Length-adjustable robotic arm

Abstract

The present invention provides a length-adjustable robot arm comprising: a robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart from each other in the internal space; a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate and extends in length; and a motor portion connected to the roller portion and providing a driving force to rotate the first roller and the second roller, wherein the first roller and the second roller are arranged in series along the longitudinal direction of the robot arm main body portion, a first gear for rotating the first roller is connected to one end of the first roller, and a second gear for rotating the second roller is connected to one end of the second roller, wherein the first gear and the second gear are connected such that when the first gear rotates, the second gear rotates in the opposite direction to the rotation direction of the first gear.

Description

Technology Field

[0001] The present invention relates to a length-adjustable robot arm, and more specifically, to a length-adjustable robot arm capable of adjusting its length while winding and unfolding without deformation. Background Technology

[0002] Referring to the background technology described in Korean Registered Patent No. 10-2622264 (registered on January 3, 2024), a robot manipulator created by applying the structure and operation of parts of the human body is used to perform efficient tasks in dangerous work environments where it is difficult for humans to operate.

[0003] A robot manipulator is structured such that a robot hand is connected to a single robot arm, or such that multiple robot arms are linked together and equipped with a robot hand.

[0004] Meanwhile, robot manipulators can be effectively used for external operations on space stations and the like; therefore, for efficient space utilization, it is desirable for their volume to be reduced when mounted on a launch vehicle, while their length should be extended to maintain a sufficient working radius during operation.

[0005] However, conventional robot manipulators have a problem in that it is difficult to sufficiently satisfy the conflicting requirements of volume reduction and length expansion because the length of the robot arm is fixed. The problem to be solved

[0006] The present invention was created to solve the above-mentioned problems, and aims to provide a length-adjustable robot arm that can wind or unfold a plurality of carbon composite slit beams stacked on the roller part by rotating the roller part in a forward or reverse direction, and can selectively adjust the length using a slit beam with a very large unfolding ratio. means of solving the problem

[0007] To achieve the above objectives, the present invention comprises: a robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart in the internal space; and a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate, thereby extending in length. The present invention provides a length-adjustable robot arm comprising a motor unit connected to the roller unit and providing a driving force to rotate the first roller and the second roller, wherein the first roller and the second roller are arranged in series along the longitudinal direction of the robot arm body, a first gear for rotating the first roller is connected to one end of the first roller, and a second gear for rotating the second roller is connected to one end of the second roller, and wherein the first gear and the second gear are connected such that when the first gear rotates, the second gear rotates in the opposite direction to the rotation direction of the first gear.

[0008] In a length-adjustable robot arm according to the present invention, the robot arm main body may include an upper main body having a first internal space in the shape of a semicylindrical formed therein, wherein the first internal space guides the movement of the slit beam part, and a lower main body disposed on the lower side of the upper main body, wherein a second internal space in the shape of a semicylindrical formed therein guides the movement of the slit beam part.

[0009] The radius of the first internal space and the second internal space may be larger on one side where the first roller and the second roller are positioned, and the radius on the other side where the slit beam portion is discharged to the outside of the first internal space and the second internal space may be smaller than the radius on one side.

[0010] delete

[0011] The first gear and the second gear may have the same diameter, and the circumferential surfaces of the first gear and the second gear may each be provided with a first tooth and a second tooth, and the first gear and the second gear may be connected so that the first tooth and the second tooth mesh with each other.

[0012] In addition, the present invention comprises: a robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart from each other in the internal space; and a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate, thereby extending in length. The present invention provides a length-adjustable robot arm comprising a motor unit connected to the roller unit and providing a driving force to rotate the first roller and the second roller, wherein the first roller and the second roller are arranged in series along the longitudinal direction of the robot arm body, a first gear for rotating the first roller is connected to one end of the first roller, and a second gear for rotating the second roller is connected to one end of the second roller, and a first tooth and a second tooth are provided on the circumferential surfaces of the first gear and the second gear, respectively, and the first gear is connected to the motor unit, wherein the motor unit includes a driving motor that provides a driving force to rotate the first gear and a connecting gear connected to the driving motor by a motor rotation shaft, and wherein the connecting gear is connected to the first gear to transmit the driving force of the driving motor to the first roller and the second roller.

