SCARA Robot

Abstract

A SCARA robot for transporting cargo comprises a head unit for adsorbing cargo and an arm unit coupled to the head unit and having one or more joints to pull and move the adsorbed cargo in a first direction. The head unit comprises a suction module having one or more suction pads that contact and adsorb the suction surface of the cargo, a first head body connected to the suction module in a spaced-apart manner along a first direction, and a second head body coupled to the first head body and the arm unit between the first head body and the arm unit. The suction module is adjustable in terms of the spacing distance relative to the first head body, the left-right positioning angle relative to the first head body, or the height relative to the second head body.

Description

Technology Field

[0001] The present invention relates to a SCARA robot, and more specifically, to a SCARA robot in which the length of the end effector is adjustable and can be tilted left and right, and the end effector has a shortened length compared to the conventional spring plunger method, and also can prevent the cargo from getting stuck by slightly lifting the cargo when suctioning and pulling the cargo. Background Technology

[0003] The term "logistics" is an abbreviation of "physical distribution" and refers to the collective function or activities of effectively moving products and goods from producers to consumers. Generally, it encompasses various activities such as packaging, loading and unloading, transportation, storage, and information. Typically, transporting products and goods involves multiple processes including packaging, storage, collection / loading, transport, loading and unloading / delivery, and storage. Regardless of the means of transportation used, the movement of products and goods is impossible without undergoing these processes. Physical distribution (logistics) is the comprehensive view of this entire movement. In recent years, as mass production, mass sales, and mass consumption have become the trends of the times, the importance of logistics is steadily increasing due to the growing need to streamline the flow of materials connecting these sectors.

[0004] A logistics warehouse generally refers to a storage facility designed to temporarily or for long-term store all types of goods used in daily life, such as various foodstuffs, beverages, clothing, home appliances, general merchandise, and industrial supplies, which are mass-produced at factories or production sites. Due to the rapid development of the logistics industry in recent years, these warehouses are moving beyond simple logistics management and are being designed and constructed to facilitate the creation of new businesses, ranging from the placement of stored inventory to efficient inbound and outbound operations and inventory management.

[0005] Since the rapid receiving and shipping of goods is critical for these logistics warehouses, most are equipped with mechanized or automated loading and unloading systems; typically, automated equipment such as stacker cranes, shuttles, and lifts is utilized. In addition, various devices are employed, including transport systems where transfer carts move along rails installed on the warehouse floor or ceiling to transport goods.

[0006] Conveyors are a representative device used in transport systems and play an essential role in the rapid and efficient processing of cargo receiving and shipping in logistics warehouses. Recently, technology that automates the process of automatically placing cargo onto conveyors by equipping them with SCARA robots is being widely applied. This automation maximizes the efficiency of logistics operations and contributes significantly to reducing reliance on human labor.

[0007] A representative example of a SCARA robot is the suction-type SCARA robot. Suction-type SCARA robots stably grasp and move cargo using suction units, offering the flexibility to handle cargo of various shapes and sizes. Due to their advantages of precise control and stable cargo transport, these robots are widely adopted in logistics warehouses and automated transport systems.

[0008] Looking at the head unit that adsorbs cargo in a conventional SCARA robot, the end portion of the head unit is equipped with multiple adsorption pads that contact and adsorb the cargo. However, to efficiently handle objects of various shapes and sizes, the SCARA robot requires correction of the position of the adsorption pads relative to the direction in which they approach the cargo—that is, the longitudinal direction of the head unit. To this end, the head unit has a structure in which a spring plunger is connected to each adsorption pad. The spring plunger reduces its length even when the adsorption pad approaches the object beyond the distance to the cargo adsorption surface, thereby allowing the adsorption pad to adsorb the cargo adsorption surface more stably.

[0009] However, conventional SCARA robots have faced a problem where the length of the head unit—specifically the end effector of the SCARA robot—becomes excessive due to structural characteristics resulting from connecting spring plungers to suction pads. Since the spring plunger acts as an additional component between the suction pad and the robot body, this extends the overall length of the end effector, which can lead to the following problems.

[0010] First, the working radius and range of movement may be limited. When the length of the end effector is extended by the spring plunger (3), the range of movement of the SCARA robot may be limited when working in a narrow space. In particular, when precise operation is required in a narrow space, the long end effector may make the work difficult or increase the risk of collision.

[0011] Secondly, it can reduce operational precision. As the end effector becomes longer, the inertia between the robot's joints and the end effector increases. This can make precise control of the SCARA robot difficult and increases the likelihood of reduced positional accuracy during high-speed transfer operations.

[0012] Thirdly, it can reduce operating speed. As the length of the end effector increases, the overall operating speed of the robot may decrease. This is because the longer the end effector, the more time is required for the robot to accelerate and decelerate, resulting in reduced work efficiency.

[0013] Fourth, it causes increased mechanical stress on SCARA robots. Long end effectors induce additional mechanical stress on the robot's joints and actuators. This can accelerate component wear over the long term, leading to a shortened robot lifespan and increased maintenance costs. In particular, the accumulation of this mechanical stress during repetitive tasks can result in equipment performance degradation.

[0014] Finally, the risk of collision in the work environment may increase. As the length of the end effector increases, the likelihood of collision with surrounding equipment or objects in complex work environments rises. This compromises operational stability and can lead to equipment damage or accidents.

