Connector assmebly and modular robot comprising same

Abstract

A connector assembly according to an embodiment may comprise: a connection part; a first connection device disposed at a first end of the connection part; a first printed circuit board disposed on the first connection device; a first connection plug module electrically connected to the first printed circuit board; a second connection device disposed at a second end of the connection part; a second printed circuit board disposed on the second connection device; a second connection plug module electrically connected to the second printed circuit board; a third printed circuit board having a plurality of connection lines for connecting a first connection socket and a second connection socket; an integrated circuit having a switch for connecting or disconnecting a connection detection line among the plurality of connection lines; and a first voltage measurement unit for measuring, when the connection detection line is disconnected, the voltages of both terminals of the disconnected connection detection line.

Description

Connector assembly and modular robot including the same

[0001] The disclosed invention relates to a connector assembly and a modular robot including the same.

[0002] Generally, a mechanical device that performs movements resembling human motion using electrical or magnetic action is called a robot. Early robots were industrial robots, such as manipulators and conveyor robots, intended for work automation and unmanned operation in production sites; they replaced humans in performing dangerous tasks, simple repetitive work, or tasks requiring great force. However, recently, research and development of humanoid robots—which possess a human-like appearance, coexist with humans in work and living spaces, and provide various services such as household chores—is actively underway.

[0003] Multiple connectors capable of multi-degree-of-freedom rotation and movement can be interconnected to enable the robot to perform human-like movements in three-dimensional space. Depending on the position where the multiple connectors are connected, various drive assemblies and end effectors can be connected in a compatible manner.

[0004] A connector assembly according to one example may include a hollow connecting portion extending along one direction, a first connecting device disposed at a first end of the connecting portion, and a second connecting device disposed at a second end of the connecting portion.

[0005] Additionally, a connector assembly according to one example may include a first printed circuit board disposed in the first connecting device and a second printed circuit board disposed in the second connecting device.

[0006] Additionally, a connector assembly according to one example may include a first connection plug module electrically connected to the first printed circuit board and disposed at the first end of the connection portion, and a second connection plug module electrically connected to the second printed circuit board and disposed at the second end of the connection portion.

[0007] Additionally, a connector assembly according to one example may include a third printed circuit board disposed on the inner side of the connection portion and having a first connection socket connected to the first connection plug module, a second connection socket connected to the second connection plug module, and a plurality of connection lines connecting the first connection socket and the second connection socket.

[0008] Additionally, a connector assembly according to one example may be disposed on the third printed circuit board and may include an integrated circuit having a switch for connecting or disconnecting a connection detection line among the plurality of connection lines, and a first voltage measuring unit for measuring the voltage of both terminals of the disconnected connection detection line when the connection detection line is disconnected.

[0009] FIG. 1 is a perspective view of a modular robot according to one example.

[0010] FIG. 2a is a perspective view of a leg of a modular robot according to one example.

[0011] FIG. 2b is an exploded perspective view of the leg of the modular robot shown in FIG. 2a.

[0012] FIG. 3a is an exploded perspective view of a connector assembly, a first connecting part, and a second connecting part according to one example.

[0013] FIG. 3b is an exploded perspective view of a drive assembly according to one example.

[0014] FIG. 4a is a perspective view of a connector assembly according to one example.

[0015] FIG. 4b is an exploded perspective view of a connector assembly according to one example.

[0016] FIG. 5a is a perspective view of a first connecting device, a first printed circuit board, and a first fixed locking device according to one example.

[0017] FIG. 5b is an exploded perspective view of the first connecting device, the first printed circuit board, and the first fixed locking device shown in FIG. 5a.

[0018] FIG. 6 is a rear view of a first printed circuit board and a first connecting device according to one example.

[0019] FIG. 7a is a perspective view of a second connecting device, a second printed circuit board, and a second fixed locking device according to one example.

[0020] FIG. 7b is an exploded perspective view of the second connecting device, the second printed circuit board, and the second fixed locking device shown in FIG. 7a.

[0021] FIG. 8 is a rear view of a second printed circuit board and a second connecting device according to one example.

[0022] FIG. 9 is a cross-sectional view of a connection according to one example.

[0023] FIG. 10 is a schematic diagram of a third printed circuit board and integrated circuit according to one example.

[0024] FIG. 11 is a block diagram schematically illustrating the relationship between a processor, a memory, a first voltage measuring unit, and a second voltage measuring unit according to one example.

[0025] FIG. 12 is a combined perspective view of a connector assembly, a first connecting part, and a second connecting part according to one example.

[0026] FIG. 13 is a combined perspective view of a connector assembly, a first connecting part, and a second connecting part according to one example.

[0027] FIG. 14 is a schematic diagram of a third printed circuit board and integrated circuit according to one example.

[0028] FIG. 15a is a side view of a connector assembly and a drive assembly according to one example.

[0029] FIG. 15b is a partial cross-sectional view of the connector assembly shown in FIG. 15a.

[0030] FIG. 16a is a side view of a connector assembly and a drive assembly according to one example.

[0031] FIG. 16b is a partial cross-sectional view of the connector assembly shown in FIG. 16a.

[0032] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0033] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0034] The singular form of the noun corresponding to an item may include one or plural items, unless the relevant context clearly indicates otherwise.

[0035] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0036] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0037] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that the component may be connected to the other component directly (e.g., via a wire), wirelessly, or through a third component.

[0038] Terms such as “include” or “have” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0039] When it is said that one component is “connected,” “combined,” “supported,” or “in contact” with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0040] When it is said that a component is located “on” another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0041] The term “and / or” includes a combination of multiple related described components or any of the multiple related described components.

[0042] The operating principle and embodiments of the present invention will be described below with reference to the attached drawings.

[0043] FIG. 1 is a perspective view of a modular robot according to one example. FIG. 2a is a perspective view of a leg of a modular robot according to one example. FIG. 2b is an exploded perspective view of a leg of a modular robot shown in FIG. 2a.

[0044] The modular robot (R) described in this specification can perform dangerous tasks, simple repetitive tasks, or tasks requiring great force in place of humans or animals. To perform tasks in place of humans or animals, the modular robot (R) according to one example may be equipped with a structure capable of implementing three-dimensional movements corresponding to three-dimensional movements performed by humans or animals. For convenience of explanation and understanding, this specification discloses a robot dog as an example of the modular robot (R), but the disclosure is not limited thereto and may be applied to any robot device capable of implementing three-dimensional movements.

[0045] Referring to FIGS. 1 to 2b, when a modular robot (R) according to one example is implemented as a robot dog, the modular robot (R) may include a body part (B) and four legs (F) connected to the body part (B). According to one example, the legs (F) may include a connector module (1). To enable the modular robot (R) to perform dog-like movements in three-dimensional space, each of the four legs (F) may be provided with a multi-joint structure. To implement the multi-joint structure, a plurality of connector modules (1) may be provided. For example, a first connector module (1-1) and a second connector module (1-2) may be arranged to be coupled to each other.

[0046] According to one example, the connector module (1) may include a connector assembly (10) and a first connecting part (20) and a second connecting part (30) connected to both ends of the connector assembly (10). As an example, to implement a multi-joint structure, when the first connector module (1-1) and the second connector module (1-2) are arranged to be coupled to each other, the first connector module (1-1) may include a first connector assembly (10-1), a first-1 connecting part (20-1), and a second-1 connecting part (30-1), and the second connector module (1-2) may include a second connector assembly (10-2), a first-2 connecting part (20-2), and a second-2 connecting part (30-2).

