Vertical articulated robot having multiple end-effectors

Abstract

Disclosed is a vertical articulated robot having multiple end-effectors, and the vertical articulated robot having multiple end-effectors, according to an embodiment of the present application, may comprise: a body part connected through a plurality of rotary joints so as to be movable in three dimensions; a first handler coupled to an end portion of the body part and configured to grip a container and to open / close a cap of the container; and a second handler coupled to an end portion of the body part and configured to removably support a liquid dispensing module and to dispense liquid using the liquid dispensing module.

Description

Vertical articulated robot with multiple end effectors

[0001] The present invention relates to a vertical multi-joint robot having multiple end effectors.

[0002] The bio and pharmaceutical industries require precision operations, such as cell culture, reagent dispensing, and sample handling, under Good Manufacturing Practice (GMP) conditions. Maintaining sterility, ensuring accurate quantitative dispensing, and preventing cross-contamination are essential for these tasks, which have traditionally been performed by skilled operators manually dispensing liquids using pipettes or opening and closing conical tube caps.

[0003] However, manual work methods have several drawbacks: reproducibility depends on the operator's skill level, there is a high likelihood of errors due to increased fatigue during prolonged repetitive tasks, and a constant risk of contamination as the operator's hands come into direct contact with the samples. Additionally, there is a limitation in that productivity is reduced when processing large volumes of samples due to excessive processing time.

[0004] To address these issues, robotic automation systems began to be introduced; however, conventional automation systems required separate configurations for robots performing liquid dispensing and robots performing container handling. In other words, the structure consisted of a first robot responsible for dispensing using a pipette and a second robot that grasps conical tubes and opens and closes caps, positioned independently.

[0005] Such multi-robot systems have the problem of requiring a large installation space, complex synchronization control between robots, and increased initial investment and maintenance costs. In addition, since each robot must perform tasks sequentially, the overall process time becomes longer, and there are limitations in that additional safety devices are required to prevent collisions when the work areas of the robots overlap.

[0006] Furthermore, in GMP environments, strict control of particles and contaminants inside the cleanroom is required, but conventional industrial robots have a structure in which wear particles generated from rotating joints or external contaminants can circulate inside and outside the robot, which poses a problem as they are not suitable for high-cleanliness environments.

[0007] The technology forming the background of the present invention is disclosed in Korean Published Patent Application No. 10-2021-0127344.

[0008] The present invention aims to solve the problems of the aforementioned conventional technology by providing a vertical multi-joint robot having multiple end effectors capable of integrally performing liquid dispensing and container handling operations by simultaneously equipping multiple handlers on a single robot body.

[0009] The present invention aims to solve the problems of the aforementioned conventional technology by providing a vertical multi-joint robot capable of improving work efficiency and minimizing human error through the implementation of an automatic detachment function for a liquid dispensing device and an automatic opening and closing function for a container cap.

[0010] However, the technical problems that the embodiments of the present invention aim to solve are not limited to the technical problems described above, and other technical problems may exist.

[0011] As a technical means for achieving the above-mentioned technical problem, a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention may include a body part connected through a plurality of rotational joints to enable three-dimensional movement, a first handler coupled to the end of the body part and configured to grasp a container and open and close the cap of the container, and a second handler coupled to the end of the body part and configured to support a liquid dispensing module so as to be mounted and detachable, and to dispense liquid using the liquid dispensing module.

[0012] In addition, the first handler and the second handler may be arranged side by side at the end of the body portion and configured to be rotatable independently with respect to the end of the body portion.

[0013] Additionally, the body portion may include a base portion, a first support portion rotatably coupled to the base portion, a second support portion rotatably coupled to the first support portion, and a third support portion rotatably coupled to the second support portion and to which the first handler and the second handler are coupled.

[0014] Additionally, the plurality of rotational joints may include a first rotational joint provided between the base portion and the first support portion, a second rotational joint provided between the first support portion and the second support portion, a third rotational joint provided between the second support portion and the third support portion, a fourth rotational joint provided between the third support portion and the first handler, and a fifth rotational joint provided between the third support portion and the second handler.

[0015] In addition, a sealing structure for blocking the inflow of contaminants between the inside and outside of the body part may be provided to correspond to each of the plurality of rotational joints.

[0016] In addition, a liquid dispensing control module for controlling the operation of the liquid dispensing module may be disposed on the upper part of the third support member.

