ASSEMBLY STRUCTURE AND STATION FOR ASSEMBLY AND DISMANTLING THIS STRUCTURE

Abstract

A station may include a station base part attached to one side of a station body part and having a mounting part seating portion with an inwardly recessed shape, and a station holder part having a shape that protrudes upward from the station base part, wherein an inner surface of the station holder part includes a first holder part surface portion having a shape curved in a direction intersecting an up / down direction, and second holder part surface portions each connected to a side end of the first holder part surface portion and having a curvature different from a curvature of the first holder part surface portion. The station may be configured for reversible mounting of a mounting structure.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] 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

[0002] The present disclosure relates to an assembly structure and a station for assembling and disassembling the same, and more particularly to an assembly structure capable of easily coupling and uncoupling a robot arm and a gripper configured to be coupled to one end of the robot arm, and a station capable of assembling and disassembling the assembly structure. BACKGROUND

[0003] Methods for connecting a gripper (or other tool / functional element) configured to perform a gripping function to a robot arm provided on a robot are roughly divided into i) a first method in which the gripper is directly mounted to the robot arm using a bolt member or the like, and ii) a second method in which a separate component configured to connect the gripper and the robot arm is used. Among the methods, i) the first method is performed by separating the gripper to be replaced from the robot arm by loosening a member such as a bolt, bringing another gripper into close contact with the robot arm, and then fastening the bolt. Furthermore, ii) the second method is performed by connecting the gripper and the robot arm using a quick-change type coupling member.

[0004] However, in the prior art, i) the first method is problematic in that it requires a significant amount of time to detach and reattach the gripper, and the first method is inconvenient to use. Furthermore, ii) the second method has the problem that the type of connector that can be used to electrically connect the gripper and the robot arm is limited in accordance with the structure and operating principle of the connecting member. For example, a method in which the gripper and the robot arm are coupled by rotating the coupling member has the problem that a plug-and-socket connection structure cannot be applied. DEPICTION

[0005] The following illustration is a simplified representation of certain features. The illustration is not a comprehensive overview and is not intended to identify important or critical elements. Systems, apparatus, and methods for a mounting structure and a station for assembling and disassembling that structure are described. A mounting structure may include a mounting member and a coupling member configured to be attached to or detached from the mounting member. The mounting member may include a body having a first side defining a first opening and a flange fixedly connected to a first side of the body. The coupling member may include a base and a sleeve configured to surround a perimeter of the base and having a second side defining a second opening.The flange may be configured to penetrate the sleeve in a direction facing the base, such that rotational mobility of the flange about a central axis of rotation of the mounting structure is restricted relative to rotational mobility of the base about the central axis of rotation. The sleeve may be configured to be rotatable relative to the base. The sleeve and the flange may be configured to engage in a longitudinal direction parallel to the central axis of rotation based on a rotation angle of the sleeve relative to the base being within a predetermined range.An outer surface of the sleeve may include, in a radial direction perpendicular to the rotational center axis, a first sleeve surface portion having a first curvature relative to the rotational center axis and a second sleeve surface portion connected to the first sleeve surface portion in a circumferential direction about the rotational center axis and having a second curvature relative to the rotational center axis that is different from the first curvature. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing the structure of a robot according to the present disclosure. Fig. 2 is a view showing the state before connecting a mounting part and a coupling part of a mounting structure according to the present disclosure, as viewed from above. Fig. 3 is a view showing the state before connection of the mounting part and the coupling part of the mounting structure according to the present disclosure, viewed from below. Fig. 4 is an exploded perspective view of the mounting structure according to the present disclosure. Fig. 5 is an enlarged view of a base member of the coupling part provided in the mounting structure according to the present disclosure. Fig. 6 is an enlarged view of an upper sleeve of the coupling part provided in the mounting structure according to the present disclosure. Fig. 7 is an enlarged view of a lower sleeve of the coupling part provided in the mounting structure according to the present disclosure. Fig. 8 is a view showing the structure of a horizontal cross section of the coupling part according to the present disclosure and illustrating a state in which a sleeve member is fixedly connected to the base member by a locking member. Fig. 9 is a view showing the horizontal cross-sectional structure of the coupling part according to the present disclosure and a state in which the sleeve member and the base member are uncoupled. Fig. 10 is a vertical cross-sectional view showing the coupling part according to the present disclosure and illustrating a state established before the sleeve member is moved upward by a bolt-nut coupling between a bolt member and a slide member. Fig. 11 is a vertical cross-sectional view showing the coupling part according to the present disclosure and illustrating a state established after the sleeve member is moved upward by the bolt-nut coupling between the bolt member and the slide member. Fig. 12 is a vertical cross-sectional view showing the mounting structure according to the present disclosure and illustrating a state established after the mounting part and the coupling part are completely coupled. Fig. 13 is a perspective view of a station according to the present disclosure. Fig. 14 is an enlarged cross-sectional view showing a first holder part surface area formed on a station holder part of the station according to the present disclosure. Fig. 15 is an enlarged cross-sectional view showing a mounting part seating portion of a station base part of the station and its peripheral components according to the present disclosure. Fig. 16 is a plan view showing another example of the station base part of the station according to the present disclosure. Fig. 17 is a view illustrating a state in which a robot arm having the coupling part enters the station in which a gripper having the mounting part is seated on the station according to the present disclosure. Fig. 18 is a cross-sectional view showing a state of an inside of the coupling part when the coupling part is inserted into the station in Fig. 17 enters. Fig. 19 is a cross-sectional view showing a state of the on-station Fig. 17 shows the assembly part. Fig. 20 is a view illustrating a state in which the robot arm is rotated so that the coupling part is in a state in which it can be coupled to the gripper after the coupling part has entered the station according to the present disclosure. Fig. Fig. 21 is a cross-sectional view showing a state of the inside of the coupling part when the robot arm is in Fig. 20 is rotated. Fig. 22 is a view showing a state in which the robot arm is moved downward and the coupling part is coupled to the mounting part in the station according to the present disclosure. Fig. Fig. 23 is a view showing a state in which the coupling part and the mounting part are spaced apart from each other before the robot arm is moved into Fig. 22 is moved downwards. Fig. 24 is a view showing a state in which the robot arm is in Fig. 22 is moved downwards and the coupling part and the mounting part are coupled together. Fig. 25 is a view showing a state in which the robot arm rotates in a state in which the coupling part and the mounting part are coupled to each other in the station according to the present disclosure. Fig. 26 is a cross-sectional view showing a state of the on-station Fig. 25 shows the assembly part. Fig. 27 is a view showing a state where the robot arm and the gripper are separated from the station. DETAILED DESCRIPTION

[0006] Hereinafter, a robot and a mounting structure according to the present disclosure will be described with reference to the drawings.

[0007] In describing examples of the present disclosure, well-known functions or structures have not been described in detail since a detailed description might unnecessarily obscure the essence of the present disclosure. Like components in the drawings are designated by the same reference numerals, and repeated or duplicate descriptions of the same elements are omitted.

[0008] When an element is referred to in this disclosure as simply "connected to," "coupled to," or "linked to" another element, it may mean that an element is "directly connected to," "directly coupled to," or "directly linked to" another element, or it may mean that an element is connected, coupled, or linked to another element with another element interposed therebetween. Furthermore, when a first element "comprises," "includes," or "has" another element, the first element may also include other elements, unless explicitly stated otherwise.

[0009] In the present disclosure, the terms "first," "second," etc., are used only to distinguish one element from another and do not limit the order or degree of importance between the elements unless expressly stated otherwise. Accordingly, a first element in one example could be referred to as a second element in another example, and similarly, a second element in one example could be referred to as a first element in another example, without departing from the scope of the present disclosure.

[0010] In this disclosure, elements are distinguished from one another to clearly describe the individual features, but this does not necessarily mean that the elements are separate. In other words, multiple elements may be integrated into a single hardware or software unit, or an element may be distributed among and formed by multiple hardware or software units. Therefore, such integrated or distributed examples are within the scope of this disclosure, even if not stated otherwise.

[0011] In the present disclosure, the elements described in the various examples do not necessarily represent essential elements, and some of them may be optional elements. Therefore, an example formed from a subset of the elements described in an example also falls within the scope of the present disclosure. Examples that include further elements in addition to the elements described in the various examples also fall within the scope of the present disclosure.

[0012] The advantages and features of the present disclosure, and the means for achieving them, should become apparent to those skilled in the art from examples of the present disclosure, which are 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 limited to the examples set forth herein. Rather, the examples described herein serve to make this disclosure more complete and to convey the scope of the present disclosure to one skilled in the art to which the present disclosure pertains.