[0015] Furthermore, conventional SCARA robots may experience issues with jamming due to height differences. This is because suction-type SCARA robots transport cargo primarily through pulling motions without lifting movements. In particular, when attempting to transfer cargo located on the floor to a conveyor solely through pulling motions without lifting, there is a risk that the cargo may get stuck or damaged due to the height difference between the conveyor and the floor.

[0016] As such, increasing the length of the end effector can cause various problems; to resolve this, it is required to develop a SCARA robot that has a shorter length than the conventional spring plunger method, allows for adjustable end effector length, and can adjust the angle of the end effector in correspondence with the placement angle of the cargo suction surface. Furthermore, it is required to develop a SCARA robot capable of lifting the cargo to a predetermined height to resolve the problem of jamming due to height differences when transporting cargo through a pulling motion. The problem to be solved

[0018] The present invention aims to solve the problems of the aforementioned prior art, and the objective of the present invention is to provide a SCARA robot having a shortened end effector length compared to a method in which spring plungers are connected to each adsorption pad, by configuring the separation distance between the adsorption module and the first head body to be adjusted when the adsorption module pressurizes the cargo during the cargo adsorption process through a connection module connecting the adsorption module equipped with adsorption pads and a first head body coupled to an arm unit.

[0019] In addition, another objective of the present invention is to provide a SCARA robot in which the adsorption module can tilt left and right in response to the arrangement angle of the cargo adsorption surface during the cargo adsorption process by means of a connecting module.

[0020] In addition, another objective of the present invention is to provide a SCARA robot capable of preventing cargo from getting stuck due to a step difference by causing the suction unit to move slightly upward when the head unit is moved toward a conveyor device while the cargo is suctioned. means of solving the problem

[0022] A SCARA robot for transporting cargo comprises a head unit for adsorbing cargo and an arm unit coupled to the head unit and having one or more joints to pull and move the adsorbed cargo in a first direction. The head unit comprises a suction module having one or more suction pads that contact and adsorb the suction surface of the cargo, a first head body connected to the suction module in a spaced-apart manner along a first direction, and a second head body coupled to the first head body and the arm unit between the first head body and the arm unit. The suction module is adjustable in terms of the spacing distance relative to the first head body, the left-right positioning angle relative to the first head body, or the height relative to the second head body.

[0023] At this time, the head unit includes a connecting module having a pair of hinge members that are spaced apart from each other in a second direction orthogonal to a first direction and connect between a first head body and an adsorption module, and the pair of hinge members have a structure that can be folded in a direction facing each other, and the distance between the adsorption module and the first head body can be adjusted according to the folding angle of the pair of hinge members.

[0024] Additionally, the head unit includes a connecting module having a pair of hinge members spaced apart from each other in a second direction orthogonal to a first direction, connecting the first head body and the adsorption module, and the pair of hinge members have a structure that can be folded in a mutually facing direction, and the adsorption module can be tilted left and right with respect to the first direction due to the difference in folding angle between the pair of hinge members.

[0025] Additionally, a pair of hinge members may include a first hinge bar, one end of which is coupled to a first head body, and a second hinge bar, one end of which is coupled to the other end of the first hinge bar through a first rotation axis arranged vertically, and the other end of which is coupled to an adsorption module through a second rotation axis arranged vertically.

[0026] Additionally, the first head body includes one or more shafts arranged along a second direction, and the first hinge bar has one or more guide holes through which the shaft is positioned so as to be movably coupled to the shaft, and the first hinge bar can move in a direction away from the other first hinge bar as the angle of placement with respect to the second hinge bar narrows.

[0028] Additionally, the connecting module may further include a distance maintaining block movably coupled to a shaft between a pair of first hinge bars so as to maintain a minimum separation distance between a pair of first hinge bars, a pair of first brackets each mounted on a pair of hinge members, a second bracket mounted on the distance maintaining block, a first tension spring that applies a tension force by connecting one of the pair of first brackets and the second bracket, and a second tension spring that applies a tension force by connecting the other of the pair of first brackets and the second bracket.

[0029] Additionally, the first head body may further include a pair of compression springs disposed on the shaft to press a pair of hinge members toward the center of the shaft.

[0030] Additionally, the adsorption module further includes an adsorption body on which an adsorption pad is mounted and a tube connector disposed on the adsorption body to which a separate tube is connected, and inside the adsorption body, an intake passage may be formed that communicates between the tube connector and a hermetic space formed by one or more adsorption pads in contact with the adsorption surface.

[0031] In addition, the first head body is coupled to the second head body so as to be movable up and down, and the adsorption module and the first head body can move upward by the movement of the second head body in the first direction.

[0032] Additionally, the SCARA robot further includes a control unit that controls an arm unit so that when a cargo adsorbed by the adsorption module is placed on a conveyor device, the second head body accelerates in a first direction in at least a portion of the section, and when the second head body accelerates in a first direction while the cargo is adsorbed, the adsorption module and the first head body can move upward due to the inertial force resulting from the accelerated movement and the weight of the adsorbed cargo.

[0033] Additionally, the head unit further includes one or more connecting bars that connect the first head body to the second head body, a third rotation axis arranged in a second direction orthogonal to the first direction and hinge-connecting one end of the connecting bar to the second head body, and a fourth rotation axis arranged in the second direction and hinge-connecting the other end of the connecting bar to the first head body, and when the second head body accelerates in the first direction while cargo is adsorbed to the adsorption module, the connecting bar rotates at a predetermined angle around the third rotation axis so that the first head body can move upward.