[0013] The above connecting gear may have a diameter smaller than the diameter of the first gear, and the circumferential surface of the connecting gear may be provided with a connecting tooth that is connected to mesh with the first tooth.

[0014] The above slit beam portion is formed by stacking multiple carbon composite materials with unidirectional patterns, wherein the unidirectional patterns of one carbon composite material and the adjacent carbon composite material are stacked to form a certain angle with each other, thereby providing double stability.

[0015] In addition, the present invention comprises: a robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart from each other in the internal space; and a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate, thereby extending in length. The present invention provides a length-adjustable robot arm comprising a motor unit connected to the roller unit and providing a driving force to rotate the first roller and the second roller, wherein the upper robot arm body comprises an upper body having a first internal space formed therein in a semi-cylindrical shape and a lower body disposed at the lower part of the upper body having a second internal space formed therein in a semi-cylindrical shape, and the slit beam unit comprises a first slit beam stacked in multiple layers on the circumferential surface of the first roller and a second slit beam stacked in multiple layers on the circumferential surface of the second roller, wherein the first slit beam and the second slit beam are discharged to the outside of the first internal space and the second internal space in a semi-cylindrical shape, and the first slit beam and the second slit beam are discharged in a shape corresponding to the shape upon discharge.

[0016] The first internal space and the second internal space may have different radii, and the second internal space may have a radius larger than the radius of the first internal space, and when the first slit beam and the second slit beam are discharged to the outside of the robot arm main body, the two perimeter surfaces of the first slit beam may be located inside the two perimeter surfaces of the second slit beam.

[0017] A plurality of first magnets may be provided on the outer sides of the circumferential surfaces of both sides of the first slit beam at a distance from each other in the longitudinal direction of the first slit beam, and a plurality of second magnets coupled to the plurality of first magnets may be provided on the inner sides of the circumferential surfaces of both sides of the second slit beam at a distance from each other in the longitudinal direction of the second slit beam.

[0018] The length-adjustable robot arm according to the present invention may further include a gripping part that grips an object and is mounted on the ends of the first slit beam and the second slit beam that are discharged to the outside of the robot arm body part, and a slit beam fixing part that fixes the ends of the first slit beam and the second slit beam so as not to be spaced apart in order to mount the gripping part on the ends of the first slit beam and the second slit beam.

[0019] The above slit beam fixing part may have a cylindrical shape and screw threads may be formed on the circumferential surface of the slit beam fixing part, and the gripping part may have a cylindrical shape and include a gripping body coupled to the slit beam fixing part and a gripper provided to protrude outwardly from one end of the gripping body, and a screw groove coupled to the screw threads may be formed on the inner circumferential surface of the gripping body.

[0020] The length-adjustable robot arm according to the present invention may further include a slit beam twist measuring unit that is provided in the slit beam fixing part and the robot arm body part and measures the twist angle of the first slit beam and the second slit beam discharged to the outside of the robot arm body part.

[0021] The above slit beam twist measuring part may include a reference projection that protrudes outward from one end of the circumferential surface of the slit beam fixing part and serves as a reference point for measuring the twist angle of the first slit beam and the second slit beam discharged to the outside of the robot arm main body, and a twist measuring sensor provided in the robot arm main body that senses the reference projection to measure the twist angle of the first slit beam and the second slit beam.

[0022] A reference projection insertion groove into which the reference projection is inserted may be formed on the circumferential surface of the other end of the gripping body.

[0023] The length-adjustable robot arm according to the present invention may further include a slit beam twist correction unit that is provided inside the gripping body and corrects the twist angle of the first slit beam and the second slit beam measured by the slit beam twist measuring unit.

[0024] The above slit beam twist correction unit may include a connecting piece connected to the reference projection inserted into the reference projection insertion groove, a correction motor connected to the connecting piece and providing power to rotate the connecting piece, and a connecting shaft, one end of which is connected to the connecting piece and the other end of which is connected to the correction motor, and the correction motor may rotate the connecting shaft and the connecting piece to rotate the slit beam fixing part mounted on the end of the first slit beam and the second slit beam, thereby correcting the twist angle of the first slit beam and the second slit beam. Effects of the invention

[0025] According to the length-adjustable robot arm of the present invention, a robot arm with a very large deployment ratio is possible, allowing the gripping part mounted on the robot arm to reach a long distance, and a slit beam part having a structure that can extend the length of the robot arm is located inside the robot arm body part having a hollow shape, so the size of the robot arm can be reduced.