[0017] In addition, the first handler may perform the operation of opening the cap by rotating it while gripping the cap of the container, or the operation of sealing the container by rotating the cap in the reverse direction.

[0018] In addition, the second handler may perform the operation of supporting the liquid dispensing module while the liquid dispensing operation is being performed or the operation of automatically dispensing the liquid dispensing module after the liquid dispensing operation is completed.

[0019] The means for solving the problem described above are merely exemplary and should not be interpreted as intended to limit the present invention. In addition to the exemplary embodiments described above, additional embodiments may exist in the drawings and the detailed description of the invention.

[0020] According to the means for solving the problem of the present invention described above, a vertical multi-joint robot having multiple end effectors can be provided, which can integrally perform liquid dispensing and container handling operations by simultaneously equipping multiple handlers on a single robot body.

[0021] According to the solution to the problem of the present invention described above, a vertical multi-joint robot can be provided that improves work efficiency and minimizes human error by implementing an automatic detachment function of a liquid dispensing device and an automatic opening and closing function of a container cap.

[0022] According to the solution to the problem of the present invention described above, liquid dispensing and container handling can be performed simultaneously with a single robot system, thereby reducing installation space and reducing initial investment and maintenance costs.

[0023] According to the solution to the problem of the present invention described above, by providing a sealing structure to each rotating joint, the inflow of particles and contaminants is blocked, thereby satisfying the high degree of cleanliness required in a GMP environment.

[0024] According to the solution to the problem of the present invention described above, the level of work automation can be improved and work reproducibility and reliability can be ensured through the automatic detachment of a liquid dispensing device and the automatic opening and closing of a container cap.

[0025] However, the effects obtainable from this invention are not limited to those described above, and other effects may exist.

[0026] FIG. 1 is a schematic diagram of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0027] FIG. 2 is a drawing showing the detailed structure of the body portion of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0028] Figure 3 is a diagram illustrating the cap rotation mechanism of the first handler.

[0029] Figure 4 is a diagram showing the arrangement structure of the liquid dispensing control module of the second handler.

[0030] FIG. 5 is a diagram illustrating the mounting and detachment mechanism for the liquid dispensing module of the second handler.

[0031] FIG. 6 is a drawing for explaining the sealing structure of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0032] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0033] Throughout this specification, when a part is described as being "connected" to another part, this includes not only cases where they are "directly connected," but also cases where they are "electrically connected" or "indirectly connected" with other elements interposed between them.

[0034] Throughout the entire specification, when a component is described as being located "on," "on top," "on top," "under," "on bottom," or "on bottom" of another component, this includes not only cases where the component is in contact with the other component but also cases where another component exists between the two components.

[0035] Throughout this specification, when a part is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0036] The present invention relates to a vertical multi-joint robot having multiple end effectors.

[0037] FIG. 1 is a schematic diagram of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0038] Referring to FIG. 1, a vertical multi-joint robot (10) having a plurality of end effectors according to one embodiment of the present invention (hereinafter referred to as the 'vertical multi-joint robot (10)') may include a body part (100), a first handler (200), and a third handler (300). That is, the vertical multi-joint robot (10) disclosed herein may be configured to perform a plurality of different tasks based on a single robot by having a plurality of handlers or end effectors.

[0039] In this regard, in the description of the embodiments of the present invention, the handler is a device mounted on the end of the arm of a vertical multi-joint robot (10) to perform actual work, and may also be referred to as an end-effector. In particular, in the description of the embodiments of the present invention, the first handler (200) and the second handler (300) are each configured to perform different work functions, thereby providing the advantage of being able to perform multiple tasks simultaneously with a single vertical multi-joint robot (10) system.

[0040] In particular, the vertical multi-joint robot (10) disclosed herein may be designed to be used in a Good Manufacturing Practice (GMP) environment, and a GMP system may refer to an environment in the bio and pharmaceutical industries where maintaining sterility, preventing cross-contamination, and precise dispensing operations are required. In such an environment, multiple handler structures can improve work efficiency and minimize the risk of contamination by integrally performing liquid dispensing and container handling operations.

[0041] The body part (100) may be a component of a vertical multi-joint robot (10) configured to enable three-dimensional movement by connecting through a plurality of rotational joints. In other words, in the description of the embodiment of the present invention, the body part (100) may be a part corresponding to a main body for driving and moving the first handler (200) and the second handler (300), which are heterogeneous types of handlers described in detail below.