[0013] In the present disclosure, each of the phrases 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 of the sentences 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 or all possible combinations of the elements listed together in the corresponding phrase.

[0014] In this description, terms such as "top," "bottom," etc., are used to facilitate explanation. When the drawings depicted in this description are inverted or rotated, the positional relationships described in the description may be understood inverted or rotated. When a component, device, element, or the like of the present disclosure is described as having a purpose or performing an operation, function, or the like, the component, device, or element shall be considered herein to be "configured to" fulfill that purpose or perform that operation or function. Robot and assembly structure

[0015] Fig. 1 is a view showing the structure of a robot according to the present disclosure.

[0016] With reference to Fig. 1, a 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 grasping an object.

[0017] The robot 1 may include a mounting structure 10 capable of attaching and detaching the robot arm 2 and the gripper 3. Specifically, as described herein, the mounting structure 10 can facilitate the 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 uncoupled by an external force. The structure of the mounting structure 10 will be described in detail below with reference to the drawings. However, the mounting structure 10 can be used not only for attaching and detaching the robot arm and the gripper, but also, in the same way, for a structure for coupling two components (which, for example, need to be reversibly attached and detached).

[0018] Fig. 2 is a view showing the state before coupling of a mounting part and a coupling part of the mounting structure according to the present disclosure, viewed from above, and Fig. 3 is a view showing the state before coupling the mounting part and the coupling part of the mounting structure according to the present disclosure, viewed from below. Further, Fig. 4 is an exploded perspective view of the mounting structure according to the present disclosure.

[0019] With reference to the Fig. 2 to 4, the mounting structure 10 may comprise a mounting part 100 and a coupling part 200 configured to be attached to and detached from the mounting part 100 (for example, from above the mounting part 100 into the Fig. 2-4). For example, when the mounting structure 10 is applied to a robot, the mounting part 100 can be coupled to the gripper coupled to one side of the robot arm and configured to perform the gripping function, and the coupling part 200 can be coupled to the robot arm provided on the robot. Therefore, the robot arm and the gripper can be mounted together by coupling the mounting part 100 and the coupling part 200 of the mounting structure 10. The robot arm and the gripper can also be separated from each other by uncoupling the mounting part 100 and the coupling part 200.

[0020] With reference to the Fig. 2 to 4, the mounting part 100 may include a body 110 configured to define a body of the mounting part 100. The body 110 may define a space therein and be open on a first (e.g., upper) side. The mounting part 100 may also include a flange 120 connected to an upper portion of the body 110 (e.g., at the opening in the first side of the body 110 and / or at the opened first side of the body 110). The flange 120 may, for example, be fixedly connected to the body 110.

[0021] The coupling part 200 may include a base member 210 (e.g., a base) and a sleeve member 220 (e.g., a sleeve) provided to surround a periphery of the base member 210 and open at a lower side thereof. To couple the mounting part 100 and the coupling part 200, a part of the mounting part 100 may be inserted into the coupling part 200 through a space opened at the second (e.g., lower) side of the sleeve member 220. For simplicity, the following description will focus on the case where the coupling part 200 is provided in a lower region of the mounting part 100.However, during an actual operation of using the mounting structure 10, a configuration in which the coupling part 200 is provided in an upper portion of the mounting part 100, or the mounting part 100 and the coupling part 200 are fitted to each other in the horizontal direction may be used as needed.

[0022] With reference to the Fig. 2 to 4, the flange 120 can penetrate the sleeve element 220 and face the base element 210 in an up / down direction H of the mounting structure 10. The sleeve element 220 can be configured to be rotatable relative to a base flange 212 and the mounting part 100. When describing relative rotations between the sleeve element 220 and the base flange 212 and between the sleeve element 220 and the mounting part 100, a center of rotational movement and / or rotational mobility is referred to herein as the rotational center axis AX of the mounting structure 10. In the event that the mounting part 100 and the coupling part 200 are arranged parallel to the up / down direction H, the rotational center axis AX can also be defined to be parallel to the up / down direction H.

[0023] If the mounting part 100 and the coupling part 200 are fully coupled, the mounting part 100 and the base member 210 may be coupled such that the mounting part 100 and the base member 210 cannot rotate relative to each other. In other words, the flange 120 may penetrate the sleeve member 220 and face a lower surface of the base member 210, and the rotational mobility of the flange 120 about the rotational center axis AX of the mounting structure 10 with respect to the base member 210 may be restricted.

[0024] With reference to the Fig. 2 to 4, the coupling part 200 may include one or more pin elements 230 connected to the lower surface of the base element 210 and projecting downward from the lower surface of the base element 210 to satisfy the condition that rotational mobility is restricted. For example, a recessed portion may be defined in the lower surface of the base element 210 and have a shape corresponding to a size of the pin element 230, and the pin element 230 may be inserted into the recessed portion defined in the lower surface of the base element 210. At least a portion of the pin element 230 may project downward from the base element 210.

[0025] A pin insertion groove 122 may be defined in an upper surface of the flange 120 and have a downwardly recessed shape so that the pin element 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 element 230. Therefore, a portion of the pin element 230 that protrudes downward from the base element 210 can be inserted into the pin insertion groove 122. The rotational mobility between the base element 210 and the flange 120 may be restricted by engagement between the pin element 230 and the flange 120, as well as by engagement between the pin element 230 and the base element 210. Fig. 3 and Fig. 4, for example, it is shown that the one or more pin elements 230 are provided as two pin elements 230.

[0026] Fig. 5 is an enlarged view of the base member of the coupling part provided in the mounting structure according to the present disclosure.

[0027] With reference to Fig. 5, the base member 210 may be divided into a plurality of regions in the up / down direction H. For example, the base member 210 may have the base flange 212 with the lower surface to which the pin member 230 (see Fig. 3 and the like) and having a base projection portion 214 (for example, projection) projecting upward from the base flange 212. The base flange 212 and the base projection portion 214 can be distinguished by a relative difference in diameter. That is, as shown in Fig. 5, the base flange 212 and the base protrusion portion 214 may each have an approximately circular plate shape. In this case, the diameter of the base flange 212 may be larger than the diameter of the base protrusion portion 214. However, the configuration in which the base flange 212 and the base protrusion portion 214 each have an approximately circular plate does not mean that the two components have perfectly circular plate shapes. For example, the base protrusion portion 214 may have an approximately circular plate shape, but may also have components and / or portions that either protrude outward or are recessed inward from an outer peripheral surface of the base protrusion portion 214, or the like.A circumferential surface of any component can be understood as a surface among the surfaces of the component that is defined in a direction that intersects (in particular, perpendicularly intersects) a radial direction perpendicular to the rotational center axis AX of the mounting structure 10, excluding the upper and lower surfaces of the component. Furthermore, a direction in which a circumferential surface of any component extends perpendicular to the rotational center axis AX can be defined as the circumferential direction A of the mounting structure 10.

[0028] With continued reference to Fig. 5, an engagement portion 214a may be defined on the outer peripheral surface of the base protrusion portion 214 and may have a shape that protrudes outward in the radial direction. The engagement portion 214a may be configured to restrict the rotational movement / movability of the sleeve member 220 to a predetermined rotation angle range by engaging the sleeve member 220 if the sleeve member 220 is about to deviate from the predetermined rotation angle range and rotate relative to the base protrusion portion 214. A detailed shape of the sleeve member 220 will be described below.

[0029] Fig. 6 is an enlarged view of an upper sleeve of the coupling part provided in the mounting structure according to the present disclosure, and Fig. 7 is an enlarged view of a lower sleeve of the coupling part provided in the mounting structure according to the present disclosure.

[0030] As in the Fig. 4, Fig. 6 and Fig. As shown in Figure 7, the sleeve member 220 may be divided into a plurality of components. That is, the sleeve member 220 may include an upper sleeve 222 (e.g., a first sleeve) configured to define an upper region of the sleeve member 220 and surround an outer peripheral surface of the base protrusion portion 214, and a lower sleeve 224 provided below the upper sleeve 222, configured to surround the outer peripheral surface of the base flange 212, and fixedly connected to the upper sleeve 222. For example, the upper sleeve 222 and the lower sleeve 224 may be fixedly coupled to each other by screwing.

