Cargo-unloading robot device having rod-gripping structure and control method thereof

Abstract

Provided is a cargo-unloading robot device which comprises: at least one rod protruding from a frame by a protruding distance that can be changed by at least an external force; and a fixing module capable of fixing the protruding distance when the rod is in an arbitrary protruding state.

Description

A robot device for unloading loads having a load-bearing structure and a control method thereof

[0001] The present invention relates to a robot device for unloading loads. More specifically, it relates to a robot device for unloading loads having a load gripping structure capable of maintaining a variable load length, 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] For this reason, Patent Document 1 (US 10,029,374 B1) discloses a robotic device for unloading cargo, i.e., loads. Its primary solution is to quickly unload loads using suction cups at the ends of the robot arms.

[0007] However, suction-based unloading has several limitations. Patent Document 1 assumes 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, like that described in Patent Document 1, can be an effective alternative to conventional techniques.

[0008] 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.

[0009] 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 the load collapsing and spilling.

[0010] Furthermore, the technology disclosed in Patent Document 1 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 previously explained, 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.

[0011] Accordingly, the problem to be solved by the present invention is to provide a robot device including an end effector for unloading loads in a new way different from the conventional one.

[0012] Another problem to be solved by the present invention is to provide a gripper module (or end effector) of the above-described load unloading robot device.

[0013] Another problem that the present invention seeks to solve is to provide a control method for the above-mentioned robot device for unloading loads.

[0014] Another problem that the present invention seeks to solve is to provide a computer program recorded on a recording medium for controlling the above-mentioned robot device for unloading loads.

[0015] 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.

[0016] A robot device according to one embodiment of the present invention for solving the above-described problem includes at least one rod whose protruding length from a frame is variable by an external force; and a fixing module capable of fixing the protruding length when the rod has an arbitrary protruding state.

[0017] In some embodiments, the robotic device further comprises a carriage movably arranged on the frame, wherein the load and fixing module is capable of moving together with the carriage.

[0018] The load is inserted into the carriage, and the carriage can be arranged to move along a predetermined path on the frame.

[0019] At least by an external force, the load can be configured to be tiltable relative to the frame.

[0020] When the above load is tilted, the above fixed module can be configured to tilt together with the load.

[0021] The above loads are arranged in a second direction and are provided in a plurality, and the fixing modules are provided corresponding to each of the plurality of loads, one edge of the frame has a groove, and the fixing modules can be located at least partially within the groove.

[0022] Any of the above loads may include a first extension, a second extension, an adsorption member disposed at an end of the second extension, and a bypass conduit connecting an internal space of the first extension and an internal space of the second extension.

[0023] At this time, the above loads are arranged in a plurality of pieces spaced apart in the second direction, and the bypass pipe can be located on the second direction side of any load.

[0024] The above fixed module may include a first shaft portion and a second shaft portion having an adjustable distance therebetween, a first bar connected to the first shaft portion, a second bar connected to the second shaft portion, a third shaft portion connecting the first bar and the second bar, and a moving element for moving the second shaft portion.

[0025] The above rod having a shape extending in the above one direction may include an elastic layer disposed on the surface of at least a portion of the extended portion.

[0026] The above fixed module has a through hole, and the load can be inserted at least partially into the through hole.

[0027] In addition, a first rotation prevention element is provided on the inner surface of the through hole of the fixed module, and a second rotation prevention element extending along the longitudinal direction is provided on the outer surface of the rod, so that the rod inserted into the fixed module can reciprocate in the longitudinal direction, but relative rotation between the fixed module and the rod can be prevented by engagement between the first rotation prevention element and the second rotation prevention element.

[0028] The above load may have a plurality of insertion elements spaced apart along the extension direction and having insertion elements for fixing the load, the insertion elements including grooves or holes.

[0029] At this time, the fixed module may include a protruding element.

[0030] In addition, the fixed module further includes a housing having an internal space and a cylinder moving in the internal space, and the housing may have an opening through which the protruding element can protrude.

[0031] The protruding element is ball-shaped, and the fixing module includes a housing having an internal space, a housing having an opening through which the protruding element can protrude, and an elastic body disposed within the housing, wherein the protruding element is positioned within the opening, but is partially covered by the elastic body so as to prevent the protruding element from moving into the internal space.

[0032] The above load further has a sliding groove formed along the extension direction of the load, the protruding element is ball-shaped, and when the fixing module does not fix the load, the protruding element can be spaced apart from the base of the sliding groove.

[0033] The above sliding groove is formed to connect two insert elements spaced apart in the longitudinal direction of the rod, and when the protruding element is positioned on the insert element, the length of the rod can be fixed.

[0034] A control method of a robot device according to one embodiment of the present invention for solving any of the above-described other problems includes a command module including an instruction for causing an end effector including a plurality of rods to enter while arranging the ends of the rods to face a load side; an instruction for holding the rods using a fixing module to maintain a protruding length of the rods while the rods are at least partially in contact with the load; and an instruction for moving the end effector for a second time while the rods are held and the protruding length of the rods is fixed, to move at least a portion of the load.

[0035] The above moving may include picking and moving the load using the adsorption member of the load.

[0036] Specific details of other embodiments are included in the detailed description.

[0037] 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.

[0038] 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.

[0039] Additionally, the load is configured to tilt (i.e., the degree of inclination) in response to external forces, thereby preventing the load from being applied to the load beyond the maximum load capacity, and enabling the estimation of the load applied to the end effector by the load. The above-described free tilting structure prevents damage to the robot device, particularly to the load (cargo), during the sweeping unloading process.

[0040] In particular, the load is configured to apply a basic load to the load, thereby preventing the load from being mechanically connected to a frame, such as a body frame, from being tilted or tilted, thereby applying a force that tends to cause the load to move backward or upward due to gravity. This allows for a more diverse range of motion of the joint arm and body frame of the robotic device.

[0041] Additionally, cargo can be unloaded or transported through suction (or picking) as needed. Stable suction is possible even when the load surface the end effector approaches for suction, such as the top or side, is unaligned by multiple loads, has steps, or even is tilted.

[0042] 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.

[0043] FIG. 1 is a perspective view of a robot device according to one embodiment of the present invention.

[0044] Figure 2 is a hardware configuration diagram of the robot device of Figure 1.

[0045] Figure 3 is an enlarged view showing the vicinity of the end effector of Figure 1.

[0046] Figure 4 is an enlarged view showing the vicinity of the second body frame of Figure 3.

[0047] Fig. 5 is a perspective view showing a portion of Fig. 4 enlarged further, showing a single load unit structure.

[0048] Figure 6 is a perspective view of Figure 5 viewed from a different direction.

[0049] Figure 7 is an exploded perspective view of Figure 5.

[0050] Figures 8 to 10 are side views showing the process of tilting the load of the end effector according to the present embodiment.

[0051] FIGS. 11 and 12 are side views illustrating the basic vertical load applied to the rod of the end effector according to the present embodiment.

[0052] Figure 13 is a flowchart showing a control method of a robot device according to one embodiment of the present invention.

[0053] Figure 14 is a schematic diagram showing a robot device performing an unloading operation.

[0054] Figures 15 to 21 are schematic diagrams showing the process of unloading a load using a robot device according to an embodiment of the present invention in a certain situation.

[0055] Figures 22 to 30 are schematic diagrams showing the process of unloading a load using a robot device according to the present embodiment in different situations.

[0056] FIG. 31 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention.

[0057] Figure 32 is an exploded perspective view of Figure 31.

[0058] FIG. 33 is a side view of an end effector of a robot device according to another embodiment of the present invention.

[0059] FIG. 34 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention.

[0060] Figure 35 is an exploded perspective view of Figure 34.

[0061] Figure 36 is a bottom perspective view of the unit structure of Figure 34.

[0062] Figure 37 is an exploded perspective view of Figure 36.

[0063] Figure 38 is a drawing for explaining the operation of the fixed module of the robot device of Figure 34.

[0064] FIG. 39 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention.

[0065] Figure 40 is a perspective view of Figure 39 viewed from a different direction.

[0066] Figure 41 is an exploded perspective view of Figure 39.

[0067] Figure 42 is an exploded perspective view of Figure 39 in the bottom direction.

[0068] Figure 43 is an enlarged perspective view partially enlarging the load of Figure 39.

[0069] Figure 44 is a cross-sectional view of the fixed module and load of Figure 39 cut in the first direction.

[0070] Figure 45 is a cross-sectional view illustrating the operation of the fixed module of Figure 44.

[0071] Figure 46 is a cross-sectional view of the fixed module and load of Figure 39 cut in the second direction.

[0072] Fig. 47 is a comparative cross-sectional view of the rod cut in the second direction at the positions of lines AA' and BB' of Fig. 43.

[0073] Fig. 48 is a comparative cross-sectional view of the rod cut in the third direction at the positions of lines AA' and BB' of Fig. 43.

[0074] FIG. 49 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention.

[0075] Figure 50 is a perspective view of a robot device according to another embodiment of the present invention.

[0076] Figure 51 is a flowchart showing a control method of a robot device according to another embodiment of the present invention.

[0077] Figure 52 is a flowchart showing in detail the first operating mode of Figure 51.

[0078] Figure 53 is a flowchart showing in detail the second operating mode of Figure 51.

[0079] Figures 54 to 57 are schematic diagrams showing the unloading operation in the second operating mode of Figure 53.

[0080] Figure 58 is a flowchart detailing the third operating mode of Figure 51.

[0081] Figures 59 to 61 are schematic diagrams showing the unloading operation in the third operating mode of Figure 58.

[0082] Figures 62 to 65 are drawings for explaining the operational effects of the fixed module.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] The present invention will be described in detail with reference to the attached drawings below.

[0091] Fig. 1 is a perspective view of a robot device according to one embodiment of the present invention. Fig. 2 is a hardware configuration diagram of the robot device of Fig. 1.

[0092] Referring to FIGS. 1 and 2, the robot device (1) according to the present embodiment includes an end effector (10) (or gripper module) and a joint module (20) (or robot arm), and may further include a processor (31), a memory (32), a storage (33), a camera module (41), and a communication module (42). That is, the robot device (1) may be understood as a computing device including a processor (31), and the processor (31) may be understood as a subject that performs a control method to be described later.

[0093] First, a joint module (20) can be provided for movement of an end effector (10). The joint module (20) can be fixed on a robot base (21). Hereinafter, the robot base (21) can be a reference position of the robot device (1) for explaining the arrangement relationship of other components. That is, when the joint module (20) and the end effector (10) perform an operation such as moving or tilting, the position can be explained as a relative position based on the robot base (21). In other words, the operations of the joint module (20) and the end effector (10) are explained below based on a state in which the robot base (21) is fixed, but it goes without saying that the robot base (21) can be configured to be movable.

[0094] The joint module (20) may have six degrees of freedom, four degrees of freedom, or three degrees of freedom. That is, the joint module (20) may control the first direction (X) coordinate (e.g., X coordinate), the second direction (Y) coordinate (e.g., Y coordinate), the third direction (Z) coordinate (e.g., Z coordinate) and / or the rotational coordinates (RX, RY, RZ) with the X-axis, Y-axis, and Z-axis as the rotational axes of the end effector (10) through a motor or the like provided in the joint. Here, the X-axis, Y-axis, and Z-axis may each correspond to one of the first direction (X) to the third direction (Z).

[0095] 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 claims are not limited thereto.

[0096] The joint motors of the joint module (20) can be controlled by the processor (31). Fig. 1 shows an example of the joint module (20), but the shape or type of the joint module is not particularly limited as long as it can adjust the coordinates of the end effector (10).

[0097] Although not represented in the drawing, the load (not shown) to be unloaded is positioned on one side of the first direction (X) of the robot device (1) or the robot base (21) (lower left direction based on FIG. 1) as an example. At this time, the forward movement of the end effector (10) means that the end effector (10) moves toward the load side (one side of the first direction (X)) in terms of the position or coordinate in the first direction (X), and the backward movement of the end effector (10) means that the end effector (10) moves toward the other side of the first direction (X) in terms of the position or coordinate in the first direction (X) and moves away from the load.

[0098] Also, although not shown in the drawing, a conveyor (not shown) may be placed between the load (not shown) and the robot base (21). As described later, individual objects (cargoes) partially swept away by the action of the end effector (10) may fall to the upper portion of the conveyor and be transported to the other side in the first direction (X) by the conveyor.

[0099] The end effector (10) may be a part that directly contributes to unloading by interfering with or coming into contact with a load in order to transport the load by unloading the load, for example, by sweeping the load down from the top of the face or by suction picking the load.

[0100] The end effector (10) can move in space. As described above, the end effector (10) is connected to the joint module (20) and can move according to the joint motion of the joint module (20). For example, as the end of the joint module (20) extends in one direction (X) of the first direction, the end effector (10) can move forward in one direction (X). Alternatively, as the robot base (21) moves in one direction (X) of the first direction by a structure (not shown), the end effector (10) can also move forward in one direction (X).

[0101] For another example, the end effector (10) may be lowered in the third direction (Z) as the end of the joint module (20) moves downward in the third direction (Z). Alternatively, the end effector (10) may be lowered in the third direction (Z) as the robot base (21) moves downward in the third direction (Z) by a mechanism (not shown).

[0102] As another example, the end effector (10) may also rotate about the Z-axis as the joint module (20) partially rotates (e.g., rotates about the Z-axis) in a plane to which the first direction (X) and the second direction (Y) belong. Alternatively, the end effector (10) may rotate about the Z-axis as the robot base (21) rotates about the Z-axis by a mechanism (not shown).

[0103] As another example, the end effector (10) may also rotate about the Y-axis as the joint module (20) partially rotates (e.g., rotates about the Y-axis) in a plane to which the first direction (X) and the third direction (Z) belong. Alternatively, the end effector (10) may rotate about the Y-axis as the robot base (21) rotates about the Y-axis by a mechanism (not shown).

[0104] Meanwhile, the joint module (20) may include two or more rotation axes for Y-axis rotation. This allows only the third direction (Z) coordinate of the end effector (10) to be adjusted while maintaining the angle of the end effector (10) in a desired state. For example, the body frame (100) of the end effector (10) may be positioned within a horizontal plane to which the first direction (X) and the second direction (Y) belong while only the third direction (Z) position is changed.

[0105] The structure of the end effector (10) will be described in detail later.

