Robot device for unloading cargo and control method thereof

Abstract

A robot device for unloading cargo and a control method thereof are provided. The robot device comprises: a body plate; and one or more rods mechanically connected to the body plate, wherein the rods are configured to be variably tilted with respect to the body plate.

Description

Robotic device for unloading loads and its control method

[0001] The present invention relates to a robot device and a control method thereof. More specifically, it relates to a robot device for unloading loads and a control method thereof.

[0002] Logistics refers to the efficient flow of goods, encompassing the entire process from product production and shipment to transportation, unloading, packaging, and storage. While logistics methods are not particularly limited, most goods today are transported via vehicles, ships, or aircraft. To achieve this, products are first loaded into containers or other storage spaces at the departure location, and then unloaded at the arrival location.

[0003] As logistics is a factor directly impacting the production cost of a product, multifaceted efforts are being made to build a more efficient logistics system. In particular, with the recent significant growth in the size and importance of the logistics industry, various research efforts are being conducted on individual elements of technology for automation or semi-automation of cargo loading, unloading, and transportation.

[0004] Generally, unloading, in a broad sense, refers to the process and activities involved in removing goods from a loading area and distributing them from a logistics hub to a sub-hub or transporting them to their final destination. However, in a narrower sense, unloading also refers solely to the process of removing goods from a loading area and placing them on a telescopic conveyor. The unloaded goods then move along the telescopic conveyor, where they are distributed to sub-hubs.

[0005] Traditionally, unloading, in the narrow sense described above, has typically relied on human labor. However, manually unloading products is a very arduous task.

[0006] (Patent Document 1) US 10,029,374 B1

[0007] (Patent Document 2) KR 10-2269502 B1

[0008] (Patent Document 3) US 11,465,864 B1

[0009] For this reason, Patent Document 1 and others disclose robotic devices for unloading cargo, i.e., loads. Their primary solution is to quickly unload loads using suction cups at the ends of the robot arms.

[0010] However, suction-based unloading has several limitations. Patent Document 1 and others assume that the cargo is regularly stacked in a standardized size and shape. In cases where similar items are transported in large quantities, such as in industrial logistics, suction-based unloading, as described in Patent Document 1, can be an effective alternative to conventional techniques.

[0011] Unlike industrial logistics, however, in the logistics process leading to the final consumer, individual loads are irregular in size and shape, with varying sizes and shapes, and the packaging materials for each item also vary. Furthermore, due to the diverse sizes and shapes of loads, they are often not aligned. Instead, to transport more cargo at once, loads of various sizes are often jammed together, resulting in haphazard and irregular stacking. Furthermore, loads often collapse and become misaligned during transport.

[0012] In these situations, unloading using suction cups, as described in Patent Document 1, is difficult, and the unloading process speed is also very slow. Furthermore, it is difficult to respond to unexpected situations, such as failure to absorb items or collapse and spilling cargo.

[0013] Furthermore, the technology disclosed in Patent Document 1, etc., presupposes a very high level of image processing technology. That is, analyzing and deriving the optimal location for suction from the acquired image and precisely docking the suction plate at that location are essential for successful suction. As explained above, if the size, shape, and alignment of the loads are good, image processing is somewhat possible. However, if the loads have an irregular size and shape and are not aligned, image processing is impossible, making suction and unloading difficult, making it impossible to respond to unexpected situations, and reducing the image processing speed and / or unloading processing speed.

[0014] Accordingly, the problem that the present invention seeks to solve is to provide a robot device for unloading loads in a new way that is different from the conventional method.

[0015] Another problem that the present invention seeks to solve is to provide a control method for the above-mentioned robot device for unloading loads.

[0016] Another problem that the present invention seeks to solve is to provide a computer program recorded on a recording medium that performs the above method.

[0017] Another problem that the present invention seeks to solve is to provide a storage medium storing a program for performing the above method or a device including the storage medium.

[0018] Another problem that the present invention seeks to solve is to provide a method for unloading a load using the above robot device.

[0019] The tasks of the present invention are not limited to the technical tasks mentioned above, and other technical tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0020] A robot device according to one embodiment of the present invention for solving the above problem comprises a body plate; and at least one rod mechanically connected to the body plate, wherein the rod is configured to tilt variably with respect to the body plate.

[0021] One horizontal side of the above body plate has a groove, and the load can be placed within the groove.

[0022] In addition, the connection between the above load and the body plate may be configured as a direct or indirect free connection so as to be tilted at least by gravity or an external force.

[0023] The above loads are provided in multiple units, and the tilt of each load can be independent of each other.

[0024] The above robotic device is for unloading a load, and the load is provided in a plurality of pieces, and at least some of the plurality of pieces of load can be configured to be inserted into gaps between individual cargoes on top of the load.

[0025] In some embodiments, the robotic device may further include a guide rail disposed on the body plate; and a carriage configured to move along the guide rail and having a load hole into which the load is inserted.

[0026] The above guide rail may include a first rail portion extending in a first direction, and a second rail portion connected to the first rail portion and extending in a third direction.

[0027] In addition, the carriage includes guide blocks that are engaged with the guide rails, and at least two guide blocks, including a first guide block and a second guide block, are inserted into one of the guide rails, and in a state in which both the first guide block and the second guide block are located in the first rail portion, and in a state in which the carriage is partially moved, at least one of the plurality of guide blocks can be located in the second rail portion.

[0028] Additionally, one side of the body plate in the first direction may have a recessed groove, and the carriage may be configured to enable linear movement in the first direction, at least partially, during the process of moving along the guide rail.

[0029] During the process of tilting the load, it may be configured to enable linear movement in a direction intersecting the extension direction of the load, at least partially.

[0030] In some embodiments, the robotic device may further include a flexible member fixed to the body plate and carriage.

[0031] According to another embodiment of the present invention for solving the above problem, a robot device is provided, which includes a processor that executes a program resident in a memory, wherein the processor is configured to: obtain load image information; first move an end effector including a body plate and a load of the robot device toward an upper surface of the load; second move the end effector downwardly following the first movement; and third move the end effector backward following the second movement.

[0032] The height of the body plate in the above-mentioned backward movement step may be substantially the same as the height at which the downward movement is completed.

[0033] A method for unloading a load according to one embodiment of the present invention for solving any of the above-described other problems comprises: preparing a robot device including a body plate and an end effector including a load mechanically connected to the body plate; moving the load toward the upper side of the load on which individual cargo is loaded; moving the end effector downward; and moving the end effector backward.

[0034] As a result of the above downward or backward movement, at least a portion of the load may be inserted between the boundaries of individual cargoes.

[0035] During the above retreat movement process, the lower part of the load can retreat while in contact with the upper surface of the load.

[0036] During the above backward movement process, at least a portion of the load may be tilted.

[0037] During the above retreat movement process, at least a portion of the load can move in a horizontal direction.

[0038] As a result of the above backward movement, at least a portion of the load may be swept by the load and unloaded.

[0039] Specific details of other embodiments are included in the detailed description.

[0040] According to embodiments of the present invention, even when the loads are loaded in an irregular size and shape and in an unaligned state, a load can be inserted into the gap between the loads from the upper surface of the loads and the load can be unloaded by sweeping the loads using the load.

[0041] In particular, the load is freely coupled on the end effector and configured to have a variable length protruding downward by an external force, so that the load can be effectively inserted into the gap between the loads even when the upper surface of the load is irregular.

[0042] In addition, the load is configured to tilt at a variable degree, i.e., the degree of inclination, by an external force, thereby preventing the load from being applied to the load to an extent that is difficult to unload at once, and enabling the estimation of the load applied to the end effector by the load. The above free tilting structure can prevent damage to the robot device, especially to the load (cargo), during the process of sweeping and unloading.

[0043] The effects according to the embodiments of the present invention are not limited to the contents exemplified above, and more diverse effects are included in the present specification.

[0044] Figure 1 is a hardware configuration diagram of a robot device according to one embodiment of the present invention.

[0045] Figure 2 is a perspective view of the robot device of Figure 1.

[0046] Figure 3 is a logical configuration diagram of the robot device of Figure 1.

[0047] Fig. 4 is a perspective view showing the end effector of the robot device of Fig. 2.

[0048] Figure 5 is an enlarged view of area A of Figure 4.

[0049] Figure 6 is an exploded perspective view of the end effector of Figure 5.

[0050] Figure 7 is a flowchart showing a control method of a robot device according to one embodiment of the present invention.

[0051] Figures 8 to 14 are schematic diagrams showing a process of unloading a load using a robot device according to an embodiment in a given situation.

[0052] Figures 15 to 23 are schematic diagrams showing the process of unloading a load using a robot device according to the present embodiment in different situations.

[0053] FIG. 24 is a perspective view of an end effector according to another embodiment of the present invention.

[0054] Figure 25 is an enlarged view of area A of Figure 24.

[0055] Fig. 26 is an exploded perspective view of the end effector of Fig. 25.

[0056] Figures 27 to 29 are schematic diagrams showing the process of tilting the load of the end effector according to the embodiment of Figure 24.

[0057] FIG. 30 is an enlarged view of a portion of an end effector according to another embodiment of the present invention.

[0058] Fig. 31 is an exploded perspective view of the end effector of Fig. 30.

[0059] Fig. 32 is a side view of the end effector of Fig. 30.

