Multi-joint robot having connection type multi-joint unit

Abstract

The present invention relates to a multi-joint robot having a connection-type multi-joint unit. A block-type module for a multi-joint robot, according to the present invention, comprises: a multi-joint unit having, at one end thereof, a first connection terminal that is electrically connected; and a control unit which is provided with a second connection terminal electrically connected to the first connection terminal and to which the multi-joint unit is detachably coupled, wherein a controller provided inside the control unit controls a motor unit driving joints of the multi-joint unit by energization of the first and second connection terminals.

Description

Multi-joint robot having a connecting multi-joint unit

[0001] The present invention relates to a multi-joint robot having a connection-type multi-joint unit, wherein the multi-joint unit and a control unit controlling the same are electrically connected by a connection terminal, and the multi-joint unit is detachably coupled to the control unit to improve the convenience of assembly, and a circuit configuration for the control unit to control the multi-joint unit is provided inside the multi-joint unit and the control unit, thereby eliminating external exposure of wires for electrical connection and preventing interference with other structures caused by wires in advance.

[0002] A multi-joint robot is a robot capable of performing movements similar to human motion through multiple joints. For example, a finger robot, which is shaped like a finger to enable gripping of an object, forms parts such as finger joints by connecting multiple segments. The parts corresponding to the finger joints must be capable of rotational movement relative to one another; conventionally, each segment is connected by a wire, and the rotational movement of the segment is controlled by pulling or tightening the wire. Conventional finger robots have the disadvantage that multiple wires must be arranged to connect each segment, and the repetitive winding and dewinding of the wires reduces the lifespan of the finger robot. Furthermore, since the electrical connection of each segment is maintained by wires exposed to the outside, interference with other structures during the installation and movement of the wires becomes a problem.

[0003] The present invention has been devised to solve the requirements described above, and aims to provide a multi-joint robot having a connection-type multi-joint unit, wherein a multi-joint unit and a control unit controlling it are electrically connected via a connection terminal, the multi-joint unit is detachably coupled to the control unit to improve the convenience of assembly, and a circuit configuration for the control unit to control the multi-joint unit is provided inside the multi-joint unit and the control unit, thereby eliminating external exposure of wires for electrical connection and preventing interference with other structures caused by wires in advance.

[0004] In addition, the purpose is to provide a multi-joint robot that includes a block-type joint module, making it easy to add or change necessary joints based on the block-type joint module, facilitating electrical connection of additional joints or blocks to the joint module, and eliminating the exposure of wires to the outside.

[0005] A multi-joint robot having a connected multi-joint unit according to an embodiment of the present invention comprises: a multi-joint unit having a first connection terminal electrically connected to one end; and a control unit to which the multi-joint unit is detachably coupled, wherein a control unit provided inside the control unit controls a motor unit that drives a joint of the multi-joint unit by energizing the first and second connection terminals.

[0006] In addition, the control unit preferably includes a main body portion on which the control unit is mounted; and a plurality of mounting portions provided in the circumferential direction of the main body portion so as to mount a plurality of the multi-joint units.

[0007] In addition, the multi-joint unit is a finger-shaped finger module, and it is preferable that a plurality of finger modules are combined with the main body part.

[0008] Additionally, it is preferable to include a coupling bracket that is detachably coupled to the above-mentioned mounting portion and has an insertion hole into which the end of the multi-joint unit is inserted, wherein the second connection terminal is disposed inside the insertion hole of the coupling bracket, and the end of the multi-joint unit is inserted into and supported by the insertion hole of the coupling bracket and is electrically connected to the second connection terminal.

[0009] Additionally, the multi-joint unit comprises a joint module including: a first part having a first connection terminal electrically connected to one side; and a second part having a second connection terminal electrically connected to one side, which is provided to be rotatable relative to the first part. The first connection terminal and the second connection terminal are electrically connected through the first part and the interior of the first part. It is preferable that the first and second parts are combined with each other and can be electrically connected to a third part and a fourth part, respectively, through the first connection terminal and the second connection terminal.

[0010] Additionally, it is preferable that the first connecting terminal is formed on a first coupling surface portion that is flatly formed on the first part, and the second connecting terminal is formed on a second coupling surface portion that is flatly formed on the second part.

[0011] In addition, it is preferable that the first part is provided with a first exposed hole that exposes the first connection terminal, and the second part is provided with a second exposed hole that exposes the second connection terminal.

[0012] In addition, it is preferable that the first connection terminal and the second connection terminal each include a plurality of pin portions that are electrically energized.

[0013] Additionally, the joint module preferably includes an extension block connected to the first part or the second part to extend the length of the joint, wherein the extension block comprises: a first body part; a third connection terminal provided for electrical connection on one side of the first body part; a fourth connection terminal provided for electrical connection on the other side of the first body part facing the third connection terminal; an insertion part into which the first part or the second part is inserted; and a space part provided between the third and fourth connection terminals to provide a space for electrically connecting the third connection terminal and the fourth connection terminal.