[0047] According to one example, a first-1 connecting part (20-1) coupled to one end of a first connector assembly (10-1) may be a driving assembly. The first connector assembly (10-1) may rotate around a first rotation axis (A1) by receiving driving force from the first-1 connecting part (20-1). Additionally, a first-2 connecting part (20-2) coupled to one end of a second connector assembly (10-2) may be a driving assembly. The second connector assembly (10-2) may rotate around a second rotation axis (A2) by receiving driving force from the first-2 connecting part (20-2).

[0048] According to one example, the other end of the first connector assembly (10-1) may be connected to a second-1 connecting part (30-1). In this case, the second-1 connecting part (30-1) may be identical to the first-2 connecting part (20-2). The first connector assembly (10-1) and the second connector assembly (10-2) receive driving force from the first-1 connecting part (20-1) and the first-2 connecting part (20-2), respectively, and rotate around the first rotation axis (A1) and the second rotation axis (A2). The second-1 connecting part (30-1) connected to the other end of the first connector assembly (10-1) shares the first-2 connecting part (20-2) connected to one end of the second connector assembly (10-2). Accordingly, a multi-joint structure that performs a movement similar to a dog's leg in three-dimensional space can be realized.

[0049] Additionally, an end module may be disposed at the other end of the second connector assembly (10-2) as a second-2 connecting part (30-1). According to one example, the end module may include one or more connecting parts (not shown), such as a foot assembly, as an end effector. Although a foot assembly is described as an example of an end module in the example above, the present disclosure is not limited thereto. As an example, if the modular robot (R) is a humanoid robot that performs multi-degree-of-freedom motion in three-dimensional space, any other end effector, such as a gripper, may be included as an end module among the connecting parts that can be connected to the connector assembly (10).

[0050] As described above, depending on the location and role in which the connector assembly (10) is assembled, the types of the first connecting part (20) and the second connecting part (30) placed at both ends of the connector assembly (10) may differ. For example, a driving assembly may be connected to each end of the first connector assembly (10-1) as the first-1 connecting part (20-1) and the second-1 connecting part (30-1). On the other hand, a driving assembly and an end module may be connected to each end of the second connector assembly (10-2) as the first-2 connecting part (20-2) and the second-2 connecting part (30-2). Accordingly, when a connector module (1) including a connector assembly (10) according to one example is assembled to a modular robot (R), it may be necessary to verify the first and second connecting parts (20, 30) placed at both ends of the connector assembly (10) and to verify the connection position of the first and second connecting parts (20, 30) connected to both ends of the connector assembly (10).

[0051] FIG. 3a is an exploded perspective view of a connector assembly, a first connecting component, and a second connecting component according to one example. FIG. 3b is an exploded perspective view of a driving assembly according to one example. FIG. 4a is a perspective view of a connector assembly according to one example. FIG. 4b is an exploded perspective view of a connector assembly according to one example. FIG. 5a is a perspective view of a first connecting device, a first printed circuit board, and a first fixed locking device according to one example. FIG. 5b is an exploded perspective view of the first connecting device, the first printed circuit board, and the first fixed locking device shown in FIG. 5a. FIG. 6 is a rear view of a first printed circuit board and a first connecting device according to one example.

[0052] Referring to FIGS. 3a through 6, a connector assembly (10) according to one example may include a hollow connecting portion (110) extending along one direction, a first connecting device (120) disposed at a first end (111) of the connecting portion (110), a first printed circuit board (130) disposed at the first connecting device (120), a second connecting device (140) disposed at a second end (112) of the connecting portion (110), a second printed circuit board (150) disposed at the second connecting device (140), a first connecting plug module (161), a second connecting plug module (162), a third printed circuit board (170) disposed at the inner part of the connecting portion (110), an integrated circuit (180) disposed on the third printed circuit board (170), a first voltage measuring portion (191), and a second voltage measuring portion (192).

[0053] The connecting part (110) is a connecting member for structurally connecting a first connecting part (20) or a second connecting part (30) disposed at both ends. As an example, the connecting part (110) may have a hollow connecting rod shape extending along one direction. For example, the connecting part (110) may be provided as a carbon fiber tube made of carbon fiber material for weight reduction. However, the present disclosure is not limited thereto, and the shape, length, thickness, and material of the connecting part (110) may be determined differently so as to be compatible with various structures of modular robots (R: see FIG. 1).

[0054] The first connecting device (120) may be positioned at the first end (111) of the connecting part (110). The first connecting device (120) may be detachably connected to either the first connecting part (20) or the second connecting part (30). According to one example, the first connecting device (120) may be formed such that a first surface (121) connected to the first end (111) of the connecting part (110) and a second surface (122) connected to the first connecting part (20) are arranged parallel to each other. According to one example, the first surface (121) of the first connecting device (120) may be a surface that is positioned to face the first end (111) of the connecting part (110) and is connected to the first end (111). Additionally, the second surface (122) of the first connecting device (120) may be a docking part connected to the first connecting part (20).

[0055] According to one example, the first connecting device (120) may be connected to the first connecting component (20). As an example, if the first connecting component (20) is a driving assembly as shown in FIG. 3a and FIG. 3b, the driving assembly may generate driving force using an actuator (21). According to one example, the driving force generated by the actuator (21) may have its output or rotational speed adjusted using one or more reduction gears (22). The driving force generated by the actuator (21) may be transmitted to the first connecting device (120) through one or more docking parts (23).

[0056] According to one example, a first locking plate (135) may be disposed on the first connecting device (120). At this time, a second locking plate (235) corresponding to the first locking plate (135) may be disposed on the docking part (23). For example, the first locking plate (135) and the second locking plate (235) may have a male-female relationship with each other. As the first locking plate (135) and the second locking plate (235) are disposed to be compatible with the first connecting device (120) and the docking part (23), the first connecting device (120) and the docking part (23) can be combined regardless of the shape of the docking part (23) and the first connecting device (120).

[0057] According to one example, the first connecting device (120) can be connected to the docking part (23) to transmit driving force to the connecting part (110). According to one example, different driving forces can be transmitted to the connecting part (110) depending on the shape of the first connecting device (120). As an example, when the first surface (121) of the first connecting device (120) connected to the connecting part (110) and the second surface (122) of the first connecting device (120) connected to the first connecting part (20) are arranged parallel to each other, the first connecting device (120) can transmit the rotational force generated by the driving assembly and the driving force rotating in the coaxial direction to the connecting part (110).

[0058] The first printed circuit board (130) may include a circuit support board (131) and a first connection terminal (132) disposed on a first surface (1310) of the circuit support board. In one example, the first surface (1310) of the circuit support board may be disposed to face either a first connection component (20) or a second connection component (30) connected to a first connection device (120), and the second surface (1311) of the circuit support board may be disposed to face a connection part (110). According to one example, the first connection terminal (132) provided on the first printed circuit board (130) may be connected to either the first connection component (20) or the second connection component (30). For example, if the first connecting component (20) is a driving assembly as shown in FIG. 3b, the first connecting terminal (132) provided on the first printed circuit board (130) can be connected to a component terminal (230) provided on the docking part (23). As the first connecting terminal (132) and the component terminal (230) are combined, the connector assembly (10) and the first connecting component (20), for example, the driving assembly, can be electrically connected.