[0026] In addition, when the slit beam section is ejected to the outside of the robot arm body to extend its length, the internal space of the robot arm body guides the movement of the ejected slit beam section to prevent twisting or bending of the slit beam section, and if twisting occurs, the twisting can be corrected by the slit beam twisting correction section.

[0027] In addition, the first slit beam and the second slit beam of the slit beam section have a shape that wraps around each other, thereby maintaining the rigidity of the slit beam section, and the first slit beam and the second slit beam are coupled by magnets, which can further increase the rigidity of the slit beam section. Brief explanation of the drawing

[0028] FIG. 1 is a schematic diagram illustrating a length-adjustable robot arm according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating the state in which a second slit beam, stacked on a second roller provided inside the lower body of the robot arm main body part shown in FIG. 1, is discharged and extended to the outside of the lower body. FIG. 3 is a drawing showing the state in which the first slit beam and the second slit beam are stacked on the first roller and the second roller shown in FIG. 1. FIG. 4 is a drawing illustrating the state in which the first slit beam and the second slit beam are discharged and extended from the inside to the outside of the robot arm main body part shown in FIG. 1. FIG. 5 is an enlarged view showing the first magnet and the second magnet provided on the first slit beam and the second slit beam, respectively, as illustrated in FIG. 4. FIG. 6 is an enlarged view showing the combined state of the first slit beam and the second slit beam illustrated in FIG. 5. FIG. 7 is an enlarged view showing the state in which a slit beam twist measuring part is provided in the robot arm main body and slit beam fixing part illustrated in FIG. 1. FIG. 8 is a schematic diagram illustrating the state in which a slit beam twist correction part provided inside a gripping body is connected to a reference projection of a slit beam twist measuring part. Specific details for implementing the invention

[0029] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, and should be interpreted in a meaning and concept consistent with the technical spirit of the present invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0030] Referring to FIG. 1, a length-adjustable robot arm (10) according to an embodiment of the present invention includes a robot arm body part (100), a roller part (200), a slit beam part (300), and a motor part (400), and may further include a gripping part (500), a slit beam fixing part (600), a slit beam twist measuring part (700), and a slit beam twist correction part (800).

[0031] Referring to FIGS. 1 to 3, a hollow internal space is formed inside the robot arm main body (100), and the robot arm main body (100) includes an upper body (110) and a lower body (120). A first internal space (110a) in the shape of a semi-cylindrical shape is formed inside the upper body (110), and the lower body (120) is positioned below the upper body (110). A second internal space (120a) in the shape of a semi-cylindrical shape is formed inside the lower body (120). When the upper body (110) and the lower body (120) are combined, a hollow internal space is formed inside the robot arm main body (100) by the first internal space (110a) and the second internal space (120a).

[0032] A roller section (200) is provided in the internal space of the robot arm main body (100), and the roller section (200) includes a first roller (210) and a second roller (220) that are spaced apart, and the first roller (210) and the second roller (220) are arranged in series along the longitudinal direction of the robot arm main body (100), and a slit beam section (300) is provided stacked on the first roller (210) and the second roller (220).

[0033] The slit beam section (300), which is provided to be stacked on the first roller (210) and the second roller (220), is unwound from the first roller (210) and the second roller (220) when the first roller (210) and the second roller (220) rotate, and when the length of the slit beam section (300) is extended, the first internal space (110a) and the second internal space (120a) serve to guide the movement of the extended slit beam section (300).

[0034] It is preferable that the radius of the first internal space (110a) and the second internal space (120a) is larger on one side where the first roller (110a) and the second roller (120a) are positioned, and the radius on the other side where the slit beam portion (300) is discharged to the outside of the first internal space (110a) and the second internal space (120a) when the first roller (110a) and the second roller (120a) rotate is smaller than the radius on the one side.

[0035] The roller unit (200) provided inside the robot arm main body (100) is connected to a motor unit (400), and the motor unit (400) provides a driving force to rotate the first roller (210) and the second roller (220) of the roller unit (200).