[0014] Additionally, the joint module comprises a first connecting block having a fifth connecting surface portion having a fifth connecting terminal formed thereon to which the first part or the second part is joined and electrically connected, and a second body portion having a sixth connecting surface portion having a sixth connecting terminal formed thereon to which the first part or the second part is joined and electrically connected, wherein the direction of the surface where the fifth connecting surface portion is formed and the direction of the surface where the sixth connecting surface portion is formed are formed in different directions and intersect each other.

[0015] Additionally, the first connecting block is preferably formed such that the fifth connecting terminal and the sixth connecting terminal are electrically connected inside the second body part, and a first fastening plate portion is formed protruding from the second body part to which a predetermined other multi-joint joint is connected.

[0016] Additionally, the joint module comprises a second connecting block including a third body part having a seventh connecting surface portion formed on the upper side to which the first part or the second part is coupled and electrically connected, and an eighth connecting surface portion formed on the lower side to which the first part or the second part is coupled and electrically connected, wherein the seventh connecting surface portion and the eighth connecting surface portion are parallel to each other, and the seventh connecting terminal and the eighth connecting terminal are electrically connected inside the third body part, and either the seventh connecting surface portion or the eighth connecting surface portion is formed by protruding from the edge to form a second fastening plate portion to which a predetermined other multi-joint segment is connected, and the predetermined other multi-joint segment is preferably connected in the same direction as the direction in which the seventh and eighth connecting surfaces are formed.

[0017] A multi-joint robot having a connected multi-joint unit according to the present invention electrically connects the multi-joint unit and a control unit that controls it through a connection terminal, and detachably connects the multi-joint unit to the control unit, thereby improving the convenience of assembly.

[0018] In addition, according to the present invention, a circuit configuration for the control unit to control the multi-joint unit is provided inside the multi-joint unit and the control unit, thereby eliminating external exposure of wires for electrical connection and providing the effect of preventing interference with other structures caused by wires in advance.

[0019] In addition, the multi-joint unit employed in the embodiment of the present invention includes a block-type joint module, and facilitates the modification of the segments of the multi-joint unit by adding necessary joints based on the joint module. That is, the multi-joint unit can be completed by connecting other parts using the joint module as a single unit, and the multi-joint robot can be completed by connecting the multi-joint unit to the control unit. This provides the effect of offering a modularized multi-joint robot in a completely new and groundbreaking manner compared to conventional methods.

[0020] In addition, according to an embodiment of the present invention, since the block-type joint module is electrically connected to other parts or segments using a connection terminal, it facilitates electrical connection and eliminates the exposure of wires to the outside, thereby providing the effect of fundamentally preventing wires from interfering with other structures.

[0021] FIG. 1 is a perspective view of a multi-joint robot having a connected multi-joint unit according to an embodiment of the present invention.

[0022] FIG. 2 is a drawing showing the state in which the multi-joint robot and the multi-joint unit of FIG. 1 are separated.

[0023] FIG. 3 is a drawing illustrating the control unit of FIG. 1.

[0024] Fig. 4 is a plan view of Fig. 1,

[0025] FIG. 5 is a drawing showing an enlarged view of the essential part of FIG. 2.

[0026] FIG. 6 is a perspective view of the multi-joint unit of FIG. 1.

[0027] FIGS. 7(a) and FIGS. 7(b) are perspective views showing the joint module of a multi-joint unit at different angles.

[0028] FIG. 8 is an exploded perspective view of the joint module,

[0029] FIGS. 9(a) and FIGS. 9(b) are perspective views showing the extension block at different angles.

[0030] FIG. 10 is a cross-sectional view of FIG. 9,

[0031] FIGS. 11(a) and FIGS. 11(b) are drawings showing the first connecting block from different angles.

[0032] FIGS. 12(a) and FIGS. 12(b) are drawings showing the second connecting block from different angles.

[0033] FIG. 13 is a diagram showing the electrical connection of the first and second connection terminals of the joint module.

[0034] Hereinafter, various embodiments of the present invention are described in conjunction with the accompanying drawings. Since various embodiments of the present invention may be subject to various modifications and may have various forms, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the various embodiments of the present invention to specific forms, and it should be understood that they include all modifications and / or equivalents and substitutions that fall within the spirit and scope of the various embodiments of the present invention. In relation to the description of the drawings, similar reference numerals have been used for similar components.

[0035] Expressions such as "comprising" or "may comprise" that may be used in various embodiments of the present invention indicate the existence of the disclosed function, operation, or component, etc., and do not limit one or more additional functions, operations, or components, etc. Furthermore, in various embodiments of the present invention, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0036] When it is stated that a component is "connected" to another component, it should be understood that the component may be directly connected to the other component, or that a new component may exist between the component and the other component. On the other hand, when it is stated that a component is "directly connected" or "directly in contact" with another component, it should be understood that no new component exists between the component and the other component.