[0031] The upper sleeve 222 may have a rotational engagement groove 222a. The rotational engagement groove 222a may be defined in an inner peripheral surface of the upper sleeve 222, which is a surface facing the base protrusion portion 214. The engagement portion 214a of the base protrusion portion 214 may be received in the rotational engagement groove 222a. The relative rotational movement of the base member 210 with respect to the sleeve member 220 may be performed within a range in which the engagement portion 214a and the rotational engagement groove 222a do not engage with each other. That is, the engagement portion 214a and the rotational engagement groove 222a may be configured such that the sleeve member 220, including the upper sleeve 222, can perform the relative rotational movement within the predetermined rotation angle range without rotating 360 degrees relative to the base member 210.The engagement portion 214a may be provided to engage with the upper sleeve 222 at a boundary of the rotational engagement groove 222a with respect to the circumferential direction A. That is, in the event that the engagement portion 214a is about to move in a direction deviating from the boundary of the rotational engagement groove 222a with respect to the circumferential direction A, the engagement portion 214a engages with an inner surface defined at one side end of the rotational engagement groove 222a with respect to the circumferential direction A, so that the relative rotational movement / movability between the sleeve member 220 and the base member 210 is no longer performed.

[0032] With reference to the Fig. 2, Fig. 3 and Fig. 5, a recessed portion 214b may be defined in the outer peripheral surface of the base protrusion portion 214 of the mounting structure 10 according to the present disclosure, and the recessed portion 214b may be provided so as to be spaced apart from the engaging portion 214a in the circumferential direction A and have an inwardly recessed shape. Furthermore, the coupling member 200 may further include a locking member 240 (e.g., a latching member) rotatably connected to the upper sleeve 222. In a state where the sleeve member 220 is coupled to the base member 210 such that the engaging portion 214a is placed in the rotational engagement groove 222a, at least a portion of the locking member 240 may be inserted into the recessed portion 214b.The locking member 240 may be configured to be inserted into the recessed portion 214b when the sleeve member 220 is disposed in a predetermined rotational position relative to the base member 210, so that engagement between the locking member 240 and the recessed portion 214b can prevent the sleeve member 220 from further rotating relative to the base member 210. That is, the locking member 240 may be configured to be inserted into the recessed portion 214b to firmly couple the sleeve member 220 and the base member 210, as long as the engagement between the rotation engagement groove 222a and the engagement portion 214a can limit the range in which relative rotation between the sleeve member 220 and the base member 210 is permitted. When the locking element 240 is inserted into the recessed area 214b, the mounting part 100 and the coupling part 200 are firmly coupled to each other.

[0033] For example, the locking element 240 may include an insertion portion 240a having a shape that protrudes toward the rotational center axis AX to be inserted into the recessed portion 214b. The insertion portion 240a may have a size and shape that corresponds to the recessed portion 214b.

[0034] With reference to Fig. 4 and Fig. 6, the coupling part 200 of the mounting structure 10 may further include an elastic pressing member 295 (e.g., an elastic insert, an elastic material, etc.) received in the rotation engagement groove 222a and extending in the circumferential direction of the mounting structure 10, that is, in a direction in which the elastic pressing member 295 surrounds the rotation center axis AX.

[0035] The elastic pressure element 295 may be configured to press the engagement portion 214a by being compressed by changing the position of the engagement portion 214a relative to the rotational engagement groove 222a. In particular, with reference to Fig. 4 and Fig. 6, one side end of the elastic pressing member 295 may be provided to face a side boundary of the rotational engagement groove 222a with respect to the circumferential direction A, and the other side end of the elastic pressing member 295 may be provided to face the engagement portion 214a. Therefore, when the engagement portion 214a moves in a direction of a side boundary of the rotational engagement groove 222a based on the circumferential direction A as the base member 210 rotates, the elastic pressing member 295 may be compressed, and the compressed elastic pressing member 295 presses the engagement portion 214a in a direction opposite to the direction in which the engagement portion 214a rotates.Therefore, when an external force that rotated the base member 210 is removed, the base member 210 can be returned to a state established before the base member 210 was rotated by a pressing force of the elastic pressing member 295. Therefore, the elastic pressing member 295 can be configured such that the mounting part 100 and the coupling part 200 can be coupled more securely and firmly when the locking member 240 is inserted into the recessed portion 214b.

[0036] With reference to the Fig. 2 to 4, an outer surface of the sleeve member 220 provided in the mounting structure 10 may be divided into a plurality of regions depending on the shape thereof.

[0037] In particular, the outer surface of the sleeve element 220, with respect to a radial direction perpendicular to the rotational center axis AX, may comprise first sleeve surface regions 220-1, each having a curved shape surrounding the rotational center axis AX (for example, a first curvature relative to or in the direction of the rotational center axis), and one or more second sleeve surface regions 220-2, each connected to (for example, between and / or to a side end) the first sleeve surface region 220-1 and having a second curvature that differs from the first curvature of the first sleeve surface region 220-1. As shown in the Fig. 2 to 4, for example, the first sleeve surface regions 220-1 and the second sleeve surface regions 220-2 may be formed on the upper sleeve 222 and the lower sleeve 224.

[0038] Specifically, a radially outer portion of a cross-sectional shape created by cutting the first sleeve surface portion 220-1 in a direction perpendicular to the rotation center axis AX may have a circumferential shape, and a radially outer portion of a cross-sectional shape created by cutting the second sleeve surface portion 220-2 in the 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 sleeve surface portion 220-1 has the shape of a part of a cylinder, while the second sleeve surface portion 220-2 has a planar shape.

[0039] As described below, the second sleeve surface portion 220-2 may be configured to prevent the sleeve member 220 from rotating as the base member 210 rotates during the process of a station coupling and uncoupling the mounting member 100 and the coupling member 200. Therefore, during the process of coupling and uncoupling the mounting member 100 and the coupling member 200, the first sleeve surface portion 220-1 and the second sleeve surface portion 220-2 may each be in close contact with a first holder member surface portion 352 and a second holder member surface portion 354 of the station, which are described further below.

[0040] The second sleeve surface portion 220-2 may be provided as a plurality of second sleeve surface portions 220-2. Specifically, the second sleeve surface portions 220-2 may include a second first sleeve surface portion 220-2a and a second second sleeve surface portion 220-2b, which are provided such that they are spaced apart from each other in the circumferential direction of the first sleeve surface portion, with the first sleeve surface portion 220-1 interposed therebetween. Specifically, the second first sleeve surface portion 220-2a and the second second sleeve surface portion 220-2b may be arranged parallel to each other. The second first sleeve surface portion 220-2a and the second second sleeve surface portion 220-2b may be shaped such that they are symmetrical with respect to the rotational center axis AX.

[0041] With reference to the Fig. 5 and Fig. 6, the upper sleeve 222 may include a locking element receiving groove 222b configured to receive the locking element 240 and having a recessed shape in the up / down direction H (e.g., a longitudinal direction parallel to the rotational center axis AX). That is, the locking element receiving groove 222b may be configured to define an internal space for receiving the locking element 240. Fig. For example, Figure 6 shows a state in which the locking element receiving groove 222b has a downwardly open shape. The locking element receiving groove 222b may include a locking element rotation shaft 222b-1 configured to penetrate the locking element 240. The locking element rotation shaft 222b-1 may serve as the rotational center axis of the locking element 240. Fig. For example, Fig. 6 shows a state in which the locking element rotating shaft 222b-1 protrudes downward from an upper surface of the locking element receiving groove 222b.

[0042] With reference to the Fig. 2 to 4, the body 110 of the mounting part 100 may have an approximately cylindrical shape, and a portion of the body 110 of the mounting part 100 may have a concave recessed portion.

[0043] Specifically, the body 110 may include a guide groove portion 112 formed in an outer surface of the body 110 with respect to the radial direction perpendicular to the rotational center axis AX, and the guide groove portion 112 may have a shape extending in the circumferential direction A and recessed radially inward. In this case, an outer surface of the guide groove portion 112 may be divided into a plurality of portions depending on their shape.

[0044] Specifically, the outer surface of the guide groove portion 112 in the radial direction may include first guide groove surface portions 112a each having a curved shape surrounding the rotation center axis AX, and second guide groove surface portions 112b each connected to one side end of the first guide groove surface portion 112a and having a curvature different from a curvature of the first guide groove surface portion 112a.

[0045] Specifically, a radially outer portion having a cross-sectional shape created by cutting the first guide groove surface portion 112a in the direction perpendicular to the rotation center axis AX may have a circumferential shape, and a radially outer portion having a cross-sectional shape created by cutting the second guide groove surface portion 112b in the 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 portion 112a has the shape of a part of a cylinder, while the second guide groove surface portion 112b has a planar shape.

[0046] As described below, the second guide groove surface portion 112b may be a portion that sits on a mounting member seating portion of a station base during the process of coupling and uncoupling the station mounting member 100 and the coupling member 200. Specifically, the second guide groove surface portion 112b may be provided facing a moving block member of the station base, which will be described below.