[0106] The processor (31) can implement operations and / or functions related to the method according to the present invention based on instructions according to software in which the control method according to the present invention is implemented and loaded into the memory (32). That is, the processor (31) can be understood as a subject that performs or executes a program. For example, by executing software, the processor (31) can control hardware components and / or software components connected to the processor (31) and perform data processing or calculation. That is, the processor (31) can store commands or data received from other components in the memory (32) as part of data processing or calculation, process commands or data stored in the memory (32), or store result data in the memory (32). The processor (31) and / or the memory (32) may also be referred to as a control unit.

[0107] The processor (31) may be a known one, but may be implemented by one or more of, for example, ASIC (Application-Specific Integrated Circuit), DSPs (Digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, microprocessors, or dedicated hardware chipsets for artificial intelligence. In addition, the processor may include a main processor such as a central processing unit and an auxiliary processor that can operate independently therefrom. Examples of the auxiliary processor include a graphics processing unit, a neural network processing unit, an image signal processor, and the like.

[0108] The software or program residing in the memory (32) or stored in the storage (33) may be a computer program recorded on a recording medium to execute the control method described below. The computer program may be a program that is readable by being stored on a storage medium and executable by being coupled to a computer.

[0109] Memory (32) 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 (32) can be implemented through Read-Only Memory (ROM), Random Access Memory (RAM), flash memory, memory cards, storage media, and / or other storage devices.

[0110] The memory (32) can load the computer program from the storage (33). The storage (33) can store application programming interfaces (APIs), libraries, resource files, etc. necessary for executing software implementing the control method according to the present invention. In addition, the storage can store the software and database implementing the method. 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 later, will be understood.

[0111] In the case of implementation by firmware or software in the control method described below, 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., alone or in combination. In this case, each component in 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 in the configuration diagram or block diagram can be implemented by a plurality of more detailed components, or the plurality of components in 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. In addition, all components can be implemented as a single independent hardware, or some or all of the components can be selectively combined to be implemented as a computer program having a program module that performs some or all of the functions combined in one or more hardware. The codes and code segments that constitute the computer program can be easily inferred by a person skilled in the art of the present invention.

[0112] 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.

[0113] The camera module (41) can collect image information of the outside or surroundings of the robot device (1), particularly of a target object such as a load (not shown). The camera module (41) can be a known one. The camera module (41) is installed in the joint module (20) and can collect images in different directions according to the joint operation of the joint module (20). However, the present invention is not limited thereto, and may be fixedly installed in the robot base (21) of the robot device (1) or other non-moving location, or may be installed in the end effector (10).

[0114] The communication module (42) can support the establishment of a wired / wireless communication channel between the robot device (1) 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 (42) can include a wired communication module or a wireless communication module. An example of a wired communication module may be a LAN communication module. The wireless communication module can transmit and receive data through a communication network. Examples of the communication network include a public wired communication network such as Ethernet, a Digital Subscriber Line (xDSL), a Hybrid Fiber Coax (HFC), and 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.

[0115] The sensor module (43) can measure various physical quantities related to the robot device (1), detect the operating status of the robot device (1), and convert and output the measured data into electrical signals. The sensor module (43) 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.

[0116] As a non-limiting example, the sensor module (43) may include a sensor for detecting the tilting degree of the load (200) described later as detection data, or for detecting the vertical protrusion degree of the load (200) as detection data. Examples of the sensor include a light sensor, etc.

[0117] Although FIG. 2 illustrates that the camera module (41) and the sensor module (43) are included in the robot device (1) and are separate from the joint module (20) and / or the end effector (10), the present invention is not limited thereto, and the camera module (41) and the sensor module (43) or additional camera modules and sensor modules may be understood or described as being included in the joint module (20), or included in the end effector (10), etc.

[0118] The various hardware components of FIGS. 1 and 2 that constitute the aforementioned robot device (1) are connected via a data bus, and data can be transmitted between each component via the data bus.

[0119] Hereinafter, the end effector (10) of the robot device (1) according to the present embodiment will be described in more detail.

[0120] Fig. 3 is an enlarged view of the vicinity of the end effector of Fig. 1. Fig. 4 is an enlarged view of the vicinity of the second body plater of Fig. 3. Fig. 5 is a perspective view of a portion of Fig. 4 that is an enlarged view, showing a single load unit structure. Fig. 6 is a perspective view of Fig. 5 viewed from another direction. Fig. 7 is an exploded perspective view of Fig. 5. Figs. 8 to 10 are side views showing the process of tilting the load of the end effector according to the present embodiment.

[0121] Referring further to FIGS. 3 to 10, the end effector (10) of the robot device (1) according to the present embodiment includes a body frame (100) and a load (200) mechanically coupled to the body frame (100), and may further include a guide rail (300), a carriage (400), and an elastic element (600).

[0122] The body frame (100) (or end effector frame, or body plate) may include a first body frame (110) (or main frame) and a second body frame (120) (or subframe). The body frame (100) is a part that forms a body on which the rod (200) of the end effector (10) is arranged, and may be made of a material having high strength and rigidity, such as metal.

[0123] The first body frame (110) can be fixedly connected to an end of the aforementioned joint module (20). For example, when the position of the end changes or rotates as any joint of the joint module (20) moves, the first body frame (110) can move together.

[0124] In addition, the second body frame (120) can be fixedly arranged on the first body frame (110) and move together with the first body frame (110). The second body frames (120) can be provided in multiple numbers. FIG. 3 illustrates a case where three second body frames (120) are arranged in the second direction (Y) on one first body frame (110). Each second body frame (120) is arranged on the first body frame (110), and can be arranged to slide forward and / or backward in the first direction (X) on the first body frame (110). The forward and backward movements of the plurality of second body frames (120) in the first direction (X) can be mutually independent. For example, in a state where the position of the first body frame (110) is fixed, a certain second body frame (120) can advance, and the other second body frames (120) can maintain a backward state. For movement of the second body frames (120) in the first direction (X), a cylinder (150) (or linear driving element) corresponding to each second body frame (120) may be provided.

[0125] Unlike the present embodiment, the body frame (100) may not be formed of a first body frame (110) and a second body frame (120), but one body frame may be coupled with a joint module (20).

[0126] Hereinafter, for a clear explanation of the configurations, an example will be described in which the first body frame (110) and / or the second body frame (120) are placed on a plane to which the first direction (X) and the second direction (Y) belong. However, the present invention is not limited thereto, and as described above, the end effector (10) can rotate in the rotational coordinates (RX, RY, RZ) directions, so it should be understood that the first direction (X) to the third direction (Z) may be used with different meanings when describing the robot device (1) and when describing the end effector (10).

[0127] As will be described later, a plurality of rods (200) may be arranged and mechanically coupled to one of the second body frames (120) in the second direction (Y). To this end, the second body frame (120) may also have a shape extending approximately in the second direction (Y), or may have at least a sufficient width in the second direction (Y).

[0128] One side (lower left side in FIG. 5) of the second body frame (120) in the first direction (X) may have a recessed frame groove (120g) (or tilting groove). That is, one edge of the first direction (X) side of the second body frame (120) may have a groove. The frame grooves (120g) may be repeatedly arranged in the second direction (Y) like the rod (200). Any one of the plurality of frame grooves (120g) may contribute to forming a repeating unit structure together with the rod (200) to be described later. The frame groove (120g) may provide a space in which the rod (200) arranged therein may move or rotate at least in one direction (X) of the first direction.

[0129] The end effector (10) can operate in a state where the frame home (120g) is generally arranged toward the direction of the load (not shown). In the following description of the direction of the configuration of the end effector (10), an example will be given in which one side of the first direction (X) (the lower left direction based on FIG. 4) means the load side (the front side), and the other side of the first direction (X) (the upper right direction based on FIG. 4) means the rear side.

[0130] The guide rail (300) may be fixedly arranged on the upper surface of the body frame (100), for example, the second body frame (120). In any one unit structure, the guide rails (300) may be provided in pairs and spaced apart in the second direction (Y) with the frame groove (120g) interposed therebetween.

[0131] The guide rail (300) may be provided as a partially bent slit-shaped rail. Guide blocks (450) of a carriage (400) to be described later may be inserted into the slit of the guide rail (300) to function as a path along which the carriage (400) moves. Specifically, the guide rail (300) or the slit of the guide rail (300) may have a bent structure rather than a straight slit, including a first rail portion (301) (or a first slit portion, or a first region) extending in one direction (e.g., approximately a first direction (X)) and a second rail portion (302) (or a second slit portion, or a second region) extending in a direction different from the one direction (e.g., approximately a third direction (Z)). In addition, a curved third rail portion connecting the first rail portion (301) and the second rail portion (302) extending in different directions may be further included. The second rail portion (302) may be connected to one end of the first rail portion (301) in the first direction (X) (i.e., the front side). In another embodiment, unlike what is shown in the drawing, the second rail portion may extend in a direction that intersects the first direction (X) at a predetermined angle other than 90° in a plane to which the first direction (X) and the third direction (Z) belong, rather than in the third direction (Z).

[0132] That is, when the guide blocks (450) are inserted into the first rail section (301), the carriage (400) can move horizontally in the first direction (X), and when the guide blocks (450) are inserted into the second rail section (302), the carriage (400) can move horizontally in the third direction (Z).

[0133] In an initial state, for example, as described later, when the carriage (400) is pulled by the elastic member (500) (or the initial position alignment element, or the first elastic element), all or at least some of the guide blocks (450) of the carriage (400), for example, at least two guide blocks (450), may be located within the first rail portion (301) and not located within the second rail portion (302).

[0134] The carriage (400) (or moving block) includes a transport member (410) (or moving plate) and at least two guide blocks (450), and may further include a bush member (430).

[0135] The transport member (410) may have a load hole (410h). The load hole (410h) may penetrate the transport member (410) in the third direction (Z). And a load (200) may be inserted at least partially into the load hole (410h).

[0136] The bush member (430) can be combined with the transport member (410). The rod (200) can vertically linearly move upward and downward in the third direction (Z) while being inserted into the transport member (410). Therefore, the bush member (430), for example, a linear bush, can be provided to assist or facilitate the linear movement of the rod (200) in the third direction (Z). Specifically, the bush member (430) is at least partially inserted into the rod hole (410h) of the transport member (410), and the rod (200) is inserted into the bush hole (430h) of the bush member (430), so that the rod (200) is at least partially positioned within the rod hole (410h) and can penetrate the transport member (410).

[0137] A plurality of guide blocks (450) including a first guide block (451) and a second guide block (452) may be arranged on the side surface of the transport member (410), for example, on both sides in the second direction (Y). Here, the first guide block (451) and the second guide block (452) may be spaced apart from each other in the first direction (X). FIG. 7 and the like illustrate a case in which the first guide blocks (451) are provided as a pair spaced apart from each other in the second direction (Y), and the second guide blocks (452) are provided as a pair spaced apart from each other in the second direction (Y), so that a total of four guide blocks (450) are arranged. That is, the first guide block (451) and the second guide block (452) are referred to to distinguish the guide blocks arranged in the first direction (X) on either side surface of the transport member (410) in the second direction (Y).

[0138] The guide blocks (450) including the first guide block (451) and the second guide block (452) are inserted into the slits provided by the guide rail (300), that is, the first rail portion (301), the second rail portion (302), the third rail portion connecting them, and a portion of other undesignated rail portions, and can roll, slide, or slide along the extension direction of the slits. As a non-limiting example, each of the guide blocks (450) has an approximately circular shape and can be implemented with a bearing or the like, but it goes without saying that the present invention is not limited thereto.

[0139] The guide blocks (450) are arranged on the side of the transport member (410), but may be arranged to be offset to the other side in the first direction (X). For example, when, among a plurality of guide blocks arranged on one side in the second direction (Y) of the transport member (410), the guide block located furthest on the first direction (X) side (front side) is defined as the first guide block (451), and the guide block located furthest on the other side (rear side) in the first direction (X) is defined as the second guide block (452), a first distance from the first guide block (451) to the edge on the one side of the transport member (410) in the first direction (X) may be significantly greater than a second distance from the second guide block (452) to the edge on the other side of the transport member (410) in the first direction (X). For example, but not limited to, the first distance may be at least 1.5 times, or at least about 2 times, or at least about 3 times, or at least about 4 times the second distance.

[0140] In some embodiments, the center point of the plurality of guide blocks (450), for example, the center point between the first guide block (451) and the second guide block (452) in a plane viewpoint 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 (200) or the load hole (410h).

[0141] In a more specific embodiment, the position of the first guide block (451) located on the first direction (X) side among the plurality of guide blocks (e.g., the center point of the first guide block) may be located on the other side of the first direction (X) than the position of the load (200) or the load hole (410h).

[0142] The end effector (10) may further include an elastic member fixing structure (550) for fixing the elastic member (500) and the second body frame (120). The elastic member (500) may be initially contracted to a predetermined degree, and its length may be extended by an external force. When the external force disappears, the elastic member (500) may be contracted to the initial state or close to the initial state again. For example, the elastic member (500) may include a linear spring. One end of the elastic member (500) may be fixed to the transport member (410) of the carriage (400), and the other end of the elastic member (500) may be coupled to the elastic member fixing structure (550) fixedly arranged on the second body frame (120). FIG. 7 and the like illustrate a case where the elastic member fixing structure (550) is pin-shaped and both one end and the other end of the elastic member (500) are fixed to the pin, but the present invention is not limited thereto. In addition, FIG. 7 illustrates a case where two elastic members (500) are combined to one transport member (410), but the present invention is not limited thereto, and only one elastic member (500) may be provided to one transport member (410).

[0143] That is, one end and the other end of the elastic member (500) can be fixed on the carriage (400) and the second body frame (120), respectively. In some embodiments, the sensor module (43) can include a load cell (not shown) or a tensile force sensor module. In this case, the tensile force sensor module can be built into the elastic member (500) or provided in a structure to which the elastic member (500) is coupled, and configured to be capable of measuring the tensile force applied to the elastic member (500).

[0144] As described above, the elastic member (500) can maintain a contracted state to a predetermined degree without an external force being applied. Therefore, the contraction force provided by the elastic member (500) can provide a basic force to move the carriage (400) in the first direction (X) to the other side (rear side). In this respect, the elastic member (500) can be understood as an element that aligns the initial position of the carriage (400).

[0145] Specifically, in the end effector (10) according to the present embodiment, when the carriage (400) moves along the first rail portion (301) and the second rail portion (302) extending in different directions, the load (200) inserted into the transport member (410) of the carriage (400) can be tilted.