[0060] The advantages and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully convey the scope of the invention to those skilled in the art. The present invention is defined solely by the scope of the claims.

[0061] Furthermore, the scope of a patent claim does not describe the technical content that constitutes the substance of the invention, but rather indicates the scope of rights claimed based on the technical components disclosed in the detailed description of the invention. Therefore, it is inevitable that the patent claim is composed of abstract, superordinate concepts encompassing the technology disclosed in the detailed description of the invention. If a person skilled in the art can understand the technical components within the claim, or their combination and operational effects, throughout the entire specification, the patent claim should be considered supported by the detailed description of the invention.

[0062] That is, various modifications may be made to the embodiments presented in the present invention. The embodiments described below are not intended to limit the embodiments, and should be understood to include all modifications, equivalents, and alternatives thereto.

[0063] If any term described in this specification is intended to be used with a specific meaning, that meaning must be defined and interpreted accordingly. Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0064] In this specification, "and / or" includes each and every combination of the items mentioned. In addition, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. A numerical range indicated using "to" indicates a numerical range that includes the values ​​stated before and after it as the lower and upper limits, respectively. The terms "about" or "approximately" mean a value or numerical range that is within 20% of the value or numerical range stated after it.

[0065] In this specification, ordinal modifiers such as “first component,” “second component,” and “1-1st component” are used only to distinguish one component from another when referring to a component. Therefore, the first component referred to below may be referred to as the second component within the scope of the technical idea of ​​the present invention. For example, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Furthermore, what is referred to as the first component in the description of the invention may of course be referred to as the second component in the claims.

[0066] The size, thickness, width, length, etc. of the components illustrated in the drawings may be exaggerated or reduced for convenience and clarity of explanation, and therefore the present invention is not limited to the illustrated form.

[0067] Spatially relative terms such as 'above', 'upper', 'on', 'below', 'beneath', 'lower', etc. can be used to easily describe the relationship of one element or component to another element or component as depicted in the drawings. Spatially relative terms should be understood to include different orientations of the elements when used in addition to the orientation depicted in the drawings. For example, if an element depicted in a drawing is flipped, an element described as 'below' or 'beneath' another element may actually be 'above' the other element. Thus, the exemplary term 'below' can include both the above and below orientations.

[0068] The present invention will be described in detail with reference to the attached drawings below.

[0069] Fig. 1 is a hardware configuration diagram of a robot device according to one embodiment of the present invention. Fig. 2 is a perspective view of the robot device of Fig. 1.

[0070] Referring to FIGS. 1 and 2, the robot device (10) according to the present embodiment includes a joint unit (200), an end effector (100) disposed at an end of the joint unit (200), and a processor (310), and may further include a memory (320), a camera module (410), a sensor module (420), and a communication module (430). That is, the robot device (10) may be understood as a computing device including a processor (310) and a memory (320), and the robot device (10) including the processor (310) may be understood as a subject that performs a control method to be described later.

[0071] A joint unit (200) may be provided for movement of an end effector (100) of a robot device (10). The joint unit (200) may have six degrees of freedom, four degrees of freedom, or three degrees of freedom. That is, a first direction (X) coordinate (e.g., X coordinate), a second direction (Y) coordinate (e.g., Y coordinate), a third direction (Z) coordinate (e.g., Z coordinate) of the end effector (100) and / or rotational coordinates (RX, RY, RZ) based on the X-axis, Y-axis, and / or Z-axis may be controlled through a motor of the joint of the joint unit (200). Although FIG. 2 illustrates an example of a joint unit (200), the shape of the joint unit is not particularly limited as long as it is a joint unit that can adjust the coordinates of the end effector (100).

[0072] Hereinafter, the first direction (X) and the second direction (Y) are directions to which the horizontal plane belongs, and the third direction (Z) is a direction parallel to the direction of gravity. However, it is to be understood that the terms used in the scope of the claims are not limited thereto.

[0073] The joint unit (200) may include a joint base (210) (or robot base) and a joint part (230). The operation of the joint motor of the joint part (230) may be controlled by a processor (310) to be described later. The joint base (210) refers to a part or position that serves as a reference for the movement of the joint unit (200). Hereinafter, a case in which a load (not shown) to be unloaded is located on one side of the first direction (X) of the robot device (10) or the joint base (210) will be described as an example. In addition, the retraction of the end effector (100) means that the end effector (100) moves toward the joint base (210), that is, toward the other side of the first direction (X), at least at a position in the first direction (X), and the advancement of the end effector (100) means that the end effector (100) moves toward the load, that is, toward one side of the first direction (X), at least at a position in the first direction (X). Alternatively, the forward direction may be one side of the first direction (X) and the rearward direction may be the other side of the first direction (X).

[0074] Although not shown in the drawing, a conveyor (not shown) may be arranged between the load (not shown) and the joint base (210). As described below, individual objects (cargoes) partially swept away by the action of the end effector (100) may fall onto the conveyor and be transported to the other side in the first direction (X) by the conveyor.

[0075] The end effector (100) may be a part of the robot device (10) according to the present embodiment that directly contributes to unloading a load, i.e., sweeping the load down from the top of the elevation. The end effector (100) may include a body plate (110) and a plurality of rods (130) mechanically connected to the body plate (110). The end effector (100) will be described in detail below.

[0076] The processor (310) may implement operations and / or functions related to the method according to the present invention based on instructions according to software implemented according to the method according to the present invention residing in the memory (320). That is, the processor (310) may be understood as a subject that executes a program. For example, the processor (310) may execute software to control hardware components and / or software components connected to the processor (310) and perform data processing or calculations. That is, the processor (310) may store instructions or data received from other components in the memory (320) as part of data processing or calculations, process instructions or data stored in the memory (320), or store result data in the memory (320). The processor (310) may utilize a known one, but may be implemented through, for example, an Application-Specific Integrated Circuit (ASIC), or another chipset, logic circuit, and / or data processing device.

[0077] Memory (320) can store various data used in at least one component. The data may include input data or output data for software and related commands. Memory (320) may include volatile memory and / or non-volatile memory. For example, volatile memory may utilize known memory, but may be implemented through Read-Only Memory (ROM), Random Access Memory (RAM), flash memory, memory cards, storage media, and / or other storage devices.

[0078] Non-volatile memory, such as storage, can store application programming interfaces (APIs), libraries, resource files, and the like required for executing software implementing the method according to the present embodiment. Furthermore, the software and database implementing the method can be stored. The contents of various databases required to perform operations and / or functions related to the method according to the present invention, which will be described below, will be understood.

[0079] The camera module (410) can collect image information of a target object, such as a load (not shown), outside or around the robot device (10). The camera module (410) can utilize a known one. The camera module (410) can be controlled by an image collection unit (311) described below.

[0080] The sensor module (420) can measure various physical quantities related to the robot device (10), detect the operating status of the robot device (10), and convert and output the measured data into electrical signals. The sensor module (420) may include an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, a gesture sensor, a proximity sensor, an illuminance sensor, a color sensor, a magnetic sensor, an air pressure sensor, and / or a light sensor. The target physical quantity measured by the above-described sensor and the measuring method thereof may be known in the art. Alternatively, a plurality of the above-described sensors may be combined to form a configuration.

[0081] Although FIG. 1 illustrates that the camera module (410) and the sensor module (420) are included in the robot device (10) and are separate from the joint unit (200) and the end effector (100), the present invention is not limited thereto, and the camera module (410) and the sensor module (420) may be understood to be coupled to and included in the joint unit (200) and / or the end effector (100).

[0082] The communication module (430) can support the establishment of a wired / wireless communication channel between the robot device (10) and another external computing device, such as a control terminal (not shown) or a server (not shown), or other hardware components, and the performance of communication through the established communication channel. The communication module (430) can include a wired communication module or a wireless communication module. An example of a wired communication module may be a LAN communication module. A wireless communication module can transmit and receive data through a communication network. Examples of the communication network may include a public wired communication network such as Ethernet, a Digital Subscriber Line (xDSL), a Hybrid Fiber Coax (HFC), or a Fiber To The Home (FTTH). In addition, other examples of the above communication network include mobile communication networks such as Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), High Speed ​​Packet Access (HSPA), and Long Term Evolution (LTE). Alternatively, the wireless communication module may include a Wi-Fi module, a short-range communication module such as Bluetooth, or NFC.

[0083] The various components of FIG. 1 constituting the aforementioned robot device (10) are connected via a data bus, and data can be transmitted between each component via the data bus. In addition, the robot device (10) that implements operations and / or functions related to the method according to the present invention based on commands according to software in which the control method according to the present invention is implemented, including the processor (310) as described above, may be understood or described in terms of functional elements or logical elements.

[0084] Figure 3 is a logical configuration diagram of the robot device of Figure 1.

[0085] Referring further to FIG. 3, the robot device (10) (or its processor (310)) may include an image collection unit (311), a work area determination unit (312), a joint unit control unit (313), and a detection unit (319). The roles and functions of each unit will be described later along with the control method according to the present embodiment. However, the logical configuration of the robot device (10) according to the present invention is not limited thereto, and disclosures regarding various logical configurations for implementing the aforementioned hardware and the method to be described later are included in this specification.

[0086] The various components illustrated in FIG. 3 may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. That is, the '~ section' in FIG. 3 may be used to mean a hardware configuration such as a processor or circuit and / or a software configuration executed by a hardware configuration.