[0034] Additionally, a plurality of connecting bars are provided, and the plurality of connecting bars may include a pair of first connecting bars arranged in parallel with a vertical gap between them, and a pair of second connecting bars arranged in parallel with a vertical gap between them and spaced apart along a second direction from the pair of first connecting bars.

[0035] Additionally, the head unit further includes one or more third tension springs arranged so that an elastic restoring force acts in the direction in which the first body moves downward, and one end of the third tension spring may be connected to the lower end of the second head body and the other end may be connected to the upper end of the first head body.

[0036] Additionally, the head unit may further include one or more cushioning members disposed on the first head body or the second head body to absorb impact caused by contact between the first head body and the second head body.

[0037] Additionally, the head unit may further include a stopper member disposed in the second head body and in contact with the connecting bar to limit the upward movement distance of the first head body. Effects of the invention

[0039] According to the present invention, by means of a connecting module connecting a suction module equipped with a suction pad and a first head body coupled to an arm unit, the distance between the suction module and the first head body is adjusted when the suction module pressurizes the cargo during the cargo suction process, and the suction module is configured to tilt left and right, thereby shortening the end effector length compared to a method in which a spring plunger is connected to each suction pad, the working radius and range of movement are widened, working precision is improved, the operating speed is increased, mechanical stress on the SCARA robot is reduced, and the risk of collision in the working environment is reduced.

[0040] In addition, when moving the head unit to which the adsorption unit is attached toward the conveyor device while the cargo is adsorbed to the adsorption unit to place the cargo on the conveyor device, the adsorption unit is moved slightly upward to prevent the cargo from getting stuck due to the step, thereby preventing damage to the cargo and equipment and improving the conveying speed.

[0041] In addition, the present invention connects the suction unit to the head unit using a hinged connecting bar, so that when the suction unit accelerates in the direction in which it is pulled, the suction unit moves slightly upward in a non-powered manner due to the inertial force and the weight of the suction unit, thereby simplifying the device structure for the upward movement of the suction unit, reducing costs, and increasing energy efficiency. Brief explanation of the drawing

[0043] FIG. 1 is a drawing illustrating an example of a SCARA robot according to one embodiment of the present invention mounted on a conveyor device. FIG. 2 is a drawing showing the overall appearance of a SCARA robot according to one embodiment of the present invention. FIG. 3 is a drawing illustrating a head unit of a SCARA robot according to one embodiment of the present invention. FIG. 4 is a drawing illustrating an adsorption module according to one embodiment of the present invention. Figure 5 is a cross-sectional view taken along the line "AA" in Figure 4. FIG. 6 is a diagram showing the disassembled view of a first body according to one embodiment of the present invention. FIG. 7 is a diagram showing the disassembled view of a connection module according to one embodiment of the present invention. FIG. 8 is a drawing illustrating an example of how the spacing between the adsorption module and the first body changes during cargo adsorption according to an embodiment of the present invention. FIG. 9 is a drawing illustrating an example of how an adsorption module tilts left and right when adsorbing cargo according to an embodiment of the present invention. FIG. 10 is a drawing illustrating the vertical movement of an adsorption unit according to one embodiment of the present invention. FIG. 11 is a diagram illustrating the coupling relationship between an adsorption unit, a head unit, and a connecting bar according to one embodiment. FIG. 12 is a drawing illustrating an example of an adsorption unit moving downward according to one embodiment of the present invention. FIG. 13 is a drawing illustrating an example of an adsorption unit moving upward according to one embodiment of the present invention. Specific details for implementing the invention

[0044] It should be noted that the technical terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Furthermore, unless specifically defined otherwise in this invention, the technical terms used in this invention should be interpreted in the sense generally understood by those skilled in the art to which this invention pertains, and should not be interpreted in an overly broad or overly narrow sense. Additionally, if a technical term used in this invention is an incorrect technical term that fails to accurately express the concept of the invention, it should be understood as being replaced by a technical term that can be correctly understood by those skilled in the art.

[0045] Furthermore, singular expressions used in the present invention include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as "composed of" or "comprising" should not be interpreted as necessarily including all of the various components or steps described in the invention, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included.

[0046] In addition, it should be noted that the attached drawings are intended only to facilitate an understanding of the concept of the present invention, and should not be interpreted as limiting the concept of the present invention.

[0048] The SCARA robot according to the present invention will be examined in more detail below with reference to the attached drawings.

[0050] FIG. 1 is a drawing illustrating an example of a SCARA robot according to an embodiment of the present invention mounted on a conveyor device, and FIG. 2 is a drawing illustrating the overall appearance of a SCARA robot according to an embodiment of the present invention. FIG. 3 is a drawing illustrating a head unit of a SCARA robot according to an embodiment of the present invention.

[0051] A SCARA robot (1) according to one embodiment of the present invention is mounted on one side of the end portion of a conveyor device (C) as shown in the example of FIG. 1, and can adsorb cargo outside the conveyor device and place it on the conveyor device.

[0052] To this end, the SCARA robot (1) may be configured to include a head unit (10) capable of adsorbing or releasing adsorbed cargo to be transported to a conveyor device (C) as shown in FIG. 2, an arm unit (30) to which the head unit (10) is coupled, and a control unit (50) for controlling the head unit (10) and the arm unit (30).