[0146] That is, as expressed in Fig. 8, in the initial state where no separate external force is applied, the first guide block (451) and the second guide block (452) of the carriage (400) are both positioned within the first rail portion (301) of the guide rail (300), and the rod (200) may have a state of being approximately sagging downward in the third direction (Z), i.e., the direction of gravity. In other words, the first guide block (451) and the second guide block (452) have substantially the same height, the transport member (410) is also positioned approximately horizontally, and the rod (200) may be in a state of being extended downward in the direction of gravity. At this time, the elastic member (500) has a maximum contraction state and can prevent the forward movement of the carriage (400).

[0147] And as expressed in FIG. 9, when a force in the horizontal direction, for example, in the first direction (X), is applied to any position of the load (200), specifically, any position in the extension direction of the load (200), the load (200) and the carriage (400) in which the load (200) is inserted can move horizontally and linearly together in the first direction (X). FIG. 9 shows a state in which the load (200) does not tilt and moves horizontally as it is, compared to the initial state (i.e., the state of FIG. 8). For example, even in the state of FIG. 9, the first guide block (451) and the second guide block (452) can both be positioned within the first rail portion (301) with substantially the same third direction (Z) height.

[0148] Furthermore, as shown in FIG. 10, when a horizontal force sufficient to sufficiently extend the elastic member (500) is continuously applied to a location of the load (200), the load (200) and the carriage (400) in which the load (200) is inserted can move along the third rail portion (curved rail portion) connecting the first rail portion (301) and the second rail portion (302), and the second rail portion (302). At this time, as the first rail portion (301) and the second rail portion (302) extend in different directions, the carriage (400) transporting the load (200) can move in a direction different from the extension direction of the first rail portion (301) (i.e., the first direction (X)). At this time, the extension direction of the load (200) inserted into the carriage (400) can be inclined in a direction intersecting the third direction (Z).

[0149] Although Fig. 10 illustrates a case where the first guide block (451) is positioned within the second rail portion (302) and the second guide block (452) is positioned approximately within the third rail portion, there is no particular limitation as long as the first guide block (451) and the second guide block (452) are positioned at different heights in the third direction (Z) so as to tilt the carriage (400). For example, both the first guide block (451) and the second guide block (452) may be positioned within the second rail portion (302) so as to tilt the carriage (400).

[0150] 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.

[0151] Meanwhile, if the horizontal force applied to the load (200) disappears, or if the load (200) is tilted after the state of FIG. 10 so that the horizontal force is not sufficiently transmitted to the load (200), in other words, if the external force applied to the load (200) is removed or a horizontal force vector smaller than the contraction force of the elastic member (500) is applied, the carriage (400) moves back to the initial state along the guide rail (300) by the contraction force of the elastic member (500), and the extension direction of the load (200) can be restored to be parallel to the third direction (Z).

[0152] This embodiment exemplifies a case where the elastic member (500) is positioned on the other side (rear side) of the carriage (400) in the first direction (X) by using the contraction force of the elastic member (500) to pull the carriage (400) to the other side, but in another embodiment, the elastic member (500) may be configured to push the carriage (400) to the other side (front side) of the carriage (400) in the first direction (X) by using the extension force.

[0153] Alternatively, although the present embodiment exemplifies a case in which an elastic member (500) is used as a means for restoring the tilting of the load (200), the present invention is not limited thereto, and a more diverse range of restoration structures or initial state alignment elements may be adopted by a person skilled in the art.

[0154] Meanwhile, in the present embodiment, a reference load (e.g., a reference horizontal load) at which the load (200) can be tilted can be set using the elasticity of the elastic member (500). At this time, the reference load can be adjusted using the elasticity of the elastic member (500) (e.g., elastic coefficient), the number of elastic members (500), or the arrangement and arrangement structure between mechanical components.

[0155] For example, but not limited to, when a force of about 1 kgf is applied to one rod (200), the external force does not reach a level of force that can elongate the elastic member (500), so that the rod (200) does not tilt and can maintain the state of FIG. 8. On the other hand, when a force of about 5 kgf is applied to one rod (200), the external force can move the carriage (400) and tilt the rod (200) despite the contractile force of the elastic member (500). In other words, the rod (200) of the end effector (10) according to the present embodiment can be configured to tilt (or change the direction of extension, or tilt) when a load that is equal to or exceeds a reference load (reference horizontal load) is applied, and can be configured not to tilt when a load that is less than or equal to the reference load is applied.

[0156] In addition, the end effector (10) according to the present embodiment is configured such that a carriage (400) having a load (200) inserted therein includes at least two guide blocks (450) spaced apart from each other, and at any moment, the guide blocks (450) simultaneously move within a first rail portion (301) extending in a first direction (X), so that when force is applied to the load (200), rotation about a point does not occur immediately, but horizontal movement occurs for at least a certain period of time. That is, the horizontal force applied to the load (200) does not act as a torque as is, but can contribute to the horizontal movement of the carriage (400).

[0157] And only after a certain degree of horizontal movement, some of the guide blocks (450) move along the second rail portion (302) extending in a different direction intersecting the first direction (X), so that the load (200) can tilt or incline as a result of the first guide block (451) and the second guide block (452) being positioned at different heights.

[0158] In other words, in the state of FIG. 8 where no external force is applied, a horizontal force is applied, and during the process of going through the state of FIG. 9 where both the first guide block (451) and the second guide block (452) are located within the first rail section (301), and reaching the state of FIG. 10 where the first guide block (451) enters the second rail section (302), the load (200) and the carriage (400) can move horizontally in the first direction (X) during at least a part of the process (i.e., the process from FIG. 8 to FIG. 9).

[0159] The end effector (10) according to the present embodiment can prevent damage to the load by tilting or inclining the load (200) when a force greater than the reference load (reference horizontal load) is applied to the load (200). Unlike the present embodiment, when the load (200) rotates and tilts around a point, the torque applied to the actual tilt of the load (200) may vary depending on the height in the third direction (Z) at which the horizontal force is applied to the load (200) by the principle of leverage. For example, when a horizontal force is applied from the bottom of the load (200), even if the horizontal force is smaller than the reference load, a large torque may be applied near the rotation axis and the load (200) may tilt unintentionally. As another example, when a horizontal force is applied from the top of the load (200), even if the horizontal force is larger than the reference load, a small torque may be applied near the rotation axis and the load (200) may not tilt.

[0160] That is, the difference in the longitudinal position of the rod (200) to which the horizontal force is applied, and the resulting effect of the lever principle, may cause an unintended tilt or lead to a problem of no tilt despite the reference load being set. However, as in the present embodiment, in a process in which the rod (200) tilts in the initial state, particularly in a process immediately after the horizontal force is applied in the initial state, the rod (200) and the carriage (400) transporting the rod (200) are configured to at least partially move horizontally and linearly, thereby preventing the effect of the lever principle and more reliably implementing the occurrence and prevention of tilt according to the set reference horizontal load.

[0161] Meanwhile, the rod (200) (or pin, or bar) can be mechanically coupled with the body frame (100) including the second body frame (120). That is, when the coordinates, rotation, etc. of the first body frame (110) are changed by the joint module (20), the rod (200) can move together with the first body frame (110) and the second body frame (120) and change its position. In the present specification, the fact that certain components are mechanically coupled includes a case where the components are indirectly coupled through another component (e.g., a carriage (400), etc.) and can move together as a result, even if the components are not directly coupled.

[0162] In other words, in explaining the coupling relationship of the load (200) to other configurations, the body frame (100) and the carriage (400) may be understood together as a frame module, and the load (200) may be understood as being inserted into a hole formed in the frame module.

[0163] The rod (200) can be inserted into the rod hole (410h) and / or the bush hole (430h). At this time, the rod (200) includes an extension (210) (or bar) extending in the third direction (Z), a rod head provided on the upper side of the extension (210) in the third direction (Z) and having an area expanded compared to the extension (210), and a rod stopper (220) provided at a position in the third direction (Z) of the extension (210), and the extension (210) can be configured to be inserted into the rod hole (410h) and the bush hole (430h), but the rod head and the rod stopper (220) cannot be inserted. That is, the rod stopper (220) can function as a stopper that provides a limit to the insertion of the rod (200) downward.

[0164] As described above, the load (200) moves together with the carriage (400) and can tilt or incline when a horizontal force is applied. When the horizontal force is not applied and the second body frame (120) is placed on a plane to which the first direction (X) and the second direction (Y) belong, the load (200) extends in the third direction (Z), and the load (200) can be at least partially positioned within the frame groove (120g). That is, when the load (200) is not tilted, the load (200) can overlap the second body frame (120) in the horizontal direction to which the first direction (X) and the second direction (Y) belong.

[0165] And from a side view, when no external force is applied, the rod (200) may be positioned at least partially protruding lower than the lower surface of the second body frame (120), and at least a portion of the rod (200) positioned higher than the rod stopper (220) may be positioned higher than the upper surface of the second body frame (120). In other words, the rod (200) may be positioned at least partially protruding lower than the lower surface of the second body frame (120), and at the same time, the rod (200) may be positioned at least partially protruding higher than the upper surface of the second body frame (120).

[0166] Additionally, the end effector (10) may include an elastic element (600) (or a base load providing module, or a base load member, or a base vertical load providing member, or a second elastic element). The elastic element (600) may be fixedly positioned on a transport member (410) of the carriage (400). When the carriage (400) moves or tilts, the elastic element (600) may move or tilt together with the carriage (400).

[0167] Additionally, any end of the elastic element (600) may be fixed to the load (200). For example, an elastic element fixing structure (260) may be provided near the upper portion of the load (200), specifically, at any position above the load stopper (220), and the elastic element (600) may be coupled to the elastic element fixing structure (260). The elastic element fixing structure (260) may also be referred to as an elastic element coupling portion.

[0168] The elastic element (600) may be configured to be coupled with the load (200) to provide a basic vertical load that presses the load (200) in the direction of the carriage (400), for example, in the direction of the lower surface of the second body frame (120). In this respect, the elastic element (600) may be understood as an element that provides a basic load to the load (200).

[0169] In an exemplary embodiment, the elastic element (600) may include a coil spring (not shown). More specifically, the elastic element (600) includes a pulley (610) and a winding element (620) (or wire, or linear element, or rope) wound around the pulley (610), and the coil spring may be coupled to the pulley (610). In this case, one end of the winding element (620) may be fixed to the pulley (610), and the other end may be coupled to the elastic element fixing structure (260) of the rod (200).

[0170] The coil spring can suppress the rotation of the pulley (610) by its elastic force. Accordingly, the winding element (620) can be maintained in a state sufficiently wound around the pulley (610). If an external force greater than the elastic force provided by the coil spring is applied to the winding element (620) and the winding element (620) is pulled, the pulley (610) rotates and the winding element (620) can be unwound. And when the external force is removed, the pulley (610) rotates in the reverse direction by the energy induced by the elastic force of the coil spring and the winding element (620) can be wound around the pulley (610) again.

[0171] The basic vertical load by the elastic element (600) can be adjusted by using the elasticity (e.g., elastic coefficient) of the coil spring or the arrangement and arrangement structure between the mechanical components.

[0172] The effect of the action by the elastic element (600) will be described later with reference to FIGS. 11 and 12.

[0173] The rod (200) of the end effector (10) according to the present embodiment can be configured to have a variable protruding length toward the lower surface and upper surface of the second body frame (120). For example, the rod (200) can be freely coupled with the carriage (400). In the present specification, freely coupled components means that a component and another component are coupled so that they can move together without being disassembled by mechanical constraints between each other, but the relative position between a component and another component can be changed by gravity and / or other external forces even without separate power supply.

[0174] For example, as illustrated in FIG. 8, in a state where the third direction (Z) is parallel to the direction of gravity, the load (200) may sag downward due to the force exerted downward in the direction of gravity by the gravity and elastic elements (600). Further downward movement of the load (200) may be prevented by the load stopper (220).

[0175] On the other hand, when a force is applied from the lower side to the upper side of the rod (200), specifically, a force greater than a reference load (e.g., a reference vertical load), the rod (200) maintains a mechanical connection state with the second body frame (120), is pushed upward within the rod hole (410h), and can move linearly upward in the third direction (Z). At this time, it can be understood that the protrusion length of the rod (200) toward the lower side of the second body frame (120) is reduced.

[0176] For example, in a non-limiting example, if a force of about 3 kgf is applied downward by the weight of the load (200) and the reference vertical load is 2 kgf, and a force exceeding 5 kgf is applied from the bottom of the load (200), the load (200) may be pushed up.

[0177] And when the force applied from the lower side of the load (200) disappears, the load (200) can sag downward again due to the downward force provided by the gravity and elastic element (600) and move linearly downward in the third direction (Z). At this time, it can be understood that the protrusion length toward the lower side of the second body frame (120) of the load (200) increases.

[0178] The end effector (10) according to the present embodiment can further improve the degree of freedom of movement of the end effector (10) as a mechanical external force due to an elastic element (600) other than gravity is applied to the load (200). Refer to FIGS. 11 and 12 in this regard.

[0179] FIGS. 11 and 12 are side views illustrating the basic vertical load applied to the rod of the end effector according to the present embodiment.

[0180] For example, if the rod (200) is inserted into the rod hole (410h) without the elastic element (600), and if the second body frame (120) is tilted as shown in FIG. 11 so that the height of the lower end (200x) (or the first end) of the rod (200) is higher than the upper end (200y) (or the second end), the rod (200) may move in the upper surface direction (lower right direction based on FIG. 11) of the second body frame (120) due to its own weight. That is, the rod (200) may unintentionally retract.

[0181] On the other hand, when a basic vertical load is applied to the rod (200) in the lower direction of the second body frame (120) by the elastic element (600) as in the present embodiment, even if the lower end (200x) of the rod (200) is positioned higher than the upper end (200y) as shown in FIG. 12, movement in the upper direction of the second body frame (120) can be prevented despite the self-weight of the rod (200) by the set basic load (i.e., basic vertical load). That is, unintended retreat is prevented, and the protrusion length of the rod (200) in the lower direction of the second body frame (120) can be maintained.

[0182] For a non-limiting example, if the vertical vector force due to the weight of the inclined rod (200) is about 1 kgf and the reference vertical load is 2 kgf, the rod (200) may not retract.