[0036] A first gear (211) and a second gear (221) are connected to the first roller (210) and the second roller (220), respectively. The first gear (211) is connected to one end of the first roller (210), and when the first gear (211) rotates, the first roller (210) rotates, and the second gear (221) is connected to one end of the second roller (220), and when the second gear (221) rotates, the second roller (220) rotates.

[0037] The first gear (211) connected to the first roller (210) and the second gear (221) connected to the second roller (220) are connected, and when the first gear (211) rotates, the second gear (221) rotates in the opposite direction to the rotation direction of the first gear (211).

[0038] It is preferable that the first gear (211) and the second gear (221) have the same diameter, and the circumferential surfaces of the first gear (211) and the second gear (221) are each provided with a first tooth (211a) and a second tooth (221a). The first gear (211) and the second gear (221) are connected to each other by the first tooth (211a) and the second tooth (221a) provided on the circumferential surface meshing with each other, and because the first gear (211) and the second gear (221) have the same diameter, the first roller (210) and the second roller (220) rotate at the same speed, and as a result of rotating at the same speed, the stacked slit beam section (300) of the first roller (210) and the second roller (220) is unwound to the outside of the robot arm main body (100) at the same speed, thereby extending its length.

[0039] Referring to FIG. 1, the motor unit (400) is connected to the first gear (211), and the motor unit (400) includes a driving motor (410) and a connecting gear (420). The driving motor (410) provides a driving force to rotate the first gear (211), and the connecting gear (420) is connected to the driving motor (410) and the motor rotation shaft (421), and the connecting gear (420) rotates by the driving force of the driving motor (410). The connecting gear (420) is connected to the first gear (211), and the connecting gear (420) transmits the driving force of the driving motor (410) to the first gear (211), and as the first gear (211) rotates, the first roller (210) and the second roller (220) rotate.

[0040] The connecting gear (420) has a diameter smaller than that of the first gear (211), but is not limited thereto and may have the same diameter as the first gear (211), and a connecting tooth (420a) is provided on the circumferential surface of the connecting gear (420) to mesh with the first tooth (211a).

[0041] Referring to FIGS. 1 and 3, the slit beam portion (300) stacked on the first roller (210) and the second roller (220) is formed by stacking a plurality of carbon composite materials with unidirectional patterns, and it is preferable that the unidirectional patterns of one carbon composite material and the adjacent carbon composite material are stacked to form a certain angle with each other to have double stability.

[0042] The above slit beam section (300) includes a first slit beam (310) and a second slit beam (320), wherein the first slit beam (310) is stacked in multiple layers on the circumferential surface of the first roller (210), and the second slit beam (320) is stacked in multiple layers on the circumferential surface of the second roller (220).

[0043] When the first roller (210) and the second roller (220) rotate by the driving force of the motor unit (400), the first slit beam (310) and the second slit beam (320), which are stacked in multiple layers on the first roller (210) and the second roller (220), are discharged to the outside of the first internal space (110a) and the second internal space (120a), respectively, in a semi-cylindrical shape.

[0044] When the first slit beam (310) and the second slit beam (320) are discharged to the outside of the first internal space (110a) and the second internal space (120a), they are discharged to have a shape corresponding to the first internal space (110a) and the second internal space (120a).

[0045] The first internal space (110a) that guides the movement of the first slit beam (310) and the second internal space (120a) that guides the movement of the second slit beam (320) have different radii, and it is preferable that the second internal space (120a) has a larger radius than the radius of the first internal space (110a).

[0046] Referring to FIGS. 4 to 6, the first internal space (110a) and the second internal space (120a) have different radii, so the first slit beam (310) and the second slit beam (320) discharged to the outside of the robot arm main body (100) have a semi-cylindrical shape with different radii, and the second internal space (120a) has a larger radius than the first internal space (110a), so that the two perimeter surfaces of the first slit beam (310) are located inside the two perimeter surfaces of the second slit beam (320).

[0047] A plurality of first magnets (311) are provided on both perimeter surfaces of the first slit beam (310), and a plurality of second magnets (321) are provided on both perimeter surfaces of the second slit beam (320), and the plurality of first magnets (311) and second magnets (321) are each provided spaced apart in the longitudinal direction of the first slit beam (310) and the second slit beam (320).