[0059] According to one example, if the first connection terminal (132) is provided in multiple numbers, each of the multiple first connection terminals (132) can perform an individual function. As an example, the first-1 connection terminal (132-1) may be connected to either one of the differential signal lines of CAN (Controller Area Network) communication that transmits data using two signal lines, for example, a signal line having a relatively high voltage level (CAN-H). Additionally, according to one example, the first-2 connection terminal (132-2) may be connected to the other one of the differential signal lines of CAN (Controller Area Network) communication that transmits data using two signal lines, for example, a signal line having a relatively low voltage level (CAN-L). Additionally, according to one example, the first-3 connection terminal (132-3) may be connected to one of two power lines for supplying power. Additionally, the first-fourth connection terminal (132-4) according to one example may be connected to the other of two power lines for supplying power. In the example described above, the objects to which a plurality of first connection terminals (132) are connected are limited to communication lines or power lines, but the present disclosure is not limited thereto.

[0060] The first connection plug module (161) is positioned at the first end (111) of the connection part (110) and can be electrically connected to the first printed circuit board (130). As an example, the first connection plug module (161) can be positioned on the second surface (1311) of the circuit support board. According to one example, the first printed circuit board (130) can be positioned to be fixed to the first connection device (120). As the first printed circuit board (130) is positioned to be fixed to the first connection device (120), when the first connection device (120) is connected to the first end (111) of the connection part (110), the first printed circuit board (130) can also be positioned at the first end (111) of the connection part (110). Accordingly, the first connection plug module (161) disposed on one side of the first printed circuit board (130) may also be disposed at the first end (111) of the connection part (110). However, the present disclosure is not limited thereto, and the first connection plug module (161) may be disposed on a separate support board. In this case, the first connection plug module (161) may be electrically connected to the first printed circuit board (130) through internal wiring.

[0061] According to one example, the first connection plug module (161) is provided in multiple numbers, and the multiple first connection plug modules (161) may be arranged to be spaced apart from each other with a predetermined interval between them. As an example, the multiple first connection plug modules (161) may include three first connection plug modules (161), for example, a first-1 connection plug module (161-1) to a first-3 connection plug module (161-3).

[0062] According to one example, when the connecting portion (110) has a hollow conduit shape with a circular cross-section, the first-1 connecting plug module (161-1) to the first-3 connecting plug module (161-3) may be arranged so as to be spaced apart at a predetermined angle, for example, 90 degrees, along the circumferential direction of the connecting portion (110). In the example described above, three first connecting plug modules (161) are disclosed and described as being spaced apart from each other by 90 degrees, but the present disclosure is not limited thereto. Two or more first connecting plug modules (161) may be provided, and each of the multiple first connecting plug modules (161) may be spaced apart from each other at any position on the second surface (1311) of the circuit support board.

[0063] According to one example, when a first connection device (120) is coupled to a connection part (110), depending on the relative position of the connection part (110) and the first connection device (120), any one of a plurality of first connection plug modules (161) may be connected to a first connection socket (171; see FIG. 9) provided on a third printed circuit board (170). As any one of the plurality of first connection plug modules (161) is connected to the first connection socket (171; see FIG. 9) provided on the third printed circuit board (170), the first connection terminal (132) may be electrically connected to the third printed circuit board (170) through any one of the plurality of first connection plug modules (161). For example, when the first-1 connection plug module (161-1) among the plurality of first connection plug modules (161) is connected to the first connection socket (171; see FIG. 9), the first connection terminal (132) can be electrically connected to the third printed circuit board (170) through the first-1 connection plug module (161-1).

[0064] FIG. 7a is a perspective view of a second connecting device, a second printed circuit board, and a second fixed locking device according to one example. FIG. 7b is an exploded perspective view of the second connecting device, the second printed circuit board, and the second fixed locking device shown in FIG. 7a. FIG. 8 is a rear view of the second printed circuit board and the second connecting device according to one example.

[0065] Referring to FIGS. 3a to 4b and FIGS. 7a to 8, a second connecting device (140) according to one example may be disposed at a second end (112) of a connecting part (110). The second connecting device (140) may be detachably connected to either the first connecting part (20) or the second connecting part (30). As an example, if the second connecting part (30) is a driving assembly, the second connecting device (140) may be connected to a docking part (33) to transmit driving force to the connecting part (110).

[0066] According to one example, a first locking plate (135) and a second locking plate (not shown) that correspond to each other may be disposed on the second connecting device (140) and the docking part (33). For example, the first locking plate (135) and the second locking plate (not shown) may have a male-female relationship with each other. As the first locking plate (135) and the second locking plate (not shown) that are compatible with the second connecting device (140) and the docking part (33) are disposed, the second connecting device (140) and the docking part (33) can be combined regardless of the shape of the docking part (33) and the first connecting device (140).

[0067] According to one example, the first surface (141) of the second connecting device (140) connected to the second end (112) of the connecting part (110) and the second surface (142) of the second connecting device (140) connected to the second connecting component (30) may be arranged to be spaced apart by a predetermined angle. According to one example, the first surface (141) of the second connecting device (140) may be a surface that is arranged to face the second end (112) of the connecting part (110) and connected to the second end (112). Additionally, the second surface (142) of the second connecting device (140) may be a docking part connected to the second connecting component (30).

[0068] For example, when the first surface (141) of the second connecting device (140) connected to the second end (112) of the connecting part (110) and the second surface (142) of the second connecting device (140) connected to the second connecting part (30) are arranged to be spaced apart by a predetermined angle, the second connecting device (140) can transmit a driving force rotating in a different direction from the rotational force generated by the second connecting part (30), for example, the driving assembly, to the connecting part (110).

[0069] In the present disclosure, the shape of the first connecting device (120) and the shape of the second connecting device (140) are described differently, but the present disclosure is not limited thereto. According to one example, the shapes of the first connecting device (120) and the second connecting device (140) disposed at both ends of the connecting part (110) may be arbitrarily determined according to the position and function of the connector assembly (10) disposed in the modular robot (R). For example, the first connecting device (120) and the second connecting device (140) disposed at both ends of the connecting part (110) may have the same shape, or the first connecting device (120) and the second connecting device (140) may have interchangeable shapes.

[0070] According to one example, the second connecting device (140) may include a base part (140-1) connected to a second end (112) of the connecting part (110) and an angle changing part (140-2) detachably coupled to the base part (140-1). As an example, one end of the angle changing connecting part (140-2) may be detachably coupled to a first surface (141) provided in the base part (140-1). At this time, the second surface (142) provided in the angle changing connecting part (140-2) may have a predetermined angle with respect to the first surface (141) provided in the base part (140-1), for example, an angle of 0 degrees or more and 180 degrees or less. Although the above example describes that the angle changing part (140-2) may be detachably coupled to the base part (140-1), the present disclosure is not limited thereto. According to another example, the base portion (140-1) and the angle deformation portion (140-2) may be formed integrally.

[0071] According to one example, the second printed circuit board (150) may include a circuit support board (151) and a second connection terminal (152) disposed on a first surface (1510) of the circuit support board. As an example, the first surface (1510) of the circuit support board may be disposed to face either a first connection component (20) or a second connection component (30) connected to a second connection device (140). In this case, the second connection terminal (152) disposed on the first surface (1510) of the circuit support board may be electrically connected to either the first connection component (20) or the second connection component (30).