[0183] As described in detail above, the body frame (100), specifically the second body frame (120), and the rod (200) are mechanically coupled to move together without being disassembled from each other, but when a force in the third direction (Z) upward and / or a horizontal force is applied to the rod (200), the rod (200) can move vertically or tilt, etc., separately from the second body frame (120).

[0184] In some embodiments, the end effector (10) may not be provided with a separate power source or power transmission system for the operation of the load (200), and a control unit therefor. For example, a shifter, roller, etc. for vertical movement of the load (200) may not be provided. For another example, a mechanical structure for changing the overall length of the load (200) in the third direction (Z) may not be provided. That is, the load (200) may be vertically moved or tilted only by gravity or an external force, and may not be configured to move or tilt the load (200) by an electrical signal or control provided by the processor (31).

[0185] In addition, as described above, the rod (200) is configured so that the protrusion length toward the lower surface and upper surface of the second body frame (120) is variable, but the length of the rod (200) itself may not change during the process of changing the protrusion length. That is, when the rod (200) moves downward, the protrusion length on the upper surface may decrease as much as the protrusion length on the lower surface increases. Conversely, when the rod (200) moves upward, the protrusion length on the lower surface may decrease as much as the protrusion length on the upper surface increases. In other words, even if the protrusion length of the rod (200) changes, the length of the entire rod (200) in the third direction (Z) may be substantially maintained.

[0186] Hereinafter, a control method of a robot device (1) according to the present embodiment will be described in detail with further reference to FIG. 13. FIG. 13 is a flowchart illustrating a control method of a robot device according to one embodiment of the present invention. FIG. 14 is a schematic diagram illustrating a robot device performing an unloading operation.

[0187] Referring further to FIGS. 13 and 14, the control method of the robot device (1) according to the present embodiment (or the command module executed by the processor (31) or the control unit) may include a step of controlling the initial posture (S100), a step of acquiring an image of a load (S200), a step of processing the acquired image to extract coordinates (S300), a step of deriving or selecting a work area based on the extracted coordinates (S510), and a step of moving the end effector (10) (S600). At this time, the step of moving the end effector (10) (S600) may include a step of advancing the end effector (S610), a step of lowering the end effector (S620), and a step of retracting the end effector (10) (S630), which are sequentially performed. The term 'step' may also be referred to as an instruction.

[0188] First, the step (S100) of controlling the initial posture may mean a step of setting the global coordinates, rotation direction (RX, RY, RZ), etc. of the joint module (20) and the end effector (10) by the joint module (20) to the initial state while the position of the robot device (1), specifically the robot base (21), is fixed. As described above, the movement of the end effector (10) may be by the operation of the joint module (20) and / or by the movement of the robot base (21).

[0189] Image information of the load can be acquired using the camera module (41) (S200). Specifically, image information of the load or its surrounding structures, which are objects to be unloaded, can be collected. In some embodiments, the collected image may include an image of the upper surface of the elevation of the load (B).

[0190] Next, the processor (31) can extract or derive coordinates of loads in the image based on the collected image information (S300). In addition, the height of the load (B), the arrangement between loads, the arrangement state, etc. can be derived. In an exemplary embodiment, the specific coordinates or positions extracted in this step (S300) may include the side X-direction coordinate (L) of the load closest to the robot device (1), the upper Z-direction height coordinate (H) of the load (B) adjacent to the robot device (1), etc.

[0191] Next, the processor (31) can derive an area or location, etc., where work is to be performed using the end effector (10) based on the specific coordinates of the extracted load (S510). In some embodiments, after extracting the coordinates (S300) and before deriving the work area (S510), a step of determining whether the end effector (10) is at an accessible height (H) may be further performed.

[0192] If the upper height (H) is an accessible height (or a height within a reference range), the furthest position within which the end effector (10) can approach in the first direction (X) can be defined as the working area (WS).

[0193] Although the present invention is not limited thereto, if the top height (H) is too high to access or is outside the standard range, other operations not depicted in the drawings may be performed. For example, if the top height (H) is too high or too high to capture an image of the upper surface, unloading using a suction member may be performed. This will be described later.

[0194] In some embodiments, the step (S510) of selecting a work area may further include deriving boundaries of individual cargoes (objects) from an image of the upper surface of the elevation of the load (B) and recognizing gaps between the derived boundaries. If a plurality of gaps are recognized, any one of the gaps within a preset work area considering the range of motion of the joint module (20), for example, within a distance that can be entered in the first direction (X), for example, the gap located furthest away, may be defined as the work area.

[0195] In addition, as described above, the end effector (10) may include a first body frame (110) and a plurality of second body frames (120) that are movable in a first direction (X) on the first body frame (110). In addition to the first direction (X) movement of the end effector (10) using the joint module (20), individual first direction (X) movement between the plurality of second body frames (120) based on one first body frame (110) is enabled, thereby diversifying the work area at the top elevation of the load.

[0196] And the processor (31) controls the joint motor of the joint module (20) to advance (S610), lower (S620), and retreat (S630) the loads (200), or the end effector (10) including the loads (200). Although not represented in the drawing, this step (S600) may further include adjusting the position by moving the end effector (10) in the second direction (Y). Here, the advance and retreat may mean the advance or retreat of the global coordinates of the end effector (10) when the position of the load (B) is toward the front.

[0197] In an exemplary embodiment, in the forward (S610), downward (S620) and backward (S630) steps of the end effector (10), the end effector (10) may not pitch rotate (e.g., rotate within a plane to which the first direction (X) and the third direction (Z) belong), and its inclination may be substantially maintained. For a non-limiting example, the body frame (110, 120) may remain positioned within a plane to which the first direction (X) and the second direction (Y) belong.

[0198] The step (S600) of moving the end effector (10) will be described in more detail with reference to FIGS. 15 to 21 below. FIGS. 15 to 21 are schematic diagrams showing a process of unloading a load using a robot device according to the present embodiment in a certain situation.

[0199] As described above, the end effector (10) according to the present embodiment includes a first body frame (110) coupled with a joint module (20) and a plurality of second body frames (120) configured to be individually movable on one first body frame (110), and a plurality of rods (200) may be arranged on one second body frame (120). In this case, the operational effects of the plurality of second body frames (120) and the rods (200) mechanically coupled thereto are substantially the same, and thus, in the following FIG. 15 and the like, the operational effects according to the third direction (Z) movement and tilt of the rod (200) will be described based on one second body frame (120). In addition, for the clarity of the drawing, a robot arm and a load shape different from those of FIG. 1 are illustrated, but it should be understood that the present invention is not limited thereto.

[0200] In relation to this, FIG. 15 is a schematic diagram showing a process in which the end effector (10) moves forward in one direction (X) to enter the vicinity of the upper part of the work area (S610) and / or partially descends and moves to the vicinity of the work area, and FIG. 16 is a schematic diagram viewed from the first direction (X) side in the state of FIG. 15, that is, a schematic diagram from a plane viewpoint to which the second direction (Y) and the third direction (Z) belong. FIG. 15 and FIG. 16 show a moment when the end effector (10) partially descends and the lower end of one of the plurality of rods (200a, 200b, 200c) (i.e., the second rod (200b)) touches the upper surface of one of the plurality of loads (B1, B2, B3, B4, B5) (i.e., the second object (B2)) located at the highest height.

[0201] That is, the step (S610) in which the end effector (10) moves at least forward and toward the vicinity of the work area may partially include the end effector (10) descending downward in the third direction (Z), and the descent in this step (S610) may be distinguished from the descent in the descent step (S620) described later.

[0202] Referring further to FIGS. 15 and 16, in this step (S610), the end effector (10) may be moved forward at least in one direction (X) (i.e., forward) to be positioned on the upper side of the derived working area (WC), for example, on the loads (B1, B2, B3, B4, B5). For example, the loads (200) may be moved to overlap the loads (B1, B2, B3, B4, B5) in the third direction (Z) (gravity direction) (S610).

[0203] Also, although not expressed in the drawing, in this step (S610), the end effector (10) can move at least partially in the second direction (Y), i.e., in the width direction, to correspond to the previously set working area.

[0204] In other words, the step (S610) of moving the end effector (10) forward to move near the work area is a step of positioning the loads (200) of the end effector (10) on the upper side of the set work area (WS), and may include a process of moving forward at least in one direction (X).

[0205] To explain in more detail, depending on the position of the end effector (10) in the initial posture step (S100), the end effector (10) may move in the second direction (Y) so as to correspond to the second direction (Y) coordinate of the work area, and / or if the position of the end effector (10) in the initial posture step (S100) is low, the end effector (10) may partially rise in the third direction (Z), and if the position of the end effector (10) in the initial posture step (S100) is high, the end effector (10) 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 (10) above the work area. In addition, depending on the position of the joint base, the end effector (10) may perform a roll rotation, a pitch rotation, and / or a yaw rotation.

[0206] Figures 15 and 16 illustrate a state in which no external force other than the elastic element (600) is applied to multiple loads (200a, 200b, 200c), and all of them are deflected downwards by gravity and the downward force provided by the elastic element (600). In addition, among the loads (B1, B2, B3, B4, B5), the case in which the top of the second object (B2) is located at the highest height among the first object (B1), the second object (B2), and the third object (B3) forming the top of the elevation is illustrated.

[0207] Next, the processor (31) can control the joint motor of the joint module (20) to lower the end effector (10) in the third direction (Z), i.e., downward in the direction of gravity (S620). As described above, the end effector (10) can be partially lowered even in the process of moving forward and entering the work area (S610), but in the preceding lowering (S610), the lower ends of the rods (200) are positioned equal to or higher than the upper ends of the load (B), so that no upward external force is applied to the rods (200) and they remain in a state of being sagged by gravity, whereas in the lowering in this step (S620), an external force may be applied to at least some of the rods (200).

[0208] Fig. 17 is a schematic diagram showing a step (S620) of lowering the end effector (10). Fig. 18 is a schematic diagram viewed in the first direction (X) in the state of Fig. 17.

[0209] With further reference to FIGS. 17 and 18, in this step (S620), at least some of the loads (B1, B2, B3, B4, B5) and the load (200) may interfere with each other, and at least some of the plurality of loads (200a, 200b) may be pushed up by the load, and / or at least some of the plurality of loads (200a, 200c) may be lowered to overlap with the load in the first direction (X) (S620).

[0210] That is, the end effector (10) moves downward in the direction of gravity (S620), and as a result, at least some of the loads (200) are inserted into the space between the individual loads, and at least some of the loads (200a, 200c) can overlap with the loads in the horizontal direction. On the other hand, at least some of the loads (200a, 200b) are not inserted into the space between the loads, but can interfere with the upper surface of the load, and at this time, the loads in contact with the upper surface are pushed upward by the reaction force, and the protrusion length toward the lower surface of the body frame (120) can be reduced.

[0211] FIGS. 17 and 18 illustrate a case where some of the loads (200a, 200b) are pushed up and at the same time some of the loads (200a, 200c) are lowered to overlap with some loads in the first direction (X), but the present invention is not limited thereto. In another embodiment, all of the loads may not be pushed up by the loads but may overlap with some loads in the first direction (X). In yet another embodiment, all of the loads may be pushed up by the loads without overlapping with some loads in the first direction (X).

[0212] Specifically, among the plurality of loads (200a, 200b, 200c), at least one load, for example, the first load (200a), may be positioned to descend in the third direction (Z) and overlap the first object (B1) in the first direction (X).

[0213] 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 (200a) overlaps the fourth object (B4) in the third direction (Z), the lower end of the first rod (200a) may come into contact with the upper surface of the fourth object (B4) at some point during the lowering process of the end effector (10). And if the end effector (10) continues to descend, the first rod (200a) is supported by the fourth object (B4) and cannot descend any further, and as a result, the first rod (200a) may be pushed upwards of the end effector (10). In other words, the protrusion length of the first rod (200a) toward the lower side of the second body frame (120) may be reduced. Here, it is obvious that the first rod (200a) is pushed up because the force applied to the first rod (200a) by the fourth object (B4) is greater than the basic vertical load provided by the elastic element (600).

[0214] In this state, the first rod (200a) 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 (200a) 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 (200a) therebetween.

[0215] In addition, among the plurality of rods (200a, 200b, 200c), at least one rod, for example, the second rod (200b), is lowered in the third direction (Z), and when the second rod (200b) and the second object (B2) overlap in the third direction (Z), the lower end of the second rod (200b) may come into contact with the upper surface of the second object (B2) at some point during the lowering process of the end effector (10). And when the end effector (10) continues to descend, the second rod (200b) is supported by the second object (B2) and cannot descend any further, and as a result, the second rod (200b) may be pushed upwards of the end effector (10). In other words, the protrusion length of the second rod (200b) toward the lower side of the second body frame (220) may be reduced. Here, it is obvious that the second rod (200b) is pushed up because the force applied to the second rod (200b) by the second object (B2) is greater than the basic vertical load provided by the elastic element (600).

[0216] 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 (200b) can be pushed up to a greater degree than the first rod (200a), and the downward protrusion length of the second rod (200b) can be made the shortest.

[0217] In this state, the second load (200b) may be positioned to overlap the second object (B2) in the third direction (Z). Specifically, the lower end of the second load (200b) 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 (200b) in the horizontal direction.

[0218] Additionally, among the plurality of loads (200a, 200b, 200c), at least one load, for example, a third load (200c), may be positioned to descend in a third direction (Z) and overlap with a third object (B3) in a first direction (X).

[0219] 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 (200c) during the lowering process of the end effector (10). That is, there is no configuration for coming into contact with the lower end of the third rod (200c) to support the third rod (200c) and linearly move the third rod (200c) upward, and even if the end effector (10) moves downward to a predetermined height, the third rod (200c) may not be pushed up. In other words, the protrusion length of the third rod (200c) toward the lower side of the second body frame (120) may not decrease and may be substantially the same as the initial state.

[0220] In this state, the third load (200c) can be positioned to overlap with the third object (B3) in the first direction (X).

[0221] In order to explain the operational effect of the end effector (10) according to the present embodiment, FIG. 17 and the like have been described using an example in which loads (B1, B2, B3, B4, B5) are arranged in a specific state. That is, when the end effector (10) including freely coupled loads (200) as described above descends, a first load (200a) 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 (200b) may be partially or completely pushed up, but no object may overlap with it in the first direction (X). In addition, another third load (200c) may not be pushed up, but may form an overlapping state with a third object (B3) in the first direction (X).