[0047] The second guide groove surface portion 112b may be provided as a plurality of second guide groove surface portions 112b. Specifically, the second guide groove surface portions 112b may include a second-first guide groove surface portion 112b-1 and a second-second guide groove surface portion 112b-2, which are provided such that they are spaced apart from each other in the circumferential direction, with the first guide groove surface portion 112a disposed therebetween. As shown in the Fig. 2 and Fig. 4, the second-first guide groove surface portion 112b-1 and the second-second guide groove surface portion 112b-2 may be provided to extend in directions that intersect each other. That is, the second-first guide groove surface portion 112b-1 and the second-second guide groove surface portion 112b-2 may not be parallel to each other.

[0048] Fig. Fig. 8 is a view illustrating a structure of a horizontal cross section of the coupling part and illustrating a state in which the sleeve member is fixedly connected to the base member by the locking member, and Fig. 9 is a view illustrating the structure of the horizontal cross section of the coupling part and illustrating a state in which the sleeve member and the base member are uncoupled.

[0049] The mounting structure 10 may further have a configuration that provides a force that allows the locking member 240 to press the recessed portion 214b, so that the state in which the locking member 240 is inserted into the recessed portion 214b can be maintained even after the locking member 240 is inserted into the recessed portion 214b. Specifically, the coupling part 200 may further include an elastic member 250. The elastic member 250 is provided so as to face the insertion portion 240a of the locking member 240 with the locking member rotation shaft 222b-1 interposed therebetween, and the elastic member 250 is provided between the locking member 240 and the outer peripheral surface of the base protrusion portion 214. The elastic member 250 may be configured to urge the locking member 240 in a direction (i.e., the radial direction) away from the rotational center axis AX.Therefore, the insertion portion 240a of the locking member 240 can press the recessed portion 214b by the force exerted by the elastic member 250 to press the locking member 240, thereby preventing the insertion portion 240a of the locking member 240 from separating from the recessed portion 214b.

[0050] According to an exemplary example of the present disclosure, a user can move or manipulate the locking element 240 in a direction away from the insertion portion 240a. That is, when the user presses the portion of the locking element 240 facing the insertion portion 240a with the locking element rotation shaft 222b-1 interposed therebetween, the insertion portion 240a can move in the direction away from the recessed portion 214b while overcoming a restoring force of the elastic member 250. In this case, as shown in FIGS. Fig. 8 and Fig. 9, an outer surface of the portion of the locking member 240 facing the elastic member 250 is exposed to the outside, so that the user can easily operate the locking member 240. This configuration can be understood as a configuration in which the receiving space for the locking member 240 defined by the locking member receiving groove 222b is opened in the direction (i.e., in the radial direction) away from the rotational center axis AX. In this case, since the user can push the portion of the locking member 240 exposed to the outside toward the rotational center axis AX as if the user were pressing a button, it is possible to easily adjust a degree to which the insertion portion 240a and the depressed portion 214b are spaced from each other, and it is possible to easily uncouple the mounting part 100 and the coupling part 200.

[0051] With further reference to Fig. 7, the lower sleeve 224 may have flange insertion portions 224a defined in a part of an inner peripheral surface of the lower sleeve 224 and each having an outwardly recessed shape, ie, in the direction away from the rotational center axis AX. In addition, the flange 120 may, as shown in FIGS. Fig. 2 to 4, have flange protrusion portions 124 that protrude outward from the outer peripheral surface of the flange 120, i.e., in the direction away from the rotational center axis AX. In this case, according to the present disclosure, a width of the flange insertion portion 224a in the circumferential direction A of the mounting structure 10 may be greater than a width of the flange protrusion portion 124 in the circumferential direction A or may correspond to the width of the flange protrusion portion 124. In particular, the width of the flange insertion portion 224a in the circumferential direction A may be slightly greater than or substantially equal to the width of the flange protrusion portion 124 in the circumferential direction A. This serves to allow the flange protrusion portion 124 to pass through the flange insertion portion 224a, i.e.,to allow the flange 120 to pass through the lower sleeve 224 only in a case where the flange projection portion 124 is arranged in a predetermined rotated position relative to the lower sleeve 224.

[0052] According to the present disclosure, during a process in which the mounting part 100 moves upward from the lower portion of the coupling part 200 during the process of coupling the mounting part 100 and the coupling part 200, the flange protrusion portion 124 may pass through a space defined by the flange insertion portion 224a, and then the flange 120 may come into close contact with a lower surface of the base flange 212.Specifically, in the 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 protrusion portions 124 may be opposed in the up / down direction to the spaces defined by the flange insertion portions 224a, and the flange protrusion portions 124 may be defined above the spaces defined by the flange insertion portions 224a. This configuration can be understood as a configuration in which, when the pin member 230 is inserted into the pin insertion groove 122, the flange protrusion portion 124 may pass through the flange insertion portion 224a and be positioned in an upper portion of the flange insertion portion 224a.

[0053] The mounting structure 10 may have a configuration that prevents the mounting part 100 and the coupling part 200 from separating from each other in the up / down direction H when the mounting part 100 and the coupling part 200 are fully coupled. Specifically, according to the present disclosure, the sleeve member 220 and the flange 120 may be configured to interfere with each other in the up / down direction H when a rotation angle of the sleeve member 220 relative to the base member 210 is within a predetermined range.

[0054] Specifically, the engagement between the flange 120 and the sleeve member 220 in the up / down direction H may occur when the sleeve member 220 is rotated after the flange protrusion portion 124 defined on the flange 120 passes through the flange insertion portion 224a and the flange protrusion portion 124 reaches an upper side of the flange insertion portion 224a. That is, when the sleeve member 220 is rotated by a predetermined rotation angle after the flange protrusion portions 124 pass through the flange insertion portions 224a and the flange protrusion portions 124 reach the upper sides of the flange insertion portions 224a, at least a part of a lower portion of each of the flange protrusion portions 124 no longer faces each of the flange insertion portions 224a, and the flange protrusion portions 124 face the sleeve protrusion portions 224b (see Fig. 3 and Fig. 7), each having a shape that extends in the circumferential direction A from one end of the flange insertion portion 224a with respect to the circumferential direction A on the inner peripheral surface of the lower sleeve 224 and protrudes inward toward the rotational center axis AX. That is, the sleeve protrusion portion 224b may be defined in a region of the inner peripheral surface of the lower sleeve 224 where the flange insertion portion 224a is not defined. The inner peripheral surface of the lower sleeve 224 may have a concave-convex structure in which the flange insertion portions 224a and the sleeve protrusion portions 224b are alternately defined in the circumferential direction A.

[0055] In other words, according to the present disclosure, the engagement between the flange protrusion portion 124 and the sleeve protrusion portion 224b can prevent the mounting part 100 including the flange 120 and the coupling part 200 including the lower sleeve 224 from separating from each other in the up / down 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 connected 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 up and down.Therefore, in the case where the mounting member 100 and the coupling member 200 are coupled, a state can be maintained in which the flange projection portion 124 and the sleeve projection portion 224b are in close contact with each other while pressing each other, so that the mounting member 100 and the coupling member 200 can be coupled more stably.

[0056] As in Fig. 8, according to the example of the present disclosure, the insertion portion 240a of the locking member 240 may face the recessed portion 214b of the base protrusion portion 214 in the state in which the sleeve member 220 is rotated with respect to the base member 210, so that the engagement portion 214a of the base member 210 is provided adjacent to a boundary of one side of the rotation engagement groove 222a of the upper sleeve 222 with respect to the circumferential direction A. That is, the insertion portion 240a may be inserted into the recessed portion 214b in the state in Fig. 8. Specifically, in the state where the insertion portion 240a is inserted into the recessed portion 214b, the boundary of one side of the rotation engagement groove 222a with respect to the circumferential direction A may be in contact with the engagement portion 214a.

[0057] In contrast, as in Fig. 9, according to the example of the present disclosure, the insertion portion 240a of the locking member 240 in the state in which the sleeve member 220 is rotated relative to the base member 210 may be spaced apart from the recessed portion 214b of the base protrusion portion 214 in the circumferential direction A, so that the engagement portion 214a of the base member 210 is provided adjacent to a boundary of the other side of the rotation engagement groove 222a of the upper sleeve 222 based on the circumferential direction A. In this case, the entire flange protrusion portion 124 of the flange 120 may be received in the flange insertion portion 224a of the lower sleeve 224 when the mounting structure 10 is mounted from above on the mounting structure 10 in the state in Fig. 9 is considered as in Fig. 3. That is, the Fig. The state illustrated in FIG. 9 may correspond to a state in which the flange protrusion portion 124 may pass through the flange insertion portion 224a during the process of coupling the mounting part 100 including the flange 120 to the coupling part 200 including the sleeve member 220. Specifically, the periphery of the other side of the rotation engagement groove 222a may be in contact with the engagement portion 214a in the state in which the entire flange protrusion portion 124 of the flange 120 is provided to be received in the flange insertion portion 224a of the lower sleeve 224 when the mounting structure 10 is viewed from above.