[0042] Additionally, referring to FIG. 1, the first handler (200) and the second handler (300) may be arranged side by side at the end of the body part (100) and each may be provided to be independently rotatable with respect to the end of the body part (100).

[0043] FIG. 2 is a drawing showing the detailed structure of the body portion of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0044] Referring to FIG. 2, the body portion (100) may include a base portion (110), a first support portion (120) rotatably coupled to the base portion (110), a second support portion (130) rotatably coupled to the first support portion (120), and a third support portion (140) rotatably coupled to the second support portion (130), with a first handler (200) and a second handler (300) respectively coupled to the end portion.

[0045] Specifically, the base portion (110) is located at the bottom of the vertical multi-joint robot (10) and may have a plate-like structure and may be a foundation part that is fixed to the floor surface to support the entire vertical multi-joint robot (10). For example, the base portion (110) may be formed in a square or circular flat plate shape, and a first rotational joint (θ1) may be disposed on its upper surface to rotatably support the first support portion (120). The size and shape of such a base portion (110) may be determined in various ways considering the working range and stability of the vertical multi-joint robot (10).

[0046] Additionally, the first support member (120) may have a column shape extending vertically from the upper surface of the base member (110). The first support member (120) may be rotatably coupled to the base member (110) through a first rotational joint (θ1), and a second rotational joint (θ2) may be provided at its upper end to rotatably support the second support member (130). For example, the first support member (120) may be formed in a cylindrical or polygonal column shape and may have a hollow structure to accommodate a drive motor and wiring inside.

[0047] Additionally, the second support member (130) may be formed to extend in an inclined direction from the upper end of the first support member (120). Specifically, the second support member (130) may extend in a forward and upward direction relative to the vertical extension direction of the first support member (120) and may be rotatably coupled to the first support member (120) around a second rotational joint (θ2). The second support member (130) may be provided with a third rotational joint (θ3) at its end to rotatably support the third support member (140). Additionally, the second support member (130) may have a hollow structure capable of accommodating a driving means and wiring inside, similar to the first support member (120).

[0048] Additionally, the third support member (140) may be formed to extend downward in a sloping direction again from the end of the second support member (130). Specifically, the third support member (140) may be extended forward and downward with respect to the extension direction of the second support member (130), thereby allowing the first support member (120), the second support member (130), and the third support member (140) to be continuously arranged in a zigzag shape.

[0049] A structure in which each support member is extended alternately in a zigzag direction can expand the workspace of the vertical multi-joint robot (10) while minimizing interference between each support member. At the end of the third support member (140), a fourth rotational joint (θ4) and a fifth rotational joint (θ5) are arranged side by side to support the first handler (200) and the second handler (300) so that they can rotate independently.

[0050] Additionally, referring to FIG. 2, a plurality of rotational joints of a vertical multi-joint robot (10) may include a first rotational joint (θ1) provided between a base part (110) and a first support part (120), a second rotational joint (θ2) provided between a first support part (120) and a second support part (130), a third rotational joint (θ3) provided between a second support part (130) and a third support part (140), a fourth rotational joint (θ4) provided between a third support part (140) and a first handler (200), and a fifth rotational joint (θ5) provided between a third support part (140) and a second handler (300).

[0051] Specifically, the first rotational joint (θ1) can rotate the first support member (120) using a horizontal direction corresponding to the upper surface of the base member (110) as the rotation axis. That is, the first rotational joint (θ1) can rotate the first support member (120) in the left and right directions using a direction perpendicular to the upper surface of the base member (110) as the rotation axis, thereby expanding the working area of ​​the vertical multi-joint robot (10) in the horizontal direction. The rotational range of the first rotational joint (θ1) can be set considering the shape of the workspace and interference with surrounding equipment.

[0052] Additionally, the second rotational joint (θ2) can rotate the second support member (130) using a rotational axis that is orthogonal to the rotational axis of the first rotational joint (θ1). That is, the second rotational joint (θ2) has a horizontal rotational axis and can rotate the second support member (130) in an up-and-down direction. The rotational range of the second rotational joint (θ2) can be set by considering the interference between the second support member (130) and the first support member (120), the working height range, etc.