[0222] Next, the processor (31) controls the joint motor of the joint module (20) to move the end effector (10) backward in the first direction (X) (S630), and as a result, the loads (200) inserted into the space between the loads move backward, and the loads can be swept and dropped by the loads.

[0223] Figures 19 to 21 are schematic diagrams sequentially showing the steps (S630) in which the end effector (10) retracts.

[0224] Referring further to FIGS. 19 to 21, 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 (10) retreats to the other side in the first direction (X), the first object (B1) and third object (B3) interfering with the load (200) may be swept to the other side in the first direction (X). On the other hand, the second load (200b) 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).

[0225] In relation to this, FIG. 19 shows a state in which the end effector (10) retracts and the lower end of the second rod (200b) retracts on the upper surface of the second object (B2), while the first rod (200a) and the third rod (200c) push at least the first object (B1) and the third object (B3) toward the rear, respectively; FIG. 20 shows a state in which the end effector (10) retracts further and the second rod (200b) moves in a non-overlapping manner in the third direction (Z) with the second object (B2), and accordingly, the force supporting the second rod (200b) disappears and the second rod (200b) sags downward in the direction of gravity again; FIG. 21 shows a state in which the end effector (10) retracts further and the first object (B1) and the third object (B3) are pushed and dropped by the first rod (200a) and the third rod (200c).

[0226] As described above with reference to FIGS. 15 to 21, the end effector (10) according to the present embodiment includes a plurality of rods (200), and can sweep away an object (load) that interferes with each rod (200) in the first direction (X) to the other side in the first direction (X).

[0227] In particular, each of the plurality of rods (200) 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 (200a) and the third rod (200c)) 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 (200b)) can be configured to be pushed up.

[0228] 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.

[0229] Unlike the cases of the aforementioned FIGS. 15 to 21, when the end effector (10) is lowered (S620), if the loads are not all inserted into the gap but are pushed up by the upper surface of the loads, it is obvious that the loads can be inserted into the gap and overlap with an object in the first direction (X) during the process of the end effector (10) retracting (S630), and the loads can sweep the object during the process of continuous retraction (S630).

[0230] Meanwhile, the operational effects that occur as the loads (200) are configured to tilt are described. Refer to FIG. 22, etc. for further details.

[0231] Fig. 22 is a schematic diagram showing a step (S610) in which the processor (31) controls the joint module (20) to move the end effector (10) to the vicinity of the work area, similar to Fig. 15. That is, Fig. 22 shows a moment when the end effector (10) is partially lowered and the lower end of one of the plurality of loads (200) touches the upper surface of an object located at the highest position among the plurality of loads (B1, B2, B3, B4, B5).

[0232] Fig. 22 shows a state in which no external force other than the downward force provided by the elastic element (600) is applied to multiple loads (200a, 200b, 200c), and all of them are deflected downward by gravity. This step (S610) has been described in detail together with Fig. 15, etc., and thus, a redundant description will be omitted.

[0233] Fig. 23 is a schematic diagram showing a step (S620) of lowering an end effector (10) by controlling a joint module (20), similarly to Fig. 17. Fig. 24 is a schematic diagram of the behavior of a first load (200a) as viewed in the second direction (Y) in the state of Fig. 23, and Fig. 25 is a schematic diagram of the behavior of a third load (200c) as viewed in the second direction (Y) in the state of Fig. 23.

[0234] Referring further to FIGS. 23 to 25, in this step (S620), at least some of the loads (B1, B2, B3, B4, B5, B6) and the load (200) can be lowered so as to overlap in the horizontal direction.

[0235] Specifically, among the plurality of loads (200a, 200b, 200c), at least one load, for example, the first load (200a), may be positioned to descend in the third direction (Z) and overlap the first object (B1) in the first direction (X).

[0236] At this time, the first rod (200a) overlaps with the fourth object (B4) in the third direction (Z), and at some point during the lowering process of the end effector (10), the lower end of the first rod (200a) 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 (200a) toward the lower side of the second body frame (120) may be reduced.

[0237] In this state, the first load (200a) 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 in conjunction with Fig. 17, etc., so a duplicate description will be omitted.

[0238] In addition, among the plurality of rods (200a, 200b, 200c), at least one rod, for example, the second rod (200b), is lowered in the third direction (Z), and when the second rod (200b) and the second object (B2) overlap in the third direction (Z), at some point during the lowering process of the end effector (10), the lower end of the second rod (200b) 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 (200b) toward the lower side of the second body frame (120) may be reduced.

[0239] In this state, the second load (200b) 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 (200b) in the horizontal direction. This state has been described in connection with Fig. 17, etc., so a duplicate description will be omitted.

[0240] Additionally, among the plurality of rods (200a, 200b, 200c), at least one rod, for example, a third rod (200c), may be positioned to descend in a third direction (Z) and overlap with a third object (B3) in a first direction (X). In some embodiments, the third object (B3) may be placed on a sixth object (B6), and the third rod (200c) may partially overlap with the sixth object (B6) in the first direction (X).

[0241] At this time, there is no object overlapping the third rod (200c) in the third direction (Z), or at least no object interfering with the third direction (Z), and the third rod (200c) may not be pushed up. In other words, the downward protrusion length of the third rod (200c) may not decrease and may be substantially the same as the initial state.

[0242] In this state, the third load (200c) can be positioned to overlap at least the third object (B3) in the first direction (X). Since this state has been described together with Fig. 17, etc., a redundant description will be omitted.

[0243] Next, the processor (31) can control the joint motor of the joint module (20) to move the end effector (10) backward in the first direction (S630).

[0244] Fig. 26 is a schematic diagram showing a state in which the end effector (10) retracts and the lower end of the second rod (200b) retracts on the upper surface of the second object (B2). Fig. 27 is a schematic diagram of the behavior of a first rod (200a) in the state of Fig. 26, as viewed in the second direction (Y), and Fig. 28 is a schematic diagram of the behavior of a third rod (200c) in the state of Fig. 26, as viewed in the second direction (Y).

[0245] Referring further to FIGS. 26 to 28, as the end effector (10) retreats, a relatively light 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 (200c), and a relatively heavy object (the first object (B1)) may not be pushed away despite interference with the load (200a).

[0246] Specifically, when the third object (B3) and the sixth object (B6), or the sum of the loads they apply to the third rod (200c), is less than or equal to the reference load (i.e., the reference horizontal load), the third rod (200c) 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.

[0247] On the other hand, the first rod (200a) can be tilted without pushing the first object (B1) by the first object (B1) having a weight that is equal to or greater than the reference load allowed by each of the rods (200). For example, as shown in FIG. 26, if the reference load for one rod is 3 kgf and two rods interfere with the first object (B1), and if a load greater than that is applied to the rods by the first object (B1), the first rods (200a) can be tilted. In addition, as the first rod (200a) tilts, the backward direction of the end effector (10) of the action / reaction force between the first rod (200a) and the first object (B1), i.e., the first direction (X) vector, gradually decreases, so that the force with which the first rod (200a) pushes the first object (B1) can also naturally decrease.

[0248] Meanwhile, as previously explained, the second load (200b) does not contribute to the sweep, i.e., cargo unloading, because there is no object interfering with the first direction (X).

[0249] In relation to this, FIG. 29 shows a state in which the end effector (10) is further retracted and the first rod (200a) is further tilted and inclined, and FIG. 30 shows a state in which the end effector (10) is further retracted and the first rod (200a) 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 (200a) disappears, the first rod (200a) sags downward in the direction of gravity again, and the third object (B3) is pushed down by the third rod (200c).

[0250] As described above with reference to FIGS. 22 to 30, the end effector (10) according to the present embodiment includes a plurality of rods (200), and when a horizontal force greater than a reference load is applied to the rods (200), each of the plurality of rods (200) 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.

[0251] 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 (200). In this case, if the objects are forcibly swept, the joint module (20) of the robot device (10) may be damaged, or damage may be inflicted on the heavy cargo. Therefore, rather than forcibly sweeping the first object (B1), in this step (try), only the third object (B3) and the sixth object (B6) are swept, and for the heavy first object (B1), the work area is reset so that more loads interfere, that is, the heavy object can be swept away with a reaction force while resisting a larger horizontal load, and then the sweep is attempted again.

[0252] After the aforementioned set of end effector movement steps (S600) are performed, the processor (31) may further perform a step (S700) of determining whether the task is successful. If the task is determined to have failed, for example, if it is determined that the unloaded object does not exist even though the end effector has moved forward (S610), lowered (S620), and retracted (S630), a step (S520) of re-extracting the work area may be performed, and the step (S600) of moving the end effector may be performed targeting the reset work area.

[0253] The step (S700) of determining whether the task is successful can be performed in various ways by a person skilled in the art, but in an exemplary embodiment, the detection data of the tensile force sensor module such as the elastic member (500) coupled with the carriage (400) of the end effector (10) and the load cell connected thereto can be used. As described above, when a load smaller than the reference horizontal load is applied, the load (200) does not tilt and sweeps the cargo, and when a load larger than the reference horizontal load is applied, the load (200) tilts to prevent damage to the cargo and the robot device (1). In either case, in the process of the end effector (10) retracting (S630), the load (200) receives a horizontal force and a tensile force may be applied to the elastic member (500). Therefore, if the detection data of the tensile force sensor module is not collected in the step of retracting the end effector (10) (S630), the task can be determined to have failed.

[0254] If it is determined that the task has failed (S700), such as when horizontal force is not applied to the load (200) despite the forward movement (S610), downward movement (S620), and backward movement (S630) of the end effector (10), the processor (31) can derive the next priority task area according to a set algorithm based on the extracted coordinates (S520). That is, the first task area derivation step (S510) described above is a task area with a high priority according to a set standard, and the second task area derivation step (S520) may be a task area with the next priority. Here, the set standard may mean a standard expected to be able to unload the largest amount of cargo in one operation.

[0255] The aforementioned steps can form a single work unit. That is, if the cargo unloading is determined to be successful (S700), the initial posture can be controlled again, an image of the remaining cargo can be acquired, and the unloading process can be repeated. This work unit can be repeated until no more workable cargo remains.

[0256] 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.

[0257] Fig. 31 is a perspective view showing a load unit structure of an end effector of a robot device according to another embodiment of the present invention. Fig. 32 is an exploded perspective view of Fig. 31.

[0258] Referring to FIGS. 31 and 32, the end effector (11) of the robot device according to the present embodiment includes a plurality of rods (201) arranged in the second direction (Y), but is different from the above-described embodiment in that the rods (201) further include a ureteral section (290), an adsorption member (280), and a joint module (270).

[0259] As described above, the load (201) is inserted and placed in the transport member (410) of the carriage, and the extension portion (210) of the load (201) may be extended approximately in the third direction (Z) while the body frame, for example, the second body frame (120), is placed on a plane to which the first direction (X) and the second direction (Y) belong.

[0260] The load (201) includes an extension (210), a load stopper (220), and an elastic element fixing structure (260), and may further include a ureteral section (290), an adsorption member (280), a bypass conduit (250), and / or a joint module (270).

[0261] The extension portion (210) may include a first extension portion (211) (or a first load portion) and a second extension portion (212) (or a second load portion). The first extension portion (211) may be positioned closer to the load head and / or load stopper (220) than the second extension portion (212). Alternatively, the load stopper (220) may be understood as being positioned on the first extension portion (211).

[0262] The first extension (211) and the second extension (212) may each have an empty internal space. In addition, the rod (201) may further include a bypass conduit (250), through which the internal spaces of the first extension (211) and the second extension (212) may be fluidly connected. The bypass conduit (250) may be made of an elastic material, such as a hose, so as to provide a flow path without being damaged by interference with the load of the rod (201).

[0263] The bypass conduit (250) may be located on either side of the second direction (Y) of the load (201). For example, the bypass conduit (250) may be located on the side facing another load arranged in the second direction (Y). The load (201) of the end effector (11) according to the present embodiment may be configured to be inserted into a gap of the load and sweep the load. In this case, the bypass conduit (250) is arranged on either side of the second direction (Y) rather than on either side of the first direction (X), thereby minimizing interference between the bypass conduit (250) and the load, and allowing the load (201) to be easily inserted even when the gap between the loads is narrow.

[0264] A joint module (270) may be arranged between the first extension (211) and the second extension (212). The joint module (270) may include a first joint element (271) and a second joint element (272). The first joint element (271) may be connected and coupled to the lower end of the first extension (211), and the second joint element (272) may be connected and coupled to the upper end of the second extension (212). The first joint element (271) and the second joint element (272) form the joint module (270), and the extension (210) may be configured to be partially bent by the joint module (270). For example, while the position of the first extension (211) is fixed, the direction of the second extension (212) may be adjusted. The joint module (270) may be a universal joint, etc., but the present invention is not limited thereto. In some embodiments, the joint module (270) may be configured not to be controlled by electrical signals or controls provided by the processor.

[0265] As the first extension (211) and the second extension (212) are connected by the joint module (270), the first extension (211) and the second extension (212) can rotate relative to each other.

[0266] The flow passage (290) may be provided near the upper end of the rod (201). The internal space of the flow passage (290) may be fluidly connected to the extension (210), specifically, the first extension (211). In addition, an adsorption member (280) (or a picking member, or an adsorption pad) may be provided near the lower end of the rod (201). An air suction pump (not shown) or an additional flow passage element (not shown) for connection with the pump may be connected to the flow passage (290). The flow passage element may be a nozzle and / or a valve, etc. When air is sucked using the pump, a negative pressure is formed inside the flow passage (290), the first extension (211), the bypass pipe (250), the second extension (212), and the adsorption member (280), and adsorption can be performed using the adsorption member (280). The operation of the pump may be controlled by a processor.

[0267] Although the present invention is not limited thereto, the end effector (11) according to the present embodiment can perform suction unloading of cargo using the suction member (280). As a non-limiting example, in the case of objects (cargo) located above a predetermined height among the loaded cargo, it may be difficult to capture an image of the upper surface thereof, or sweep unloading using the method described above may be difficult. In this case, cargo located at a high position can be unloaded using the end effector (11) according to the present embodiment. Specifically, the cargo can be suctioned by forming a negative pressure on the suction member (280) using a suction pump while the suction member (280) is in close contact with the side of the cargo.