[0072] According to one example, if multiple second connection terminals (152) are provided, each of the multiple second connection terminals (152) can perform an individual function. Since the details regarding the individual functions of the multiple second connection terminals (152) are substantially the same as those of the multiple first connection terminals (132) described in FIGS. 4a through 6, the description is omitted here.

[0073] The second connection plug module (162) may be placed at the second end (112) of the connection part (110). As an example, the second connection plug module (162) may be placed on one side of a support substrate (1620) that is placed at the second end (112) of the connection part (110). According to one example, the support substrate (1620) may be placed to be fixed to the second connection device (140). Accordingly, when the second connection device (140) is connected to the second end (112) of the connection part (110), the second connection plug module (162) placed on one side of the support substrate (1620) may be placed at the second end (112) of the connection part (110).

[0074] According to one example, a second connection plug module (162) disposed at the second end (112) of the connection part (110) may be disposed on the first side (141) of the second connection device (140). A second printed circuit board (150) disposed to face either the first connection part (20) or the second connection part (30) may be disposed on the second side (142) of the second connection device (140).

[0075] When the first surface (141) and the second surface (142) of the second connection device (140) are positioned at different locations, the second printed circuit board (150) and the second connection plug module (162) may also be positioned at different locations. As an example, the second connection plug module (162) may be positioned on the same plane as the first surface (141) of the second connection device (140). In this case, the second printed circuit board (150) may be positioned on the second surface (142) of the second connection device (140).

[0076] According to one example, the second connection plug module (162) can be electrically connected to the second printed circuit board (150). As described above, when the second connection plug module (162) is positioned at a location spatially separated from the second printed circuit board (150), the second connection plug module (162) can be electrically connected to the second printed circuit board (150) through internal wiring (157).

[0077] According to one example, the second connection plug modules (162) are provided in multiple numbers, and the multiple second connection plug modules (162) may be arranged to be spaced apart from each other with a predetermined spacing. As an example, the multiple second connection plug modules (162) may include three second connection plug modules (162), for example, a second-1 connection plug module (162-1) to a second-3 connection plug module (162-3). For example, when the connection part (110) has a hollow conduit shape with a circular cross-section, the second-1 connection plug module (162-1) to the second-3 connection plug module (162-3) may be arranged to be spaced apart at a predetermined angle, for example, 90 degrees, along the circumferential direction of the connection part (110). In the example described above, a plurality of second connection plug modules (162) are disclosed as three and can be arranged so as to be spaced 90 degrees apart from each other, but the present disclosure is not limited thereto. A plurality of second connection plug modules (162) may be provided as two or more, and each of the plurality of second connection plug modules (162) may be arranged so as to be spaced apart from each other at any position on the support substrate (1620).

[0078] According to one example, when a second connection device (140) is coupled to a connection part (110), depending on the relative position of the connection part (110) and the second connection device (140), any one of a plurality of second connection plug modules (162) may be connected to a second connection socket (172; see FIG. 9) provided on a third printed circuit board (170). As any one of the plurality of second connection plug modules (162) is connected to the second connection socket (172; see FIG. 9) provided on the third printed circuit board (170), the second connection terminal (152) may be electrically connected to the third printed circuit board (170) through any one of the plurality of second connection plug modules (162). For example, when a second-1 connection plug module (162-1) among a plurality of second connection plug modules (162) is connected to a second connection socket (172; see FIG. 9), the second connection terminal (152) can be electrically connected to a third printed circuit board (170) through the second-1 connection plug module (162-1).

[0079] As described above, since the second connection terminal (152) is electrically connected to the third printed circuit board (170) through one of the plurality of second connection plug modules (162), the second connection terminal (152) and the second connection plug module (162) can electrically connect the third printed circuit board (170) placed in the connection part (110) with either the first connection part (20) or the second connection part (30).

[0080] FIG. 9 is a cross-sectional view of a connection portion according to one example. FIG. 10 is a schematic diagram of a third printed circuit board and an integrated circuit according to one example. FIG. 11 is a block diagram schematically illustrating the relationship between a processor, a memory, a first voltage measuring portion, and a second voltage measuring portion according to one example.

[0081] Referring to FIGS. 9 to 11, a third printed circuit board (170) according to one example may be disposed on the inner side of the connection portion (110). As an example, the third printed circuit board (170) may include a first connection socket (171) disposed at the first end (111) of the connection portion (110), a second connection socket (172) disposed at the second end (112) of the connection portion (110), a plurality of connection lines (173) disposed between the first connection socket (171) and the second connection socket (172) to connect the first connection socket (171) and the second connection socket (172), and a support circuit board (174).

[0082] According to one example, the first connection socket (171) may be connected to the first connection plug module (161). As an example, when the first connection device (120) is mounted on the first end (111) of the connection part (110), the first connection plug module (161) may be placed on one side of the first printed circuit board (130) placed on the first connection device (120). By connecting the first connection socket (171) and the first connection plug module (161), the first printed circuit board (130) and the third printed circuit board (170) may be electrically connected.

[0083] According to one example, the second connection socket (172) may be connected to the second connection plug module (162). As an example, when the second connection device (140) is mounted on the second end (112) of the connection part (110), the second connection plug module (162) may be placed on the second end (112) of the connection part (110) and connected to the second connection socket (172). By connecting the second connection socket (172) and the second connection plug module (162), the second printed circuit board (150) and the third printed circuit board (170) may be electrically connected.

[0084] According to one example, when a first connection plug module (161) is connected to a first connection socket (171) and a second connection plug module (162) is connected to a second connection socket (172), a first connection component (20) connected to one end of the connector assembly (10) through a first connection terminal (132) and a second connection component (30) connected to the other end of the connector assembly (10) through a second connection terminal (152) can be interconnected by a plurality of connection lines (173) arranged on a third printed circuit board (170).

[0085] According to one example, a plurality of connection lines (173) may be placed on a support circuit board (174). As an example, the plurality of connection lines (173) are arranged to extend between a first connection socket (171) and a second connection socket (172) and can connect the first connection socket (171) and the second connection socket (172). According to one example, each of the plurality of connection lines (173) may be connected to a first connection terminal (132) and a second connection terminal (152) to perform an individual function.

[0086] As an example, the first connection line (173-1) may be either one of the differential signal lines of CAN (Controller Area Network) communication that transmits data using two signal lines, for example, the first signal line (CAN-H) having a relatively high voltage level. Additionally, according to one example, the second connection line (173-2) may be the other one of the differential signal lines of CAN (Controller Area Network) communication that transmits data using two signal lines, for example, the second signal line (CAN-L) having a relatively low voltage level. Additionally, according to one example, the third connection line (173-3) may be the first power line having a high voltage level among two power lines for supplying power. Additionally, according to one example, the fourth connection line (173-4) may be the other one of two power lines for supplying power, for example, the first power line may be a ground line. In the example described above, the objects to which the plurality of first connection terminals (132) are connected are limited to communication lines or power lines, but the present disclosure is not limited thereto and may include any other functions, such as control signal lines.

[0087] According to one example, some of the multiple connection lines (173) can detect whether the first connection part (20) or the second connection part (30) is connected to the connector assembly (10). As an example, the connection detection line (173-5) can detect whether the first connection part (20) or the second connection part (30) is connected to the connector assembly (10).