[0037] The terms used in the various embodiments of the present invention are used merely to describe specific embodiments and are not intended to limit the various embodiments of the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0038] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the various embodiments of the present invention pertain.

[0039] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the various embodiments of the present invention.

[0040]

[0041] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view of a multi-joint robot having a connected multi-joint unit according to an embodiment of the present invention, and FIG. 2 is a drawing showing the multi-joint robot of FIG. 1 and the multi-joint unit separated. FIG. 3 is a drawing showing the control unit of FIG. 1, and FIG. 4 is a plan view of FIG. 1. FIG. 5 is an enlarged view showing a key part of FIG. 2, and FIG. 6 is a perspective view of the multi-joint unit of FIG. 1. FIG. 7(a) and FIG. 7(b) are perspective views showing the joint module of the multi-joint unit from different angles, and FIG. 8 is a separated perspective view of the joint module. FIG. 9(a) and FIG. 9(b) are perspective views showing the extension block from different angles, and FIG. 10 is a cross-sectional view of FIG. 9. FIGS. 11(a) and FIGS. 11(b) are drawings showing the first connecting block from different angles, and FIGS. 12(a) and FIGS. 12(b) are drawings showing the second connecting block from different angles. FIG. 13 is a drawing showing the electrical connection of the first and second connecting terminals of the joint module.

[0042]

[0043] A multi-joint robot (1) having a connecting multi-joint unit according to one embodiment of the present invention, a multi-joint unit (1000) having a plurality of joints, and a control unit (2000) for controlling the multi-joint unit (1000). As shown in FIG. 1, the multi-joint robot (1) may be a robot capable of gripping an object by shaping it into a finger, and the multi-joint robot (1) includes a plurality of multi-joint units (1000).

[0044] The above multi-joint unit (1000) may be a finger-shaped finger module. The finger module may include a plurality of joints. FIG. 1 illustrates a three-finger shape, but of course, the number of multi-joint units (1000) that a multi-joint robot can have is not limited to this.

[0045] The above multi-joint unit (1000) includes a first connection terminal (1001) that is electrically connected to one end. In this embodiment, the multi-joint unit (1000) is a finger module, and the first connection terminal (1001) may be provided at one end of the finger module.

[0046] As illustrated in FIG. 6, a first terminal exposure hole (103) is provided at the end of the multi-joint unit (1000) to expose the first connection terminal (1001), and the first connection terminal (1001) includes a plurality of pin portions (1002). The first connection terminal (1001) is provided on a flat connection surface portion (1004), and the connection surface portion (1004) is electrically connected to the second connection terminal (2101) while in contact with a flat side provided on the mounting portion (2200).

[0047] The above multi-joint unit (1000) can be expanded by combining multiple segments based on a joint module. The joint module of the above multi-joint unit (1000) and the expansion of the multi-joint unit (1000) from the joint module will be described later.

[0048] The above control unit (2000) is provided to control the multi-joint unit (1000). As shown in FIG. 2, the control unit (2000) is provided with a second connection terminal (2101) that is electrically connected to the first connection terminal (1001), and the multi-joint unit (1000) can be detachably coupled thereto. The control unit (2000) is provided with a control section inside, and the multi-joint unit (1000) is provided with a motor section for driving the joints. The motor section is provided inside the multi-joint unit (1000). By energizing the first and second connection terminals (1001, 2101), the control section of the control unit (2000) can control the motor section that drives the joints of the multi-joint unit (1000).

[0049]

[0050] Specifically, the control unit (2000) includes a main body part (2100) on which the control unit is mounted, and a plurality of mounting parts (2200).

[0051] According to the present embodiment, the main body part (2100) is formed in a roughly cylindrical shape. Of course, the shape of the main body part (2100) is not limited to a cylindrical shape and may have a polyhedral shape such as a rectangular prism or a polygonal prism.

[0052] The mounting portion (2200) is provided to mount the multi-joint unit (1000). According to the present embodiment, the mounting portion (2200) is provided along the circumferential direction of the main body portion (2100). According to the present embodiment, a plurality of mounting portions (2200) are provided, and one multi-joint unit (1000) can be coupled to each mounting portion (2200).

[0053] According to the present embodiment, the multi-joint unit (1000) may be a finger-shaped finger module, and a plurality of the finger modules may be coupled to the main body part (2100). As shown in FIGS. 3 and 4, three mounting parts (2200) are provided, but the number is not limited thereto. One mounting part (2200) may be provided on the main body part (2100).