[0053] Referring to FIG. 3, the head unit (10) may be configured to include an adsorption module (11) for adsorbing cargo, a first head body (12) connected to the adsorption module (11), a connecting module (13) connecting the adsorption module (11) and the first head body (12), a second head body (14) connected to an arm unit (30), and a connecting bar (15) connecting the first head body (12) and the second head body (14).

[0054] The adsorption module (11) may be equipped with a plurality of adsorption pads (111) for adsorbing cargo and an adsorption body (112) to which the adsorption pads (111) are combined.

[0055] Each suction pad (111) has a predetermined length in the direction in which the suction module (11) approaches for the suction of cargo or in the direction in which the cargo is pulled (hereinafter referred to as the "first direction"). A plurality of suction pads (111) are coupled to a suction body (112). At this time, the plurality of suction pads (111) may be spaced apart from each other along a direction orthogonal to the first direction (hereinafter referred to as the "second direction"), but are not limited thereto. The plurality of suction pads (111) may be spaced apart from each other along a direction orthogonal to the first direction and the second direction (hereinafter referred to as the "third direction"), or spaced apart from each other along the second direction and the third direction.

[0056] The adsorption unit (10) can fix the cargo by adjusting the airtight space formed by the adsorption pad (111) and the adsorption surface of the cargo to a vacuum state when the adsorption pad (111) contacts the adsorption surface of the cargo, or release the vacuum to release the fixation. This control of adsorption or release of adsorption can be performed by the control unit (50).

[0057] The first head body (12) is connected to the suction body (112) in a spaced-apart state along the first direction. At this time, the suction body (112) can be connected to the first head body (12) by a connection module (13). At this time, the suction body (112) of the suction module may have its spacing distance adjusted or its left and right placement angle adjusted with respect to the first head body (12) during the cargo suction process, and a detailed explanation regarding this will be provided later.

[0058] The second head body (14) of the head unit is connected to one end of the arm unit (30), and the other end of the arm unit (30) can be connected to the conveyor device (C). The connecting bar (15) connects the first head body (12) and the second head body (14). At this time, when the head unit (10) moves in the direction of pulling the cargo, the height of the first head body (12) relative to the first head body (14) can be adjusted by the connecting bar (15), and a detailed explanation regarding this will be provided later.

[0059] The arm unit (30) can operate to move the head unit (10) relatively freely on a horizontal plane, and for this purpose, it may be provided with at least one joint. Referring to FIG. 2, the arm unit (30) may have a base arm (31) with one end mounted on a conveyor device (C) and a middle arm (32) with one end connected to the other end of the base arm (31). The base arm (31) may be connected to the conveyor device (C) so as to be rotatable about a vertical axis. The middle arm (32) may be connected to the other end of the base arm (31) so as to be rotatable about a vertical axis. Additionally, the second head body (14) of the head unit may be connected to the other end of the middle arm (32) so as to be rotatable about a vertical axis. Through such a structure, the arm unit (30) can move the head unit (10) relatively freely on a horizontal plane.

[0060] Here, the rotation axis of the base arm (31), the rotation axis of the middle arm (32), and the rotation axis of the second head body (14) can each receive driving force from a separate driving unit and be driven by rotation, but since this is a known technology, it has been omitted from the drawing. And each of these rotation drives can be controlled by a control unit (50).

[0061] The control unit (50) can control the movement of the arm unit (30) by controlling a driving force generating means (e.g., a motor) connected to each rotation axis. The control unit (50) can control the arm unit (300) so that the second head body (14) moves in the direction of pulling the cargo by combining the rotation of the second head body (14), middle arm (32), and base arm (31) around each rotation axis in order to transfer and settle the cargo adsorbed on the first head body (12) to the conveyor device (C).

[0063] FIG. 4 is a drawing illustrating an adsorption module according to one embodiment of the present invention, and FIG. 5 is a cross-sectional view taken along the line "AA" of FIG. 4.

[0064] Below, the adsorption module (11) will be described in more detail with reference to FIGS. 4 and 5.

[0065] As described above, the adsorption module (11) comprises a plurality of adsorption pads (111) and an adsorption body (112). At this time, the adsorption body (112) may be provided with a tube connector (113) to which a tube (T) is connected as shown in FIG. 4, a fastening area (115) formed by penetrating the adsorption body (112) along a first direction, and an axle insertion hole (116) communicating from the fastening area (115) to the bottom of the adsorption body (112) so that a separate first rotation axis (21) can be positioned to penetrate in a vertical direction. Here, the connecting module (13) can be fastened by the first rotation axis (21) penetrating through the axle insertion hole (116) in a vertical direction while a part of the body is positioned in the fastening area (115). That is, the connecting module (13) is rotatably coupled to the adsorption body (112) around the first rotation axis (21) in a vertical direction.

[0066] Referring to FIG. 5, an intake passage (114) may be formed inside the suction body (112) to communicate between the airtight space formed by each suction pad (111) contacting the suction surface of the cargo and the tube connector (113). Thus, air can be sucked into the airtight spaces formed by multiple suction pads (111) using a single tube (T), and this has the effect of alleviating limitations such as space occupation and obstruction caused by the tubes compared to a structure in which multiple tubes (T) are individually connected to each suction pad (111).

[0068] FIG. 6 is a diagram showing the disassembled view of a first body according to one embodiment of the present invention.

[0069] Below, we will examine the first head body (12) in more detail with reference to FIG. 6.