[0087] Specifically, in the case of hardware implementation of a component referred to as '~part', it can be implemented through the aforementioned processor. Or, in the case of implementation by firmware or software, it can be implemented in the form of modules, codes, code segments, procedures, functions, etc. that include instructions that perform the described functions or operations, and can be recorded on a recording medium that can be read by various computer means. Here, the recording medium can include program commands, data files, data structures, etc., singly or in combination. In this case, each component on the configuration diagram or block diagram can mean a module, segment, or part of code that includes one or more executable instructions for executing a specific logical function. Therefore, it goes without saying that the function provided by the component on the configuration diagram or block diagram can be implemented by a plurality of more detailed components, or the plurality of components on the configuration diagram or block diagram can be implemented by a single integrated component. That is, within the scope of the purpose of the present invention, each component can be selectively combined and operated one or more times. Additionally, each component may be implemented as a single, independent piece of hardware, or some or all of the components may be selectively combined to form a computer program having program modules that perform some or all of the functions of one or more hardware components. The codes and code segments that constitute the computer program will be readily apparent to those skilled in the art.

[0088] The program commands recorded on the recording medium in this specification may be those specifically designed and configured for the present invention, or may be those known and usable by those skilled in the art of computer software. For example, the recording medium includes magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs (Compact Disk Read Only Memory) and DVDs (Digital Video Disks), magneto-optical media such as floptical disks, and hardware devices specifically configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands may include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. Such hardware devices may be configured to operate as one or more software to perform the operations of the present invention, and vice versa.

[0089] Hereinafter, the end effector (100) of the robot device (10) according to the present embodiment will be described in more detail.

[0090] Fig. 4 is a perspective view showing the end effector of the robot device of Fig. 2. Fig. 5 is an enlarged view of area A of Fig. 4. Fig. 6 is an exploded perspective view of the end effector of Fig. 5. Specifically, Fig. 6 is an exploded perspective view showing one unit structure.

[0091] Referring further to FIGS. 4 to 6, the end effector (100) of the robot device (10) according to the present embodiment includes a body plate (110) and a load (130) mechanically coupled to the body plate (110), and may further include a hinge unit (150).

[0092] The body plate (110) (or frame) may be a plate-shaped member forming the body of the end effector (100). The shape of the body plate (110) is not particularly limited, but may have a shape extending in the second direction (Y) so that a plurality of rods (130) can be arranged in the second direction (Y), as will be described later. The material of the body plate (110) is not particularly limited, but may be made of a material having high strength and rigidity, for example, metal.

[0093] One side (lower left side based on FIG. 4) of the body plate (110) in the first direction (X) may have a recessed plate groove (110g). That is, one edge of the body plate (110) in the first direction (X) may have a groove.

[0094] The plate grooves (110g) can be repeatedly arranged in the second direction (Y) like the rods (130). Any one of the plurality of plate grooves (110g) can contribute to forming a single unit structure together with the rods (130) described below. The plate grooves (110g) can provide a space in which the rods (130) arranged therein can move or rotate at least in one direction (X). The end effector (100) can operate in a state in which the plate grooves (110g) are arranged generally toward the direction of a load (not shown). That is, the following description will be made as an example in which one side of the first direction (X) (the lower left direction based on FIG. 4) refers to the load side, that is, the front side, and the other side of the first direction (X) (the upper right direction based on FIG. 4) refers to the joint base (210) side, that is, the rear side. However, the present invention is not limited thereto, and it goes without saying that the end effector (100) may be coupled to the end of the joint unit (200) and its coordinates, rotation direction, etc. may change.

[0095] A joint joint (110s) may be provided on the other edge of the first direction (X) of the body plate (110). The joint joint (110s) provides a plane space to which the second direction (Y) and the third direction (Z) roughly belong, and may be configured such that a joint member such as a bolt penetrates and is coupled to an end of the joint unit (200).

[0096] The rod (130) (or pin, or bar) can be mechanically coupled with the body plate (110). That is, when the coordinates, rotation, etc. of the body plate (110) are changed by the joint unit (200), the rod (130) can move together with the body plate (110) and change its position. The coupling of the rod (130) and the body plate (110) will be described later.

[0097] A hinge unit (150) may be arranged on the body plate (110). The hinge unit (150) may include a hinge bracket (151) (or hinge base) and a hinge block (153). The hinge unit (150) may be configured such that the rod (130) tilts in a plane perpendicular to or intersecting with the arrangement direction of the plurality of rods (130) with respect to the body plate (110), for example, a plane to which the first direction (X) and the third direction (Z) belong.

[0098] The hinge bracket (151) can be fixedly arranged on the upper surface of the body plate (110). The hinge brackets (151) are provided in pairs and can be arranged spaced apart from each other with one plate groove (110g) in between when viewed from a planar viewpoint, but the present invention is not limited thereto.

[0099] The hinge block (153) can be inserted between a pair of hinge brackets (151) spaced apart in the second direction (Y). In a state where the hinge brackets (151) are fixed on the body plate (110), the hinge block (153) can be configured to rotate in a plane to which the first direction (X) and the third direction (Z) belong with respect to the hinge brackets (151). For example, the hinge block (153) includes a hinge pin portion (153p), and the hinge pin portion (153p) can be inserted into a hinge hole (151h) of the hinge bracket (151). However, the present invention is not limited thereto, and it goes without saying that a rotation axis can be formed using a shaft or the like.

[0100] The hinge block (153) may have a load hole (153h). The load hole (153h) may penetrate the hinge block (153) in a third direction (Z). A load (130) may be inserted at least partially into the load hole (153h). The load (130) may include a load head (130a) provided at an upper end in the third direction (Z), such that the lower end of the load (130) may be inserted into the load hole (153h), but the load head (130a) may not be inserted. That is, the load head (130a) may function as a stopper that provides an insertion limit of the load (130).

[0101] In some embodiments, the hinge unit (150) may further include a bush member (155) coupled with the hinge block (153). The bush member (155) may be implemented as a linear bush, etc., but the present invention is not limited thereto. As described below, the rod (130) may be vertically movable upward and downward in the third direction (Z) while being inserted into the hinge block (153). At this time, the bush member (155) may further be included to facilitate the vertical movement of the rod (130). Specifically, the bush member (155) may be at least partially inserted into the rod hole (153h) of the hinge block (153), and the rod (130) may be inserted into the bush hole (155h) of the bush member (155).

[0102] Through the above structure, the body plate (110) and the rod (130) are combined, and the hinge bracket (151) and the hinge block (153) and the rod (130) can be tilted based on the body plate (110). The resulting operational effects will be described in detail later.

[0103] In this specification, even if the load (130) does not form a direct mechanical connection with the body plate (110), the body plate (110) and the hinge unit (150) are coupled, and the hinge unit (150) and the load (130) are coupled, etc., the body plate (110) and the load (130) can be understood to be mechanically coupled even if a mechanical component is interposed.

[0104] In an exemplary embodiment, in any state, the load (130) may be at least partially positioned within the plate groove (110g) of the body plate (110). Accordingly, in any state, or at any time, the load (130) may overlap the body plate (110) in a horizontal direction to which the first direction (X) and the second direction (Y) belong.

[0105] Accordingly, from a side view, and in any state, the load (130) may be located at least partially below the lower surface (or one side, or the first side) of the body plate (110) and at least partially above the upper surface (or the other side, or the second side) of the body plate (110).

[0106] In other words, the rod (130) may partially protrude downwardly from the lower surface of the body plate (110), and at the same time, the rod (130) may partially protrude upwardly from the upper surface of the body plate (110). At this time, the rod (130) may be configured such that the protrusion length protruding from any surface of the body plate (110), for example, the lower surface side, may be variable. For example, the rod (130) may be freely coupled with the body plate (110) and / or other structures fixed on the body plate (110) (such as other components, for example, hinge units (150)).

[0107] In this specification, the free coupling of a component with another component means a state in which a component and another component are coupled so that they can move together without being disassembled by mechanical constraints between them, but the relative position between the component and the other component can be changed by gravity and / or other external forces even without separate power supply.

[0108] For example, as illustrated in FIG. 4, in a state where the third direction (Z) is parallel to the direction of gravity, the load (130) may sag downward due to gravity. And, as described above, further downward movement of the load (130) may be prevented by the load head (130a).

[0109] In addition, when a force greater than that is applied in a direction against gravity from the lower side of the rod (130), the rod (130) can be pushed upward and move vertically linearly while maintaining a mechanical connection state with the body plate (110). At this time, it can be understood that the protrusion length of the rod (130) toward the lower side of the body plate (110) is reduced.

[0110] Additionally, when the force applied to the lower side of the load (130) disappears, the load (130) can again sag downward due to gravity and move vertically linearly. At this time, it can be understood that the protrusion length toward the lower side of the body plate (110) of the load (130) increases.

[0111] For another example, as shown in FIG. 4, in a state in which the load (130) is extended in the direction of gravity, it may sag downward due to gravity.

[0112] In addition, when a force in a horizontal direction, for example, in one direction (X) of the first direction, is applied to a location of the load (130), the load (130) inserted into the hinge block (153) can be tilted within a plane to which the first direction (X) and the third direction (Z) belong together with the hinge block (153). At this time, as described above, the tilting rotation axis is formed by the hinge block (153) and the hinge bracket (151).