[0088] According to one example, some of the multiple connection lines (173) can identify the relative positional relationship of a first connection device (120) and a second connection device (140) that are coupled to both ends (111, 112) of the connection part (110). As an example, the first position identification line (173-6) and the second position identification line (173-7) can identify the relative positional relationship of the first connection device (120) and the second connection device (140) that are coupled to both ends (111, 112) of the connection part (110).

[0089] According to one example, the integrated circuit (180) may be placed on a third printed circuit board (170) between a first connection socket (171) and a second connection socket (172). As an example, the integrated circuit (180) may include a switch (181) capable of connecting or disconnecting a connection detection line (173-5).

[0090] For example, when the connection of the connection detection line (173-5) is blocked by the switch (181), the voltage of both terminals of the connection detection line (173-5) that are blocked, for example, the first connection detection terminal (1910) and the second connection detection terminal (1911), can be measured by the first voltage measuring unit (191). A processor (195) according to one example can confirm that the first connection component (20) or the second connection component (30) is connected to the connector assembly (10) by using the voltage of the first connection detection terminal (1910) and the second connection detection terminal (1911) measured by the first voltage measuring unit (191).

[0091] In addition, as an example, the voltage of the first position identification terminal (1920) of the first position identification line (173-6) and the second position identification terminal (1921) of the second position identification line (173-7) can be measured by the second voltage measuring unit (192). A processor (195) according to an example can identify the relative positional relationship of the first connecting device (120) and the second connecting device (140) coupled to both ends (111, 112) of the connecting unit (110) by using the voltage of the first position identification terminal (1920) and the second position identification terminal (1921) measured by the second voltage measuring unit (192).

[0092] Hereinafter, technical features for identifying the relative positional relationship between a first connecting part (20) or a second connecting part (30) connected to a connector assembly (10), a first connecting device (120), and a second connecting device (140) using a connection detection line (173-5), a first position identification line (173-6), and a second position identification line (173-7) are described.

[0093] FIG. 12 is a combined perspective view of a connector assembly, a first connecting component, and a second connecting component according to one example. FIG. 13 is a combined perspective view of a connector assembly, a first connecting component, and a second connecting component according to one example. FIG. 14 is a schematic diagram of a third printed circuit board and an integrated circuit according to one example.

[0094] Referring to FIGS. 10 to 12, a first connecting part (20) or a second connecting part (30) may be connected to one or more of the first connecting device (120) and the second connecting device (140) of a connector assembly (10) according to one example. In a modular robot (R) as illustrated in FIG. 1, the types of the first connecting part (20) and the second connecting part (30) placed at both ends of the connector assembly (10) may differ depending on the position and role in which the connector assembly (10) is assembled. For example, a driving assembly may be coupled to each end of the connector assembly (10) illustrated in FIG. 12 as the first connecting part (20) and the second connecting part (30). In addition, as another example, as shown in FIG. 13, a driving assembly may be coupled to one end of the connector assembly (10) as a first connecting part (20), and an end module may be coupled to the other end of the connector assembly (10) as a second connecting part (30). Accordingly, when a connector module (1) including a connector assembly (10) according to one example is assembled to a modular robot (R), it may be necessary to verify the connecting parts (20, 30) placed at both ends of the connector assembly (10).

[0095] According to one example, the processor (195) can identify connection parts (20, 30) placed at both ends of the connector assembly (10) using the voltage measured at the connection detection line (173-5). As an example, the connection detection line (173-5) can be disconnected by a switch (181). Accordingly, the connection detection line (173-5) can be distinguished into a first connection detection line (173-51) connected to one end of the connector assembly (10), for example, a first connection socket (171), and a second connection detection line (173-52) connected to the other end of the connector assembly (10), for example, a second connection socket (172).

[0096] According to one example, in a first state where the first connecting part (20) is not connected to one end of the connector assembly (10), for example, the first connecting device (120), the first voltage measuring unit (191) can measure the first voltage of the first connecting detection terminal (1910) provided in the first connecting detection line (173-51). The first voltage measured by the first voltage measuring unit (191) can be transmitted to the processor (195).

[0097] According to one example, in a second state in which a first connecting component (20) is connected to one end of a connector assembly (10), for example, a first connecting device (120), a first connecting terminal (132) provided on a first printed circuit board (130) may be connected to the first connecting component (20). Accordingly, the voltage of a first connecting detection line (173-51) connected to the first connecting terminal (132), for example, the voltage of a first connecting detection terminal (1910), may be changed from a first voltage to a second voltage.

[0098] According to one example, the first voltage measuring unit (191) can measure the changed second voltage of the first connection detection terminal (1910). The second voltage measured by the first voltage measuring unit (191) can be transmitted to the processor (195). As the voltage of the first connection detection terminal (1910) changes from the first voltage to the second voltage, the processor (195) can identify that the first connection component (20) is connected to one end of the connector assembly (10), for example, the first connection device (120).

[0099] According to one example, voltage data according to the type of the first connection component (20) may be stored in the memory (196). As an example, as shown in FIGS. 12a through 13, the types of the first connection component (20) and the second connection component (30) may be distinguished as a driving assembly or an end module. In this case, different voltage data measured at the first connection detection terminal (1910) may be stored in the memory (196) depending on the driving assembly or end module connected to the first connection device (120). For example, as shown in FIGS. 12a and 12b, if the first connection component (20) connected to the first connection device (120) is a driving assembly, voltage data of the first connection detection terminal (1910) that changes as the driving assembly is connected to the first connection device (120) may be stored in advance in the memory (196).

[0100] In the example described above, the types of the first connecting part (20) and the second connecting part (30) are described as a driving assembly or an end module, but the present disclosure is not limited thereto. The first connecting part (20) and the second connecting part (30) may be any parts that can be connected to the first connecting device (120) or the second connecting device (140), and the voltage data stored in the memory (196) may be distinguished differently depending on the type of the connecting part. Furthermore, it is obvious that even among the same driving assembly, the voltage data stored in the memory (196) may be distinguished differently depending on the output and model.

[0101] According to one example, the processor (195) can identify the first connecting component (20) or the second connecting component (30) connected to the first connecting device (120) or the second connecting device (140) by comparing the voltage measured by the first voltage measuring unit (191) with the voltage data stored in the memory (196). As an example, in a second state where the first connecting component (20) is connected to one end of the connector assembly (10), for example, the first connecting device (120), the voltage of the first connecting detection line (173-51), for example, the voltage of the first connecting detection terminal (1910), may change from the first voltage to the second voltage. The first voltage measuring unit (191) may measure the changed second voltage of the first connecting detection terminal (1910). The second voltage measured by the first voltage measuring unit (191) may be transmitted to the processor (195). The processor (195) can identify that the first connection component (20) connected to the first connection device (120) is a driving assembly by comparing the second voltage received with the voltage data stored in the memory (196).

[0102] According to one example, when a second connecting component (30) is connected to the other end of the connector assembly (10), for example, a second connecting device (140), the first voltage measuring unit (191) can measure the voltage change of the second connecting detection terminal (1911) provided in the second connecting detection line (173-52) and transmit it to the processor (195). The feature of confirming that the second connecting component (30) is connected to the second connecting device (140) according to the voltage change at the second connecting detection terminal (1911), and identifying the type of the second connecting component (30) using voltage data for the second connecting component (30) stored in the memory (196), is substantially the same as the technical feature described in the first connecting detection line (173-51), so it is omitted here.