[0070] The first head body (12) may be provided with an upper plate (121) that is positioned lengthwise along a second direction from the upper side, a lower plate (122) that is positioned lengthwise along a second direction at a position spaced a predetermined distance downward from the upper plate (121), a first vertical plate (123) that vertically connects one end of the upper plate (121) and one end of the lower plate (122), a second vertical plate (124) that vertically connects the other end of the upper plate (121) and the other end of the lower plate (122), a shaft (125) that is positioned lengthwise along a second direction to connect the first vertical plate (123) and the second vertical plate (124) between the upper plate (121) and the lower plate (122), a first compression spring (126) into which one end of the shaft (125) is inserted, and a second compression spring (127) into which the other end of the shaft (125) is inserted.

[0071] At this time, a connecting module (13) may be inserted and coupled to the shaft (125), and the connecting module (13) may be movable along the shaft (125) in a second direction while coupled to the shaft (125). Preferably, the shaft (125) may be provided with two or more shafts so that the connecting module (13) coupled to the shaft (125) does not rotate about the shaft (125) as an axis, and the first compression spring (126) and the second compression spring (127) may be inserted and placed on one of the two or more shafts (125).

[0072] A first compression spring (126) inserted at one end of the shaft (125) is positioned between the first vertical plate (123) and the connection module (13) to press the connection module (13) toward the center of the shaft (125), and a second compression spring (127) inserted at the other end of the shaft (125) is positioned between the second vertical plate (124) and the connection module (13) to press the connection module (13) toward the center of the shaft (125). Accordingly, when the connection module (13), which is movable in the second direction on the shaft (125), moves toward the first vertical plate (123), it is pressed toward the center by the first compression spring (126), and when it moves toward the second vertical plate (124), it is pressed toward the center by the second compression spring (127).

[0073] FIG. 7 is a diagram showing the disassembled view of a connection module according to one embodiment of the present invention.

[0074] Below, the connection module (13) will be described in more detail with reference to FIG. 7.

[0075] As described above, the connection module (13) connects the adsorption body (112) and the first head body (12).

[0076] Specifically, the connection module (13) is provided with a hinge member (131) connecting the first head body (12) and the suction body (112). A pair of hinge members (131) are provided, and the pair of hinge members (131) are spaced apart along a second direction. At this time, the pair of hinge members (131) are symmetrically arranged with respect to each other with a virtual vertical plane centered on a vertical plane arranged vertically along the first direction, and have a structure that can be folded in a direction facing each other. Through such a folding structure, the connection module (13) can adjust the distance between the suction body (112) and the first head body (12), and the suction body (112) can be tilted left and right relative to the first head body (12) due to the difference in folding angle between the two hinge members (131).

[0077] Each of the pair of hinge members (131) may have a first hinge bar (1311) with one end connected to the first head body (12) and a second hinge bar (1312) with one end connected to the first hinge bar (1311) and the other end connected to the suction body (112).

[0078] At one end of the first hinge bar (1311), one or more guide holes (1313) penetrating along the second direction are arranged, and a shaft (125) can be inserted through the guide holes (1313). Thus, the first hinge bar (1311) can be coupled to the first head body (12) so as to be movable along the second direction.

[0079] One end of the second hinge bar (1312) is connected to the other end of the first hinge bar (1311) by a second rotation axis (22) that is vertically positioned, and the other end of the second hinge bar (1312) can be connected to the suction body (112) by a first rotation axis (21) that is vertically positioned. Accordingly, the positioning angle of the second hinge bar (1312) relative to the first hinge bar (1311) can be adjusted, and at this time, the first hinge bar (1311) can be moved in a second direction according to the positioning angle of the first hinge bar (1311).

[0080] Each first hinge bar (1311) provided in a pair of hinge members (131) is arranged such that the distance between them increases from one end to the other end, and at this time, each second hinge bar (1312) provided in a pair of hinge members (131) can be arranged such that the distance between them decreases from one end to the other end. That is, the pair of hinge members (131) can have a folding structure in which the internal angle facing each other is less than 180 degrees.

[0081] Preferably, the connection module (13) may further include a distance maintaining block (132) movably coupled to a shaft (125) between a pair of first hinge bars (1311) so as to maintain a minimum separation distance between a pair of first hinge bars (1311). Additionally, the distance maintaining block (132) is provided with a first stopper member (133) protruding toward the suction body (112), and the first stopper member (133) may contact the suction body (112) which has approached the first head body (12) by a predetermined distance or more to maintain a minimum separation distance between the suction body (112) and the first head body (12).

[0082] Meanwhile, a first bracket (134) is mounted on each of the pair of first hinge bars (1311), and a second bracket (135) may be mounted on the distance maintaining block (132). A first tension spring (136) is connected between one of the first brackets (134) and the second bracket (135), and a second tension spring (157) may be connected between the other of the first brackets (134) and the second bracket (135). The first tension spring (136) and the second tension spring (157) apply a tension force between the first bracket (134) and the second bracket (135). Accordingly, the first hinge bar (1311) to which the first bracket (134) is attached and the distance maintaining block (132) to which the second bracket (135) is attached can maintain a state of contact by approaching each other without any external force being applied.

[0084] FIG. 8 is a drawing illustrating an example of how the spacing between the adsorption module and the first head body changes during cargo adsorption according to an embodiment of the present invention.

[0085] Hereinafter, with reference to FIG. 8, the principle of how the distance between the adsorption module (11) and the first head body (12) changes when adsorbing cargo will be explained.