[0113] Additionally, when the force that tilts the rod (130) disappears, the rod (130) returns to its initial state and may be extended in a third direction (Z) (e.g., the direction of gravity). The restoration may be performed by the center of gravity of the rod (130) and gravity, but a separate, non-powered configuration may be provided to release the tilting of the rod (130) and restore it to its original state.

[0114] In an exemplary embodiment, for the above restoration, the end effector (100) may further include an elastic member (195) and a fixing structure (191) for fixing the elastic member (195). The elastic member (195) may have a contracted state from an initial state, and its length may be extended by an external force, and when the external force is removed, the end effector (100) may be contracted back to the initial state or a state close to the initial state. Examples of the elastic member (195) include a spring, etc.

[0115] One end of the elastic member (195) can be connected to the fixed end (153r) of the hinge block (153). The other end of the elastic member (195) can be fixed on the body plate (110). Specifically, a fixed structure (191) is fixedly arranged on the body plate (110), and the other end of the elastic member (195) can be connected and fixed to the fixed structure (191). An example of the fixed structure (191) is illustrated using an eye bolt.

[0116] In some embodiments, a load cell (not shown) may be provided at one end of the flexible member (195), for example, the other end. For example, the fixed structure (191) may include a load cell. The load cell may be used to measure a tensile force or load applied to the flexible member (195). The load cell may be controlled by a sensing unit (319) or may provide an input value to the sensing unit (319). The load cell may be understood as one of the sensor modules (420).

[0117] In the initial state of the elastic member (195), i.e., in the maximum contracted state, the extension direction of the rod (130) and one or the other surface of the body plate (110) may be approximately vertical or have an angle of ±10%. If a horizontal force is applied to any position of the rod (130), the hinge block (153) rotates despite the contraction force of the elastic member (195), the rod (130) tilts, and the elastic member (195) whose end is connected to the hinge block (153) may be extended. Therefore, when the external force that tilts the rod (130) is removed, the hinge block (153) receives a force to rotate back to the initial state due to the contraction force of the elastic member (195), and through this, the extension direction of the rod (130) may be restored.

[0118] This embodiment exemplifies a case where an elastic member (195) is used as a means for restoring the tilting of the load (130), but the present invention is not limited thereto, and it is obvious that a more diverse restoration structure can be adopted by a person skilled in the art.

[0119] Meanwhile, a reference load for tilting the rod (130) can be set by utilizing the elasticity of the elastic member (195). For example, when a force of about 1 kgf is applied to one rod (130), the external force may not be enough to stretch the elastic member (195), so the rod (130) may not tilt. On the other hand, when a force of about 5 kgf is applied to one rod (130), the external force may rotate the hinge block (153) despite the contractile force of the elastic member (195). In other words, the rod (130) of the end effector (100) of the robot device (10) according to the present embodiment may be configured to tilt when a load that is equal to or exceeds the reference load is applied, and may be configured not to tilt when a load that is less than or equal to the reference load is applied.

[0120] As described in detail above, the body plate (110) and the rod (130) form a mechanical connection with each other and can move together without being disassembled. However, when a force in the third direction (Z) and / or a force in the horizontal direction, specifically, the first direction (X), is applied to the rod (130), the rod (130) may move vertically in the up-and-down direction or may tilt or incline with respect to the body plate (110).

[0121] As a non-limiting example, the end effector (100) may not be provided with a separate power source or power transmission system for the movement of the rod (130) itself, and a control unit therefor. For example, a shifter, roller, etc. for vertical movement of the rod (130) may not be provided. For another example, a mechanical structure for length expansion of the rod (130) itself may not be provided. For another example, a configuration such as a gear near the hinge unit (150) for rotation of the rod (130) may not be provided. That is, the rod (130) may be configured to move vertically or tilt only by gravity or an external force, and may not be configured to move vertically or tilt by an electrical signal from the processor (310).

[0122] In addition, the rod (130) may be configured such that the protrusion length toward the lower and upper surfaces of the body plate (110) is variable, but the length of the rod (130) itself may not be configured to be elastic. That is, when the rod (130) moves vertically downward, the protrusion length toward the lower surface may increase, and at the same time, the protrusion length toward the upper surface may decrease by the amount that the protrusion length increases. The same can be understood when the rod (130) moves vertically upward. In other words, in any case, the length of the rod (130) in the third direction (Z) may be substantially maintained.

[0123] Hereinafter, a method for controlling a robot device according to the present embodiment will be described in more detail with further reference to FIG. 7. FIG. 7 is a flowchart illustrating a method for controlling a robot device according to one embodiment of the present invention.

[0124] First, referring to FIG. 7, a method for controlling a robot device according to the present embodiment is a method performed by a processor (310) or a robot device (10) including at least one processor (310), including a step of controlling an initial posture (S100), a step of acquiring an image of a loading area (S110), a step of analyzing and processing the acquired image or video to select a work area (S120), and steps of moving an end effector (100) (S131, S132, S133), and may further include a step of determining whether retreat is possible (S191) and a step of determining a load state (S192).

[0125] First, the step of controlling the initial posture (S100) may mean a step of setting the coordinates, rotation direction (RX, RY, RZ), etc. of the joint unit (200) and the end effector (100) thereof to the initial state.

[0126] And the image collection unit (311) can acquire image information using a camera module (410) or the like (S110). Specifically, image information that can confirm the arrangement and configuration status between the load, which is the object to be unloaded, or the surrounding structures, and the load can be collected.

[0127] Next, the work area judgment unit (312) can derive the area, location, or coordinates for performing work using the end effector based on the acquired image information (S120).

[0128] Specifically, images of the upper elevation view of the cargo can be derived from the collected image information, and the boundaries of individual cargoes (objects) can be derived from the upper elevation view images. Furthermore, gaps between the boundaries of the derived objects can be recognized.

[0129] If multiple gaps are recognized, one of the gaps within a preset working range considering the range of motion of the joint unit (200), for example, within a distance that can be entered in the first direction (X), can be defined as the working area. More specifically, if multiple gaps exist within the working range, the gap at the frontmost end in the first direction (X) among the multiple gaps can be defined as the working area.

[0130] Next, the joint unit control unit (313) can control the joint motor of the joint unit (200) to move the end effector (100) forward in one direction (X), backward in the other direction (X), move in the second direction (Y) (i.e., width direction), or ascend and descend in the direction of gravity (i.e., third direction (Z)) (S131). Alternatively, the end effector (100) can be rotated on a three-dimensional space coordinate system. Refer further to FIG. 8, etc. in this regard.

[0131] Fig. 8 is a schematic diagram showing a step (S131) ​​in which the joint unit control unit (313) controls the joint unit (200) to move the end effector (100) to the vicinity of the work area. Fig. 9 is a schematic diagram viewed in the first direction (X) in the state of Fig. 8. Figs. 8 and 9 show a moment when the end effector (100) is partially lowered and the lower end of a load (the second load (132)) among the plurality of loads (130) touches the upper surface of an object (the second object (B2)) located at the highest height among the plurality of loads (B1, B2, B3, B4, B5).

[0132] That is, this step (S131) ​​may partially include the end effector (100) descending downward in the third direction (Z), and the descent of this step (S131) ​​may be distinguished from the descent of the descent step (S132) described later.

[0133] Referring further to FIGS. 8 and 9, in this step (S131), the end effector (100) can move forward at least in one direction (X) of the first direction and be positioned on the loads (B1, B2, B3, B4, B5). For example, the end effector (100) can move to overlap the loads (B1, B2, B3, B4, B5) in the third direction (Z) (gravity direction) (S131).

[0134] Also, although not expressed in the drawing, in this step (S131), the end effector (100) can move at least partially in the second direction (Y), i.e., in the width direction, so as to correspond to the previously set working area. In addition, at the same time in this step (S131), the end effector (100) can be raised and lowered at least partially in the third direction (Z), i.e., in the height direction or in the direction of gravity, but the present invention is not limited thereto.

[0135] In other words, the step (S131) ​​of moving the end effector (100) to the vicinity of the work area is a step of positioning the end effector (100) on the upper side of the set work area, and may include a process of moving forward at least in one direction (X).

[0136] Also, depending on the position of the end effector (100) in the initial posture stage (S100), the end effector (100) may move in the second direction (Y) to correspond to the second direction (Y) coordinate of the work area, and / or, if the position of the end effector (100) in the initial posture stage (S100) is low, the end effector (100) may partially rise in the third direction (Z), and if the position of the end effector (100) in the initial posture stage (S100) is high, the end effector (100) may partially descend in the third direction (Z), or the rising and descending may be performed one or more times to position the end effector (100) above the work area. In addition, depending on the position of the joint base (210), the end effector (100) may perform a roll rotation, a pitch rotation, and / or a yaw rotation.

[0137] Figures 8 and 9 show a state in which no external force is applied to multiple loads (131, 132, 133) and they are all sagging downward due to gravity. In addition, among the loads (B1, B2, B3, B4, B5), the case in which the top of the second object (B2) among the first object (B1), second object (B2), and third object (B3) forming the top of the elevation is located at the highest height is shown.

[0138] Next, the joint unit control unit (313) can control the joint motor of the joint unit (200) to lower the end effector (100) in the third direction (Z), i.e., downward in the direction of gravity (S132).