[0048] The first magnet (311) provided on both sides of the circumferential surface of the first slit beam (310) is provided on the outer side of both sides of the circumferential surface of the first slit beam (310), and the second magnet (321) provided on both sides of the circumferential surface of the second slit beam (320) is provided on the inner side of both sides of the circumferential surface of the second slit beam (320). As a result, when the first slit beam (310) and the second slit beam (320) are discharged to the outside of the robot arm main body (100), the first magnet (311) and the second magnet (321) are combined, thereby strengthening the connection between the first slit beam (310) and the second slit beam (320), thereby enabling the maintenance of the shape of the first slit beam (310) and the second slit beam (320), which have a cylindrical shape when combined, and increasing the rigidity.

[0049] Referring to FIGS. 1 and FIGS. 7, the first slit beam (310) and the second slit beam (320) that are discharged to the outside of the robot arm main body (100) are equipped with a gripping part (500) and a slit beam fixing part (600), and the gripping part (500) serves to grip an object.

[0050] The above slit beam fixing part (600) is mounted at the ends of the first slit beam (310) and the second slit beam (320) to mount the gripping part (500) to the ends of the first slit beam (310) and the second slit beam (320), and serves to fix the ends of the first slit beam (310) and the second slit beam (320) so that they are not separated.

[0051] The above slit beam fixing part (600) has a cylindrical shape, and it is preferable that a screw thread (600a) is formed on the circumferential surface of the above slit beam fixing part (600) to be coupled with the above gripping part (500).

[0052] The above gripping part (500) includes a gripping body (510) and a gripper (520), and the gripping body (510) has a cylindrical shape and is coupled with the slit beam fixing part (600). The gripper (520) is provided at one end of the gripping body (510) so as to protrude outward, and a screw groove (not shown) is formed on the inner circumference of the gripping body (510) to be coupled with the screw thread (600a) formed on the circumference of the slit beam fixing part (600).

[0053] Referring to FIGS. 7 and 8, the robot arm main body (100) and the slit beam fixing part (600) are equipped with a slit beam twist measuring part (700), and the slit beam twist measuring part (700) measures the twist angle of the first slit beam (310) and the second slit beam (320) that are discharged to the outside of the robot arm main body (100).

[0054] The twist measuring part (700) includes a reference projection (710) and a twist measuring sensor (720). The reference projection (710) protrudes outward from one end of the circumferential surface of the slit beam fixing part (600), and the reference projection (710) serves as a reference point for measuring the twist angle of the first slit beam (310) and the second slit beam (320) that are discharged to the outside of the robot arm main body part (100).

[0055] The twisting measurement sensor (720) is provided in the robot arm main body (100), and the twisting measurement sensor (720) measures the twisting angle of the first slit beam (310) and the second slit beam (320) by sensing the reference projection (710) provided in the slit beam fixing part (600) which is mounted at the end of the first slit beam (310) and the second slit beam (320) that are discharged to the outside of the robot arm main body (100).

[0056] A reference projection insertion groove (511) into which the reference projection (710) is inserted is formed on the circumferential surface of the other end of the gripping body (510) of the gripping part (500), and a slit beam twist correction part (800) is provided in the gripping part (500).

[0057] The above slit beam twist correction unit (800) is provided inside the gripping body (510), and the twist correction unit (800) serves to correct the twist angle of the first slit beam (310) and the second slit beam (320) measured by the slit beam twist measuring unit (700).

[0058] The above slit beam distortion correction unit (800) includes a connecting piece (810), a correction motor (820), and a connecting shaft (830). The connecting piece (810) is connected to the reference projection (710) inserted into the reference projection insertion groove (511), and the correction motor (820) is connected to the connecting piece (810) and provides power to rotate the connecting piece (810).

[0059] The above connecting piece (810) and the above correction motor (820) are connected by a connecting shaft (830), and one end of the connecting shaft (830) is connected to the above connecting piece (810) and the other end is connected to the above correction motor (820) to transmit power from the above correction motor (820) to the above connecting piece (810).

[0060] The correction motor (820) rotates the connecting shaft (830) and the connecting piece (810) to rotate the slit beam fixing part (600) mounted on the end of the first slit beam (310) and the second slit beam (320), thereby correcting the twist angle of the first slit beam (310) and the second slit beam (320).