[0058] In order to more securely couple the base member 210 and the sleeve member 220, the mounting structure 10 according to the present disclosure may have another configuration in addition to the locking member 240.

[0059] Fig. 10 is a vertical cross-sectional view illustrating the coupling part and illustrating a state established before the sleeve member is moved upward by bolt-nut coupling between a bolt member and a slide member, and Fig. 11 is a vertical cross-sectional view illustrating the coupling part and illustrating a state established after the sleeve member is moved upward by bolt-nut coupling between the bolt member and the slide member.

[0060] With reference to the Fig. 10 and Fig. 11, the coupling part 200 may further comprise a sliding element 260 received in the upper sleeve 222 and a bolt element 270 configured to be inserted into an outer peripheral surface of the upper sleeve 222 and the sliding element 260. In particular, a sliding element coupling groove 222c (see Fig. 6). The coupling groove 222c for the sliding element has a recessed shape and defines a space in which the sliding element 260 is received. The shape and size of the coupling groove 222c can correspond to the shape and size of the sliding element 260.

[0061] A coupling force between the base member 210 and the sleeve member 220 can be increased by adjusting the degree to which the sliding member 260 and the bolt member 270 are coupled to each other. This makes it possible to realize the increased coupling between the coupling part 200 and the flange 120.

[0062] In particular, according to the present disclosure, the upper surface of the flange 120 can be pressed against and in close contact with the lower surface of the base flange 212 of the coupling part 200 by means of the sliding element 260 and the bolt element 270, so that a clamping connection can be established between the coupling part 200 and the flange 120.

[0063] To achieve the above-mentioned object, according to the present disclosure, the sleeve member 220 can be moved in the up / down direction H with respect to the base member 210 by adjusting a degree of bolt-nut coupling between the slide member 260 and the bolt member 270. In particular, with reference to the Fig. 4, Fig. 10 and Fig. 11, the upper surface of the sliding member 260 may have the shape of an inclined surface with a height in the up / down direction H that decreases in the direction away from the rotational center axis AX, i.e., in the radial direction. The portion of the sliding member connecting groove 222c facing the upper surface of the sliding member 260 may have 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.

[0064] Because the upper surface of the slide member 260 has the inclined surface and the slide member coupling groove 222c has the shape corresponding to the inclined surface, the sleeve member 220 can be moved in the up / down direction H with respect to the base member 210 by engagement between the slide member 260 and the slide member coupling groove 222c.

[0065] That is, when the bolt member 270 rotates and the bolt-nut coupling between the bolt member 270 and the slide member 260 is adjusted, a relative horizontal position between the bolt member 270 and the slide member 260 varies. In this case, since the bolt member 270 penetrates the upper sleeve 222 and is coupled to the slide member 260, a horizontal movement of the bolt member 270 is restricted by a side surface of the upper sleeve 222, but the slide member 260 moves in the horizontal direction. To enable the horizontal movement of the slide member 260, a horizontal width of the internal space defined by the slide member coupling groove 222c may be larger than a horizontal width of the slide member 260.

[0066] Therefore, when the slide member 260 moves in the horizontal direction, the sleeve member 220 having the upper sleeve 222 accommodating the slide member 260 is moved in the up / down direction with respect to the base member 210 by engagement between the inclined surface defined on the upper surface of the slide member 260 and the slide member coupling groove 222c facing the inclined surface.

[0067] For example, when the bolt member 270 rotates and the sliding member 260 moves toward the rotational center axis AX, the sleeve member 220 is moved downwards with respect to the base member 210 (before the clamping coupling), as shown in Fig. 10. In contrast, the sleeve member 220 is moved upwards relative to the base member 210 (clamping coupling) when the bolt member 270 rotates and the sliding member 260 moves in the direction away from the rotational center axis AX, as shown in Fig. 11 shown.

[0068] In order to create a path along which the sleeve member 220 can be moved by the rotation of the bolt member 270 in the up / down direction H, a size in the up / down direction H of a hole defined in a portion of the upper sleeve 222 into which the bolt member 270 is inserted may be larger than a size in the up / down direction H of a portion of the bolt member 270 that is inserted into the upper sleeve 222. In addition, a size in the up / down direction H of a hole defined in a portion of the sliding member 260 into which the bolt member 270 is inserted may correspond to a size in the up / down direction H of a portion of the bolt member 270 that is inserted into the sliding member 260. As shown in the Fig. 10 and Fig. 11, according to the example of the present disclosure, a lower surface of the sliding member 260 may be provided to be in close contact with an upper surface of the base flange 212, and the lower surface of the sliding member 260 may be perpendicular to the rotational center axis AX. That is, the lower surface of the sliding member 260 may not have an inclined surface.

[0069] In contrast to the Fig. 10 and Fig. 11, the inclined surface defined on the slide member 260 may be defined on the lower surface of the slide member 260. That is, according to another example of the present disclosure, the lower surface of the slide member 260 may have an inclined surface shape with a height in the up / down direction H that increases in the direction away from the rotation center axis AX. The lower surface of the slide member 260 may be provided to be in close contact with the upper surface of the base flange 212. In this case, a portion of the upper surface of the base flange 212 facing the lower surface of the slide member 260 may have a shape corresponding to the inclined surface defined on the lower surface of the slide member 260.Furthermore, the upper surface of the sliding member 260 may be provided to be in close contact with the connecting groove 222c of the sliding member, and the upper surface of the sliding member 260 may be perpendicular to the rotation center axis AX. In a similar principle to the case where the inclined surface is defined on the upper surface of the sliding member 260, the relative movement between the sleeve member 220 and the base member 210 in the up / down direction H can also be performed in the case where the inclined surface is defined on the lower surface of the sliding member 260.

[0070] The mounting structure 10 may further have a configuration that electrically connects the mounting part 100 and the coupling part 200.

[0071] Fig. 12 is a vertical cross-sectional view showing the mounting structure and illustrating a state created after the mounting part and the coupling part are completely coupled.

[0072] With reference to the Fig. 4 and Fig. 12, the coupling part 200 may include a terminal cover 280 received in a lower surface of the base flange 212, and a coupling part terminal 290 provided between the terminal cover 280 and a portion of the lower surface of the base flange 212 that receives the terminal cover 280. Furthermore, the mounting part 100 may include a mounting part terminal 130 received in the interior of the mounting part 100. In this case, the mounting part terminal 130 may penetrate the terminal cover 280 and be inserted and coupled with the coupling part terminal 290. Specifically, in the case of the structure of the mounting structure 10 according to the present disclosure, terminal structures having various shapes, including a male-female terminal structure, may be applied to the mounting structure 10.

[0073] The station is described below with reference to the drawings. station

[0074] Fig. 13 is a perspective view of the station according to the present disclosure, and Fig. 14 is an enlarged cross-sectional view showing a first holder part surface area formed on a station holder part of the station according to the present disclosure. Fig. 15 is an enlarged cross-sectional view showing a mounting part seating portion of a station base part of the station and peripheral components thereof according to the present disclosure.

[0075] A station 300 may be configured to automatically couple and decouple the mounting part 100 and the coupling part 200 of the mounting structure 10 according to the present disclosure.

[0076] In particular, the station 300, as shown in the Fig. 13 to 15, a station body part 310 configured to define a body of the station 300, a station base part 330 attached to one side of the station body part 310, and a station holder part 350 having a shape that protrudes upward from an upper surface of the station base part 330. For example, the station base part 330 may have a plate shape with an approximately constant thickness in the up / down direction.

[0077] A mounting part seating portion 334a may be formed on the station base portion 330 and has a recessed shape in the horizontal direction. The body 110 may rest on the mounting part receiving portion 334a. Specifically, during the process of the station 300 coupling and uncoupling the mounting part 100 and the coupling part 200, the guide groove portion 112 of the body 110 may seat on the mounting part seating portion 334a, and a lower surface of a portion of the body 110 connected to an upper end of the guide groove portion 112 may be supported by an upper surface of the station base portion 330.

[0078] The station holder part 350 may be a component on which the coupling part 200 sits during the process of coupling and uncoupling the mounting part 100 and the coupling part 200. Specifically, the station holder part 350 may have a shape that protrudes upward from an upper surface of a portion of the station base part 330 where the seating area 334a of the mounting part is formed.

