc.) and flange 120 (see Figure 4 etc.) of the flange protruding area 124 (see Figure 4 When the assembly part 100 is rotated by the rotation of the robot arm 2, the guide groove area 112 provided on the body 110 of the assembly part 100 is also rotated. In this case, as Figure 26 As shown, the rotation of the robot arm 2 can be performed until the second-first guide groove surface area 112b-1 of the guide groove area 112 moves away from the first moving block member 337a in the circumferential direction and the second-second guide groove surface area 112b-2 is in close contact with the second moving block member 337b.

[0197] Figure 27 is a view showing a state in which the robot arm and the gripper are separated from the station.

[0198] After the assembling portion 100 and the coupling portion 200 are coupled so as to prevent the assembling portion 100 and the coupling portion 200 from being separated from each other in the upward / downward direction, the assembly of the robot arm 2 and the gripper 3 is separated from the station 300. When the assembly of the robot arm 2 and the gripper 3 is separated from the station 300, the latch member 240 (see FIG. Figure 21 etc.) is released from the protruding pressing portion 352a, and the insertion area 240a of the latch member (see Figure 21 , etc.) are inserted back into the recessed area 214b of the base protrusion 214. Thus, the assembling portion 100 and the coupling portion 200 are completely coupled.

[0199] The present disclosure has been made in an effort to provide a structure for connecting a robot arm and a gripper, which can adopt various types of connector structures that can be easily installed and detached compared to the related art, and to provide a station that can easily connect and disconnect the connection structure.

[0200] In order to achieve the above-mentioned objectives, one aspect of the present disclosure provides an assembly structure, comprising: an assembly part; and a connecting part, which is arranged above the assembly part and is configured to be attached to or detachable from the assembly part, wherein the assembly part comprises: a body, which is configured to define the body of the assembly part and is open at its upper side; and a flange, which is fixedly connected to the upper part of the body, wherein the connecting part comprises: a base member; and a bushing member, which is configured to surround the periphery of the base member and be open at the lower side of the bushing member, wherein the flange is configured to penetrate the bushing member and face the base member, and the rotational movement of the flange relative to the base member around the rotation center axis AX of the assembly structure is restricted, wherein the bushing member is configured to be rotatable relative to the base member, and wherein the bushing member and the flange are configured to interfere with each other in the upward / downward direction H when the rotation angle of the bushing member relative to the base member is within a predetermined range.

[0201] The outer surface of the bushing member based on the radial direction perpendicular to the rotation center axis AX may include: a first bushing surface area having a curved shape around the rotation center axis AX; and a plurality of second bushing surface areas, each second bushing surface area being connected to a side end of the first bushing surface area and having a curvature different from the curvature of the first bushing surface area.

[0202] A radially outer portion of a cross-sectional shape formed by cutting the second bushing surface area in a direction perpendicular to the rotation center axis AX may have a line segment shape.

[0203] The second bushing surface region may include a second-first bushing surface region and a second-second bushing surface region provided to be spaced apart from each other in the circumferential direction, with the first bushing surface region interposed between the second-first bushing surface region and the second-second bushing surface region.

[0204] The second-first bushing surface region and the second-second bushing surface region may be arranged parallel to each other.

[0205] The base member may include: a base flange; and a base protrusion protruding upward from the base flange, the interference area may be defined on the outer peripheral surface of the base protrusion and have an outwardly protruding shape, the bushing member may include an upper bushing, the upper bushing is configured to define the upper area of ​​the bushing member and surround the outer peripheral surface of the base protrusion, the upper bushing may have a rotation interference groove, the rotation interference groove is defined in the inner peripheral surface of the upper bushing and is configured to accommodate the interference area, the interference area may be configured to interfere with the upper bushing at the boundary of the rotation interference groove based on the circumferential direction A, and the connecting portion may further include an elastic pressing member, the elastic pressing member is accommodated in the rotation interference groove and extends in the circumferential direction.

[0206] The recessed area can be defined in the outer peripheral surface of the protruding portion of the base and separated from the interference area in the circumferential direction A. The recessed area can have an inwardly recessed shape. The connecting portion can also include a latch member, which is rotatably connected to the upper sleeve, and at least a portion of the latch member is configured to be inserted into the recessed area when the sleeve member is connected to the base member so that the interference area is located in the rotation interference groove. One side end of the elastic pressing member can be set to face a side boundary of the rotation interference groove based on the circumferential direction A, and the other side end of the elastic pressing member can be set to face the interference area.

[0207] The body may include a guide groove area, which is formed in the outer surface of the body based on the radial direction perpendicular to the rotation center axis AX, the guide groove may have a shape extending along the circumferential direction A and radially concave inward, and the outer surface of the guide groove area based on the radial direction may include: a first guide groove surface area, the first guide groove surface area has a curved shape around the rotation center axis AX; and a plurality of second guide groove surface areas, each second guide groove surface area is connected to a side end of the first guide groove surface area and has a curvature different from the curvature of the first guide groove surface area.