[0053] Additionally, the third rotational joint (θ3) has a horizontal rotational axis similar to that of the second rotational joint (θ2) and can rotate the third support member (140) in the up and down direction. The rotational range of the third rotational joint (θ3) can be set by considering the interference between the third support member (140) and the second support member (130), the working position of the handler, etc. The rotational range of the third rotational joint (θ3) can determine the final reach height and position of the vertical multi-joint robot (10) arm in conjunction with the second rotational joint (θ2), and can be appropriately adjusted according to the placement height of the work target.

[0054] Additionally, the fourth rotational joint (θ4) has a horizontal rotational axis perpendicular to the rotational axis of the first rotational joint (θ1) and can rotate the first handler (200) in an up-and-down direction. The fourth rotational joint (θ4) is positioned at the end of the third support member (140) to adjust the posture of the first handler (200). The rotational range of the fourth rotational joint (θ4) can be set by considering the approach angle for gripping and rotating the cap of the container.

[0055] Additionally, the fifth rotation joint (θ5) is positioned parallel to the fourth rotation joint (θ4) and has a rotation axis in the same direction as the fourth rotation joint (θ4), allowing the second handler (300) to be rotated in the up and down direction. The fifth rotation joint (θ5) can adjust the position of the liquid dispensing module (1) mounted on the second handler (300). The rotational range of the fifth rotation joint (θ5) can be set considering the shape of the opening and the approach angle of the liquid dispensing target container, and can be configured to allow for fine angle adjustment for dispensing precision.

[0056] The first handler (200) may be a sub-module of a vertical multi-joint robot (10) that is coupled to the end of the body part (100) and configured to grip a container and open and close the cap (2) of the container.

[0057] For reference, in the description of the embodiments of the present invention, the term "container" may include various types of containers capable of holding liquid or solid samples, such as conical tubes, vials, reagent bottles, flasks, etc. In particular, a conical tube is a plastic laboratory tube with a conical bottom and may have a structure suitable for concentrating precipitates after centrifugation or recovering small amounts of liquid. Conical tubes typically have capacity specifications such as 15 mL or 50 mL, and in one embodiment of the present invention, a conical tube with a capacity of 50 mL may be used, but is not limited thereto. Additionally, the container may be equipped with a threaded screw cap at the top to seal the contents, and the first handler (200) may operate to open and close the container by gripping and rotating such a cap.

[0058] Additionally, referring to FIG. 2, the first handler (200) and the second handler (300) of the vertical multi-joint robot (10) may be arranged side by side at the end of the body part (100) and configured to be rotatable independently with respect to the end of the body part (100).

[0059] In this regard, considering that the first handler (200) and the second handler (300) are positioned side by side and can each perform work independently, the vertical multi-joint robot (10) can be controlled so that no collision occurs between the two handlers when they operate simultaneously. The main control unit (not shown) can monitor the current rotation angles of the fourth rotation joint (θ4) and the fifth rotation joint (θ5) to calculate the relative angle difference between the two handlers. For example, if the difference between the rotation angle of the fourth rotation joint (θ4) and the rotation angle of the fifth rotation joint (θ5) is less than a preset minimum safe angle, the main control unit (not shown) can determine that the two handlers are close to each other and there is a risk of collision. In such a case, the vertical multi-joint robot (10) can be controlled to temporarily suspend the operation of one of the two handlers, or to move it first in a direction where there is no risk of collision, and then resume the operation. In addition, the vertical multi-joint robot (10) can analyze the work schedules of the first handler (200) and the second handler (300) and, if the two handlers need to work in similar areas simultaneously, control the work order to be adjusted so that they are performed sequentially. Through this, the vertical multi-joint robot (10) can ensure a safe working environment while maintaining the efficiency of the dual handlers.

[0060] Below, the specific structure, shape, and function of the first handler (200) will be described in detail with reference to FIG. 3.

[0061] Figure 3 is a diagram illustrating the cap rotation mechanism of the first handler.

[0062] Referring to FIG. 3, the first handler (200) can perform the operation of opening the cap (2) by rotating it while holding the cap (2) of the container, or the operation of sealing the container by rotating the cap (2) in the reverse direction.

[0063] Specifically, referring to FIG. 3(a), the end of the first handler (200) may have a gripping structure to grip the cap of the container. Specifically, a pair of gripping members may be positioned opposite each other at the end of the first handler (200), and each gripping member may have a curved shape that wraps around the outer surface of the cap. When the first handler (200) automatically grips the cap of the conical tube, the pair of gripping members may move to approach each other in a horizontal direction as indicated by the arrows in the drawing.