[0268] In particular, as described above, the end effector (11) is provided with an elastic element (600) so as to transmit a force in the downward direction to the rod (201), and thus, even if the body frame, for example, the second body frame (120), is tilted, the rod (201) can be prevented from being unintentionally retracted, for example, from moving upward. That is, in order to adhere the suction member (280) to the side of an object having a predetermined height or more, the second body frame (120) needs to be tilted so as to be placed roughly on a plane to which the second direction (Y) and the third direction (Z) belong, or it needs to be tilted as illustrated in FIG. 12. At this time, the retraction of the rod (201) can be prevented by using the elastic element (600).

[0269] FIG. 33 is a side view of an end effector of a robot device according to another embodiment of the present invention.

[0270] Referring to FIG. 33, the end effector (12) of the robot device according to the present embodiment includes a body frame (e.g., a second body frame (120)), a guide rail (300) disposed on the second body frame (120), a carriage (400) moving along the guide rail (300), a rod (201) inserted into the carriage (400) and mechanically coupled to the second body frame (120), and an elastic element (602) coupled to the rod (201) and the carriage (400), but the elastic element (602) is different from the embodiment of FIG. 31 in that it is configured as a linear spring rather than a coil spring.

[0271] That is, unlike the previous embodiment in which the elastic element is configured to include a pulley, a winding element wound around the pulley, and a coil spring that provides energy to the rotation of the pulley, the elastic element (602) according to the present embodiment is configured as a linear spring, one end of which is coupled to the elastic element coupling structure (260) of the load (201), and the other end can be fixed to a transport member of the carriage (400), etc.

[0272] The above linear spring has a roughly contracted state in the initial state, and when a tensile force is applied, it can be extended, and when the tensile force is applied, it can be contracted again. At this time, the elastic element (602) is arranged on the upper surface of the second body frame (120) and is combined with the elastic element coupling structure (260) located on the upper side of the rod (201), so that a downward force can be provided to the rod (201) by the contraction force of the elastic element (602).

[0273] Unlike what is shown in the drawing, in another embodiment, the elastic element may be arranged on the lower surface of the second body frame (120) and configured to be in a somewhat stretched state and coupled with the elastic element coupling structure provided on the lower side of the rod (201). In this case, the stretching force of the elastic element can provide a downward force to the rod (201).

[0274] Fig. 34 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention. Fig. 35 is an exploded perspective view of Fig. 34. Fig. 36 is a bottom perspective view of the unit structure of Fig. 34. Fig. 37 is an exploded perspective view of Fig. 36. Fig. 38 is a drawing for explaining the operation of the fixed module of the robot device of Fig. 34.

[0275] Referring to FIGS. 34 to 38, the end effector (13) of the robot device according to the present embodiment includes a body frame (e.g., a second body frame (120)), a carriage (400) that moves along a guide rail (300) on the second body frame (120), a plurality of rods (201) that are inserted into the carriage (400) and mechanically connected to the second body frame (120), and an elastic element (600) that is fixed on the upper surface of the carriage (400), but is different from the embodiment of FIG. 31 in that it further includes a fixing module (700) (or a gripping means, or a clamp module) that is fixed on the lower surface of the carriage (400).

[0276] A fixed module (700) may be arranged on the lower surface of the carriage (400). Specifically, the fixed module (700) may be fixedly arranged on the transport member (410) of the carriage (400). When the carriage (400) moves or tilts, the fixed module (700) may move or tilt together with the carriage (400). From a side view, the fixed module (700) is at least partially positioned within a frame groove (120g) formed in the second body frame (120) and may overlap with the second body frame (120) in a horizontal direction. When a plurality of rods (201) are arranged in the second direction (Y), the fixed module (700) may be arranged to correspond to each rod (201).

[0277] A fixing module (700) may be provided to fix the third direction (Z) position and / or protrusion length of the rod (201) by gripping the third direction (Z) position of the rod (201), specifically, the first extension (211) of the rod (201). In the present specification, the term “grabbing” may be understood to mean fixing the third direction (Z) height or movement of the rod (201).

[0278] In an exemplary embodiment, the fixed module (700) may include a first bracket (711), a second bracket (712), a clamp cylinder (720), a moving block (730) (or moving element), and a pair of clampers (750) (or clamp arms).

[0279] The first bracket (711) and the second bracket (712) may be fixedly arranged on the lower surface of the transport member (410). In addition, the clamp cylinder (720) may be fixed to the second bracket (712). A movable block (730) may be arranged at an end of the clamp cylinder (720). Depending on the operation of the clamp cylinder (720), the movable block (730) may move linearly in the first direction (X). As a non-limiting example, the clamp cylinder (720) may include a hydraulic cylinder, and the clamp cylinder (720) may be provided with a clamp fluid inlet (725) for its operation. The operation of the clamp cylinder (720) may be controlled by a processor.

[0280] The first bracket (711) and the moving block (730) may be hinge-coupled to the clamper (750). That is, the first shaft portion (750a) of one end of the clamper (750) may be connected to the first bracket (711), and the second shaft portion (750b) of the other end of the clamper (750) may be connected to the moving block (730). In addition, the clamper (750) may include clamping portions (751, 752). The clamping portions (751, 752) include a first clamping portion (751) and a second clamping portion (752), and the first clamping portion (751) and the second clamping portion (752) may have at least one joint, for example, a third shaft portion (750c). The first clamping portion (751) and the second clamping portion (752) may each be bar-shaped structures, but the present invention is not limited thereto. In some embodiments, a grip block (755) for effective clamping may be arranged on the third shaft portion (750c). The grip block (755) may be made of a material having elasticity and friction, such as rubber, and may have an approximately ring shape, but the present invention is not limited thereto.

[0281] That is, the first bracket (711) fixed on the transport member (410) is hinge-connected to the first clamping portion (751), the moving block (730) that moves linearly in the first direction (X) is hinge-connected to the second clamping portion (752), and the first clamping portion (751) and the second clamping portion (752) can be hinge-connected via the third axis portion (750c). In addition, when the moving block (730) moves, the first direction (X) distance between the moving block (730) and the first bracket (711) can change, and the second direction (Y) distance between the pair of clampers (750) can change.

[0282] For example, as shown in the left drawing of Fig. 38, when the moving block (730) retreats in the first direction (X) (upper side with respect to Fig. 38), the separation distance between the pair of clampers (750) may be relatively large, and the clamper (750) and the load (201) may be spaced apart. On the other hand, as shown in the right drawing of Fig. 38, when the moving block (730) advances in the first direction (X) (lower side with respect to Fig. 38), the pair of clampers (750) may be tightened, and the grip block (755) of the clamper (750) may come into contact with the first extension (211) of the load (201) and grip the load (201). In addition, when the load (201) is gripped by the fixed module (700), movement of the load (201) in the third direction (Z) may be prevented. As described above, an elastic layer is provided on the outer surface of the load (201), and effective gripping can be achieved by friction between the elastic layer and the gripping block (755).

[0283] As described above, the load (201) is configured to be freely coupled directly or indirectly on the second body frame (120) and move in the third direction (Z) by gravity and other external forces, and the movement of the load (201) in the third direction (Z) may not be controlled by the processor. As in the present embodiment, a fixing module (700) may be provided to fix the movement state of the load (201). The effect of the operation by the fixing module (700) will be described later together with FIG. 62, etc.

[0284] The end effector (13) according to the present embodiment exemplifies a fixed module (700) that grips a load (201) by utilizing the distance between a pair of clampers (750) having a joint, i.e., a third axis (750c), but other types of clampers or fixed modules may be applied.

[0285] Fig. 39 is a perspective view showing a load unit structure of an end effector of a robot device according to another embodiment of the present invention. Fig. 40 is a perspective view of Fig. 39 viewed from another direction. Fig. 41 is an exploded perspective view of Fig. 39. Fig. 42 is an exploded perspective view of Fig. 39 viewed from the bottom.

[0286] Fig. 43 is an enlarged perspective view partially magnified of the load of Fig. 39. Fig. 44 is a cross-sectional view of the fixed module and load of Fig. 39 taken in the first direction. Fig. 45 is a cross-sectional view illustrating the operation of the fixed module of Fig. 44. Fig. 46 is a cross-sectional view of the fixed module and load of Fig. 39 taken in the second direction.

[0287] Fig. 47 is a comparative cross-sectional view of the rod cut in the second direction at the positions of lines AA' and BB' of Fig. 43, wherein the left side is a cross-sectional view showing a state in which a protruding element is inserted into an insertion element at the position of line AA', and the right side is a cross-sectional view showing a state in which a protruding element is positioned at the position of line BB'. Fig. 48 is a comparative cross-sectional view of the rod cut in the third direction at the positions of lines AA' and BB' of Fig. 43, wherein the left side is a cross-sectional view showing a state in which a protruding element is inserted into an insertion element at the position of line AA', and the right side is a cross-sectional view showing a state in which a protruding element is positioned at the position of line BB'.

[0288] Referring to FIGS. 39 to 48, the end effector (14) of the robot device according to the present embodiment includes a body frame (e.g., a second body frame (120)), a carriage (400) that moves along a guide rail (300) on the second body frame (120), a plurality of rods (204) that are inserted into the carriage (400) and mechanically connected to the body frame (120), and an elastic element (600) that is fixed on the upper surface of the carriage (400), but may include a fixing module (800) of a different type from the embodiment of FIG. 34, i.e., a gripping means.

[0289] A fixed module (800) may be arranged on the lower surface of the carriage (400). Specifically, the fixed module (800) is fixedly arranged on the transport member (410) of the carriage (400) and may move together with the carriage (400). The fixed module (800) may be located at least partially within the frame groove (120g). When a plurality of rods (204) are arranged in the second direction (Y), the fixed module (800) may be arranged correspondingly to each rod (204).

[0290] The fixed module (800) has a clamp hole (800h) (or through hole), and the extension portion (214) of the rod (204) can be inserted at least partially or completely into the clamp hole (800h). For example, the rod (204) can pass through the rod hole (410h) and the clamp hole (800h) of the transport member (410). The extension portion (214) of the rod (204) can have an empty inner space (RS), but the present invention is not limited thereto.

[0291] The extension (214) of the rod (204) has an insertion element (200g1) (or insertion groove) formed on its outer surface, and may further have a sliding groove (200g2) and an anti-rotation element (200g3) (or anti-rotation groove).

[0292] The insertion element (200g1) may be repeatedly formed along the third direction (Z). In addition, the insertion element (200g1) may be formed on one side and / or the other side of the first direction (X) of the extension portion (214). As described below, the protruding element (830) of the fixed module (800) may have a ball or sphere shape, and the insertion element (200g1) may have a concave surface shape corresponding to the surface of the protruding element (830) such as a ball.

[0293] The sliding groove (200g2) may also have a shape extending in the third direction (Z). The sliding groove (200g2) may be formed on one side and / or the other side of the extension portion (214) in the first direction (X). In a plane viewpoint to which the second direction (Y) and the third direction (Z) belong, the insertion elements (200g1) and the sliding groove (200g2) may be arranged alternately. That is, any one sliding groove (200g2) may be arranged to connect any two insertion elements (200g1) that are closest in the third direction (Z), and any one insertion element (200g1) may be arranged to connect any two sliding grooves (200g2) that are closest in the third direction (Z). In the cross-section of the load (204) cut in the first direction (X) and the second direction (Y), the sliding groove (200g2) may have a pointed bone shape. The width (W) of the sliding groove (200g2) g2 ) is the width (W) of the insertion element (200g1) g1 ) may be smaller.

[0294] Meanwhile, the rotation prevention element (200g3) may be formed on one side and / or the other side of the second direction (Y) of the extension portion (214). The rotation prevention element (200g3) may have a groove shape extending in the third direction (Z). The rotation prevention element (200g3) of the rod (204) (e.g., the second rotation prevention element) may be configured to prevent relative rotation between the fixed module (800) and the extension portion (214) of the rod (204) together with any rotation prevention element (e.g., the first rotation prevention element) of the clamp to be described later.

[0295] In an exemplary embodiment, the fixed module (800) (or clamp module) may include a clamp housing (810) forming an inner space (AS), a cylinder (820) that reciprocates in a third direction (Z) within the inner space (AS), and a protruding element (830) disposed in an inner opening (810p) of the clamp housing (810).

[0296] First, the clamp housing (810) may be formed by a plurality of parts including a first part (811), a second part (812), and a third part (813). The first part (811) may be configured to be coupled with a hydraulic pressure supply unit (850). Through the hydraulic pressure supply unit (850), a fluid such as air or oil may be injected into the internal space (AS) from an external pump, etc. The third part (813) may form at least a portion of the inner wall of the clamp hole (800h). That is, when the extension part (214) is inserted into the clamp hole (800h), the third part (813) at least partially contacts the extension part (214), and the extension part (214) may slide in the third direction (Z). Operations such as injection of fluid through the hydraulic pressure supply unit (850) may be controlled by a processor.

[0297] Figure 44 illustrates a case where an inner opening (810p) is formed in the third part (813). That is, the inner opening (810p) may refer to an opening formed on the inner wall of the clamp hole (800h) of the fixed module (800). In addition, a protruding element (830) may be arranged within the inner opening (810p). In an exemplary embodiment, the protruding element (830) may have a ball shape, and the protruding element (830) may have a shape that engages with the aforementioned insertion element (200g1).

[0298] Meanwhile, in some embodiments, the fixed module (800) may further include an elastic body (840) disposed in the internal space (AS). FIG. 44 illustrates a case where the elastic body (840) is disposed on the second part (812). In a state where the shape of the elastic body (840) is not deformed by an external force, the elastic body (840) may be disposed to at least partially overlap the inner opening (810p) and the protruding element (830) in the first direction (X). The elastic body (840) may cover the protruding element (830) in the first direction (X) to prevent the protruding element (830) from being pushed and moved toward the internal space (AS).

[0299] The cylinder (820) arranged in the internal space (AS) can reciprocate in the third direction (Z). If a fluid such as air is injected through the hydraulic supply unit (850), the cylinder (820) can move downward due to the pressure. In the process of the cylinder (820) moving downward, the inner wall of the cylinder (820) interferes with the protruding element (830), and the protruding element (830) can be pushed by the cylinder (820) and protrude from the inner opening (810p) toward the clamp hole (800h). That is, when the cylinder (820) is lowered, the protruding element (830) protrudes toward the outside of the fixed module (800) (toward the clamp hole (800h)), and in a state where the insertion element (200g1) of the extension (214) moves in the third direction (Z) to match the inner opening (810p), the protruding element (830) is inserted into the insertion element (200g1), and the third direction (Z) position of the rod (204) can be fixed. That is, the third direction (Z) relative position between the fixed module (800) and the rod (204) can be grasped and fixed. In this state, the lower end of the cylinder (820) can be pressed against the second part (812) by pressing the elastic body (840).