[0079] Furthermore, a horizontal cross-sectional shape of the station holder part 350 may correspond to a horizontal cross-sectional shape of the mounting part seating area 334a. Specifically, the station holder part 350 may have a shape that is spaced upward from an upper surface of a region spaced at a predetermined interval from an inner surface of a portion of the station base part 330 that defines the mounting part seating area 334a. The horizontal cross-section of the station holder part 350 and the horizontal cross-section of the mounting part seating area 334a may each have an approximately U-shape.

[0080] An inner surface of the station holder part 350 may be divided into a plurality of regions depending on its shape. Specifically, the inner surface of the station holder part 350 may include the first holder part surface region 352 having a shape curved in a direction intersecting the up / down direction, and the second holder part surface regions 354, each connected to a side end of the first holder part surface region 352 and having a curvature different from a curvature of the first holder part surface region 352.

[0081] With reference to the Fig. 2 to 4 and 13 to 15, during the process of coupling and uncoupling the mounting part 100 and the coupling part 200, the first holder part surface portion 352 may come into contact with the first sleeve surface portion 220-1 provided on the sleeve member 220 of the coupling part 200, and the second holder part surface portion 354 may come into contact with the second sleeve surface portion 220-2 provided on the sleeve member 220. Therefore, a shape of the first holder part surface portion 352 may correspond to a shape of the first sleeve surface portion 220-1, and a shape of the second holder part surface portion 354 may correspond to a shape of the second sleeve surface portion 220-2.

[0082] Specifically, an inner portion of a cross section created by cutting the first holder part surface area 352 in the direction intersecting the up / down direction may have an approximately circumferential shape, and an inner portion of a cross section created by cutting the second holder part surface area 354 in the direction intersecting the up / down direction may have a line segment shape.

[0083] In addition, the second holder part surface areas 354 may include a second-first holder part surface area 354a and a second-second holder part surface area 354b, which are provided such that they are spaced apart from each other in the circumferential direction of the first holder part surface area 352, with the first holder part surface area 352 therebetween. For example, as shown in Fig. 13, the second-first holder part surface area 354a and the second-second holder part surface area 354b may be arranged parallel to each other.

[0084] As described above, an inner portion of a horizontal cross section of the first holder part surface area 352 may have an approximately circumferential shape. However, a portion of the inner surface of the first holder part surface area 352 may have a protruding shape. In particular, the first holder part surface area 352, as shown in Fig. 14, a protruding pressing portion 352a (e.g., a projection) provided on the inner surface of the first holder part surface area 352 and having an inwardly protruding shape. For example, a distance between the protruding pressing portion 352a and the second-first holder part surface area 354a may be substantially equal to a distance between the protruding pressing portion 352a and the second-second holder part surface area 354b.

[0085] When the coupling part 200 enters the station holder part 350, the protruding pressing portion 352a can press the locking element 240 provided on the coupling part 200, so that the insertion portion 240a of the locking element 240 moves away from the recessed portion 214b of the base protrusion portion 214, so that the sleeve member 220 can be in a state of being rotatable with respect to the base member 210. To perform the above-mentioned function, the protruding pressing portion 352a can be configured to come into contact with a portion of the locking element 240 that is opposite to the insertion portion 240a with the locking element rotating shaft 222b-1 interposed therebetween when the coupling part 200 enters the station holder part 350.

[0086] The station base part 330 may further have a configuration provided such that it is movable in the horizontal direction by the guide groove portion 112 when the guide groove portion 112 of the body 110 is seated on the seating portion 334a of the mounting part.

[0087] In particular, with reference to the Fig. 13 and Fig. 15, the station base 330 includes movement block members 337 (movement blocks) provided in an inner surface of the mounting member seating portion 334a and configured to be movable in a direction toward a space defined by the mounting member seating portion 334a and in a direction away from the space, and compression springs 338 provided on each side of each of the movement block members 337 and configured to urge the movement block members 337 toward the space defined by the mounting member seating portion 334a. Therefore, when the guide groove portion 112 is seated on the mounting member seating portion 334a, the movement block members 337 can be moved in the horizontal direction by being urged by the guide groove portion 112.When the urging force of the guide groove portion 112 is released, the movement block elements 337 can be returned to their original state by the urging forces of the compression springs 338. As shown in FIGS. Fig. 13 and Fig. 15, the moving block members 337 may include, for example, a first moving block member 337a and a second moving block member 337b provided to face each other with the space defined by the seating portion 334a of the mounting member therebetween. The compression springs 338 may include a first compression spring 338a and a second compression spring 338b provided on one side of the first moving block member 337a and one side of the second moving block member 337b, respectively, and configured to press the first moving block member 337a and the second moving block member 337b. Specifically, the first guide groove surface portion 112a and the second guide groove surface portion 112b may come into contact with the first moving block member 337a and the second moving block member 337b, respectively.In this case, however, the contact between the first guide groove surface portion 112a and the first moving block member 337a and the contact between the second guide groove surface portion 112b and the second moving block member 337b can be selectively performed without being performed simultaneously. Therefore, as described above, the second-first guide groove surface portion and the second-second guide groove surface portion extend in the intersecting directions, while a surface of the first moving block member 337a directed toward the space defined by the mounting part seating portion 334a (i.e., a surface to be brought into contact with the second-first guide groove surface portion) and a surface of the second moving block member 337b directed toward the space defined by the mounting part receiving portion 334a (i.e.,a surface to be brought into contact with the surface area of ​​the second-second guide groove) may be formed parallel to each other.

[0088] Fig. 16 is a plan view showing another example of the station base according to the present disclosure.

[0089] One in Fig. The structure of the station base part 330 shown in Figure 16 is substantially similar to that described above with reference to Fig. 13 to 15 and differs from the structure of the station base part described above with reference to Fig. 13 to 15 in that the body forming the station base part is provided as a plurality of bodies configured to be movable relative to each other. The description of the Fig. 16 can be configured as described above with reference to the Fig. 13 to 15, except for the following description of the structure of the station base part 330, which will be described below with reference to Fig. 16 is described.

[0090] In relation to Fig. 16, the station base part 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 elastic connecting bodies 336 configured to connect the main base body 332 and the auxiliary base body 334. In this case, the mounting part seating portion 334a may be formed on the auxiliary base body 334 and coupled to the movement block members 337.

[0091] According to the above with reference to Fig. 16, a shock acting on the station base part 330 during the process of coupling and uncoupling the mounting part 100 and the coupling part 200 in the station can be minimized. That is, according to the structure described above with reference to Fig. According to the structure described in FIG. 16, when an impact is applied to the auxiliary base body 334 of the station base part 330 during the process of coupling and uncoupling the mounting part 100 and the coupling part 200, the auxiliary base body 334 moves while the lengths of the elastic connecting bodies 336 change, so that a magnitude of an impact force to be applied to the auxiliary base body 334 can be reduced compared to the case where the auxiliary base body 334 is fixed without movement. The elastic connecting body 336 can be used without limitation as long as the elastic connecting body 336 can be reversibly deformed in shape by an external force. The elastic connecting body 336 may be, for example, a spring or a wire made of an elastic material.

[0092] Hereinafter, a process of coupling the robot arm and the gripper by coupling the coupling part and the mounting part of the mounting structure in the station will be described with reference to the above-mentioned description and drawings.

[0093] Fig. 17 is a view illustrating a state in which the robot arm including the coupling part enters the station, in a state in which the gripper including the mounting part is seated on the station according to the present disclosure, and Fig. 18 is a cross-sectional view illustrating a state of an interior of the coupling part when the coupling part is inserted into the station in Fig. 17 enters. Fig. 19 is a cross-sectional view showing a state of the on-station Fig. 17 shows the assembly part.

[0094] With reference to the Fig. 17 to 19, the mounting part 100 coupled to the gripper 3 and the coupling part 200 coupled to the robot arm 2 are arranged on the station base part 330 and the station holder part 350 of the station 300, respectively. Specifically, the mounting part 100 sits on the station base part 330 because the guide groove portion 112 is positioned in the space defined by the mounting part seating portion 334a. The coupling part 200 sits on the station holder part 350 when the second sleeve surface portion 220-2 formed on the sleeve member 220 comes into close contact with the second holder part surface portion 354.

[0095] In this case, as in Fig. As shown in Fig. 18, when the coupling member 200 is seated on the station holder member 350 until the first sleeve surface portion 220-1 comes into close contact with the first holder member surface portion 352, the protruding pressing portion 352a formed on the first holder member surface portion 352 presses the locking member 240 of the coupling member 200, so that the locking member 240 moves away from the recessed portion 214b of the base protrusion portion 214. Therefore, the sleeve member 220 and the base member 210 of the coupling member 200 are in a state of being movable relative to each other.