[0208] A radially outer portion of a cross-sectional shape formed by cutting the second guide groove surface area in a direction perpendicular to the rotation center axis AX may have a line segment shape.

[0209] The second guide groove surface area may include a second-first guide groove surface area and a second-second guide groove surface area provided to be spaced apart from each other in the circumferential direction, with the first guide groove surface area interposed between the second-first guide groove surface area and the second-second guide groove surface area.

[0210] The second-first guide groove surface area and the second-second guide groove surface area may be provided to extend in directions intersecting each other.

[0211] In order to achieve the above-mentioned purpose, another aspect of the present disclosure provides a station, comprising: a station body portion; a station base portion fixed to one side of the station body portion; and a station retainer portion, having a shape protruding upward from the upper surface of the station base portion, wherein the assembly portion placement area is formed on the station base portion and has a shape concave inward in the horizontal direction, wherein the station retainer portion protrudes upward from the upper surface of the portion of the station base portion where the assembly portion placement area is formed, wherein the horizontal cross-sectional shape of the station retainer portion corresponds to the horizontal cross-sectional shape of the assembly portion placement area, and wherein the inner surface of the station retainer portion comprises: a first retainer portion surface area having a shape curved in a direction intersecting the upward / downward direction; and a plurality of second retainer portion surface areas, each of the second retainer portion surface areas being connected to one side end of the first retainer portion surface area and having a curvature different from the curvature of the first retainer portion surface area.

[0212] An inner portion of the cross-sectional shape formed by cutting the second holder portion surface area in a direction intersecting the upward / downward direction may have a line segment shape.

[0213] The second retainer portion surface region may include a second-first retainer portion surface region and a second-second retainer portion surface region provided to be spaced apart from each other in the circumferential direction, with the first retainer portion surface region interposed therebetween.

[0214] The second-first retainer portion surface area and the second-second retainer portion surface area may be arranged parallel to each other.

[0215] The first holder portion surface region may include a protruding pressing portion provided on an inner surface of the first holder portion surface region and having a shape protruding inwardly.

[0216] A distance between the protruding pressing portion and the second-first retainer portion surface area may be substantially equal to a distance between the protruding pressing portion and the second-second retainer portion surface area.

[0217] The station component may include: a moving block member, which is arranged in the inner surface of the assembly part placement area and is configured to be movable in a direction toward and away from the space defined by the assembly part placement area; and a plurality of pressing springs, each pressing spring being arranged at one side of the moving block member and configured to press the moving block member toward the space defined by the assembly part placement area.

[0218] The moving block member may include a first moving block member and a second moving block member, the first moving block member and the second moving block member are arranged to face each other, wherein a space defined by the assembly portion placement area is interposed between the first moving block member and the second moving block member, and the pressing spring may include a first pressing spring and a second pressing spring configured to press the first moving block member and the second moving block member.

[0219] The station base portion may include: a main base body; an auxiliary base body, which is arranged to be spaced apart from the main base body; and an elastic connecting body, which is configured to connect the main base body and the auxiliary base body, the assembly part placement area may be formed on the auxiliary base body, and the moving block member may be connected to the auxiliary base body.

[0220] A surface of the first moving block member facing the space defined by the assembly portion seating area and a surface of the second moving block member facing the space defined by the assembly portion seating area may be formed parallel to each other.

[0221] According to the present disclosure, it is possible to provide a structure for connecting a robot arm and a gripper that can adopt various types of connector structures that can be easily installed and removed compared to the related art, and provide a station that can easily connect and disconnect the connection structure.

[0222] The present disclosure has been described with reference to limited examples and drawings, but is not limited thereto. Within the technical spirit of the present disclosure and the scope equivalent to the appended claims, those skilled in the art to which the present disclosure belongs can implement the present disclosure in various forms.

Claims

1. An assembly structure comprising: Assembly Department; as well as a coupling portion configured to be attachable to or detachable from the assembling portion, Wherein, the assembly part includes: a body comprising a first side forming a first opening; and a flange fixedly coupled to the first side of the body, Wherein, the connecting portion includes: base; and a bushing configured to surround a periphery of the base and including a second side forming a second opening, wherein the flange is configured to penetrate the bushing in a direction facing the base so that the rotational movement of the flange around the rotational center axis of the assembly structure is restricted relative to the rotational movement of the base around the rotational center axis, wherein the bushing is configured to be rotatable relative to the base, wherein the bushing and the flange are configured to interfere with each other in a longitudinal direction parallel to the rotation center axis based on a rotation angle of the bushing relative to the base being within a predetermined range, and Wherein, the outer surface of the bushing in the radial direction perpendicular to the rotation center axis includes: a first bushing surface region having a first curvature relative to the central axis of rotation; and A second bushing surface region is connected to the first bushing surface region in a circumferential direction around the rotation center axis and has a second curvature with respect to the rotation center axis, the second curvature being different from the first curvature.