[0086] When the adsorption module (11) pressurizes the cargo during adsorption, if an external force is applied to the adsorption module (11) in the opposite direction of the pressurization, the angle of placement of the second hinge bar (1312) relative to the first hinge bar (1311) in a pair of hinge members (131) narrows, and the second hinge bar (1312) moves away from each other. Accordingly, the distance between the adsorption module (11) and the first head body (12) narrows. During this process, the first compression spring (126) and the second compression spring (127) are compressed, and the first tension spring (136) and the second tension spring (157) are tensioned. Accordingly, when the external force applied to the adsorption module (11) is released, a pair of first hinge bars (1311) move toward the center of the shaft (125) by the elastic restoring force of the first compression spring (126), the second compression spring (127), the first tension spring (136), and the second tension spring (157).

[0087] FIG. 9 is a drawing illustrating an example of how an adsorption module tilts left and right when adsorbing cargo according to an embodiment of the present invention.

[0088] Hereinafter, with reference to FIG. 9, the principle of tilting the adsorption module (11) left and right in correspondence with the arrangement angle of the adsorption surface of the cargo during adsorption will be explained.

[0089] When the angle of arrangement of the adsorption surface of the adsorbed cargo is obliquely arranged with respect to the adsorption module (11) during the cargo adsorption process, the external force applied to the adsorption module (11) by the cargo is not constant along the second direction and may be biased to one side. That is, depending on the angle of arrangement of the adsorption surface, the external force applied to the adsorption module (11) during cargo adsorption may be biased to the left or right.

[0090] For example, if the external force applied to the adsorption module (11) is biased to the left, a greater force is applied to the hinge member (131) positioned on the left side than to the hinge member (131) positioned on the right side of the pair of hinge members (131), so that the folding angle of the left hinge member (131) becomes narrower. That is, the angle of placement of the second hinge bar (1312) relative to the first hinge bar (1311) of the left hinge member becomes narrower than the angle of placement of the second hinge bar (1312) relative to the first hinge bar (1311) of the right hinge member. At this time, as the angle of placement of the second hinge bar (1312) relative to the first hinge bar (1311) becomes narrower, the first hinge bar (1311) moves in a direction away from the distance maintaining block (132). During this process, the first and second compression springs (126, 127) may be compressed. Therefore, when the external force applied to the adsorption module (11) is released, the first hinge bar (1311) returns toward the center of the shaft (125) by the elastic restoring force of the first and second compression springs (126, 127).

[0091] As described above, the SCARA robot (1) according to the present embodiment is configured such that when the adsorption module (11) pressurizes the cargo during the cargo adsorption process, the distance between the adsorption module (11) and the first head body (12) is adjusted by the connection module (13), and the adsorption module (11) is configured to tilt left and right. Compared to the method in which a spring plunger is connected to each adsorption pad (111), the end effector length is shortened, thereby widening the working radius and movement range, improving work precision, increasing the operating speed, reducing mechanical stress on the SCARA robot, and reducing the risk of collision in the working environment.

[0093] FIG. 10 is a drawing illustrating the vertical movement of an adsorption unit according to one embodiment of the present invention.

[0094] As described above, the first head body (12) is connected to the second head body (14) via a connecting bar (15) so as to be movable up and down. At this time, the first head body (12) can move upward by the acceleration movement of the second head body (14). The control unit (50) can control the arm unit (30) so that the second head body (14) moves in an accelerating motion when the second head body (14) is moved in a pulling direction to transport external cargo to the conveyor device (C). And when the first head body (12), connected to the second head body (14) via the connecting bar (15), accelerates in the pulling direction of the second head body (14) while the cargo (G) is adsorbed, it can move upward due to the inertial force resulting from the acceleration movement and the weight of the adsorbed cargo (G).

[0095] Accordingly, when the SCARA robot (1) according to the present embodiment sucks and pulls the cargo (G) to place it on the conveyor device (C), the first head body (12) moves slightly upward to lift the cargo (G), thereby preventing the cargo (G) from getting stuck at an uneven height, which prevents damage to the cargo and equipment and improves the speed of the transfer operation.

[0096] In addition, the SCARA robot (1) according to the present embodiment can move the first head body (12) slightly upward in a non-powered manner by means of inertial force due to accelerated movement and the weight of the adsorbed cargo, thereby simplifying the device structure for upward movement of the first head body (12), reducing costs, and increasing energy efficiency.

[0097] Preferably, the control unit (50) can determine acceleration based on the weight of the cargo when controlling the pulling direction movement of the second head body (14). Specifically, the control unit (50) can determine acceleration inversely proportional to the weight of the cargo (G) to be adsorbed to the first head body (12). Accordingly, when adsorbing a light cargo (G) and moving it to a conveyor device, the inertia force is increased to enable upward movement of the first head body (12), whereas when adsorbing a heavy cargo (G) and moving it to a conveyor device, the acceleration is lowered to improve the safety of cargo transport. At this time, the weight of the adsorbed cargo (G) may be input from an external source or may be measured and provided by a separate weight sensing unit (not shown).

[0099] FIG. 11 is a diagram illustrating the coupling relationship between an adsorption unit, a head unit, and a connecting bar according to one embodiment, FIG. 12 is a diagram illustrating an example of the adsorption unit moving downward according to one embodiment of the present invention, and FIG. 13 is a diagram illustrating an example of the adsorption unit moving upward according to one embodiment of the present invention.