[0054] According to the present embodiment, the multi-joint unit (1000) can be detachably coupled to the mounting portion (2200) by a coupling bracket (2300). The coupling bracket (2300) has an insertion hole (2301) into which the end of the multi-joint unit (1000) is inserted. The edge of the coupling bracket (2300) is seated on a seating portion (2201) provided on the mounting portion (2200) of the control unit (2000).

[0055] The end of the multi-joint unit (1000) is fixed to the coupling bracket (2300), and the coupling bracket (2300) is fixed to the mounting part (2200) so that the multi-joint unit (1000) is coupled to the control unit (2000). A first connection terminal (1001) provided at the end of the multi-joint unit (1000) contacts a second connection terminal (2101) exposed at an inner position of the insertion hole (2301) of the coupling bracket (2300).

[0056] When the coupling bracket (2300) is seated on the mounting portion (2201), the end of the multi-joint unit (1000) is inserted into and supported by the insertion hole (2301) of the coupling bracket (2300), and the first and second connection terminals (1001, 2101) can be electrically connected to each other through the insertion hole (2301). That is, as shown in FIG. 5, a second terminal exposure hole (2102) is provided on the inner surface of the mounting portion (2200) to expose the second connection terminal (2101), and the second connection terminal (2101) includes a plurality of pin portions (2103). The first connection terminal (1001) approaches the inner surface of the mounting portion (2200) and is electrically connected to the second connection terminal (2101).

[0057]

[0058] According to an embodiment of the present invention, the multi-joint unit (1000) may include a joint module (100). The joint module (100) may function as a unit module constituting the multi-joint unit (1000). That is, the joint module (100) functioning as a unit module may combine a plurality of joint modules (100) with one another, or combine another joint module (100) with another joint module (100) to form a single multi-joint unit (1000).

[0059] For example, as illustrated in FIG. 1, the multi-joint unit (1000) may be a finger module (1000) corresponding to each finger in the case of a multi-joint robot (1) shaped like a finger. In this case, the multi-joint robot (1) may be in the form of a plurality of finger modules (1000) assembled together. For example, in the case of a five-finger robot, it may be in the form of five finger modules (1000) combined together.

[0060] Additionally, the finger module (1000) may be composed of a set of joint modules (100) according to an embodiment of the present invention. The finger module (1000) may be formed by combining a plurality of joint modules (100) according to an embodiment of the present invention, or by combining other segments with the joint modules (100).

[0061] In this way, the joint module (100) can be configured to form a suitable multi-joint unit (1000) by adjusting the number of joint modules (100) as needed through a block-type opening, or various multi-joint robots (1) can be completed by connecting other parts or segments to the joint module (100).

[0062]

[0063] The joint module (100) employed in the embodiment of the present invention may include a first part (10) and a second part (20).

[0064]

[0065] The first part (10) above becomes a block constituting the joint module (100). As shown in FIG. 2, the first part (10) is provided with a first connection terminal (11) for electrical connection on one side. The first connection terminal (11) is provided on a first coupling surface (12) that is flatly formed on the first part (10).

[0066] According to the present embodiment, the first part (10) faces outward when combined with the second part (20). The opposite side of the first part (10) is formed as a rounded curved surface and is combined with the second part (20) so as to be rotatable relative to the second part (20).

[0067] According to the present embodiment, the first connection terminal (11) is a connector extending in one direction and includes a plurality of pin portions (111) that are electrically conductive on its surface. The first part (10) is provided with a first exposure hole that exposes the first connection terminal (11).

[0068]

[0069] The second part (20) is a block that constitutes the joint module (100), just like the first part (10). According to the present embodiment, the first part (10) and the second part (20) are combined to form the joint module (100) as a single unit.

[0070] According to the present embodiment, the second part (20) is provided to be rotatable relative to the first part (10). In the present embodiment, the term "relatively rotatable" is used to mean that rotation is allowed relative to each other.

[0071] That is, when the first part (10) and the second part (20) are combined, the term may be used to include cases where the first part (10) is fixed and the second part (20) is rotated, or where the second part (20) is fixed and the second part (20) is rotated, or where the first and second parts (10, 20) move together and move relative to each other.

[0072] The second part (20) is provided with a second connection terminal (21) for electrical connection on one side. According to the present embodiment, the second connection terminal (21) is formed on a second coupling surface (22) that is formed flatly on the second part (20).

[0073] According to the present embodiment, the second part (20) is formed in a roughly 'C' shape with an inner recess formed for coupling with the first part (10). The second part (20) is coupled by wrapping around one side of the first part (10).

[0074] As illustrated in FIG. 3, a rotation axis (13) is provided in the first part (10), and a coupling part (14) into which the rotation axis (13) is inserted is formed in the second part (20). The rotation axis (13) of the first part (10) is fitted into the coupling part (14) of the second part (20), so that the first part (10) and the second part (20) are coupled to be rotatable relative to each other.