[0300] On the other hand, if the pressure of the internal space (AS) that lowers the cylinder (820) is at the atmospheric pressure level, the elastic body (840) can restore its shape by its elastic force, and the cylinder (820) can be partially pushed upward by the restoring force of the elastic body (840). And as the cylinder (820) partially moves upward, the protruding element (830) can at least partially move toward the internal space (AS) so that the degree of protrusion can be reduced. That is, the protruding element (830) can at least partially detach from the insertion element (200g1) of the extension portion (214), and the third direction (Z) position between the fixed module (800) and the rod (204) can become variable again. For example, as shown in the right comparative cross-sectional views of FIGS. 47 and 48, in a state where the position of the protruding element (830) does not match the position of the insertion element (200g1), the protruding element (830) may be in contact with the peak point (200g2p) of the sliding groove (200g2), that is, the outer surface of the extension (214). In addition, the protruding element (830) may be spaced apart from the base of the sliding groove (200g2).

[0301] As in this embodiment, the extension (214) extends in the third direction (Z) other than the insertion element (200g1) and has a sliding groove (200g2) arranged at a distance, thereby increasing the mechanical stability when the load (204) moves freely in the third direction (Z) in a state where the protruding element (830) is not inserted into the insertion element (200g1).

[0302] As described above, the load (204) is configured to be freely coupled directly or indirectly on the body frame (100) and move in the third direction (Z) by gravity and other external forces, and the movement of the load (204) in the third direction (Z) may not be controlled by a processor understood as a processor included in the robot device. As in the present embodiment, a fixed module (800) may be provided to fix the movement state of the load (204).

[0303] The fixed module (800) and the rod (204) according to the present embodiment are exemplified in a case where the insertion element (200g1) is in a groove shape and the protruding element (830) is in a ball shape. However, the present invention is not limited thereto, and a person skilled in the art may make further various modifications to implement the technical idea according to the present invention for gripping the rod (204) using the protruding element (830) of the fixed module (800). For example, the insertion element (200g1) may be implemented as a hole penetrating the extension portion (214) instead of a groove.

[0304] Meanwhile, a part of the third part (813) forming the inner wall of the clamp hole (800h) of the clamp housing (810) may form a first anti-rotation element. The first anti-rotation element may be inserted into a second anti-rotation element (200g3), for example, a groove, formed on the second direction (Y) side of the extension (214). The first anti-rotation element and the second anti-rotation element (200g3) may be configured to prevent relative rotation between the fixed module (800) and the extension (214), while allowing the extension (214) to freely reciprocate in the third direction (Z) with respect to the fixed module (800) and having a variable protrusion length. FIG. 43 and the like illustrate a case where the second anti-rotation element (200g3) is a groove and the first anti-rotation element is inserted into the groove; however, in another embodiment, the second anti-rotation element (200g3) may be a protruding projection and the first anti-rotation element may be a groove.

[0305] The end effector according to the embodiment of the aforementioned Fig. 34 grips the load (201) by utilizing the frictional force between the fixing module (700) and the outer surface of the load, whereas the fixing module (800) of the end effector (14) according to the present embodiment can grip the load (204) by partially fitting or inserting the protruding element into the insertion element provided in the load (204).

[0306] FIG. 49 is a perspective view showing one load unit structure of an end effector of a robot device according to another embodiment of the present invention.

[0307] Referring to FIG. 49, the end effector (15) of the robot device according to the present embodiment includes a body frame (e.g., a second body frame (120)), a guide rail (300), a plurality of rods (205), a carriage (400), and a fixed module (800), but is different from the embodiment of FIG. 39 in that the rod (205) includes an extension (210), an adsorption member (280), a bypass pipe (250), and / or a joint module (270).

[0308] For example, the end effector (15) according to the present embodiment may include a fixed module (800) according to the embodiment of FIG. 39, etc., but may be a combination of a load according to the embodiment of FIG. 31, etc.

[0309] Specifically, the extension portion (210) of the load (205) may include a first extension portion (211) and a second extension portion (212). The first extension portion (211) and the second extension portion (212) may each have an empty internal space. As described above, the bypass conduit (250) fluidly connects the internal space of the first extension portion (211) and the internal space of the second extension portion (212).

[0310] At this time, the grooves, such as insertion elements, formed in the extension portion may be formed only in the first extension portion (211) and not formed in the second extension portion (212).

[0311] Figure 50 is a perspective view of a robot device according to another embodiment of the present invention.

[0312] Referring to FIG. 50, the robot device (6) according to the present embodiment includes an end effector (16), a joint module (20) having a robot base (21), a processor, a memory, etc., but is different from the embodiments of FIG. 34 or FIG. 49 in that the loads (205) of the end effector (16) are arranged in a plurality in the first direction (X) and the second direction (Y).

[0313] That is, the plurality of rods (205) arranged in the first direction (X) and the second direction (Y) can be configured so that the protrusion length (or displacement in the third direction (Z)) of each can be independently adjusted, and the protrusion length can be held by including a plurality of fixed modules corresponding to each rod (205). As described above, the rods (205) and the body frame (106) are mechanically freely coupled so that the rods (205) can move in the third direction (Z) by an external force.

[0314] The robot device (6) according to the present embodiment can be effective in lifting a loaded load upwards and unloading or transporting the load by having a relatively large area in the horizontal direction.

[0315] Fig. 51 is a flowchart illustrating a control method of a robot device according to another embodiment of the present invention. In the following description of the control method according to another embodiment of the present invention, the case of using an end effector (13) according to the embodiment of Fig. 34, etc., will be described as an example. However, the present invention is not limited thereto, and it goes without saying that an end effector according to another embodiment of the present invention may be used.

[0316] First, referring to FIG. 51, the control method of the robot device according to the present embodiment includes a step of controlling the initial posture (S100), a step of acquiring an image of a load (S200), and a step of extracting coordinates by processing the acquired image (S300), but is different from the control method according to the embodiment of FIG. 13 in that it further includes a step of determining an operating mode or an unloading method (S400).

[0317] The initial posture control step (S100), image acquisition step (S200), and coordinate extraction step (S300) have been described above with reference to FIG. 13, so redundant descriptions are omitted.

[0318] The step (S400) of determining the operating mode can be performed based on the extracted coordinates. The step (S400) of determining the operating mode can be understood as a step of determining whether an unloading operation using an adsorption member (280) is necessary.

[0319] For example, the step (S400) of determining the operation mode may include classifying the upper height of the load adjacent to the robot device by comparing it with a reference height. In an exemplary embodiment, the step (S400) of determining the operation mode may include the step of determining the first operation mode if the upper height is greater than the first reference height and less than the second reference height, the step of determining the second operation mode if the upper height is greater than the second reference height, the end effector (13) cannot enter, or the upper surface image of the load elevation cannot be confirmed, and the step of determining the third operation mode if the upper height is less than the first reference height or the load is determined to be raised directly on the floor.

[0320] Below, the first to third operating modes are described.

[0321] With further reference to FIG. 52 in relation to the first operation mode, when determined as the first operation mode, the control method of the robot device may further include a step of deriving or selecting a work area (S510), a step of moving the end effector (13) (S600), and a step of determining whether the operation is successful (S700). In addition, the step of moving the end effector (13) (S600) may include a step of advancing the end effector (S610), a step of lowering the end effector (S620), and a step of retracting the end effector (13) (S630), which are sequentially performed.

[0322] The above first operating mode may be substantially the same as the operation described in Fig. 13. That is, if it is determined that the upper height (H) of the load (B) adjacent to the robot device is higher than the second reference height, or is not lower than the first reference height and forms an appropriate height so that unloading through sweep is possible, after selecting a work area (WS) (S510), the end effector (13) may enter the upper part of the elevation of the load (B) (S610), descend (S620), and retreat (S630) to partially sweep the load (B). Since the derivation of the work area (S510), the movement of the end effector (S600), the determination of the success or failure of the task (S700), and the secondary derivation of the work area (S520) have been described above, a duplicate description will be omitted.

[0323] Next, with respect to the second operating mode, reference is made further to FIGS. 53 to 57.

[0324] As illustrated in FIG. 53, when the second operation mode is determined, the control method of the robot device may further include a step of deriving or selecting a work area (S512), a step of controlling the posture of the end effector (S800), a step of advancing the end effector (S612), a step of gripping a load using a fixing module (S902), a step of adsorbing or picking a cargo using an adsorption member (S912), a step of retracting the end effector (S632), and a step of releasing the adsorption and dropping the cargo (S992).

[0325] The step of deriving a work area (S512) may be a step for selecting a cargo or location to be picked. For example, the upper cargo (UB) of Figure 54 may be selected as the work target or work area. Here, the work target or work area may refer to the cargo or the area occupied by the cargo in the third direction (Z), as defined by boundary recognition of the target cargo.

[0326] As previously explained, if the upper surface of the load (B) is at an appropriate height, the load can be unloaded through a sweeping motion. However, if the upper surface of the load (B) is too high, the entry of the end effector (13) may be difficult. Therefore, in the second operating mode, the upper cargo (UB) located at the top of the load (B) can be selected as the work target.

[0327] Referring further to FIG. 55, the posture of the end effector (13) can be controlled to align the lower end of the load (201), for example, the suction member (280), so as to face the picking surface (i.e., the side) of the target cargo, i.e., the upper cargo (UB) (S800). For example, in the initial posture control step (S100), when the second body frame (120) is placed on a horizontal plane to which the first direction (X) and the second direction (Y) belong, in this step (S800), the second body frame (120) can be aligned to be placed on a horizontal plane intersecting the horizontal plane, for example, a plane to which the second direction (Y) and the third direction (Z) belong. Accordingly, the extension direction of the load (201) can be approximately the first direction (X), or can be within a range of approximately ±20 degrees from the first direction (X).

[0328] However, the present invention is not limited thereto, and the second body frame (120) may be placed on a plane to which a direction intersects the direction of gravity (e.g., the third direction (Z)). Accordingly, the rod (201) may form a predetermined acute angle with respect to the first direction (X).

[0329] Also, although FIG. 55 illustrates a case where the joint module moves and the end effector (13) tilts, the present invention is not limited thereto, and appropriate motions may be performed depending on the height of the upper cargo (UB). For example, the joint module may not move, and only the end effector (13) may tilt using a rotation axis connected to the end of the joint module.

[0330] As previously described with reference to FIGS. 11 and 12, if the elastic element (600) providing the basic load is absent, the load (201) may retreat due to its own weight, making it difficult to fully contact the upper cargo (UB) or to control the intended posture. However, as in the present embodiment, the elastic element (600) provides a predetermined force to the load (201) toward the lower side of the second body frame (120), that is, toward the left side as shown in FIG. 55, thereby preventing unintended retreat of the load (201).

[0331] Referring further to FIG. 56, the end effector (13) can be moved forward to adhere the suction member (280) of the load (201) to the side of the target cargo, i.e., the upper cargo (UB) (S612). In this state, the fixing module (700) may not be holding the load (201). Here, the forward movement of the end effector (13) means that the global coordinates of the end effector (13) move forward in the first direction (X) toward the position of the load (B) (left side based on FIG. 56).

[0332] Although not expressed in the drawing, the sides of other cargoes positioned at the same or similar height as an upper cargo (UB) and arranged in the second direction (Y) with the upper cargo (UB) may not be aligned with each other. That is, at a plane viewpoint to which the first direction (X) and the second direction (Y) belong, the side lines of the cargoes may not be constant. In this case, as described above, the plurality of rods (201) may be configured to be independently movable by an external force, so that the suction member (280) of the rods (201) can be actively pressed against the sides of the plurality of cargoes that are not aligned.

[0333] Next, the loads (201) are picked (S902) using the fixed module (700), and the upper cargo (UB) can be picked (S912) by forming negative pressure in the internal space of the load (201) using a pump (not shown). Alternatively, the picking step (S912) may be performed before the picking step (S902) using the fixed module (700).

[0334] Referring further to FIG. 57, the end effector (13) can be moved backward while the protruding lengths of the loads (201) are fixed to unload or transport individual cargoes (S632). While the end effector (13) is being moved backward (S632), the fixing module (700) can be in a state of holding the load (201) and fixing its moving position. Here, the movement of the end effector (13) backward means that the global coordinates of the end effector (13) move to the rearward side (right side as of FIG. 57) in the first direction (X) based on the position of the load (B).

[0335] And although not expressed in the drawing, the adsorption can be released to drop the picked cargo and unload it (S922). Then, the grip of the load (201) by the fixing module (700) is released, and the position of the load (201) can be restored to its original position by the basic force and / or gravity applied by the elastic element (600).

[0336] After unloading the upper cargo (UB) located at the upper surface of the load (B) according to the second operation mode described above, the steps of acquiring an image (S200), extracting coordinates (S300), and determining the operation mode (S400) can be repeatedly performed according to the control method of FIG. 51.

[0337] If the newly extracted coordinates, e.g., the upper height (H), obtained upon unloading of the upper cargo (UB) satisfy the performance conditions of the first operating mode, the aforementioned first operating mode, i.e., unloading according to a sweep operation, is performed, enabling rapid unloading. On the other hand, if the upper height (H) still satisfies the performance conditions of the second operating mode, the second operating mode may be repeated.

[0338] Next, with respect to the third operating mode, reference is made further to FIGS. 58 to 61.

[0339] As illustrated in FIG. 58, when the third operating mode is determined, the control method of the robot device may further include a step of deriving or selecting a work area (S513), a step of moving the end effector forward and downward to bring the end of the load (201) into contact with the upper surface of the target cargo (S613, S623), a step of gripping the load using a fixing module (S903), a step of adsorbing or picking the cargo using an adsorption member (S913), a step of moving the end effector upward and backward (S643, S633), and a step of releasing the adsorption to drop the cargo (S923).

[0340] The step of deriving a work area (S513) may be a step for selecting a cargo or location to be picked. For example, the lower cargo (BB) of Figure 59 may be selected as the work target. Here, the work target or work area may refer to the cargo or the area occupied by the cargo in the third direction (Z), as defined through boundary recognition of the target cargo.