[0139] Fig. 10 is a schematic diagram showing a step (S132) in which the joint unit control unit (313) controls the joint unit (200) to lower the end effector (100). Fig. 11 is a schematic diagram viewed in the first direction (X) in the state of Fig. 10.

[0140] Referring further to FIGS. 10 and 11, in this step (S132), at least some of the loads (B1, B2, B3, B4, B5) and the load (130) can be lowered so as to overlap in the horizontal direction (S132).

[0141] FIG. 10 illustrates a case where, as a result of the lowering of the end effector (100), some rods are inserted between the boundaries of individual objects, specifically, a first rod (131) is inserted into a gap between a first object (B1) and a fifth object (B5), and a third rod (133) is inserted into a gap between a third object (B3) and an object adjacent to the third object (B3) in the first direction (X), but the present invention is not limited thereto. As a result of the lowering movement step (S132), none of the rods (130) may be inserted into a gap, and the lower ends of all the rods (130) may come into contact with the upper surfaces of the objects.

[0142] In an exemplary embodiment, one or more of the plurality of loads (131, 132, 133), for example, the first load (131), may be positioned to descend in the third direction (Z) and overlap the first object (B1) in the first direction (X).

[0143] At this time, if there is a fourth object (B4) that is adjacent to and overlaps the first object (B1) in the first direction (X), and if the first rod (131) overlaps the fourth object (B4) in the third direction (Z), the lower end of the first rod (131) may come into contact with the upper surface of the fourth object (B4) at some point during the lowering process of the end effector (100). And if the end effector (100) continues to descend, the first rod (131) is supported by the fourth object (B4) and cannot descend any further, and as a result, the first rod (131) may be pushed upwards of the end effector (100). In other words, the protrusion length of the first rod (131) toward the lower side of the body plate (110) may be reduced.

[0144] In this state, the first rod (131) may be positioned to overlap the first object (B1) in the first direction (X) and may be positioned to overlap the fourth object (B4) in the third direction (Z). Specifically, the lower end of the first rod (131) may be in contact with the upper surface of the fourth object (B4). In addition, the first object (B1) and the fifth object (B5) may be spaced apart from each other in the first direction (X) with the first rod (131) interposed therebetween.

[0145] In addition, among the plurality of rods (131, 132, 133), at least one rod, for example, the second rod (132), is lowered in the third direction (Z), and when the second rod (132) and the second object (B2) overlap in the third direction (Z), the lower end of the second rod (132) may come into contact with the upper surface of the second object (B2) at some point during the lowering process of the end effector (100). And when the end effector (100) continues to descend, the second rod (132) is supported by the second object (B2) and cannot descend any further, and as a result, the second rod (132) may be pushed upwards of the end effector (100). In other words, the protrusion length of the second rod (132) toward the lower side of the body plate (110) may be reduced.

[0146] As described above, in the elevational shapes of the loads (B1, B2, B3, B4, B5), specifically, in the elevational shape at any position in the first direction (X) of the loads (B1, B2, B3, B4, B5), the second object (B2) can form the highest height level. Accordingly, the second rod (132) can be pushed up to a greater degree than the first rod (131), and the downward protrusion length of the second rod (132) can be made the shortest.

[0147] In this state, the second load (132) may be positioned to overlap the second object (B2) in the third direction (Z). Specifically, the lower end of the second load (132) may be in contact with the upper surface of the second object (B2). In addition, there may be no load that overlaps the second load (132) in the horizontal direction.

[0148] Additionally, among the plurality of loads (131, 132, 133), at least one load, for example, the third load (133), may be positioned to descend in the third direction (Z) and overlap with the third object (B3) in the first direction (X).

[0149] At this time, there is no object adjacent to the third object (B3) in the first direction (X), and accordingly, there may be no object that interferes with and comes into contact with the lower end of the third rod (133) during the lowering process of the end effector (100). That is, there is no configuration for coming into contact with the lower end of the third rod (133) to support the third rod (133) and linearly move the third rod (133) upward, and even if the end effector (100) moves downward to a predetermined height, the third rod (133) may not be pushed up. In other words, the protrusion length of the third rod (133) toward the lower side of the body plate (110) may not decrease and may be substantially the same as the initial state.

[0150] In this state, the third load (133) can be positioned to overlap with the third object (B3) in the first direction (X).

[0151] In order to explain the operational effect of the end effector (100) according to the present embodiment, FIG. 10 and the like are described using an example in which loads (B1, B2, B3, B4, B5) are arranged in a specific state.

[0152] That is, when the end effector (100) including the freely coupled loads (130) as described above descends, a first load (131) may be partially pushed up by interference with the loads (B1, B2, B3, B4, B5), but may form an overlapping state with a first object (B1) in the first direction (X), and another second load (132) may be partially or completely pushed up, but there may be no object overlapping in the first direction (X). In addition, another third load (133) may not be pushed up, but may form an overlapping state with a third object (B3) in the first direction (X).

[0153] Next, the joint unit control unit (313) can control the joint motor of the joint unit (200) to move the end effector (100) backward in the first direction (S133).

[0154] Figures 12 to 14 are schematic diagrams sequentially showing the steps (S133) in which the end effector (100) retracts.

[0155] During the process of the end effector (100) retracting in the retraction movement step (S133), the third direction (Z) height (i.e., coordinate) of the body plate (110) may be substantially the same as the third direction (Z) height when the aforementioned downward movement step (S132) is finished. That is, the end effector (100) and the body plate (110) may retract in the first direction (X) while maintaining the third direction (Z) coordinate. And during the process, the third direction (Z) position of some of the loads (130) may change depending on the height of the upper surface of the load.

[0156] Referring further to FIGS. 12 to 14, in a state where there are objects (first object (B1) and third object (B3)) positioned to overlap with the loads in the first direction (X) after the end effector has descended, when the end effector (100) retreats to the other side in the first direction (X), the first object (B1) and third object (B3) interfering with the load (130) may be swept to the other side in the first direction (X). On the other hand, the second load (132) may not contribute to the sweep, i.e., the unloading of the cargo, since there is no object interfering with the overlapping loads in the first direction (X).

[0157] In relation to this, FIG. 12 shows a state in which the end effector (100) retracts and the lower end of the second rod (132) comes into contact with the upper surface of the second object (B2) and retracts on the upper surface of the second object (B2), while the first rod (131) and the third rod (133) push at least the first object (B1) and the third object (B3) toward the rear, respectively; FIG. 13 shows a state in which the end effector (100) retracts further and the second rod (132) moves so as not to overlap with the second object (B2) in the third direction (Z), and accordingly, the force supporting the second rod (132) disappears and the second rod (132) sags downward in the direction of gravity again; FIG. 14 shows a state in which the end effector (100) retracts further and the first object (B1) and the third object (B3) are pushed back by the first rod (131) and the third rod (133). This indicates a state where an object (B3) is pushed and dropped.

[0158] In the embodiments of FIGS. 10 to 14 described above, a case is shown where some of the result loads (130) of the descending movement step (S132) are inserted into the gap. However, in another embodiment, none of the result loads (130) of the descending movement step (S132) are inserted into the gap, and at least some of the loads are inserted into the gap of objects spaced apart in the first direction (X) during the process of retreating in the first direction (X) during the process of retreating in the first direction (X), and as a result, some loads and objects overlap in the first direction (X), so that the interfering object can be swept.

[0159] As described above with reference to FIGS. 8 to 14, the end effector (100) according to the present embodiment includes a plurality of rods (130), and can sweep an object (load) that interferes with each rod (130) in the first direction (X) to the other side of the first direction (X).

[0160] In particular, each of the plurality of rods (130) is configured to be pushed up independently in the third direction (Z) and have a variable protrusion length, so that some of the rods (i.e., the first rod (131) and the third rod (133)) can be inserted into the gap between individual objects formed at the top of the loads, and when there is no gap, some of the rods (i.e., the second rod (132)) can be configured to be pushed up.

[0161] Unlike the present invention, if the protruding lengths of the rods are configured so as not to be adjusted, that is, if the protruding lengths of all of the plurality of rods are the same, and the loads are not aligned to form a gap extending in the second direction (Y), but rather the gap is not uniform because the loads are not aligned, the rod cannot be inserted into the gap between the objects due to interference between the rod and the object.

[0162] Meanwhile, the operational effects that occur as the loads (130) are configured to tilt are described. Refer to FIG. 15, etc. for further details.

[0163] Fig. 15 is a schematic diagram showing a step (S131) ​​in which the joint unit control unit (313) controls the joint unit (200) to move the end effector (100) to the vicinity of the work area, similarly to Fig. 8. That is, Fig. 15 shows a moment when the end effector (100) is partially lowered and the lower end of one of the plurality of rods (130) touches the upper surface of an object located at the highest position among the plurality of loads (B1, B2, B3, B4, B5).

[0164] Fig. 15 shows a state in which no external force is applied to multiple loads (131, 132, 133), and all of them are sagging downward due to gravity. This step (S131) ​​has been described in detail together with Fig. 8, etc., so a redundant description will be omitted.

[0165] Fig. 16 is a schematic diagram showing a step (S132) in which the joint unit control unit (313) controls the joint unit (200) to lower the end effector (100), similarly to Fig. 10. Fig. 17 is a schematic diagram of the behavior of a first load (131) in the state of Fig. 16, viewed in the second direction (Y), and Fig. 18 is a schematic diagram of the behavior of a third load (133) in the state of Fig. 16, viewed in the second direction (Y).