[0103] In a third state in which it is confirmed that the first connecting part (20) or the second connecting part (30) is connected to both ends of the connector assembly (10), for example, the first connecting device (120) and the second connecting device (140), according to one example, the processor (195) can connect the switch (181). Accordingly, the first connecting detection line (173-51) and the second connecting detection line (173-52) can be interconnected.

[0104] According to one example, as the first connection detection line (173-51) and the second connection detection line (173-52) are interconnected, the function of the connection detection line (173-5) may be switched. As an example, when the first connection detection line (173-51) and the second connection detection line (173-52) are interconnected by a switch (181) as shown in FIG. 14, the connection detection line (173-5) may be switched to the first connection line (173-1), for example, one of the differential signal lines of a Controller Area Network (CAN) communication that transmits data using two signal lines, for example, the first signal line (CAN-H) having a relatively high voltage level. Although the present disclosure discloses that the connection detection line (173-5) may be switched to a signal line, the present disclosure is not limited thereto and may be switched to another connection line.

[0105] FIG. 15a is a side view of a connector assembly and a drive assembly according to one example. FIG. 15b is a partial cross-sectional view of the connector assembly shown in FIG. 15a. FIG. 16a is a side view of a connector assembly and a drive assembly according to one example. FIG. 16b is a partial cross-sectional view of the connector assembly shown in FIG. 16a.

[0106] Referring to FIG. 15a and FIG. 16a, the relative positions of the first connecting device (120) and the second connecting device (140) according to one example may differ. For example, when the first connecting device (120) placed at one end of the connecting part (110) is positioned to be fixed to the driving assembly which is the first connecting part (20), the second connecting device (140) may be positioned at a different position relative to the first connecting device (120) depending on the assembly direction relative to the connecting part (110). For example, as shown in FIG. 15a, the second connecting device (140) may be connected to the other end of the connecting part (110) such that the second surface (142) of the second connecting device (140) connected to the second connecting part (30) faces the first direction (X direction). Additionally, as an example, as shown in FIG. 16a, the second connecting device (140) may be connected to the other end of the connecting part (110) such that the second surface (142) of the second connecting device (140) connected to the second connecting part (30) faces the second direction (Y direction) perpendicular to the first direction (X direction).

[0107] According to one example, if the second connecting part (30) connected to the second connecting device (140) is a driving assembly that applies rotational force along the direction of connection, the connector assembly (10) illustrated in FIG. 15a may rotate around a first rotation axis (B1) parallel to the first direction (X direction). On the other hand, the connector assembly (10) illustrated in FIG. 16a may rotate around a second rotation axis (not shown) parallel to the second direction (Y direction). As described above, since the driving direction of the connector assembly (10) may differ depending on the relative coupling position of the first connecting device (120) and the second connecting device (140), it may be necessary to identify the relative position where the first connecting device (120) and the second connecting device (140) are coupled to the connecting part (110).

[0108] Referring to FIGS. 11 and 14, a first position identification line (173-6) and a second position identification line (173-7) according to one example may be connected to a first connection socket (171) and a second connection socket (172), respectively. When a first connection device (120) and a second connection device (140) are each connected to both ends of a connection part (110), the first connection socket (171) may be connected to one of a plurality of first connection plug modules (161), and the second connection socket (172) may be connected to one of a plurality of second connection plug modules (162).

[0109] According to one example, when the second connection socket (172) is connected to any one of a plurality of second connection plug modules (162), one end of the second location identification line (173-7) connected to the second connection socket (172) may be electrically connected to the second connection plug module (162) connected to the second connection socket (172). At this time, the second voltage measuring unit (192) may measure the voltage of the second location identification terminal (1921) provided on the second location identification line (173-7).

[0110] According to one example, when a plurality of second connection plug modules (162) are provided, each of the second connection plug modules (162) may have a different resistance. As an example, as shown in FIG. 15b and FIG. 16b, the plurality of second connection plug modules (162) may include three second connection plug modules (162), for example, a second-1 connection plug module (162-1) to a second-3 connection plug module (162-3). When the connection portion (110) has a hollow conduit shape with a circular cross-section, the second-1 connection plug module (162-1) to the second-3 connection plug module (162-3) may be arranged so as to be spaced apart at a predetermined angle, for example, 90 degrees, along the circumferential direction of the connection portion (110).

[0111] As a plurality of second connection plug modules (162) have different resistances, when a second connection socket (172) is connected to any one of the plurality of second connection plug modules (162), the voltage applied to the second position identification line (173-7) may vary. Accordingly, the voltage of the second position identification terminal (1922) measured by the second voltage measuring unit (192) may vary differently for each of the plurality of second connection plugs (162). For example, as shown in FIG. 15b, when the second connection socket (172) is connected to the second-2 connection plug module (162-2), a first measurement voltage may be measured at the second position identification terminal (1921) by the second voltage measuring unit (192). On the other hand, as illustrated in FIG. 16b, when the second connection socket (172) is connected to the second-1 connection plug module (162-1), the second measurement voltage can be measured at the second position identification terminal (1921) in the second voltage measuring unit (192).

[0112] According to one example, the memory (196) may store voltage data at a second position identification terminal (1921) that changes as each of a plurality of second connection plug modules (162) is connected to a second connection socket (172). For example, when the second connection socket (172) is connected to a second-1 connection plug module (162-1), first voltage data may be stored; when the second connection socket (172) is connected to a second-2 connection plug module (162-2), second voltage data may be stored; and when the second connection socket (172) is connected to a second-3 connection plug module (162-3), third voltage data may be stored. The first to third voltage data may be adjusted to be different from each other.

[0113] A processor (195) according to one example can identify whether the first connection socket (171) is connected to any one of the plurality of second connection plug modules (162) by comparing the measured voltage measured by the second voltage measuring unit (192) with the voltage data stored in the memory (196).

[0114] As an example, as illustrated in FIG. 15b, when the second connection socket (172) is connected to the second-2 connection plug module (162-2), the first measured voltage measured by the second voltage measuring unit (192) may correspond to the second voltage data. Accordingly, the processor (195) can confirm that the second connection socket (172) is connected to the second-2 connection plug module (162-2). Accordingly, the second connection device (140) can confirm that the second side (142) of the second connection device (140) connected to the second connection component (30), as illustrated in FIG. 15a, for example, the docking part of the second connection device (140) connected to the second connection component (30) is connected to the other end of the connection part (110) so that it faces the first direction (X direction).

[0115] Additionally, as an example, as shown in FIG. 16b, when the second connection socket (172) is connected to the second-1 connection plug module (162-1), the second measured voltage measured by the second voltage measuring unit (192) may correspond to the first voltage data. Accordingly, the processor (195) can confirm that the second connection socket (172) is connected to the second-1 connection plug module (162-1). Accordingly, the second connection device (140) can be confirmed to be connected to the other end of the connection unit (110) such that the second side (142) of the second connection device (140) connected to the second connection component (30), as shown in FIG. 16a, for example, the docking part of the second connection device (140) connected to the second connection component (30) faces the second direction (Y direction) perpendicular to the first direction (X direction).