[0075] According to the present embodiment, the second connection terminal (21) is a connector extending in one direction and includes a plurality of pin portions (211) that are electrically conductive on its surface. The second part (20) is provided with a second exposure hole (24) that exposes the second connection terminal (21). According to the present embodiment, when the second part (20) is divided into a bottom portion and side portions protruding from both ends of the bottom portion, the second connection terminal (21) may be formed on the outer surface of the bottom portion.

[0076] Additionally, the second connection terminal (21) may also be formed on the side portion of the second part (20). According to the present embodiment, as shown in FIG. 3, the second connection terminal (21) is shown formed on both the bottom portion and the side portion. However, the second connection terminal (21) of the second part (20) may be provided on either one side.

[0077]

[0078] According to the present embodiment, the first connecting terminal (11) and the second connecting terminal (21) are electrically connected through the interior of the first part (10) and the second part (20). As shown in FIG. 8, according to the present embodiment, in order to rotate the first part (10) and the second part (20) relative to each other, a motor part (110) including an actuator or motor, etc., and a gear part (120) that transmits rotational force by the power of the motor part (110) are embedded inside the first part (10).

[0079] The first part (10) and the second part (20) are configured such that power is applied from one side, allowing current to flow in one direction and conduct to the other side. For example, power applied to the second connection terminal (21) of the second part (20) is connected by the motor part (110) and the internal conductive part (200), and the motor part (110) and the first connection terminal (11) of the first part (10) may be connected by another internal conductive part (200). The internal conductive part (200) may be a wire.

[0080] In this way, when the first part (10) and the second part (20) are combined with each other, either the first connection terminal (11) or the second connection terminal (21) may be provided as an input terminal, and the other one may be provided as an output terminal. According to the present embodiment, when the first part (10) and the second part (20) are combined, the first and second connection terminals (11, 21) are formed on the first and second connecting surfaces (12, 22) facing each other, and the wires, etc., are not exposed to the outside.

[0081]

[0082] According to the present embodiment, with the first and second parts (10, 20) combined with each other, the third part and the fourth part can be electrically connected through the first connecting terminal (11) and the second connecting terminal (21), respectively. That is, the third part can be electrically connected to the first part (10), and the fourth part can be electrically connected to the second part (20).

[0083] The configuration for electrically energizing the first and third parts is based on the connection between the first connection terminal (11) and the connection terminal formed on the third part, and the configuration for electrically energizing the second and fourth parts is based on the connection between the second connection terminal (21) and the connection terminal formed on the fourth part. Specific embodiments of the third and fourth parts will be described in detail below.

[0084]

[0085] According to the present embodiment, an extension block (30) may be included.

[0086] The extension block (30) is provided to be connected to the first part (10) or the second part (20) to extend the length of the joint. According to the present embodiment, the extension block (30) may include a first body part (31), a third connecting terminal (32), a fourth connecting terminal (33), an insertion part (34), and a space part (37).

[0087] The first body part (31) is a type of block that can be coupled to the joint module (100) composed of the first and second parts (10, 20). As shown in FIG. 4, the first body part (31) is formed in a roughly rectangular shape, and a concave groove (38) is formed on the middle side. The groove (38) facilitates gripping when the user combines the first body part (31) with the first and second parts (10, 20).

[0088] The third connection terminal (32) is provided on one side of the first body part (31) for electrical connection. As shown in FIG. 4(a), the third connection terminal (32) is formed on a third coupling surface part (322) that forms the bottom surface of the first body part (31).

[0089] According to the present embodiment, the third coupling surface (322) is formed flat. A third exposure hole (35) is formed in the third coupling surface (322) to expose the third connection terminal (32). The third connection terminal (32) is a connector that is long in one direction and is electrically connected by a plurality of pin portions (321).

[0090] The fourth connection terminal (33) is provided for electrical connection on the other side of the first body part (31) facing the third connection terminal (32). As shown in FIG. 4(b), the fourth connection terminal (33) is formed on the fourth coupling surface part (342) forming the upper surface of the first body part (31).

[0091] According to the present embodiment, the fourth coupling surface (342) is formed flat. A fourth exposure hole (36) is formed in the fourth coupling surface (342) to expose the fourth connection terminal (33). The fourth connection terminal (33) is a connector in a unidirectionally elongated shape, similar to the first, second, and third connection terminals, and a plurality of pin portions (331) are provided on its surface, and electrical conduction is possible when the pin portions (331) come into contact with a connection terminal provided at another segment.

[0092] The insertion portion (34) is provided to insert and combine the first part (10) or the second part (20). The insertion portion (34) is formed by side walls (341) protruding from both edges of the fourth coupling surface portion (342). The first part (10) or the second part (20) can be inserted between the side walls (341) facing each other. When the first part (10) is inserted into the insertion portion (34), the fourth connecting terminal (33) is connected to the first connecting terminal (11) of the first part (10), and when the second part (20) is inserted into the insertion portion (34), the fourth connecting terminal (33) is connected to the second connecting terminal (21) of the second part (20).