[0061] Therefore, a robot arm with a very large deployment ratio is possible, allowing the gripping part (500) mounted on the robot arm to reach far, and a slit beam part (300) which is a structure that can extend the length of the robot arm is located inside the robot arm main body part (100) having a hollow shape, so that the size of the robot arm can be reduced.

[0062] In addition, when the slit beam section (300) is discharged to the outside of the robot arm main body (100) to extend its length, the internal space of the robot arm main body (100) guides the movement of the discharged slit beam section (300) to prevent twisting or bending of the slit beam section (300), and if twisting occurs, the twisting can be corrected by the slit beam twisting correction section (800).

[0063] In addition, the first slit beam (310) and the second slit beam (320) of the slit beam section (300) have a shape that wraps around each other, thereby maintaining the rigidity of the slit beam section (300), and the first slit beam (310) and the second slit beam (320) are joined by magnets (311, 321) to further increase the rigidity of the slit beam section (300).

[0064] The present invention has been described with reference to embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0065] 10: Adjustable robot arm 100: Robot arm main body 110: Upper body 120: Lower body 200 : Roller section 210 : 1st roller 220: Second roller 300: Slit beam section 310 : 1st slit beam 320 : 2nd slit beam 400 : Motor section 410 : Drive motor 420 : Connecting gear 500 : Gripping part 510: Grasp body 520: Gripper 600 : Slit beam fixing part 700 : Slit beam twist measuring part 710: Reference protrusion 720: Twist measurement sensor 800: Slit beam twist correction part 810: Connecting piece 820 : Compensation motor 830 : Connecting shaft