[0166] Referring further to FIGS. 16 to 18, in this step (S132), at least some of the loads (B1, B2, B3, B4, B5, B6) and the load (130) can be lowered so as to overlap in the horizontal direction (S132).

[0167] Specifically, among the plurality of loads (131, 132, 133), at least one load, for example, the first load (131), may be positioned to descend in the third direction (Z) and overlap the first object (B1) in the first direction (X).

[0168] At this time, the first rod (131) overlaps with the fourth object (B4) in the third direction (Z), and at some point during the lowering process of the end effector (100), the lower end of the first rod (131) may come into contact with the upper surface of the fourth object (B4) and be pushed up. In other words, the protrusion length of the first rod (131) toward the lower side of the body plate (110) may be reduced.

[0169] In this state, the first load (131) can be positioned to overlap with the first object (B1) in the first direction (X) and can be positioned to overlap with the fourth object (B4) in the third direction (Z). This state has been described with reference to FIG. 10, etc., so a duplicate description will be omitted.

[0170] In addition, among the plurality of rods (131, 132, 133), at least one rod, for example, the second rod (132), is lowered in the third direction (Z), and when the second rod (132) and the second object (B2) overlap in the third direction (Z), at some point during the lowering process of the end effector (100), the lower end of the second rod (132) may come into contact with the upper surface of the second object (B2) and be pushed up. In other words, the protrusion length of the second rod (132) toward the lower side of the body plate (110) may be reduced.

[0171] In this state, the second load (132) is positioned to overlap with the second object (B2) in the third direction (Z), and there may be no load that overlaps with the second load (132) in the horizontal direction. Since this state has been described together with Fig. 10, etc., a duplicate description will be omitted.

[0172] Additionally, among the plurality of rods (131, 132, 133), one or more rods, for example, a third rod (133), may be positioned to descend in a third direction (Z) and overlap a third object (B3) in a first direction (X). In some embodiments, the third object (B3) may be positioned on a sixth object (B6), and the third rod (133) may partially overlap the sixth object (B6) in the first direction (X).

[0173] At this time, there is no object overlapping the third rod (133) in the third direction (Z), or at least no object interfering with the third direction (Z), and the third rod (133) may not be pushed up. In other words, the downward protrusion length of the third rod (133) may not decrease and may be substantially the same as the initial state.

[0174] In this state, the third load (133) can be positioned to overlap with the third object (B3) in the first direction (X). This state has been described with reference to Fig. 10, etc., so a duplicate description will be omitted.

[0175] Next, the joint unit control unit (313) can control the joint motor of the joint unit (200) to move the end effector (100) backward in the first direction (S133).

[0176] Fig. 19 is a schematic diagram showing a state in which the end effector (100) retracts and the lower end of the second rod (132) retracts on the upper surface of the second object (B2). Fig. 20 is a schematic diagram of the behavior of a first rod (131) in the state of Fig. 19, viewed in the second direction (Y), and Fig. 21 is a schematic diagram of the behavior of a third rod (133) in the state of Fig. 19, viewed in the second direction (Y).

[0177] Referring further to FIGS. 19 to 21, as the end effector (100) retreats, an object (the third object (B3) and / or the sixth object (B6)) may be swept away and pushed toward the rear in the first direction (X) due to interference with the load (133), and an object (the first object (B1)) may not be pushed away despite interference with the load (131).

[0178] Specifically, when the third object (B3) and the sixth object (B6), or the sum of the loads they apply to the third rod (133), is less than or equal to the reference load, the third rod (133) can push the third object (B3) and the sixth object (B6) while maintaining the initial state without being substantially tilted, or while being tilted only slightly.

[0179] On the other hand, the first rod (131) can be tilted without pushing the first object (B1) by the first object (B1) having a weight that is greater than or equal to the reference load allowed by each of the rods (130). For example, as shown in FIG. 19, if the reference load for one rod is 3 kgf and two rods interfere with the first object (B1), if a load greater than that is applied to the rods by the first object (B1), the first rods (131) can be tilted. In addition, according to the tilt of the first rod (131), the retreating direction of the end effector (100) of the action / reaction force between the first rod (131) and the first object (B1), i.e., the first direction (X) vector, gradually decreases, so that the force with which the first rod (131) pushes the first object (B1) can also naturally decrease.

[0180] Meanwhile, as previously explained, the second load (132) does not contribute to the sweep, i.e., cargo unloading, because there is no object interfering with the first direction (X).

[0181] In relation to this, FIG. 22 shows a state in which the end effector (100) is further retracted and the first rod (131) is further tilted and inclined, and FIG. 23 shows a state in which the end effector (100) is further retracted and the first rod (131) moves in a non-overlapping manner in the third direction (Z) with the first object (B1), and accordingly, the horizontal force applied to the first rod (131) disappears, the first rod (131) sags downward in the direction of gravity again, and the third object (B3) is pushed down by the third rod (133).

[0182] As described above with reference to FIGS. 15 to 23, the end effector (100) according to the present embodiment includes a plurality of rods (130), and when a horizontal force greater than a reference load is applied to the rods (130), each of the plurality of rods (130) is configured to tilt independently of each other, thereby preventing a sweep of an object that is likely to be damaged among a plurality of loads being swept at one time.

[0183] When unloading a load of irregularly shaped objects of various sizes and weights that are not actually aligned, there may be objects that are difficult to sweep with the load (130). In this case, if the objects are forcibly swept, the joint unit (200) of the robot device (10) may be damaged, or the heavy cargo may be damaged. Therefore, rather than forcibly sweeping the first object (B1), in this step (try), only the third object (B3) and the sixth object (B6) may be swept, and for the heavy first object (B1), the work area may be reset so that more loads interfere, and then the sweep may be attempted again.

[0184] In some embodiments, the detection unit (319) can determine whether the end effector (100) can be retracted (S191). As described above, the rod (130) can be configured to tilt when a horizontal force exceeding a preset reference load or greater than the reference load is applied to each rod (130). When the rod (130) tilts, the actual load applied to the rod (130) gradually decreases despite the horizontal force, and when the rod (130) is completely tilted in the horizontal direction, no load may be applied at all. That is, the reference load (e.g., the first reference load) serves as a criterion for determining the tilting of the rod (130), and can be mechanically designed by the elasticity of the elastic member (195), the coupling structure, etc. When the load (130) is tilted, the first direction (X) vector of the action / reaction due to the retreat of the end effector (100) decreases, so that the force applied to each load (130) decreases, and thus a load exceeding the reference load may not be applied to the load (130), or the elastic member (195) connected for restoration of the load (130), or the fixed structure (191) mechanically fixed to the elastic member (195), or the load cell. In other words, under conditions where tilting of the load (130) is possible, a load exceeding the first reference load may not be applied to each load (130) because the load applied to each load (130) decreases due to tilting.

[0185] However, in an unloading environment where various objects of irregular size, weight, and shape are loaded without alignment, tilting may not occur smoothly even when a force exceeding the first reference load is applied to the load (130) due to interference with surrounding structures. In this case, the first reference load may be continuously applied, or the reduction in the applied load may not be sufficient despite tilting.

[0186] Accordingly, the detection unit (319) can be utilized to determine whether retreat is possible by measuring whether a load that is greater than or equal to a reference load (e.g., a second reference load) or exceeds the second reference load is applied to each load (130) or another component capable of measuring or estimating the load applied to the load (130), such as a load cell. Here, the second reference load is not a load at which tilting of the load (130) begins, but refers to a standard presented for determining whether retreat is possible or whether retreat is successful, and may be a value specified in advance to implement a control method of the robot device (10). For example, the second reference load may be equal to or greater than the first reference load.

[0187] For example, although the end effector (100) is mechanically designed to tilt when a load of 3 kgf (i.e., a first reference load) or more is applied to each rod (130), if it is determined that a force of 3.5 kgf (i.e., a second reference load) is applied to any rod (130) as a result of or after the retraction movement step (S133) of the end effector (100), it may be determined that retraction is impossible or that the retraction step (S133) is to be stopped.

[0188] If it is determined that retreat is impossible, the joint unit control unit (313) may perform the steps described above in reverse order, for example, returning to the initial posture control step (S100) including the process of moving the end effector (100) upward.

[0189] On the other hand, if it is determined that the force applied to each load (130) does not exceed the second reference load and the retreat of the end effector (100) is successful, the detection unit (319) can determine the third direction (Z) position state of the load (130) (S192).

[0190] As described above, the load (130) may be pushed upwards while interfering with the top of the load. When the end effector (100) retracts (S133) while the load (130) is moved upwards, the interference with the load that pushes the load (130) upwards disappears, and the external force applied upwards in the third direction (Z) is removed, so the load (130) should sag again due to gravity. However, for some reason, the load (130) may not sag and may remain in the upwardly moved state. Even if an unloading operation is performed again in this state, efficient unloading, i.e., sweeping, may not be achieved.

[0191] Or, when the end effector (100) retracts (S133) while the load (130) is tilted, the load (130) should sag again due to gravity as the horizontal force applied to the load (130) is removed. However, for some reason, the load (130) does not sag and the load (130) may remain tilted. Even if an unloading operation is performed again in this state, normal unloading may not occur due to interference caused by the tilted load.