[0116] The process of determining which of the plurality of first connection plug modules (161) the first connection socket (171) is connected to by comparing the measured voltage measured by the second voltage measuring unit (192) with the voltage data stored in the memory (196) and confirming the location where the first connection device (120) is connected is substantially the same as the description of the second connection socket (172) and the plurality of second connection plug modules (162) described above, so for the convenience of explanation, the description is omitted here.

[0117] One aspect of the present disclosure provides a connector assembly that implements multi-degree-of-freedom motion in three-dimensional space and a modular robot including the same.

[0118] One aspect of the present disclosure provides a connector assembly with improved design convenience and repair convenience by modularizing the connector assembly to be replaceable, and a modular robot including the same.

[0119] One aspect of the present disclosure provides a connector assembly in which connecting parts can be connected to both ends of the connector assembly, and a modular robot including the same.

[0120] One aspect of the present disclosure provides a connector assembly capable of identifying the type of connecting component connected to both ends of the connector assembly, and a modular robot including the same.

[0121] One aspect of the present disclosure provides a connector assembly and a modular robot including the same, wherein the directionality of connection of a connection component can be determined by determining the relative positions of a first connection device and a second connection device disposed at both ends of the connector assembly and connected to a connection component.

[0122] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this disclosure belongs from the description below.

[0123] A connector assembly according to one example comprises: a hollow connecting portion extending along one direction; a first connecting device disposed at a first end of the connecting portion; a first printed circuit board disposed at the first connecting device; a first connecting plug module electrically connected to the first printed circuit board and disposed at the first end of the connecting portion; a second connecting device disposed at a second end of the connecting portion; a second printed circuit board disposed at the second connecting device; a second connecting plug module electrically connected to the second printed circuit board and disposed at the second end of the connecting portion; a third printed circuit board disposed on the inner surface of the connecting portion and having a first connecting socket connected to the first connecting plug module, a second connecting socket connected to the second connecting plug module, and a plurality of connecting lines connecting the first connecting socket and the second connecting socket; an integrated circuit disposed on the third printed circuit board and having a switch that connects or disconnects a connecting detection line among the plurality of connecting lines; and, when the connecting detection line is disconnected, the two terminals of the disconnected connecting detection line It may include a first voltage measuring unit for measuring voltage.

[0124] As the first connecting component or the second connecting component is connected to one or more of the first connecting device and the second connecting device, the voltage measured at the connection detection terminal of the connection detection line changes while the connection detection line is disconnected, and the first voltage measuring unit can measure the changed voltage at the connection detection terminal.

[0125] Among the plurality of connection lines, the first signal line and the second signal line transmit data using a voltage difference, and as the connection detection line is connected by the switch, the connection detection line can be switched to the first signal line having a higher voltage than the second signal line.

[0126] The first connection plug module is provided in a plurality, and the plurality of first connection plug modules are arranged to be spaced apart with a predetermined interval between them; the second connection plug module is provided in a plurality, and the plurality of second connection plug modules are arranged to be spaced apart with a predetermined interval between them; one end of a first position identification line connected to the first connection socket is connected to any one of the plurality of first connection plug modules, and one end of a second position identification line connected to the second connection socket can be connected to any one of the plurality of second connection plug modules.

[0127] Each of the plurality of first connection plug modules can apply a different voltage to the first position identification line, and each of the plurality of second connection plug modules can apply a different voltage to the second position identification line.

[0128] It may further include a second voltage measuring unit that detects the voltage applied to the first position identification line and the second position identification line.

[0129] Among the plurality of connection lines above, the first power line and the second power line are power lines for supplying power, a predetermined voltage is applied to the first power line, and the second power line may be a ground line.

[0130] The first connecting device has a first surface connected to a first end of the connecting portion and a second surface connected to the first connecting component, and the first surface of the first connecting device and the second surface of the first connecting device may be arranged parallel to each other.

[0131] The second connecting device has a first surface connected to the second end of the connecting part and a second surface connected to the second connecting part, and the first surface of the second connecting device and the second surface of the second connecting device may be arranged to be spaced apart by a predetermined angle.

[0132] A modular robot according to one example comprises a connector assembly, a first connecting component and a second connecting component connected to the connector assembly, wherein the connector assembly comprises a hollow connecting portion extending along one direction, a first connecting device disposed at a first end of the connecting portion, a first printed circuit board disposed at the first connecting device, a first connecting plug module electrically connected to the first printed circuit board and disposed at the first end of the connecting portion, a second connecting device disposed at a second end of the connecting portion, a second printed circuit board disposed at the second connecting device, a second connecting plug module electrically connected to the second printed circuit board and disposed at the second end of the connecting portion, a third printed circuit board disposed on the inner surface of the connecting portion and having a first connecting socket connected to the first connecting plug module, a second connecting socket connected to the second connecting plug module, and a plurality of connecting lines connecting the first connecting socket and the second connecting socket, and a connection detection line disposed on the third printed circuit board and connecting or blocking a connection detection line among the plurality of connecting lines. The integrated circuit comprises a switch and a first voltage measuring unit for measuring the voltage at both terminals of the disconnected connection detection line when the connection detection line is in a disconnected state. The first connection component is connected to the first connection device, and the second connection component is connected to the second connection device. As the first connection component or the second connection component is connected to one or more of the first connection device and the second connection device, the voltage measured at the connection detection terminal of the connection detection line changes when the connection detection line is in a disconnected state, and the first voltage measuring unit can measure the changed voltage at the connection detection terminal.

[0133] The apparatus further includes a processor that receives a voltage measured from the first voltage measuring unit; wherein the processor can identify whether one of the first connecting component or the second connecting device is connected to the first connecting device or the second connecting device according to a voltage change detected by the first voltage measuring unit.

[0134] It further includes a memory for storing voltage data according to the type of the first connecting component and the second connecting component; and the processor can identify the first connecting component or the second connecting component connected to the first connecting device or the second connecting device by comparing the voltage measured by the first voltage measuring unit with the voltage data.

[0135] The first connection plug module is provided in a plurality, and the plurality of first connection plug modules are arranged to be spaced apart with a predetermined interval between them; the second connection plug module is provided in a plurality, and the plurality of second connection plug modules are arranged to be spaced apart with a predetermined interval between them; one end of a first position identification line connected to the first connection socket is connected to any one of the plurality of first connection plug modules, and one end of a second position identification line connected to the second connection socket can be connected to any one of the plurality of second connection plug modules.

[0136] It further includes a second voltage measuring unit that detects a voltage applied to the first position identification line and the second position identification line, wherein each of the plurality of first connection plug modules applies a different voltage to the first position identification line, and each of the plurality of second connection plug modules can apply a different voltage to the second position identification line.

[0137] The apparatus further includes a processor that receives a voltage measured from the second voltage measuring unit; wherein the processor identifies whether the first connection socket is connected to any one of the plurality of first connection plug modules according to the voltage detected by the second voltage measuring unit, and identifies whether the second connection socket is connected to any one of the plurality of second connection plug modules according to the voltage detected by the second voltage measuring unit.

[0138] A connector assembly according to one aspect of the present disclosure and a modular robot including the same can implement multi-degree-of-freedom motion in three-dimensional space.

[0139] A connector assembly according to one aspect of the present disclosure and a modular robot including the same can improve design convenience and repair convenience by modularizing the connector assembly so that it is replaceable.

[0140] A connector assembly according to one aspect of the present disclosure and a modular robot including the same can improve manufacturing convenience by confirming that connecting parts are connected to both ends of the connector assembly.