[0096] As in Fig. 19, in the state where the mounting member 100 is fitted on the station base member 330, the second-first guide groove surface portion 112b-1 of the guide groove portion 112 is in close contact with the first moving block member 337a, and the second-second guide groove surface portion 112b-2 is spaced apart from the second moving block member 337b in the circumferential direction.

[0097] Fig. 20 is a view illustrating a state in which the robot arm is rotated so that the coupling part is in a state in which it can be coupled to the gripper after the coupling part has entered the station according to the present disclosure, and Fig. Fig. 21 is a cross-sectional view illustrating a state of the inside of the coupling part when the robot arm is in Fig. 20 is rotated.

[0098] As described above, the base member 210, which is fixed with respect to the robot arm 2, rotates when the robot arm 2 rotates in the state where the sleeve member 220 and the base member 210 can rotate relative to each other. For example, as shown in the Fig. 20 and Fig. As shown in Figure 21, the engaging portion 214a of the base projection portion 214 moves toward the locking member 240 while compressing the elastic pressure member 295 when the base member 210 rotates clockwise. The rotation of the robot arm is performed until the pin member 230 (see Fig. 4) which is connected to the lower surface of the base flange 212 (see Fig. 4) and the pin insertion groove 122 (see Fig. 4) which is located in the upper surface of the flange 120 (see Fig. 4) are positioned so that they face each other in the up / down direction.

[0099] Fig. 22 is a view illustrating a state in which the robot arm is moved downward and the coupling part is coupled to the mounting part in the station according to the present disclosure, and Fig. Fig. 23 is a view illustrating a state in which the coupling part and the mounting part are spaced apart from each other before the robot arm is moved into Fig. 22 is moved downwards. Fig. Fig. 24 is a view illustrating a state in which the robot arm is in Fig. 22 is moved downwards and the coupling part and the mounting part are coupled together.

[0100] When the pin member and the pin insertion groove are positioned to face each other in the up / down 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. 22 shown. Fig. 23 shows the state in which the mounting part 100 and the coupling part 200 are spaced apart from each other in the up / down direction before the robot arm 2 moves downward, and Fig. Figure 24 shows the state in which the robot arm 2 is moved downward and the mounting part 100 and the coupling part 200 are connected to each other. When the pin member is inserted into the pin insertion groove, the mounting part 100 and the coupling part 200 are fixed to each other, so that the mounting part 100 and the coupling part 200 cannot rotate relative to each other.

[0101] Fig. 25 is a view illustrating a state in which the robot arm rotates in a state in which the coupling part and the mounting part are coupled to each other in the station according to the present disclosure, and Fig. 26 is a cross-sectional view illustrating a state of the mounting part mounted in the station in Fig. 25 sits.

[0102] When the robot arm 2, as shown in Fig. 25, in the state where the mounting part 100 and the coupling part 200 are fixed to each other so that the mounting part 100 and the coupling part 200 cannot rotate relative to each other, the mounting part 100 and the coupling part 200 rotate together, except for the sleeve member 220, in the state where the sleeve member 220 is fixed by the station holder part 350. The rotation of the mounting part 100 and the rotation of the coupling part 200 can be performed to prevent the mounting part 100 and the coupling part 200 from moving away from each other in the up / down direction. That is, the rotation of the mounting part 100 is performed until the sleeve projection portion 224b (see Fig. 7 and the like) of the lower sleeve 224 (see Fig. 7 and the like) and the flange projection portion 124 (see Fig. 4 and the like) of the flange 120 (see Fig. 4 and the like) face each other in the up / down direction. When the mounting part 100 is rotated by the rotation of the robot arm 2, the guide groove portion 112 provided on the body 110 of the mounting part 100 also rotates. In this case, as shown in Fig. 26, the rotation of the robot arm 2 is performed until the second-first guide groove surface portion 112b-1 of the guide groove portion 112 moves away from the first moving block member 337a in the circumferential direction and the second-second guide groove surface portion 112b-2 comes into close contact with the second moving block member 337b.

[0103] Fig. 27 is a view showing a state where the robot arm and the gripper are separated from the station.

[0104] The assembly of the robot arm 2 and the gripper 3 is separated from the station 300 after the mounting part 100 and the coupling part 200 are coupled, so that the mounting part 100 and the coupling part 200 are prevented from being separated from each other in the up / down direction. When the assembly of the robot arm 2 and the gripper 3 is separated from the station 300, the locking element 240 (see Fig. 21 and the like) from the protruding pressure portion 352a, and the insertion portion 240a (see Fig. 21 and the like) of the locking member is inserted back into the recessed area 214b of the base protrusion portion 214. Therefore, the mounting part 100 and the coupling part 200 are fully coupled.

[0105] The present disclosure has been made in an effort to provide a structure for connecting a robot arm and a gripper, the structure being capable of accepting various types of connecting structures that can be easily assembled and detached compared to the related art, and to provide a station capable of easily coupling and uncoupling the connecting structure.

[0106] To achieve the above-mentioned object, one aspect of the present disclosure provides a mounting structure comprising: a mounting part; and a coupling part provided above the mounting part and configured to be attached to or detached from the mounting part, the mounting part comprising: a body configured to define a body of the mounting part and open at an upper side thereof; and a flange fixedly connected to an upper portion of the body, the coupling part comprising: a base member;and a sleeve member configured to surround a periphery of the base member and open at a lower side thereof, wherein the flange is configured to penetrate the sleeve member and face the base member, and rotational movement of the flange about a rotational center axis AX of the mounting structure relative to the base member is restricted, wherein the sleeve member is configured to be rotatable relative to the base member, and wherein the sleeve member and the flange are configured to engage in an up / down direction H when a rotation angle of the sleeve member with respect to the base member is within a predetermined range.;

[0107] An outer surface of the sleeve member based on a radial direction perpendicular to the rotational center axis AX may include: a first sleeve surface portion having a curved shape surrounding the rotational center axis AX; and second sleeve surface portions each connected to a side end of the first sleeve surface portion and having a curvature different from a curvature of the first sleeve surface portion.

[0108] A radially outer portion having a cross-sectional shape produced by cutting the second sleeve surface region in a direction perpendicular to the rotational center axis AX may have the shape of a line segment.

[0109] The second sleeve surface portions may include a second-first sleeve surface portion and a second-second sleeve surface portion provided to be spaced apart from each other in a circumferential direction with the first sleeve surface portion therebetween.

[0110] The second-first sleeve surface area and the second-second sleeve surface area may be arranged parallel to each other.

[0111] The base element may comprise: a base flange;and a base protrusion portion extending upward from the base flange, wherein an engagement portion may be defined on an outer peripheral surface of the base protrusion portion and has an outwardly projecting shape, wherein the sleeve member may include an upper sleeve configured to define an upper region of the sleeve member and surround the outer peripheral surface of the base protrusion portion, the upper sleeve may include a rotational engagement groove defined in an inner peripheral surface of the upper sleeve and configured to receive the engagement portion, the engagement portion may be configured to engage with the upper sleeve at a boundary of the rotational engagement groove with respect to a circumferential direction A, and the coupling member may further include an elastic pressing member received in the rotational engagement groove and extending in the circumferential direction.

[0112] A recessed portion may be defined in the outer peripheral surface of the base protrusion portion and spaced from the engagement portion in the circumferential direction A, the recessed portion may have an inwardly recessed shape, the coupling member may further include a locking member rotatably coupled to the upper sleeve and having at least a portion configured to be inserted into the recessed portion in a state where the sleeve member is coupled to the base member so that the engagement portion is placed in the rotation engagement groove, one side end of the elastic pressing member may be provided to face a side boundary of the rotation engagement groove with respect to the circumferential direction A, and the other side end of the elastic pressing member may be provided to face the engagement portion.

[0113] The body may have a guide groove portion formed in an outer surface of the body with respect to the radial direction perpendicular to the rotational center axis AX, wherein the guide groove may have a shape extending in a circumferential direction A and recessed radially inward, and an outer surface of the guide groove portion with respect to the radial direction may include: a first guide groove surface portion having a curved shape surrounding the rotational center axis AX; and second guide groove surface portions each connected to a side end of the first guide groove surface portion and having a curvature different from a curvature of the first guide groove surface portion.

[0114] A radially outer portion having a cross-sectional shape produced by cutting the second guide groove surface area in a direction perpendicular to the rotational center axis AX may have the shape of a line segment.

[0115] The second guide groove surface portions may include a second-first guide groove surface portion and a second-second guide groove surface portion provided to be spaced apart from each other in the circumferential direction with the first guide groove surface portion therebetween.