[0064] Through this horizontal narrowing motion, the gripping members can grip the outer surface of the cap from both sides, and secure sufficient gripping force to fix the cap so that it does not slip. The movement of the gripping members can be implemented through a drive motor and a link mechanism, and the gap between the gripping members can be automatically adjusted according to the diameter of the cap.

[0065] Referring to FIG. 3(b) in distinction from this, when the first handler (200) automatically ungrips the cap of the conical tube, a pair of gripping members can move apart from each other in a horizontal direction as indicated by the arrows in the drawing. Through this horizontal spreading motion, the gripping members can be separated from the cap, and the first handler (200) can freely detach while the cap is fully coupled to the container.

[0066] The ungrip operation can be performed as the reverse process of the grip operation, and the first handler (200) can move to the next working position without interference with the cap by retracting the gripping member by a distance sufficiently separated from the cap.

[0067] Additionally, according to one embodiment of the present invention, the first handler (200) can perform the operation of opening the cap by rotating in a forward direction while gripping the cap. Specifically, when the first handler (200) rotates in a forward direction corresponding to the thread direction of the cap, the cap can be released and separated from the container, thereby allowing access to the inside of the container.

[0068] Conversely, the first handler (200) can perform the operation of sealing the container by rotating in the reverse direction while gripping the cap. Through reverse rotation, the cap is fastened to the threads of the container and can seal the inside of the container by tightening it with an appropriate torque. The rotation angle and torque of the first handler (200) can be controlled through a sensor that detects the fastening state of the cap, and damage to the cap or container due to excessive tightening can be prevented.

[0069] In addition to this, the second handler (300) may be a sub-module of a vertical multi-joint robot (10) that is coupled to the end of the body part (100), supports the liquid dispensing module (1) so as to be mounted and detachable, and is configured to dispense liquid using the liquid dispensing module (1).

[0070] For reference, in the description of the embodiments of the present invention, the 'liquid dispensing module (1)' is a device for measuring and transferring a precise amount of liquid, and may include, for example, a pipette. The pipette is an experimental tool capable of precisely sucking in and discharging a predetermined volume of liquid, and can operate by sucking in and discharging liquid using a plunger.

[0071] According to one embodiment of the present invention, the liquid dispensing module (1) may be a pipette with a capacity of 10 mL or 25 mL, and a disposable tip may be attached to the end of the pipette to make direct contact with the liquid. The pipette may be used for various experimental tasks such as dispensing cell culture medium, mixing reagents, and processing samples, and may enable precise volume control in microliter (μL) units. The liquid dispensing module (1) may be detachably mounted on the second handler (300) and may be automatically discharged and replaced after the work is completed.

[0072] Below, the specific structure, shape, and function of the second handler (300) will be described in detail with reference to FIGS. 4 and FIGS. 5.

[0073] Figure 4 is a diagram showing the arrangement structure of the liquid dispensing control module of the second handler.

[0074] Referring to FIG. 4, a liquid dispensing control module (301) for controlling the operation of the liquid dispensing module (1) may be placed on the upper part of the third support member (140).

[0075] In this regard, in the description of the embodiment of the present invention, the liquid dispensing control module (301) may be fixedly installed on the upper surface of the third support member (140) and may be positioned adjacent to the second handler (300) and electrically connected to the liquid dispensing module (1). The liquid dispensing control module (301) may include a control circuit and driving means capable of driving the plunger of the liquid dispensing module (1) mounted on the second handler (300), controlling the suction and discharge speeds, or precisely adjusting the dispensing capacity.

[0076] In addition, according to one embodiment of the present invention, the liquid dispensing control module (301) can be connected to the main control unit (not shown) of the vertical multi-joint robot (10) via cable or wireless communication and can receive a sensor feedback signal to improve the precision of the dispensing operation.