[0100] As described above, the first head body (12) can move slightly upward in a non-powered manner when the second head body (14) accelerates in the first direction. To this end, the first head body (12) can be connected to the second head body (14) via a connecting bar (15).

[0101] Referring to FIG. 11, the coupling relationship between the first head body (12) and the second head body (14) by the connecting bar (15) is specifically examined. One end of the connecting bar (15) is hinge-coupled to the second head body (14) through the third rotation axis (23), and the other end of the connecting bar (15) is hinge-coupled to the first head body (12) through the fourth rotation axis (24). The third rotation axis (23) and the fourth rotation axis (24) are arranged lengthwise along the second direction. At this time, since the individual movement of the second head body (14) is restricted by coupling with the arm unit (30), the connecting bar (15) can rotate around the third rotation axis (23), which is the connection point with the second head body (14).

[0102] At this time, the connecting bar (15) may be provided in multiple numbers so that the first head body (12), which is hinged to the connecting bar (15), maintains a constant posture regardless of the rotation of the connecting bar (15), thereby ensuring that the suction pad (111) always faces the same direction. For example, two pairs of connecting bars (15) may be provided, and one pair of connecting bars (151) (hereinafter referred to as the 'first connecting bar') among the two pairs of connecting bars (151, 152) may be arranged parallel to each other at an up-and-down distance from one side, and the other pair of connecting bars (152) (hereinafter referred to as the 'second connecting bar') may be arranged parallel to each other at an up-and-down distance from the first connecting bar (401) at a position spaced apart along the second direction.

[0103] Preferably, one or more separate third tension springs (16) may be provided, which are positioned so that an elastic restoring force acts in the direction in which the first head body (12) moves downward. Specifically, one end of the third tension spring (16) may be connected to the lower end of the second head body (14) and the other end may be connected to the upper end of the first head body (12). Thus, in a state where no external force is applied, the first head body (12) can maintain a downwardly moved state as shown in FIG. 12 by the elastic restoring force of the tension spring. Here, a separate connecting bracket (19) to which the end of the third tension spring (16) is connected may be respectively positioned at the lower end of the second head body (14) and the upper end of the first head body (12).

[0104] Preferably, when the first head body (12), which has moved upward due to a force acting on it for acceleration, returns downward as the magnitude of the acting force decreases, one or more cushioning members (17) may be disposed on the first head body (12) or the second head body (14) to absorb the shock caused by contact between the second head body (14) and the first head body (12). The cushioning members (17) may be made of a material capable of shock absorption, such as urethane, rubber, or silicone. For example, the cushioning members (17) may be disposed on the surface of the first head body (12) facing the second head body (14), and thus, the first head body (12) that has moved downward does not come into direct contact with the second head body (14), but rather the cushioning members (17) disposed on the first head body (12) come into contact with the first head body (12).

[0105] When the second head body (14) accelerates moving in the direction of pulling the cargo while the cargo is adsorbed to the first head body (12) in a downwardly moved state, the connecting bar (15) rotates at a predetermined angle around the third rotation axis (23) as shown in the example in FIG. 13, so that the first head body (12) can move upward.

[0106] Preferably, a separate second stopper member (18) that limits the upward movement distance of the first head body (12) may be provided. Specifically, the second stopper member (18) is positioned to protrude toward the first head body (12) from the upper part of the second head body (14) so ​​as to contact the upper surface of the connecting bar (15) and limit the upward rotation angle of the connecting bar (15), thereby limiting the upward movement distance of the first head body (12). Here, the second stopper member (18) may be made of a material such as urethane, rubber, or silicone capable of shock absorption, similar to the cushioning member (17).

[0107] As described above, the SCARA robot (1) according to the present embodiment can prevent damage to cargo and equipment and improve the speed of the transfer operation by preventing the cargo from getting stuck by moving the second head body (14), to which the adsorption unit is attached, toward the conveyor device while the cargo is adsorbed on the first head body (12). In addition, the present invention connects the first head body (12) to the second head body (14) using a hinged connecting bar (15), so that when the adsorbed cargo is accelerated in the direction of being pulled, the first head body (12) moves slightly upward in a non-powered manner due to the inertia force and the weight of the adsorbed cargo, thereby simplifying the device structure for the upward movement of the first head body (12), reducing costs, and increasing energy efficiency.

[0109] Meanwhile, the above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0111] 1: SCARA Robot 10: Head Unit 11: Suction Module 111: Suction Pad 112: Suction body 113: Tube connector 114: Intake passage 115: Connection area 116: Shaft insertion hole 12: First head body 121: Upper plate 122: Lower plate 123: 1st vertical plate 124: 2nd vertical plate 125: Shaft 126: First compression spring 127: Second compression spring 13: Connection module 131: Hinge member 1311: First hinge bar 1312: Second hinge bar 1313: Guide hole 132: Distance maintaining block 133: First stopper member 134: 1st bracket 135: 2nd bracket 136: First tension spring 137: Second tension spring 14: Second head body 15: Connecting bar 151: 1st connecting bar 152: 2nd connecting bar 16: Third tension spring 17: Cushioning member 18: Second stopper member 19: Connecting bracket 21: First rotation axis 22: Second rotation axis 23: Third rotation axis 24: Fourth rotation axis 30: Arm Unit 31: Base Arm 32: Middle arm 50: Control unit