[0192] To this end, the detection unit (319) determines whether the load (130) has normally moved vertically downwards in a linear manner after the retreat movement step (S133), or determines whether the tilt state of the load (130) has been released (S192), and if the load (130) has sagged normally, the preceding process can be repeated. On the other hand, if it is determined that the load (130) has not sagged normally, an alarm can be provided to the user, or an external force can be provided by shaking the end effector (100) so that the load (130) can move downwards by gravity and the tilt state can be released.

[0193] Although not depicted in the drawing, the end effector (100) for this step (S192) may include a sensor capable of detecting the vertical position of the load (130). For example, but not limited to, the sensor may be provided on the upper portion of the hinge block (153) to measure the distance from the load head (130a), or to measure contact, or the like. In some other embodiments, the end effector (100) may further include a sensor capable of detecting the tilting degree of the load (130). For example, an example of a sensor for performing this step (S192) may include an optical sensor.

[0194] Hereinafter, other embodiments of the present invention will be described. However, descriptions of configurations substantially identical to or extremely similar to the aforementioned embodiments will be omitted, as those skilled in the art will be able to clearly understand these from the attached drawings and the description of the aforementioned embodiments.

[0195] Fig. 24 is a perspective view of an end effector according to another embodiment of the present invention. Fig. 25 is an enlarged view of area A of Fig. 24. Fig. 26 is an exploded perspective view of the end effector of Fig. 25.

[0196] Referring to FIGS. 24 to 26, the end effector (101) of the robot device according to the present embodiment includes a body plate (110) and a rod (130) mechanically connected to the body plate (110), and is different from the robot device and its end effector according to the aforementioned embodiment in that it further includes a guide rail (171) and a carriage (180). Accordingly, the rod (130) may be configured to move along the guide rail (171) rather than rotating about a hinge axis and to be at least partially horizontally movable. As described above, the robot device including the end effector (101) according to the present embodiment may further include a joint unit, a processor, etc.

[0197] The guide rail (171) can be fixedly arranged on the upper surface of the body plate (110). The guide rails (171) are provided in pairs and can be spaced apart in the second direction (Y) with one plate groove (110g) between them when viewed in a plan view.

[0198] The guide rail (171) may provide a slit-shaped rail. Guide blocks (183) of a carriage (180) to be described later may be inserted into the slit of the guide rail (171) to provide a path along which the carriage (180) moves. Specifically, the guide rail (171) or the slit of the guide rail (171) may have a bent structure rather than a straight slit, including a first rail portion (171a) extending in one direction (e.g., approximately a first direction (X)) and a second rail portion (171b) extending in another direction (e.g., approximately a third direction (Z)). In addition, a curved third rail portion connecting the first rail portion (171a) and the second rail portion (171b) extending in different directions may be further included. The second rail portion (171b) may be connected to one end of the first rail portion (171a) in the first direction (X). In another embodiment, the second rail portion (171b) may not extend in the third direction (Z), but may extend in a direction intersecting the first direction (X) in a plane to which the first direction (X) and the third direction (Z) belong.

[0199] That is, when the guide blocks (183) are inserted into the first rail portion (171a), the carriage (180) can move horizontally in the first direction (X), and when the guide blocks (183) are inserted into the second rail portion (171b), the carriage (180) can move horizontally in the third direction (Z).

[0200] In an initial state, for example, when the carriage (180) is pulled by the elastic member (195) as will be described later, all or part of the guide blocks (183) of the carriage (180), for example, at least two guide blocks (183a, 183b), may be located within the first rail portion (171a) and not located within the second rail portion (171b).

[0201] The carriage (180) includes a moving plate (181) (or a moving bundle, or a transport member) and at least two guide blocks (183), and may further include a bush member (185) and a fixed end (181r).

[0202] The moving plate (181) may have a load hole (181h). The load hole (181h) may penetrate the moving plate (181) in the third direction (Z). And a load (130) may be inserted at least partially into the load hole (181h).

[0203] The bush member (185) can be combined with the moving plate (181). As described above, the rod (130) can vertically move upward and downward in the third direction (Z) while being inserted into the moving plate (181). Therefore, the bush member (185), for example, a linear bush, can be provided to assist the linear movement of the rod (130). Specifically, the bush member (185) can be at least partially inserted into the rod hole (181h) of the moving plate (181), and the rod (130) can be inserted into the bush hole (185h) of the bush member (185).

[0204] A plurality of guide blocks (183) including a first guide block (183a) and a second guide block (183b) may be arranged on the side of the moving plate (181). Here, the first guide block (183a) and the second guide block (183b) may be arranged spaced apart from each other in the first direction (X). FIG. 26 illustrates a case in which the first guide blocks (183a) are arranged as a pair spaced apart from each other in the second direction (Y), and the second guide blocks (183b) are arranged as a pair spaced apart from each other in the second direction (Y), so that a total of four guide blocks (183) are arranged. That is, the first guide block (183a) and the second guide block (183b) refer to guide blocks that are arranged in the first direction (X) on one side of the moving plate (181) in the second direction (Y).

[0205] The guide blocks (183), including the first guide block (183a) and the second guide block (183b), are inserted into the slits provided by the guide rail (171), i.e., the first rail portion (171a), the second rail portion (171b), and the third rail portion, and can roll or slide along the extension direction. As a non-limiting example, the guide blocks (183) have an approximately circular shape and can be implemented with bearings or the like, but it goes without saying that the present invention is not limited thereto.

[0206] In some embodiments, the end effector (101) may further include a flexible member (195) and a fixing structure (191) for fixing the flexible member (195). The flexible member (195) may have a contracted state from an initial state, and may be extended in length by an external force, and may be contracted back to the initial state or close to the initial state when the external force is removed. Examples of the flexible member (195) include a spring, etc.

[0207] One end of the elastic member (195) can be coupled with the fixed end (181r) of the carriage (180). And the other end of the elastic member (195) can be fixed on the body plate (110). Fig. 25 and the like illustrate a case where an eye bolt is provided as a fixed structure (191) and the other end of the elastic member (195) is coupled and fixed to the fixed structure (191). As described above, the fixed structure (191) may have a built-in load cell or may be provided with a load cell to measure the tensile force applied to the elastic member (195) coupled to the fixed structure (191).

[0208] The end effector (101) according to the present embodiment can linearly move in the third direction (Z) by inserting the rod (130) into the carriage (180), specifically, the rod hole (181h) of the moving plate (181). That is, the protrusion length of the rod (130) protruding toward one side of the body plate (110) can be varied. The structure and meaning of the rod (130) and the body plate (110) being freely coupled, and the change in the protrusion length according to the action of gravity and other external forces have been described in detail together with the previous embodiment, so a redundant description will be omitted.

[0209] Furthermore, the load (130) can be tilted by including a guide rail (171) and a carriage (180) including rails extending in at least partially different directions, i.e., a first rail portion (171a) and a second rail portion (171b). Hereinafter, the process of tilting the load (130) will be described with further reference to FIGS. 27 to 29.

[0210] FIGS. 27 to 29 are schematic diagrams showing the process of tilting the load of the end effector according to the embodiment of FIG. 24, and are schematic diagrams of the end effector of FIG. 25 viewed from the side.

[0211] Referring further to FIG. 27, in the initial state, the first guide block (183a) and the second guide block (183b) of the carriage (180) are positioned within the first rail portion (171a) of the guide rail (171), and the rod (130) may have a state of drooping approximately in the third direction (Z), i.e., downward in the direction of gravity. That is, the first guide block (183a) and the second guide block (183b) have substantially the same height, the moving plate (181) is also positioned approximately horizontally, and the rod (130) inserted into the moving plate (181) may face downward in the direction of gravity. In addition, the elastic member (195) has a maximum contraction state and may prevent movement of the carriage (180).

[0212] And referring further to FIG. 28, when a force in a horizontal direction, for example, in the first direction (X), is applied to a position of the rod (130), specifically, a position in the extension direction (third direction (Z)) of the rod (130), the rod (130) and the carriage (180) in which the rod (130) is inserted can move horizontally and linearly together in the first direction (X). FIG. 28 shows a case where the rod (130) does not tilt compared to the initial state and moves horizontally as it is. That is, in the state of FIG. 28, both the first guide block (183a) and the second guide block (183b) can be positioned within the first rail portion (171a).

[0213] And referring further to FIG. 29, when a horizontal force that can extend the elastic member (195) is continuously applied to a location of the rod (130), the rod (130) and the carriage (180) in which the rod (130) is inserted can move along the curved rail portion (third rail portion) connecting the first rail portion (171a) and the second rail portion (171b) and the second rail portion (171b). At this time, as the first rail portion (171a) and the second rail portion (171b) extend in different directions, the carriage (180) transporting the rod (130) can move in a direction different from the extension direction (first direction (X)) of the first rail portion (171a). Accordingly, the extension direction of the rod (130) inserted into the carriage (180) can be inclined in a direction intersecting the third direction (Z).

[0214] FIG. 29 illustrates a case where the first guide block (183a) is positioned within the second rail portion (171b) and the second guide block (183b) is positioned approximately within the third rail portion. However, there is no particular limitation as long as the first guide block (183a) and the second guide block (183b) are positioned at different heights in the third direction (Z) so as to tilt the carriage (180). For example, the first guide block (183a) may be positioned within the second rail portion (171b) and the second guide block (183b) may be positioned within the first rail portion (171a), or the second guide block (183b) may also be positioned within the second rail portion (171b).