[0141] A connector assembly according to one aspect of the present disclosure and a modular robot including the same can improve manufacturing convenience by identifying the type of connecting part connected to both ends of the connector assembly.

[0142] A connector assembly according to one aspect of the present disclosure and a modular robot including the same can improve manufacturing convenience by determining the relative positions of a first connecting device and a second connecting device connected to a connecting part, thereby confirming the direction in which the connecting part is connected during the assembly process.

[0143] Embodiments of connector assemblies and modular robots have been described with reference to the drawings for the sake of understanding, but this is merely illustrative and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the appended claims.

Claims

1. A hollow connecting part (110) extending along one direction; A first connecting device (120) disposed at the first end of the above connecting part; A first printed circuit board (130) disposed in the first connection device; A first connection plug module (161) that is electrically connected to the first printed circuit board and is positioned at the first end of the connection portion; A second connecting device (140) disposed at the second end of the above connecting part; A second printed circuit board (150) disposed in the second connection device; A second connection plug module (162) that is electrically connected to the second printed circuit board and is positioned at the second end of the connection portion; A third printed circuit board (170) disposed on the inner side of the above-mentioned connection portion and having a first connection socket connected to the first connection plug module, a second connection socket connected to the second connection plug module, and a plurality of connection lines connecting the first connection socket and the second connection socket; An integrated circuit (180) disposed on the third printed circuit board and having a switch for connecting or blocking a connection detection line among the plurality of connection lines; and A first voltage measuring unit (191) for measuring the voltage of both terminals of the blocked connection detection line when the above connection detection line is blocked; comprising Connector assembly.

2. In Paragraph 1, As the first connecting component (20) or the second connecting component (30) is connected to one or more of the first connecting device and the second connecting device, the voltage measured at the connection detection terminal of the connection detection line changes while the connection detection line (173-5) is disconnected. The first voltage measuring unit measures the voltage changed at the connection detection terminal. Connector assembly.

3. In Paragraph 1 or 2, Among the plurality of connection lines, the first signal line (173-1) and the second signal line (173-2) transmit data using a voltage difference, and As the connection detection line (173-5) is connected by the switch (181), the connection detection line is switched to the first signal line having a higher voltage than the second signal line. Connector assembly.

4. In Paragraph 1, The first connection plug module (161) is provided in a plurality of units, and the plurality of first connection plug modules are arranged to be spaced apart with a predetermined interval between them. The above second connection plug module (162) is provided in a plurality of units, and the plurality of second connection plug modules are arranged to be spaced apart with a predetermined interval between them. One end of the first position identification line (173-6) connected to the first connection socket (171) is connected to any one of the plurality of first connection plug modules, and one end of the second position identification line (173-7) connected to the second connection socket (172) is connected to any one of the plurality of second connection plug modules. Connector assembly.

5. In Paragraph 4, Each of the plurality of first connection plug modules applies a different voltage to the first position identification line, and Each of the plurality of second connection plug modules applies a different voltage to the second position identification line, Connector assembly.

6. In Paragraph 5, A second voltage measuring unit (192) for detecting a voltage applied to the first position identification line and the second position identification line; further comprising Connector assembly.

7. In Paragraph 1, Among the plurality of connection lines above, the first power line and the second power line are power lines for supplying power, and A predetermined voltage is applied to the first power line, and the second power line is a ground line, Connector assembly.

8. In Paragraph 1, The first connecting device (120) has a first surface (121) connected to the first end (111) of the connecting part (110) and a second surface (122) connected to the first connecting part (20). The first surface of the first connecting device and the second surface of the first connecting device are arranged parallel to each other. Connector assembly.

9. In Paragraph 1, The second connecting device (140) has a first surface (141) connected to the second end (112) of the connecting part (110) and a second surface (142) connected to the second connecting part (30). The first surface of the second connecting device and the second surface of the second connecting device are arranged to be spaced apart with a predetermined angle between them. Connector assembly.

10. A modular robot comprising a connector assembly (10), a first connecting part (20) and a second connecting part (30) connected to the connector assembly (10), The above connector assembly (10) is, A hollow connecting part (110) extending along one direction; A first connecting device (120) disposed at the first end of the above connecting part; A first printed circuit board (130) disposed in the first connection device; A first connection plug module (161) that is electrically connected to the first printed circuit board and is positioned at the first end of the connection portion; A second connecting device (140) disposed at the second end of the above connecting part; A second printed circuit board (150) disposed in the second connection device; A second connection plug module (162) that is electrically connected to the second printed circuit board and is positioned at the second end of the connection portion; A third printed circuit board (170) disposed on the inner side of the above-mentioned connection portion and having a first connection socket connected to the first connection plug module, a second connection socket connected to the second connection plug module, and a plurality of connection lines connecting the first connection socket and the second connection socket; An integrated circuit (180) disposed on the third printed circuit board and having a switch for connecting or blocking a connection detection line among the plurality of connection lines; and It includes a first voltage measuring unit (191) that measures the voltage of both terminals of the blocked connection detection line when the above connection detection line is blocked. The first connecting part (20) is connected to the first connecting device, and The second connecting part (30) is connected to the second connecting device. As the first connecting component or the second connecting component is connected to one or more of the first connecting device (120) and the second connecting device (140), the voltage measured at the connection detection terminal of the connection detection line (173-5) changes while the connection detection line (173-5) is disconnected. The first voltage measuring unit (191) measures the voltage changed at the connection detection terminal. Modular robot.

11. In Paragraph 10, It further includes a processor (195) that receives the voltage measured from the first voltage measuring unit; The processor identifies that either the first connecting component or the second connecting device is connected to the first connecting device or the second connecting device according to a voltage change detected by the first voltage measuring unit. Modular robot.

12. In Article 10 or Article 11, It further includes a memory (196) for storing voltage data according to the types of the first connecting component and the second connecting component, and The processor identifies the first connection component or the second connection component connected to the first connection device or the second connection device by comparing the voltage measured by the first voltage measuring unit with the voltage data. Modular robot.

13. In Paragraph 10, The first connection plug module (161) is provided in a plurality of units, and the plurality of first connection plug modules are arranged to be spaced apart with a predetermined interval between them. The above second connection plug module (162) is provided in a plurality of units, and the plurality of second connection plug modules are arranged to be spaced apart with a predetermined interval between them. One end of the first position identification line (173-6) connected to the first connection socket (171) is connected to any one of the plurality of first connection plug modules, and one end of the second position identification line (173-7) connected to the second connection socket (172) is connected to any one of the plurality of second connection plug modules. Modular robot.

14. In Paragraph 13, It further includes a second voltage measuring unit (192) that detects the voltage applied to the first position identification line and the second position identification line; Each of the plurality of first connection plug modules (161) applies a different voltage to the first position identification line (173-6), and Each of the plurality of second connection plug modules (162) applies a different voltage to the second position identification line (173-7). Modular robot.

15. In Paragraph 14, It further includes a processor (195) that receives the voltage measured from the second voltage measuring unit; The above processor Identify whether the first connection socket is connected to any of the plurality of first connection plug modules (161) according to the voltage detected by the second voltage measuring unit (192), and Identifying whether the second connection socket (172) is connected to any one of the plurality of second connection plug modules (162) according to the voltage detected by the second voltage measuring unit (192), Modular robot.

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