[0093] The above space (37) is provided between the third and fourth connection terminals. The above space (37) provides a space for connecting the third connection terminal (32) and the fourth connection terminal (33). The third and fourth connection terminals can be electrically connected by a wire. The wire is embedded in the above space (37) and is not exposed to the outside.

[0094] Referring to FIG. 1, the second part (20) of the joint module (100) is connected to one side of the extension block (30), and the first part (10) of the joint module (100) is inserted into the other side. In this way, the extension block (30) can be inserted into the joint module (100) to change and adjust the length of the unit to be configured. For example, it can be used to increase the length of the part corresponding to the middle joint in the finger module (1000). The extension block (30) is a joint connected to one side of the joint module (100) in which the first part (10) and the second part (20) are connected together, and can be the third part or the fourth part.

[0095]

[0096] The joint module (100) according to the present embodiment may include a first connection terminal (11) and a second connection terminal (21).

[0097]

[0098] The first connecting block (40) may be provided to change the extension direction of the joint module (100) by combining the first part (10) or the second part (20). The first connecting block (40) may include a second body part (41) having a fifth connecting surface part (411) and a sixth connecting surface part (412), and a first fastening plate part (42) that is coupled to another joint.

[0099] A fifth connection terminal (43) is formed on the fifth coupling surface (411), and the first part (10) or the second part (20) can be electrically connected by the fifth connection terminal (43). That is, the fifth connection terminal (43) of the fifth coupling surface (411) can be coupled with the first connection terminal (11) of the first part (10) or coupled with the second connection terminal (21) of the second part (20). The fifth coupling surface (411) is formed flat. A fifth exposure hole (45) is formed on the fifth coupling surface (411) to expose the fifth connection terminal (43). The fifth connection terminal (43) includes a plurality of pin portions (431) for electrical connection.

[0100] A sixth connecting terminal (44) is formed on the sixth connecting surface (412), and the first part (10) or the second part (20) can be electrically connected by the sixth connecting terminal (44). That is, the sixth connecting terminal (44) of the sixth connecting surface (412) can be connected to the first connecting terminal (11) of the first part (10) or to the second connecting terminal (21) of the second part (20). The sixth connecting surface (412) is formed flat. A sixth exposed hole (46) is formed on the sixth connecting surface (412) to expose the sixth connecting terminal (44). The sixth connecting terminal (44) includes a plurality of pin portions (441) for electrical connection.

[0101] According to the present embodiment, the direction in which the fifth connecting surface (411) is formed and the direction in which the sixth connecting surface (412) is formed are formed in different directions and intersect each other. As shown in FIGS. 1 and 6, when the second body part (41) is viewed from the side, it is formed in a roughly right triangle, and the fifth connecting surface (411) is a surface corresponding to the hypotenuse, and the sixth connecting surface (412) is a surface corresponding to the vertical side. That is, the direction of the surface in which the fifth connecting surface (411) is formed and the direction of the surface in which the sixth connecting surface (412) is formed intersect each other, and as shown in FIG. 1, the first connecting block (40) can be used to bend the direction of the joint module (100).

[0102] At this time, according to the present embodiment, the fifth connection terminal (43) and the sixth connection terminal (44) are electrically connected inside the second body part (41). The fifth connection terminal (43) and the sixth connection terminal (44) may be electrically connected by a wire, and the wire is embedded in the second body part (41) and is not exposed to the outside.

[0103] The first fastening plate portion (42) is provided on one side of the second body portion (41) to allow a predetermined other multi-joint joint to be connected. According to the present embodiment, the first fastening plate portion (42) is formed to protrude from the upper side of the sixth fastening surface portion. A fastening hole is formed in the first fastening plate portion (42) so that it can be fixed to one side of a joint in contact with the sixth fastening surface portion by means such as bolting. Referring to FIG. 1, the sixth fastening surface portion is electrically connected to the side wall of the second part (20), and the first fastening plate portion (42) is shown fixed to the second coupling surface portion (22) of the second part (20) by means such as bolting.

[0104] Additionally, referring to FIG. 1, the first connecting block (40) is shown connected to the second part (20) of the joint module (100). That is, the second connecting block (50) is a joint connected to one side of the joint module (100) in which the first part (10) and the second part (20) are joined together, and can be the third part or the fourth part. FIG. 1 illustrates an example in which the first connecting block (40) is connected to the second part (20), but it is understood that it can be connected to the first part (10).

[0105]

[0106] The second connecting block (50) may be provided to change the extension direction of the joint module (100) by combining the first part (10) or the second part (20). The second connecting block (50) may include a third body part (51) having a seventh connecting surface part (511) and an eighth connecting surface part (57), and a second fastening plate part (512) that is coupled to another joint.