[0215] In this specification, tilting or being tilted includes not only tilt due to rotation about a point, but also rotation after horizontal movement, or tilting compared to the initial state as a result of movement including curved movement.

[0216] Meanwhile, when the horizontal force disappears or the horizontal force is not sufficiently transmitted to the rod (130) as the rod (130) tilts as shown in FIG. 29, in other words, when the external force applied to the rod (130) is removed or only a force smaller than the contraction force of the elastic member (195) is applied, the carriage (180) moves back to the initial state along the guide rail (171) by the contraction force of the elastic member (195), and the extension direction of the rod (130) can be restored to the third direction (Z).

[0217] The end effector (101) according to the present embodiment can be configured such that a carriage (180) into which a load (130) is inserted includes at least two guide blocks (183), i.e., a first guide block (183a) and a second guide block (183b), and the guide blocks (183) move along the first rail portion (171a) so that even when force is applied to the load (130), rotation about a point does not occur and horizontal movement occurs. In other words, the horizontal force can contribute to the horizontal movement of the carriage (180) without acting as a torque.

[0218] And after horizontal movement, at least some of the plurality of guide blocks (183), for example, the first guide block (183a), move in a curve along the third rail portion and the second rail portion (171b), and as the first guide block (183a) and the second guide block (183b) are positioned at different heights in the third direction (Z), the load (130) and the carriage (180) can be tilted as a result.

[0219] In other words, in the state of Fig. 27 where no external force is applied, a horizontal force is applied, and during the process of reaching the state of Fig. 28 where both the first guide block (183a) and the second guide block (183b) are located within the first rail portion (171a), and then reaching the state of Fig. 29 where the first guide block (183a) enters the second rail portion (171b), the load (130) and the carriage (180) can move horizontally in the first direction (X) during at least a part of the process (i.e., the process from Fig. 27 to Fig. 28).

[0220] As described with the previous embodiment, the end effector (101) according to the present embodiment can control the reference load for tilting the load (130) by using the elasticity and joint position of the elastic member (195). The reference load for tilting the load (130) may be an important factor in terms of preventing damage to the robot device and cargo.

[0221] If, unlike the present embodiment, the rod (130) tilts by rotating about a point, the force acting on the actual tilt of the rod (130) may vary depending on the position at which the horizontal force is applied to the rod (130) due to the principle of leverage. For example, if a horizontal force is applied from the bottom of the rod (130), even if the horizontal force is smaller than the reference load, a large torque may be applied near the rotation axis due to the principle of leverage, and the rod (130) may tilt. For another example, if a horizontal force is applied from the top of the rod (130), even if the horizontal force is larger than the reference load, a small torque may be applied near the rotation axis due to the principle of leverage, and the rod (130) may not tilt.

[0222] That is, the difference in the longitudinal position of the rod (130) to which the horizontal force is applied, and the resulting effect of the lever principle, may cause unintended tilting or lead to a problem of tilting not occurring despite the reference load being set. However, as in the present embodiment, in any process in which the rod (130) tilts in the initial state, particularly in the process immediately after the horizontal force is applied in the initial state, the rod (130) and the carriage (180) transporting the rod (130) are configured to move at least horizontally and linearly, thereby preventing the effect of the lever principle and more reliably implementing the occurrence and prevention of tilting according to the set reference load.

[0223] Fig. 30 is an enlarged view of a portion of an end effector according to another embodiment of the present invention. Fig. 31 is an exploded perspective view of the end effector of Fig. 30. Fig. 32 is a side view of the end effector of Fig. 30.

[0224] Referring to FIGS. 30 to 32, the end effector (102) of the robot device according to the present embodiment includes a body plate (110), a rod (130), a guide rail (171), and a carriage (180). However, the guide blocks (183) of the carriage (180) are positioned to the other side of the first direction (X), which is different from the robot device and its end effector according to the above-described embodiment. As described above, the robot device including the end effector (102) according to the present embodiment may further include a joint unit, a processor, etc.

[0225] As described above, the carriage (180) includes a moving plate (181), a first guide block (183a) and a second guide block (183b) arranged on one side of the moving plate (181) in the second direction (Y), and has a load hole (181h) penetrating the moving plate (181) in the third direction (Z).

[0226] At this time, the first guide block (183a) and the second guide block (183b) may be positioned offset to the other side of the first direction (X) (upper right direction based on FIG. 30). For example, when, among the plurality of guide blocks arranged on one side of the second direction (Y) of the moving plate (181), the guide block located furthest on the first direction (X) side is referred to as the first guide block (183a), and the guide block located furthest on the other side of the first direction (X) is referred to as the second guide block (183b), the first distance from the first guide block (183a) to the edge of the one side of the moving plate (181) in the first direction (X) may be significantly greater than the second distance from the second guide block (183b) to the other edge of the moving plate (181) in the first direction (X). For non-limiting examples, the first distance may be at least twice, or at least three times, or at least four times the second distance.

[0227] In addition, the center points of the plurality of guide blocks, for example, the center point between the first guide block (183a) and the second guide block (183b) at a plane point to which the first direction (X) and the third direction (Z) belong, may be located on the other side of the first direction (X) than the position of the load (130) or the load hole (181h) (e.g., the center point of the load hole (181h)).

[0228] In a more specific embodiment, the position of the first guide block (183a) located on the first direction (X) side among the plurality of guide blocks may be located on the other side of the first direction (X) than the position of the load (130) or the load hole (181h).

[0229] Meanwhile, as described above, in the initial state where no external force is applied to the load (130), both the first guide block (183a) and the second guide block (183b) are inserted and placed in the first rail portion (171a). In the initial state, and at a plane point to which the first direction (X) and the third direction (Z) belong, the load (130) can at least partially overlap the second rail portion (171b).

[0230] Although the present invention has been described above with reference to embodiments thereof, these are merely examples and do not limit the present invention. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the embodiments of the present invention.

[0231] Therefore, the scope of the present invention should be understood to include modifications, equivalents, or alternatives to the technical concepts exemplified above. For example, each component specifically illustrated in the embodiments of the present invention can be implemented with modifications. Furthermore, any differences related to such modifications and applications should be construed as being within the scope of the present invention as defined in the appended claims.

Claims

1. Body plate; and comprising one or more loads mechanically connected to the above body plate, A robotic device, wherein the load is configured to tilt variably relative to the body plate.

2. In paragraph 1, A robot device, wherein one horizontal side of the body plate has a groove, and the load is placed within the groove.

3. In paragraph 1, A robot device in which the connection between the above load and the body plate is a direct or indirect free connection, and is configured to tilt at least by gravity or an external force.

4. In paragraph 3, The above load is provided in multiple pieces, and the tilt of each load is a robot device that is independent of each other.

5. In paragraph 1, The above robotic device is for unloading loads, The above load is provided in multiple pieces, A robotic device configured to be capable of inserting at least some of the plurality of loads into gaps between individual cargoes on top of the load.

6. In paragraph 1, a guide rail arranged on the above body plate; and A robot device further comprising a carriage configured to move along the guide rail and having a load hole into which the load is inserted.

7. In paragraph 6, A robot device, wherein the guide rail includes a first rail portion extending in a first direction, and a second rail portion connected to the first rail portion and extending in a third direction.

8. In paragraph 7, The above carriage includes guide blocks that engage with the above guide rails, At least two guide blocks including a first guide block and a second guide block are inserted into one of the above guide rails, In which state, both the first guide block and the second guide block are located on the first rail section, A robot device, wherein at least one of the plurality of guide blocks is positioned on the second rail section while the carriage is partially moved.

9. In paragraph 6, One side of the first direction of the above body plate has a recessed groove, A robot device configured to enable linear movement in a first direction, at least partially, during the process of the carriage moving along the guide rail.

10. In paragraph 1, A robot device configured to enable linear movement in a direction intersecting the extension direction of the load, at least partially, during the process of tilting the load.

11. In paragraph 6, A robot device further comprising a body plate and a carriage and a fixed elastic member.

12. A robot device including a processor that executes a program resident in memory, wherein the processor: Obtain load image information; Towards the upper side of the load face, the end effector including the body plate and load of the robot device is first moved; After the first movement, the end effector moves downward a second time; and A robotic device configured to perform a third movement to retract the end effector following the second movement.

13. In paragraph 12, A robot device in which the height of the body plate in the above-mentioned backward movement step is substantially the same as the height at which the above-mentioned downward movement is completed.

14. Prepare a robot device including a body plate and an end effector including a load mechanically connected to the body plate; Move the load to the upper side of the load where the individual cargo is loaded; moving the end effector downward; and A method for unloading a load, comprising moving the end effector backward.

15. In paragraph 14, A method wherein, as a result of the above downward movement or backward movement, at least a portion of the load is inserted between the boundaries of the individual cargoes.

16. In paragraph 14, A method in which, during the above retreat movement process, the lower part of the load retreats while in contact with the upper surface of the load.

17. In paragraph 14, A method in which, during the above retreat movement process, at least a portion of the load is tilted.

18. In paragraph 14, A method wherein, during the above retreat movement process, at least a portion of the load moves in a horizontal direction.

19. In paragraph 14, A method in which, as a result of the above backward movement, at least a portion of the load is swept by the load and unloaded.

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