[0077] In addition, according to one embodiment of the present invention, the liquid dispensing control module (301) of the vertical multi-joint robot (10) can precisely control the dispensing speed and dispensing capacity when performing a dispensing operation using the liquid dispensing module (1). For example, the liquid dispensing control module (301) can compare a preset target dispensing capacity with the cumulative dispensing capacity dispensed so far, and if the remaining dispensing capacity is greater than or equal to a first capacity reference value, it can discharge the liquid at a first dispensing speed, and if the remaining dispensing capacity is less than the first capacity reference value and greater than or equal to a second capacity reference value, it can discharge the liquid at a second dispensing speed that is slower than the first dispensing speed, wherein the second capacity reference value can be set to a value smaller than the first capacity reference value.

[0078] Through this stepwise speed control, the vertical multi-joint robot (10) can improve dispensing accuracy by dispensing a large amount of liquid at a high speed initially, and dispensing it precisely at a slow speed as it approaches the target capacity.

[0079] Additionally, the liquid dispensing control module (301) of the vertical multi-joint robot (10) can adjust the dispensing speed according to the viscosity or temperature of the liquid. For example, if the liquid dispensing control module (301) determines that the viscosity of the liquid has increased when the temperature of the liquid obtained through the temperature sensor is lower than a preset reference temperature, it can set the dispensing speed to a low-temperature dispensing speed that is slower than the reference dispensing speed. Conversely, if the temperature of the liquid is higher than the reference temperature, the vertical multi-joint robot (10) can set the dispensing speed to a reference dispensing speed or a high-temperature dispensing speed that is faster than the reference dispensing speed.

[0080] As another example, the liquid dispensing control module (301) can estimate the viscosity of the liquid based on pressure changes detected upon suction, and can reduce the dispensing speed if the estimated viscosity is greater than or equal to a preset viscosity threshold. Through this, the vertical multi-joint robot (10) can maintain consistent dispensing accuracy for various types of liquids.

[0081] FIG. 5 is a diagram illustrating the mounting and detachment mechanism for the liquid dispensing module of the second handler.

[0082] Referring to FIG. 5, the second handler (300) can perform the action of supporting the liquid dispensing module (1) while the liquid dispensing operation is being performed or the action of automatically dispensing the liquid dispensing module (1) after the liquid dispensing operation is completed.

[0083] Specifically, referring to FIG. 5(a), the liquid dispensing module (1) is shown mounted on the second handler (300) when performing a liquid dispensing operation. In this mounted state, the liquid dispensing module (1) is stably fixed to the support portion of the second handler (300) and connected to the liquid dispensing control module (301) to perform a dispensing operation. At this time, the pressurizing member (302) can maintain a state of moving upward. By positioning the pressurizing member (302) upward, it does not interfere with the lower portion of the liquid dispensing module (1), and the liquid dispensing module (1) can maintain a state of being stably coupled to the second handler (300). The upward movement of the pressurizing member (302) can be controlled via a driving motor or a solenoid, and the pressurizing member (302) can remain in a standby position during the liquid dispensing operation.

[0084] Referring to FIG. 5(b) separately from this, a state is illustrated in which a pressurizing member (302) moves downward to discharge the liquid dispensing module (1) after the liquid dispensing operation is completed. When the pressurizing member (302) moves downward, a force can be applied to push the lower part of the liquid dispensing module (1) downward, thereby separating the liquid dispensing module (1) from the end of the second handler (300). The downward movement of the pressurizing member (302) can be controlled at a constant speed, and the discharge operation can be performed with an appropriate pressurizing force so as not to damage the liquid dispensing module (1). The discharged liquid dispensing module (1) can fall downward by gravity or be placed on a separate receiving tray, and thereafter, the second handler (300) can move to the next position to mount a new liquid dispensing module (1).

[0085] FIG. 6 is a drawing for explaining the sealing structure of a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention.

[0086] Referring to FIG. 6, the vertical multi-joint robot (10) disclosed herein may be provided with a sealing structure corresponding to each of a plurality of rotational joints to block the inflow of contaminants between the inside and outside of the body part (100).

[0087] Specifically, in the description of the embodiments of the present invention, the sealing structure may refer to a sealing means for blocking the inflow of particles and contaminants that may occur in the rotating part of a rotating joint. The sealing structure may include, for example, a sealing member such as an O-ring, a lip seal, or a mechanical seal, and may seal the gap between the rotating shaft and the housing.