Claims

Claim 1 A robot arm with adjustable length, comprising: a robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart from each other in the internal space; a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate and extends in length; and a motor portion connected to the roller portion and providing a driving force to rotate the first roller and the second roller, wherein the first roller and the second roller are arranged in series along the longitudinal direction of the robot arm main body portion, a first gear that rotates the first roller is connected to one end of the first roller, and a second gear that rotates the second roller is connected to one end of the second roller, wherein the first gear and the second gear are connected so that when the first gear rotates, the second gear rotates in the opposite direction to the rotation direction of the first gear. Claim 2 A length-adjustable robot arm according to claim 1, wherein the robot arm main body comprises an upper body having a first internal space in the shape of a semicylindrical shape formed therein and the first internal space guiding the movement of the slit beam part, and a lower body disposed below the upper body and having a second internal space in the shape of a semicylindrical shape formed therein that guiding the movement of the slit beam part. Claim 3 A length-adjustable robot arm according to claim 2, characterized in that the radius of the first internal space and the second internal space is larger on one side where the first roller and the second roller are arranged, and the radius on the other side where the slit beam portion is discharged to the outside of the first internal space and the second internal space is smaller than the radius on the one side. Claim 4 delete Claim 5 A length-adjustable robot arm according to claim 1, wherein the first gear and the second gear have the same diameter, and the circumferential surfaces of the first gear and the second gear are each provided with a first tooth and a second tooth, and the first gear and the second gear are connected so that the first tooth and the second tooth mesh with each other. Claim 6 A robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart in the internal space; and a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate, thereby extending in length. A length-adjustable robot arm comprising a motor unit connected to the roller unit and providing a driving force to rotate the first roller and the second roller, wherein the first roller and the second roller are arranged in series along the longitudinal direction of the robot arm body, a first gear for rotating the first roller is connected to one end of the first roller, and a second gear for rotating the second roller is connected to one end of the second roller, and a first tooth and a second tooth are provided on the circumferential surfaces of the first gear and the second gear, respectively, and the first gear is connected to the motor unit, wherein the motor unit comprises a driving motor that provides a driving force to rotate the first gear and a connecting gear connected to the driving motor by a motor rotation shaft, and wherein the connecting gear is connected to the first gear to transmit the driving force of the driving motor to the first roller and the second roller. Claim 7 A length-adjustable robot arm according to claim 6, wherein the connecting gear has a diameter smaller than the diameter of the first gear, and the circumferential surface of the connecting gear is provided with a connecting tooth that is engaged with the first tooth. Claim 8 A length-adjustable robot arm according to claim 3, wherein the slit beam portion is formed by stacking a plurality of carbon composite materials having a unidirectional pattern, such that the unidirectional patterns of one carbon composite material and the adjacent carbon composite material are stacked to form a certain angle with each other, thereby having double stability. Claim 9 A robot arm main body portion having a hollow internal space formed therein; a roller portion including a first roller and a second roller spaced apart in the internal space; and a slit beam portion having multiple layers stacked on the first roller and the second roller, which is unwound from the first roller and the second roller when the first roller and the second roller rotate, thereby extending in length. A length-adjustable robot arm comprising a motor unit connected to the roller unit and providing a driving force to rotate the first roller and the second roller, wherein the robot arm body comprises an upper body having a first internal space formed in a semi-cylindrical shape and a lower body disposed at the lower part of the upper body having a second internal space formed in a semi-cylindrical shape, and the slit beam unit comprises a first slit beam stacked in multiple layers on the circumferential surface of the first roller and a second slit beam stacked in multiple layers on the circumferential surface of the second roller, wherein the first slit beam and the second slit beam are discharged to have a semi-cylindrical shape outside the first internal space and the second internal space, and wherein the first slit beam and the second slit beam are discharged to have a corresponding shape when discharged. Claim 10 A length-adjustable robot arm according to claim 9, wherein the first internal space and the second internal space have different radii, the second internal space has a radius larger than the radius of the first internal space, and when the first slit beam and the second slit beam are discharged to the outside of the robot arm body, the two perimeter surfaces of the first slit beam are located inside the two perimeter surfaces of the second slit beam. Claim 11 A length-adjustable robot arm according to claim 10, characterized in that a plurality of first magnets are provided on the outer sides of the circumferential surfaces of both sides of the first slit beam at a distance from each other in the longitudinal direction of the first slit beam, and a plurality of second magnets coupled to the plurality of first magnets are provided on the inner sides of the circumferential surfaces of both sides of the second slit beam at a distance from each other in the longitudinal direction of the second slit beam. Claim 12 A length-adjustable robot arm according to claim 10, further comprising a gripping part mounted on the ends of the first slit beam and the second slit beam discharged to the outside of the robot arm body part and gripping an object, and a slit beam fixing part that fixes the ends of the first slit beam and the second slit beam so as not to be separated in order to mount the gripping part on the ends of the first slit beam and the second slit beam. Claim 13 A length-adjustable robot arm according to claim 12, wherein the slit beam fixing part has a cylindrical shape and screw threads are formed on the circumferential surface of the slit beam fixing part. Claim 14 A length-adjustable robot arm according to claim 13, wherein the gripping portion comprises a gripping body having a cylindrical shape and coupled to the slit beam fixing portion, and a gripper provided to protrude outwardly from one end of the gripping body, and a screw groove formed on the inner circumferential surface of the gripping body to engage with the screw thread. Claim 15 A length-adjustable robot arm according to claim 14, further comprising a slit beam twist measuring unit provided in the slit beam fixing part and the robot arm body part, for measuring the twist angle of the first slit beam and the second slit beam discharged to the outside of the robot arm body part. Claim 16 In claim 15, the slit beam twist measuring part comprises a reference projection that protrudes outwardly from one end of the circumferential surface of the slit beam fixing part and serves as a reference point for measuring the twist angle of the first slit beam and the second slit beam discharged to the outside of the robot arm main body part, and a twist measuring sensor provided in the robot arm main body part that senses the reference projection to measure the twist angle of the first slit beam and the second slit beam, thereby making the length adjustable robot arm. Claim 17 A length-adjustable robot arm according to claim 16, wherein a reference projection insertion groove into which the reference projection is inserted is formed on the circumferential surface of the other end of the gripping body, and further comprising a slit beam twist correction unit provided inside the gripping body and correcting the twist angle of the first slit beam and the second slit beam measured by the slit beam twist measuring unit. Claim 18 A length-adjustable robot arm according to claim 17, wherein the slit beam twist correction part comprises a connecting piece connected to the reference projection inserted into the reference projection insertion groove, a correction motor connected to the connecting piece and providing power to rotate the connecting piece, and a connecting shaft having one end connected to the connecting piece and the other end connected to the correction motor, wherein the correction motor rotates the connecting shaft and the connecting piece to rotate the slit beam fixing part mounted on the ends of the first slit beam and the second slit beam to correct the twist angle of the first slit beam and the second slit beam.

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