[0116] The second-first guide groove surface portion and the second-second guide groove surface portion may be provided to extend in directions intersecting each other.

[0117] To achieve the above-mentioned object, another aspect of the present disclosure provides a station comprising: a station body part; a station base part attached to one side of the station body part;and a station holder part having a shape that protrudes upward from an upper surface of the station base part, wherein a mounting part seating portion is formed on the station base part and has a shape that is recessed inward in a horizontal direction, wherein the station holder part protrudes upward from an upper surface of a portion of the station base part on which the mounting part seating portion is formed, wherein a horizontal cross-sectional shape of the station holder part corresponds to a horizontal cross-sectional shape of the mounting part seating portion, and wherein an inner surface of the station holder part includes: a first holder part surface portion having a shape that is curved in a direction intersecting an up / down direction;and second holder part surface portions each connected to a side end of the first holder part surface portion and having a curvature different from a curvature of the first holder part surface portion;

[0118] An inner portion of a cross-sectional shape generated by cutting the second holder part surface area in the direction intersecting the up / down direction may have a shape of a line segment.

[0119] The second holder part surface regions may include a second-first holder part surface region and a second-second holder part surface region provided to be spaced apart from each other in a circumferential direction with the first holder part surface region therebetween.

[0120] The second-first holder part surface area and the second-second holder part surface area can be arranged parallel to each other.

[0121] The first holder part surface area may include a projecting pressing portion provided on an inner surface of the first holder part surface area and having an inwardly projecting shape.

[0122] A distance between the protruding pressure portion and the second-first holder part surface area may be substantially equal to the distance between the protruding pressure portion and the second-second holder part surface area.

[0123] The station base may include: movement block members provided in an inner surface of the mounting member seating portion and configured to be movable in a direction toward a space defined by the mounting member seating portion and in a direction away from the space; and compression springs each provided on a side of the movement block member and configured to press the movement block members into the space defined by the mounting member seating portion.

[0124] The moving block members may include a first moving block member and a second moving block member provided to face each other with the space defined by the mounting member seating portion therebetween, and the compression springs may include a first compression spring and a second compression spring configured to press the first moving block member and the second moving block member.

[0125] The station base part may include: a main base body; an auxiliary base body provided to be spaced apart from the base body; and an elastic connecting body configured to connect the main base body and the auxiliary base body, wherein the mounting part seating portion may be formed on the auxiliary base body and the movement blocking member may be coupled to the auxiliary base body.

[0126] A surface of the first moving block member facing the space defined by the mounting part seating portion and a surface of the second moving block member facing the space defined by the mounting part seating portion may be formed parallel to each other.

[0127] According to the present disclosure, it is possible to provide the structure for connecting the robot arm and the gripper, the structure being capable of adopting various types of connecting structures that can be easily assembled and detached compared with the related art, and to provide the station capable of easily coupling and uncoupling the connecting structure.

[0128] The present disclosure has been described with reference to the limited examples and the drawings, but the present disclosure is not limited thereby. The present disclosure may be embodied in various forms by one skilled in the art to which the present disclosure relates, within the technical spirit of the present disclosure and the scope of the appended claims. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] KR 10-2024-0041286

[0001]

Claims

[1] Mounting structure comprising: an assembly part; and a coupling part configured to be attached to or detached from the mounting part, wherein the assembly part comprises: a body having a first side forming a first opening; and a flange fixedly connected to a first side of the body, wherein the coupling part comprises: a base; and a sleeve configured to surround a periphery of the base and having a second side forming a second opening, wherein the flange is configured to penetrate the sleeve in a direction facing the base, such that rotational mobility of the flange about a rotational center axis of the mounting structure is restricted relative to rotational mobility of the base about the rotational center axis, wherein the sleeve is configured to be rotatable relative to the base, wherein the sleeve and the flange are configured to engage in a longitudinal direction parallel to the rotational center axis based on a rotation angle of the sleeve with respect to the base being within a predetermined range, and wherein an outer surface of the sleeve in a radial direction perpendicular to the rotational center axis has: a first sleeve surface area having a first curvature with respect to the central axis of rotation; and a second sleeve surface portion connected to the first sleeve surface portion in a circumferential direction about the rotational center axis and having a second curvature relative to the rotational center axis that is different from the first curvature. [2] The mounting structure according to claim 1, wherein a cross section of the second sleeve surface portion in a direction perpendicular to the rotation center axis has a line segment. [3] The mounting structure according to claim 2, wherein the second sleeve surface portion comprises two second sleeve surface portions spaced apart from each other in the circumferential direction with the first sleeve surface portion disposed therebetween. [4] The mounting structure according to claim 3, wherein the two second sleeve surface areas are parallel to each other. [5] The mounting structure according to claim 1, wherein the base comprises: a base flange; and a base projection projecting from the base flange, wherein the base projection has an outer peripheral surface having a radially outwardly projecting engagement portion, wherein the sleeve comprises a first sleeve arranged in the longitudinal direction away from the second opening and around the outer peripheral surface of the base projection, wherein the first sleeve has an inner peripheral surface forming a rotational engagement groove configured to receive the engagement portion, wherein the engagement portion is configured to engage with the first sleeve at a boundary in the circumferential direction of the rotation engagement groove, and wherein the coupling part further comprises an elastic insert received in the rotation engagement groove and extending in the circumferential direction. [6] The mounting structure according to claim 5, wherein the outer peripheral surface of the base projection has a recessed portion which: is recessed inwards from the outer peripheral surface, and is spaced from the engagement portion in the circumferential direction, wherein the coupling part further comprises a locking element which is rotatably coupled to the first sleeve and has at least a portion which is configured to be inserted into the recessed portion if the sleeve is coupled to the base such that the engaging portion is inserted into the rotational engagement groove, wherein a first side end of the elastic insert faces a side boundary of the rotation engagement groove in the circumferential direction, and wherein a second side end of the elastic insert faces the engagement portion. [7] The mounting structure according to claim 1, wherein the body has an outer surface forming a guide groove extending in the circumferential direction and recessed radially inward, and wherein an outer surface of the guide groove has: a first guide groove portion having a third curvature with respect to the rotational center axis; and a second guide groove portion connected to the first guide groove portion in the circumferential direction and having a fourth curvature different from the third curvature. [8] The mounting structure according to claim 7, wherein a cross section of the second guide groove portion in a direction perpendicular to the rotation center axis has a line segment shape. [9] The mounting structure according to claim 8, wherein the second guide groove portion comprises two second guide groove portions spaced apart from each other in the circumferential direction and between which the first guide groove portion is arranged. [10] The mounting structure according to claim 9, wherein the two second guide groove portions extend in directions that intersect each other. [11] Station, comprising: a station body; a station base attached to a first side of the station body; and a station holder projecting in a first direction away from the station body from a surface of the station base, wherein the station base has a mounting part seating portion recessed in a second direction perpendicular to the first direction, wherein the station holder projects upwardly from a portion of the surface of the station base corresponding to the mounting part seating area, and wherein the station holder has an inner surface which comprises: a first holder surface area having a first curvature with respect to the first direction; and a second holder surface portion connected to the first holder surface portion in a circumferential direction around the first direction and having a second curvature different from the first curvature. [12] The station according to claim 11, wherein a cross section of the second holder surface area perpendicular to the first direction has a line segment shape. [13] A station according to claim 12, wherein the second holder surface area comprises two second holder surface areas spaced apart from each other in the circumferential direction, with the first holder surface area located therebetween. [14] Station according to claim 13, wherein the two second holder surface areas are parallel to each other. [15] The station of claim 13, wherein the first holder surface portion includes a projection from an inner surface of the first holder surface portion. [16] A station according to claim 15, wherein the projection is substantially equidistant between the two second holder surface areas. [17] Station according to claim 11, wherein the station base comprises: Movement blocks provided in an interior surface of the mounting part seating area and configured to be movable toward and away from a space defined by the mounting part seating area; and Compression springs provided on sides of the movement blocks and configured to push the movement blocks toward the room. [18] The station according to claim 17, wherein the moving blocks comprise a first moving block and a second moving block opposed to each other with the space therebetween, and wherein the compression springs comprise a first compression spring configured to press the first moving block and a second compression spring configured to press the second moving block. [19] A station according to claim 17, wherein the station base comprises: a main base body; an auxiliary base body spaced from the base body; and an elastic connecting body configured to connect the main base body and the auxiliary base body, wherein the auxiliary base body has the mounting part seating portion, and where the movement blocks are coupled to the auxiliary base body. [20] A station according to 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.

Images