[0088] According to one embodiment of the present invention, a sealing structure may be provided corresponding to each of the first rotational joint (θ1), the second rotational joint (θ2), the third rotational joint (θ3), the fourth rotational joint (θ4), and the fifth rotational joint (θ5). Through these five sealing structures, wear particles, lubricants, grease, etc. generated inside the body part (100) of the vertical multi-joint robot (10) can be prevented from leaking to the outside, and at the same time, external dust, moisture, and contaminants can be blocked from penetrating into the vertical multi-joint robot (10).

[0089] In addition, the sealing structure can be formed of an elastic material to maintain a sealed state even during rotational movement of the rotating joint, and can block the movement path of particles by adhering to the axis of rotation. Through this, the vertical multi-joint robot (10) disclosed herein can satisfy the high cleanliness required in a GMP environment and can be used stably even in a cleanroom.

[0090] In addition, according to one embodiment of the present invention, a vertical multi-joint robot (10) can detect the wear condition of a sealing structure and determine the maintenance time. Each rotating joint may be equipped with a sensor capable of indirectly detecting wear of the sealing structure, and, for example, the particle concentration may be measured through a particle sensor installed in the internal space of the rotating joint. If the measured particle concentration exceeds a preset first particle reference value, the main control unit (not shown) may determine that the sealing structure of the corresponding rotating joint is worn and its sealing performance has deteriorated. In addition, if the particle concentration exceeds a second particle reference value which is greater than the first particle reference value, the main control unit (not shown) may determine that immediate replacement of the sealing structure is required, stop the operation, and provide a warning notification.

[0091] As another example, the vertical multi-joint robot (10) can count the cumulative number of rotations or the cumulative operating time of each rotational joint, and if the cumulative number of rotations exceeds a preset reference number of rotations or the cumulative operating time exceeds the reference operating time, it can provide a notification recommending the preventive replacement of the sealing structure. Through this, the vertical multi-joint robot (10) can prevent contamination accidents caused by the failure of the sealing structure in advance and continuously maintain the cleanliness of the GMP environment.

[0092] Meanwhile, according to one embodiment of the present invention, a vertical multi-joint robot (10) can determine whether each handler is in a state where it can operate by sensing the current rotation angle of at least one of the first rotation joint (θ1) to the fifth rotation joint (θ5) in order to control the driving of the first handler (200) or the second handler (300). To this end, each rotation joint may be equipped with an angle sensor, such as an encoder that detects the rotation angle, and the vertical multi-joint robot (10) can determine the current posture based on the angle information obtained from such sensors. A main control unit (not shown) can determine whether the vertical multi-joint robot (10) is in a position and posture suitable for performing a specific task by comparing the rotation angle of each sensed rotation joint with a preset reference angle range.

[0093] For example, in the overall layout of the GMP system, if the discharge of the liquid dispensing module (1) is allowed only in a specific area, the main control unit (not shown) can check whether the rotation angle of the first rotation joint (θ1) is greater than or equal to the first reference angle and less than or equal to the second reference angle, wherein the first reference angle can be set to a value smaller than the second reference angle.

[0094] In addition, the vertical multi-joint robot (10) can determine whether the height and front-to-back position of the robot arm are within the discharge allowance area by checking whether the rotation angles of the second rotation joint (θ2) and the third rotation joint (θ3) are each greater than or equal to a preset lower limit angle and less than or equal to an upper limit angle.

[0095] In other words, the main control unit (not shown) of the vertical multi-joint robot (10) can determine the operable state by synthesizing the state information of the sensed rotational joints. Specifically, the main control unit (not shown) can allow the operation of the handler only when the rotation angles of each of the first rotational joint (θ1) to the fifth rotational joint (θ5) are all within the reference angle range corresponding to the task.

[0096] As another example, for the vertical multi-joint robot (10), the rotation angle of the fourth rotational joint (θ4) must be within a range corresponding to the cap approach reference angle so that the first handler (200) can open and close the cap of the container, and the first handler (200) can be verified to be accurately positioned on the top of the container through the combined angle information of the first rotational joint (θ1), the second rotational joint (θ2), and the third rotational joint (θ3). If one or more rotational joints are out of the reference angle range, the main control unit (not shown) can stop the operation of the handler or control the operation of the handler by first moving the corresponding rotational joint to an appropriate angle. Through this, the vertical multi-joint robot (10) can prevent operation errors and ensure safety and reproducibility required in a GMP environment.