[0107] A seventh connection terminal (53) is formed on the upper side of the third body part (51) to be electrically connected to the first part (10) or the second part (20). The seventh connection terminal (53) is formed on the seventh coupling surface part (511). The seventh connection terminal (53) of the seventh coupling surface part (511) may be coupled to the first connection terminal (11) of the first part (10) or to the second connection terminal (21) of the second part (20). The seventh coupling surface part (511) is formed flat. A seventh exposure hole (54) is formed on the seventh coupling surface part (511) to expose the seventh connection terminal (53). The seventh connection terminal (53) includes a plurality of pin parts (531) for electrical connection.

[0108] An eighth connection terminal (56) is formed on the lower side of the third body part (51) to be electrically connected to the first part (10) or the second part (20). The eighth connection terminal (56) is formed on the eighth coupling surface part (57). The eighth connection terminal (56) of the eighth coupling surface part (57) may be connected to the first connection terminal (11) of the first part (10) or to the second connection terminal (21) of the second part (20). The eighth coupling surface part (57) is formed flat. An eighth exposure hole (55) is formed in the eighth coupling surface part (57) to expose the eighth connection terminal (56). The eighth connection terminal (56) includes a plurality of pin parts (561) for electrical connection.

[0109] According to the present embodiment, the seventh connecting surface portion (511) and the eighth connecting surface portion (57) are parallel to each other, and the seventh connecting terminal (53) and the eighth connecting terminal (56) are electrically connected inside the third body portion (51). The seventh connecting terminal (53) and the eighth connecting terminal (56) can be connected by a wire that is wired through the internal space of the third body portion (51).

[0110] According to the present embodiment, side walls are formed on both sides of the seventh coupling surface (511) to form an insertion part (52) into which the first part (10) or the second part (20) is inserted, and the side walls (521) can perform the function of supporting the inserted object. Meanwhile, the side wall formed on one side of the second part (20) or the side wall (341) formed on one side of the extension block (30) also performs the function of supporting the inserted object when another segment is inserted to one side.

[0111] The second connecting plate portion (512) is provided to protrude from the edge of either the seventh connecting surface portion (511) or the eighth connecting surface portion (57) to connect a predetermined other multi-joint joint. As illustrated in FIG. 7, according to the present embodiment, it extends downward from one edge of the eighth connecting surface portion (57). Additionally, referring to FIG. 1, the eighth connecting terminal (56) of the eighth connecting surface portion (57) is electrically connected to the second connecting terminal (21) of the second part (20), and the second connecting surface portion (22) of the second part (20) is connected to and supported on the inner surface of the second connecting plate portion (512). In this way, a predetermined other multi-joint joint connected to the second connecting plate portion (512) can be connected in the same direction as the direction in which the seventh connecting surface portion (511) or the eighth connecting surface portion (57) is formed. That is, in the finger module (1000) as illustrated in FIG. 1, the end side is configured to connect a second connecting block (50) to a joint module (100) that extends downward, and to connect a joint module (100) that extends horizontally to the second connecting block (50), thereby configuring the finger module (1000).

[0112] Referring to FIG. 1, the second connecting block (50) may have the first part (10) of the joint module (100) connected to its upper portion, and the second part (20) may be connected to the second connecting plate portion (512). That is, the second connecting block (50) may be a joint connected to one side of the joint module (100) in which the first part (10) and the second part (20) are combined, and may be the third part or the fourth part. Meanwhile, referring to FIG. 1, the fingertip module of the finger module may be electrically connected to the first part (10), and the fingertip module may also be the third part or the fourth part connected to the joint module (100) according to the embodiment of the present invention.

[0113]

[0114] Thus, the multi-joint robot having a connected multi-joint unit according to the present invention electrically connects the multi-joint unit (1000) and the control unit (2000) that controls it through a connection terminal, and detachably connects the multi-joint unit (1000) to the control unit (2000), thereby improving the convenience of assembly and eliminating external exposure of the wires for electrical connection, thereby providing the effect of preventing interference with other structures caused by the wires in advance.

[0115] In addition, according to an embodiment of the present invention, a multi-joint unit (1000) having a predetermined number of joints can be formed by connecting additional joints using a block-type joint module (100) as a basic unit module. For example, in the case of a finger module (1000), the length or the number of joint joints can be assembled in a desired manner, and the direction of the joints can be easily changed to realize an optimal multi-joint robot. In addition, the joint module (100) and the joints coupled thereto are electrically connected by a connection terminal and are not wired externally, thereby providing the effect of excluding interference with other structures.

[0116]

[0117] Although the present invention has been described in detail with respect to preferred embodiments, the present invention is not limited to the above embodiments, and many variations may be provided within the scope of the present invention.