2. The assembly structure according to claim 1, wherein: A cross section of the second bushing surface area in a direction perpendicular to the rotation center axis includes a line segment shape.

3. The assembly structure according to claim 2, wherein: The second bushing surface region includes two second bushing surface regions spaced apart from each other in the circumferential direction, wherein the first bushing surface region is interposed between the two second bushing surface regions.

4. The assembly structure according to claim 3, wherein: The two second bushing surface areas are parallel to each other.

5. The assembly structure according to claim 1, wherein: The base comprises: a base flange; and a base protrusion protruding from the base flange, wherein the base protrusion comprises an outer peripheral surface, the outer peripheral surface comprising an interference area protruding radially outward, wherein the bushing includes a first bushing positioned away from the second opening in the longitudinal direction and surrounding an outer peripheral surface of the base protrusion, wherein the first bushing includes an inner peripheral surface formed with a rotation interference groove configured to accommodate the interference area, wherein the interference region is configured to interfere with the first bushing at a boundary of the rotation interference groove in the circumferential direction, and Wherein, the coupling portion further includes an elastic insert, which is accommodated in the rotation interference groove and extends in the circumferential direction.

6. The assembly structure according to claim 5, wherein: The outer peripheral surface of the base protrusion includes a recessed area, wherein: is recessed inwardly from the outer peripheral surface, and spaced apart from the interference region in the circumferential direction, wherein the coupling portion further comprises a latch rotatably coupled to the first bushing, and at least a portion of the latch is configured to be inserted into the recessed area when the bushing is coupled to the base such that the interference area is inserted into the rotation interference groove, wherein the first side end of the elastic insert faces a side boundary of the rotation interference groove in the circumferential direction, and Wherein, the second side end of the elastic insert faces the interference area.

7. The assembly structure according to claim 1, wherein: The body includes an outer surface formed with a guide groove extending in the circumferential direction and recessed radially inward, and Wherein, the outer surface of the guide groove includes: a first guide groove region having a third curvature relative to the rotational center axis; and A second guide groove region is connected to the first guide groove region in the circumferential direction and has a fourth curvature different from the third curvature.

8. The assembly structure according to claim 7, wherein: A cross section of the second guide groove region in a direction perpendicular to the rotation center axis includes a line segment shape.

9. The assembly structure according to claim 8, wherein: The second guide groove region includes two second guide groove regions spaced apart from each other in the circumferential direction, and the first guide groove region is interposed between the two second guide groove regions.

10. The assembly structure according to claim 9, wherein: The two second guide groove regions extend in directions intersecting each other.

11. A station for assembling and disassembling an assembly structure, comprising: Station body; a station base fixed to the first side of the station body; as well as a station holder protruding from a surface of the station base in a first direction away from the station body, The station base includes an assembly portion placement area, and the assembly portion placement area is recessed in a second direction perpendicular to the first direction. wherein the station holder protrudes upward from a portion of the surface of the station base corresponding to the assembly portion seating area, and wherein the station holder comprises an inner surface, the inner surface comprising: a first retainer surface region having a first curvature relative to the first direction; and A second retainer surface region is connected to the first retainer surface region in a circumferential direction around the first direction and has a second curvature different from the first curvature.

12. The station according to claim 11, wherein A cross-section of the second retainer surface area perpendicular to the first direction includes a line segment shape.

13. The station according to claim 12, wherein The second retainer surface region includes two second retainer surface regions spaced apart from each other in the circumferential direction, with the first retainer surface region interposed between the two second retainer surface regions.

14. The station according to claim 13, wherein The two second retainer surface areas are parallel to each other.

15. The station of claim 13, wherein: The first retainer surface region includes a protrusion that is provided on an inner surface of the first retainer surface region and protrudes inward.

16. The station according to claim 15, wherein The protrusions are substantially equidistant between the two second retainer surface areas.

17. The station of claim 11, wherein: The station base comprises: a moving block provided in an inner surface of the assembling portion seating area and configured to be movable toward and away from a space defined by the assembling portion seating area; and A pressing spring is provided at a side of the moving block and is configured to press the moving block toward the space.

18. The station of claim 17, wherein The moving block includes a first moving block and a second moving block, the first moving block and the second moving block face each other, the space is between the first moving block and the second moving block, and The pressing spring includes a first pressing spring configured to press the first moving block and a second pressing spring configured to press the second moving block.

19. The station of claim 17, wherein: The station comprises: Main base body; an auxiliary base body spaced apart from the main base body; and an elastic connecting body configured to connect the main base body and the auxiliary base body, Wherein, the auxiliary base body includes the assembly portion placement area, and Wherein, the moving block is coupled to the auxiliary base body.

20. The station of claim 18, wherein A first surface of the first moving block facing the space and a second surface of the second moving block facing the space are parallel to each other.

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