[0341] If the cargo is placed directly on the floor rather than stacked on top of other cargo, such as the bottom load (BB), or if the cargo itself has a low third-direction (Z) height, unloading using a sweeping motion may be difficult. Therefore, the bottom load (BB) can be selected as the target for operation in the third operating mode.

[0342] Referring further to FIG. 60, similarly, by controlling the posture of the end effector (13), the lower end of the load (201), for example, the suction member (280), may be aligned so that it faces the picking surface (i.e., the upper surface) of the target cargo, i.e., the lower cargo (BB), and the end effector (13) may be advanced (S613) and / or lowered (S623) to bring the suction member (280) of the load (201) into close contact with the upper surface of the target cargo, i.e., the lower cargo (BB). This step may include introducing the load (201) of the end effector (13) to the upper side of the target load, i.e., the lower cargo (BB), in the same manner as or similar to the end effector advancing step (S610) and lowering step (S620) of the first operating mode described above.

[0343] However, in the first operating mode, the end effector (13) is lowered so that at least some of the loads are inserted into the boundaries or gaps between individual loads, for example, the working area is set so that as many loads as possible are inserted into the gaps, while in the third operating mode, the end effector (13) is lowered so that at least some of the loads are lowered so that they come into close contact with the upper surfaces of individual loads, in other words, the working area is set so that as many loads as possible interfere with the upper surfaces of the loads.

[0344] In this state, the extension direction of the load (201) may be approximately the third direction (Z). In addition, the fixed module (700) may not be in a state of holding the load (201).

[0345] Although not expressed in the drawing, the upper surfaces of other cargoes arranged in the second direction (Y) with the lower cargo (BB) and having the same or similar upper surface height as a certain lower cargo (BB) may not be aligned with each other. That is, at a plane point to which the second direction (Y) and the third direction (Z) belong, the upper surface lines of the cargoes may not be constant. In this case, as described above, by configuring a plurality of rods (201) to be independently movable by an external force, the adsorption member (280) of the rods (201) can be actively pressed against the upper surfaces of the plurality of cargoes that are not aligned.

[0346] Next, the loads (201) are picked (S903) using the fixed module (700), and the lower cargo (BB) can be picked (S913) by forming negative pressure in the internal space of the load (201) using a pump (not shown). Alternatively, the picking step (S913) may be performed before the picking step (S903) using the fixed module (700).

[0347] Referring further to FIG. 61, the end effector (13) can be raised (S643) and / or retracted (S633) while the protruding lengths of the loads (201) are fixed to unload or transport individual cargoes. While the end effector (13) is retracted (S633), the fixing module (700) can hold the load (201) and fix its moving position. Here, the retraction of the end effector (13) means that the global coordinate of the end effector (13) moves to the rearward side (right side as of FIG. 61) in the first direction (X) based on the position of the load (B).

[0348] And although not expressed in the drawing, the adsorption can be released to drop the picked cargo and unload it (S923). Then, the grip of the load (201) by the fixing module (700) is released, and the position of the load (201) can be restored to its original position by the basic force and / or gravity applied by the elastic element (600).

[0349] Although the present invention is not limited thereto, during the operation of the end effector (13) according to the third operating mode, the second body frame (120) can be maintained in a state of being placed on a horizontal plane to which the first direction (X) and the second direction (Y) belong.

[0350] After unloading the lower cargo (BB) located at the lowest part of the load (B) according to the third operation mode described above, the steps of acquiring an image (S200), extracting coordinates (S300), and determining the operation mode (S400) can be repeatedly performed according to the control method of FIG. 51.

[0351] If the newly extracted coordinates, such as the side line (L), change due to the unloading of the lower cargo (BB), the operating mode can be re-determined based on the height of the load forming the changed side line. Alternatively, the third operating mode may be repeated if there is an additional lower cargo that satisfies the operating conditions of the third operating mode.

[0352] Next, the unique operational effects of the fixed module (700) will be described in more detail with reference to FIGS. 62 to 65. FIGS. 62 to 65 are schematic diagrams of cargoes positioned at relatively low heights (e.g., lower than the first reference height) as viewed from the first direction (X) side, at a point in time to which the second direction (Y) and the third direction (Z) belong. For clarity of illustration, the illustration of the bypass pipe is omitted in FIGS. 62 to 65.

[0353] Meanwhile, FIGS. 62 to 65 illustrate the operation of the fixed module when the cargo forms an unaligned upper surface when unloading with the upper surface of the cargo as the picking surface, but a person skilled in the art will also be able to understand the operation when the cargo forms an unaligned side surface and unloads with the side surface as the picking surface.

[0354] Also, FIGS. 62 to 65 are described using the fixed module (700) of FIG. 34 as an example, but it is of course possible to use the fixed module (800) of FIG. 39 or the like.

[0355] As shown in Fig. 62, the cargo may be placed in an inclined state during the unloading process as the loading state collapses. Fig. 62 shows a moment when the end effector (13) is partially lowered (S623) and the lower end of one of the plurality of rods (201) (e.g., the first rod (200a)) touches the upper surface of the target cargo (IB) forming an inclined upper surface. In the state of Fig. 62, no external force is applied to the plurality of rods (201) other than the downward force provided by the elastic element (600), and all of them are shown in a state where they are sagging downward due to gravity and the downward force provided by the elastic element (600).

[0356] Then, as shown in FIG. 63, the end effector (13) is lowered further (S623) so that the suction members (280) of any of the plurality of loads (201) (e.g., the first load (201a) and the second load (201b)) can be brought into close contact with the target cargo (IB). As described above, each load includes a joint module (270), and the first extension portion (211) and the second extension portion (212) can be tilted in different directions by the joint module (270). As the lower portions of the loads (201) interfere with the target cargo (IB), the second extension portion (212) can be naturally tilted so as to be brought into close contact with the picking surface (e.g., the upper surface) of the target cargo (IB).

[0357] Also, in the state of Fig. 63, at least some of the loads interfering with the target cargo (IB) may be partially pushed up by the target cargo (IB). Fig. 63 shows a state in which the first load (201a) is pushed up while being pressed against the target cargo (IB), and the second load (201b) is pushed up while being pressed against the target cargo (IB) but is not subjected to an external force that is strong enough to cause it to be pushed up.

[0358] Next, as shown in FIG. 64, the end effector (13) is further lowered (S623) so that the suction members (280) of any of the plurality of rods (201) can be pressed against the target cargo (IB). FIG. 64 shows a state in which the first rod (201a) and the second rod (201b) are pressed against the target cargo (IB) and pushed up, and the third rod (201c) is pressed against the target cargo (IB) but is not subjected to an external force that causes it to be pushed up. In addition, since the upper surface of the target cargo (IB) forms an incline, the degree to which the first rod (201a) is pushed up is greater than the degree to which the second rod (201b) is pushed up. Accordingly, the protrusion degrees of the first rod (201a) to the third rod (201c) with respect to the second body frame (120) may all be different.

[0359] The states of FIGS. 62 to 64 may constitute at least a portion of the lowering step (S623) of the third operating mode described above. In addition, the state of FIG. 64 may indicate the end of the lowering step (S623). The degree to which the end effector is lowered in the lowering step (S623) may be determined based on coordinates extracted in the setting step of the work area. In other words, the processor may set the lowering coordinates so that the end effector (13) is lowered to the state of FIG. 64 based on the tilted state of the target cargo (IB), and the movement steps of the end effector (13) may be performed based on these.

[0360] And the fixed module (700) can fix the protrusion degree by gripping the first load (201a) to the third load (201c) (S903) and perform adsorption (S913). And as shown in Fig. 65, the end effector can rise and lift the target cargo (IB) (S643).

[0361] According to the present embodiment, since the position of the load (201) is fixed by the fixing module (700), the target cargo (IB) being picked and moved can maintain an inclined state while being moved. Accordingly, the distance between the loads that absorb the target cargo (IB), for example, the first distance (D1) between the lower end of the first load (201a) and the lower end of the second load (201b), can be substantially the same before (state of FIG. 64) and after (state of FIG. 65) the end effector (13) is raised. Here, the first distance (D1) can also be understood as the distance between the absorption points (picking points) of the target cargo (IB).

[0362] Meanwhile, if the target cargo (IB) is placed at a greater incline, the difference in the third direction (Z) protrusion length between the first load (201a) and the second load (201b) may be greater, and thus the first distance (D1) may be greater.

[0363] Unlike the first to third rods (201a) to (201c) that are closely attached along the slope of the target cargo (IB), other rods that do not interfere with the target cargo (IB), such as the fourth rod (201d) and the fifth rod (201e), may all remain in a state of being sagged downwards and not be pushed up by the basic force provided by gravity and / or the elastic element (600). When the separation distances in the second direction (Y) between the first to fifth rods (201a) to (201e) in the initial state are all uniform, the second distance (D2) between the end of the fourth rod (201d) and the end of the fifth rod (201e) may be smaller than the first distance (D1). Here, the second distance (D2) may also be understood as the separation distance or arrangement distance between the rods in the initial state.

[0364] Here, the second distance (D2) is a second direction (Y) separation distance between the rods (201), which may be a mechanical distance defined by grooves (120g) formed by the body frame. That is, the second distance (D2) may be understood as a horizontal distance between the rods when no separate external force is applied.

[0365] If, unlike the present embodiment, the positions of the loads contributing to picking the target cargo (IB) are not fixed using a fixing module and the end effector is raised immediately, the reaction force exerted by the target cargo (IB) disappears as the second body frame rises, and all the loads picking the target cargo (IB) may sag downward. Then, the target cargo (IB) may be placed in a horizontal state.

[0366] However, as explained above, since the first distance (D1), which is the distance between the suction points of the cargo placed while forming an inclined plane, and the second distance (D2), which is the distance between the rods when all the rods are sagging, are different, if the target cargo (IB) is placed at an angle before the end effector is raised (e.g., in the state of FIG. 64), and then is placed horizontally after the end effector is raised, the separation distance between the lower end of the first rod (201a) and the lower end of the second rod (201b) may change from the first distance (D1) to the second distance (D2). This forced change in physical position may act as a stress on the end effector and cause damage to the end effector, or may cause a leakage of negative pressure for suction of the target cargo (IB), which may unintentionally cause the target cargo (IB) to drop, leading to damage to the cargo.

[0367] That is, according to the end effector (13) according to the present embodiment, by fixing the positions of the first rod (201a) and the second rod (201b) using the fixing module (700) before and after the end effector (13) rises, the distance between the lower end of the first rod (201a) and the lower end of the second rod (201b) before and after the end effector (13) rises can be maintained as the first distance (D1), and damage to the end effector (13) and unintended dropping of the target cargo (IB) can be prevented.

[0368] 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.

[0369] 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. At least one rod having a variable protruding length from the frame, at least by an external force; and For unloading a load, including a fixing module capable of fixing the protrusion length when the above load has an arbitrary protrusion state, Robotic device.

2. An instruction for entering an end effector including a plurality of loads, wherein the ends of the loads are arranged to face the load side; An instruction for holding a load using a fixing module to maintain a protruding length of the load while the load is at least partially in contact with the load; and A control method for a robot device, comprising a command module including an instruction to move the end effector secondarily and move at least a portion of the load while the load is gripped and the protruding length of the load is fixed.

3. In paragraph 2, A method in which the above moving includes picking and moving a load using an adsorption member of the above load.

4. In paragraph 1, Further comprising a carriage movably arranged on the above frame, The above load and fixing module is a robotic device that moves together with the carriage.

5. In paragraph 4, The above load is inserted into the above carriage, The above carriage is a robotic device arranged to move along a predetermined path on the frame.

6. In paragraph 1, A robot device in which the load is configured to be tiltable, at least by an external force, relative to the frame.

7. In paragraph 6, A robot device in which the fixed module is configured to tilt together with the load when the load is tilted.

8. In paragraph 1, The above loads are arranged in the second direction and are provided in multiple pieces, The above fixed module is provided corresponding to each of the multiple loads, One edge of the above frame has a groove, A robotic device wherein the above fixed module is at least partially positioned within the groove.

9. In paragraph 1, A robot device, wherein the load comprises a first extension, a second extension, an adsorption member disposed at an end of the second extension, and a bypass conduit connecting an internal space of the first extension and an internal space of the second extension.

10. In paragraph 9, The above loads are arranged in multiple pieces spaced apart in the second direction, The above bypass pipe is a robot device located on the second direction side of a load.

11. In paragraph 1, The above fixed module is, A first axis part and a second axis part whose separation distance between them is adjustable, A first bar connected to the first shaft portion, A second bar connected to the second shaft, A third shaft connecting the first and second bars, and A robot device comprising a moving element that moves the second axis.

12. In paragraph 11, A robot device in which the rod having a shape extending in the above one direction includes an elastic layer disposed on the surface of at least a portion of the extended portion.

13. In paragraph 1, A robot device wherein the above fixed module has a through hole, and the load is at least partially inserted into the through hole.

14. In paragraph 13, A first anti-rotation element is provided on the inner surface of the through hole of the above fixed module, The outer surface of the above load is provided with a second anti-rotation element extending along its length, The load inserted into the above fixed module can move back and forth in its length direction, A robot device in which relative rotation between a fixed module and a load is prevented by an engagement between the first anti-rotation element and the second anti-rotation element.

15. In paragraph 1, A robot device having a plurality of insertion elements, each of which is spaced apart along its extension direction and each of which has a protruding element inserted therein to fix the load, and each of which has an insertion element including a groove or hole.

16. In paragraph 15, The above fixed module is a robotic device including a protruding element.

17. In paragraph 16, The above fixed module is, a housing having an interior space, and Further comprising a cylinder moving in the inner space, A robot device, wherein the housing has an opening through which the protruding element can protrude.

18. In paragraph 16, The above protruding element is ball-shaped, The above fixed module is, A housing having an internal space, the housing having an opening through which the protruding element can protrude, and Including an elastic body disposed within the housing, A robot device in which the protruding element is positioned within the opening, but is partially covered by the elastic body so as to prevent the protruding element from moving into the internal space.

19. In paragraph 15, The above load further has a sliding groove formed along the extension direction of the above load, The above protruding element is ball-shaped, A robot device in which the protruding element is spaced apart from the base of the sliding groove when the above-mentioned fixed module does not fix the load.

20. In paragraph 19, A robot device in which the sliding groove is formed to connect two insertion elements spaced apart in the longitudinal direction of the rod, and the length of the rod is fixed when the protruding element is positioned on the insertion element.

Images