Claims

Claim 1 In a SCARA robot for transporting cargo, a head unit for adsorbing cargo; The head unit is coupled to the arm unit, which has one or more joints to pull and move an adsorbed cargo in a first direction. The head unit comprises an adsorption module having one or more adsorption pads that adsorb upon contact with the adsorption surface of the cargo, a first head body connected to the adsorption module in a spaced-apart manner along the first direction, and a second head body coupled to the first head body and the arm unit between the first head body and the arm unit. The adsorption module is adjustable in terms of a spacing distance relative to the first head body, a left-right positioning angle relative to the first head body, or a height relative to the second head body. The head unit comprises a connecting module having a pair of hinge members that connect the first head body and the adsorption module and are spaced apart from each other in a second direction orthogonal to the first direction. The pair of hinge members have a structure that can be folded in a mutually facing direction, and the spacing distance between the adsorption module and the first head body is adjusted according to the folding angle of the pair of hinge members. SCARA robot. Claim 2 delete Claim 3 In a SCARA robot for transporting cargo, a head unit for adsorbing cargo; The head unit is coupled to the arm unit, which has one or more joints to pull and move an adsorbed cargo in a first direction. The head unit includes an adsorption module having one or more adsorption pads that contact and adsorb the adsorption surface of the cargo, a first head body connected to the adsorption module in a spaced-apart manner along the first direction, and a second head body coupled to the first head body and the arm unit between the first head body and the arm unit. The adsorption module is adjustable in terms of a spacing distance relative to the first head body, a left-right positioning angle relative to the first head body, or a height relative to the second head body. The head unit includes a connecting module having a pair of hinge members that connect the first head body and the adsorption module and are spaced apart from each other in a second direction orthogonal to the first direction. The pair of hinge members have a structure that can be folded in a mutually facing direction, and due to the difference in folding angle between the pair of hinge members, the adsorption module moves left and right relative to the first direction. Tilting SCARA robot. Claim 4 A SCARA robot according to claim 1 or 3, wherein a pair of hinge members comprises a first hinge bar having one end connected to the first head body, and a second hinge bar having one end connected to the other end of the first hinge bar through a first rotation axis arranged vertically, and the other end connected to the suction module through a second rotation axis arranged vertically. Claim 5 A SCARA robot according to claim 4, wherein the first head body comprises one or more shafts disposed along the second direction, and the first hinge bar has one or more guide holes through which the shaft is disposed so as to be movably coupled to the shaft, and the first hinge bar moves in a direction away from another first hinge bar as the angle of placement with respect to the second hinge bar narrows. Claim 6 In claim 5, the connection module further comprises a distance maintaining block movably coupled to the shaft between a pair of first hinge bars so as to maintain a minimum separation distance between a pair of first hinge bars, a pair of first brackets each mounted on a pair of hinge members, a second bracket mounted on the distance maintaining block, a first tension spring that applies a tensile force by connecting one of the pair of first brackets and the second bracket, and a second tension spring that applies a tensile force by connecting the other of the pair of first brackets and the second bracket. Claim 7 A SCARA robot according to claim 6, wherein the first head body further comprises a pair of compression springs disposed on the shaft to press a pair of hinge members toward the center of the shaft. Claim 8 A SCARA robot according to claim 1 or 3, wherein the adsorption module further comprises an adsorption body on which the adsorption pad is mounted and a tube connector disposed on the adsorption body to which a separate tube is connected, and wherein an intake passage is formed inside the adsorption body to communicate between a hermetic space formed by one or more of the adsorption pads in contact with the adsorption surface and the tube connector. Claim 9 A SCARA robot according to claim 1 or 3, wherein the first head body is vertically movably coupled to the second head body, and the suction module and the first head body move upward by the movement of the second head body in the first direction. Claim 10 In claim 9, the SCARA robot further comprises a control unit for controlling the arm unit such that when a cargo adsorbed to the adsorption module is placed on a conveyor device, the second head body accelerates in the first direction in at least a portion of the section, and when the second head body accelerates in the first direction while the cargo is adsorbed, the adsorption module and the first head body move upward due to the inertial force resulting from the acceleration and the weight of the adsorbed cargo. Claim 11 In claim 10, the head unit further comprises one or more connecting bars that connect the first head body to the second head body, a third rotation axis arranged in a second direction orthogonal to the first direction and hinge-connecting one end of the connecting bar to the second head body, and a fourth rotation axis arranged in the second direction and hinge-connecting the other end of the connecting bar to the first head body, wherein when the second head body accelerates in the first direction while the cargo is adsorbed to the adsorption module, the connecting bar rotates at a predetermined angle around the third rotation axis so that the first head body moves upward. Claim 12 A SCARA robot according to claim 11, wherein the connecting bars are provided in multiple numbers, and the multiple connecting bars include a pair of first connecting bars arranged in parallel and spaced vertically apart from each other, and a pair of second connecting bars arranged in parallel and spaced vertically apart from each other along the second direction and spaced vertically apart from each other. Claim 13 In claim 11, the head unit further comprises one or more third tension springs arranged to act as an elastic restoring force in the direction in which the first head body moves downward, wherein one end of the third tension spring is connected to the lower end of the second head body and the other end is connected to the upper end of the first head body, a SCARA robot. Claim 14 A SCARA robot according to claim 11, wherein the head unit further comprises one or more cushioning members disposed on the first head body or the second head body to absorb shock caused by contact between the first head body and the second head body. Claim 15 A SCARA robot according to claim 11, wherein the head unit further comprises a stopper member disposed on the second head body and contacting the connecting bar to limit the upward movement distance of the first head body.

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