Claims

1. A multi-joint unit having a first connection terminal electrically connected to one end; and A control unit comprising a second connection terminal electrically connected to the first connection terminal, and a multi-joint unit detachably coupled thereto, A multi-joint robot having a connected multi-joint unit, characterized in that a control unit provided inside the control unit controls a motor unit that drives the joints of the multi-joint unit by energizing the first and second connection terminals.

2. In Paragraph 1, The above control unit is, A main body part on which the above-mentioned control unit is mounted; A multi-joint robot having a connecting multi-joint unit, characterized by including a plurality of mounting portions provided in the circumferential direction of the main body portion so as to mount a plurality of the above-mentioned multi-joint units.

3. In Paragraph 2, A multi-joint robot having a connected multi-joint unit, characterized in that the multi-joint unit is a finger-shaped finger module, and a plurality of the finger modules are coupled to the main body part.

4. In Paragraph 2, It includes a coupling bracket that is detachably coupled to the above-mentioned mounting portion and has an insertion hole formed therein into which the end of the multi-joint unit is inserted. The second connection terminal is positioned inside the insertion hole of the above-mentioned coupling bracket, and A multi-joint robot having a connection-type multi-joint unit, characterized in that the end of the above-mentioned multi-joint unit is inserted into and supported by the insertion hole of the coupling bracket and is electrically connected to the second connection terminal.

5. In Paragraph 1, The above multi-joint unit is, A first part having a first connection terminal electrically connected to one side; A joint module comprising: a second part provided to be rotatable relative to the first part and having a second connection terminal electrically connected to one side; and The first connecting terminal and the second connecting terminal are electrically connected through the first part and the interior of the first part, and A multi-joint robot having a connecting multi-joint unit, characterized in that the first and second parts are combined with each other and can be electrically connected to the third and fourth parts, respectively, through the first connecting terminal and the second connecting terminal.

6. In Paragraph 5, The first connecting terminal is formed on a first coupling surface portion that is flatly formed on the first part, and A multi-joint robot having a connecting type multi-joint unit, wherein the second connecting terminal is formed on a second coupling surface portion that is flatly formed on the second part.

7. In Paragraph 5, The above-mentioned first part is provided with a first exposed hole that exposes the above-mentioned first connection terminal, and A multi-joint robot having a connection-type multi-joint unit, characterized in that the second part is provided with a second exposed hole that exposes the second connection terminal.

8. In Paragraph 5, A multi-joint robot having a connection-type multi-joint unit, characterized in that the first connection terminal and the second connection terminal each include a plurality of pin portions that are electrically energized.

9. In Paragraph 5, The joint module includes an extension block connected to the first part or the second part to extend the length of the joint, and The above extension block is, First body part; A third connection terminal provided for electrical connection on one side of the first body part; A fourth connection terminal provided for electrical connection on the other side of the first body part facing the third connection terminal; An insertion part into which the first part or the second part is inserted; A multi-joint robot having a connection-type multi-joint unit, characterized by including a space portion provided between the third and fourth connection terminals, which provides a space for electrically connecting the third connection terminal and the fourth connection terminal.

10. In Paragraph 5, The joint module comprises a first connecting block having a fifth connecting surface portion having a fifth connecting terminal formed thereon to which the first part or the second part is joined and electrically connected, and a second body portion having a sixth connecting surface portion having a sixth connecting terminal formed thereon to which the first part or the second part is joined and electrically connected. A multi-joint robot having a connecting multi-joint unit, characterized in that the plane direction in which the fifth joint surface is formed and the plane direction in which the sixth joint surface is formed are formed in different directions and intersect each other.

11. In Paragraph 10, The first connecting block above has the fifth connecting terminal and the sixth connecting terminal electrically connected inside the second body part, A multi-joint robot having a connecting multi-joint unit, characterized in that a first fastening plate portion, to which a predetermined other multi-joint segment is connected, is formed protrudingly on the second body portion.

12. In Paragraph 5, The joint module comprises a second connecting block including a third body part having a seventh connecting surface portion having a seventh connecting terminal formed on the upper side to which the first part or the second part is coupled and electrically connected, and an eighth connecting surface portion having an eighth connecting terminal formed on the lower side to which the first part or the second part is coupled and electrically connected. The above-mentioned seventh joining surface and the above-mentioned eighth joining surface are parallel to each other, and The above-mentioned seventh connecting terminal and the above-mentioned eighth connecting terminal are electrically connected inside the above-mentioned third body part, and A multi-joint robot having a connecting multi-joint unit, characterized in that either the seventh connecting surface or the eighth connecting surface protrudes from the edge and forms a second connecting plate portion to which a predetermined other multi-joint segment is connected, and the predetermined other multi-joint segment is connected in the same direction as the direction in which the seventh and eighth connecting surfaces are formed.

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