[0097] In addition, according to one embodiment of the present invention, the vertical multi-joint robot (10) can dynamically adjust the range of motion of the fourth rotational joint (θ4) and the fifth rotational joint (θ5) according to the driving state of the first handler (200) or the second handler (300). For example, when the first handler (200) is gripping the cap (2) of the container, the vertical multi-joint robot (10) can limit the range of motion of the fourth rotational joint (θ4) to be greater than or equal to the minimum angle of gripping and less than or equal to the maximum angle of gripping, wherein the minimum angle of gripping can be set to a value smaller than the maximum angle of gripping. This limitation of the range of motion can prevent the cap (2) from being damaged or unintentionally separated from the container due to excessive rotation while gripping the cap (2).

[0098] Conversely, in a standby state where the first handler (200) is not gripping the cap, the vertical multi-joint robot (10) can set the range of motion of the fourth rotational joint (θ4) to be greater than or equal to the minimum angle of the standby state and less than or equal to the maximum angle of the standby state, wherein the minimum angle of the standby state is smaller than the minimum angle of the gripping state and the maximum angle of the standby state is larger than the maximum angle of the gripping state.

[0099] Similarly, when the liquid dispensing module (1) is mounted on the second handler (300), the vertical multi-joint robot (10) can limit the range of motion of the fifth rotational joint (θ5) to be greater than or equal to the first critical angle of the mounting state and less than or equal to the second critical angle of the mounting state, wherein the first critical angle of the mounting state can be set to a value smaller than the second critical angle of the mounting state. This prevents the liquid from scattering or the liquid dispensing module (1) from unintentionally falling off the second handler (300) due to sudden rotation while the liquid dispensing module (1) is mounted.

[0100] On the other hand, when the liquid dispensing module (1) is not mounted on the second handler (300), the vertical multi-joint robot (10) can set the range of motion of the fifth rotational joint (θ5) to be greater than or equal to the first critical angle in the non-mounted state and less than or equal to the second critical angle in the non-mounted state, wherein the first critical angle in the non-mounted state is smaller than the first critical angle in the mounted state, and the second critical angle in the non-mounted state is larger than the second critical angle in the mounted state. The main control unit (not shown) can detect the current operating state of the handler through a sensor equipped in each handler, and, for example, can detect whether the cap is being gripped through a pressure sensor equipped in the gripping member of the first handler (200), or detect whether the liquid dispensing module (1) is mounted through a proximity sensor or a weight sensor equipped in the second handler (300). Through such dynamic range of motion adjustment, the vertical multi-joint robot (10) can improve operational safety and perform control optimized for each operational state.

[0101] In addition, according to one embodiment of the present invention, the vertical multi-joint robot (10) can control the rotational torque to prevent damage to the cap or container due to excessive rotational torque when the first handler (200) rotates the cap. For example, when the first handler (200) rotates the cap in the reverse direction to seal the container, the main control unit (not shown) can monitor the rotational torque of the fourth rotational joint (θ4), and can stop the rotational operation if the rotational torque exceeds a preset first torque threshold. At this time, the first torque threshold can be set to a torque value within a range where the cap is safely sealed to the container without damaging the screw threads or the material of the cap.

[0102] As another example, when the first handler (200) rotates the cap in the forward direction to open it, the main control unit (not shown) may determine that the cap is excessively tightened or difficult to open due to foreign matter if the rotational torque exceeds the second torque threshold, where the second torque threshold may be set to be greater than the first torque threshold. In such cases, the vertical multi-joint robot (10) may reduce the rotational speed, gradually loosen the cap by alternating the rotational direction, or provide a notification to the operator.

[0103] A driving method for a vertical multi-joint robot having a plurality of end effectors according to one embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either individually or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the present invention, or may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The above-described hardware device may be configured to operate as one or more software modules to perform the operation of the present invention, and vice versa.

[0104] In addition, the driving method of a vertical multi-joint robot having the aforementioned plurality of end effectors can also be implemented in the form of a computer program or application executed by a computer stored on a recording medium.

[0105] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical concept or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0106] The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and the concept of equivalents thereof should be interpreted as being included within the scope of the present invention.

[0107] [Explanation of the symbol]

[0108]

[0001] 10: Vertical articulated robot with multiple end effectors

[0109] 100: Body part

[0110] 110: Base section

[0111] 120: 1st Support Section

[0112] 130: 2nd Support Section

[0113] 140: 3rd Support Unit

[0114] 200: 1st Handler

[0115] 300: 2nd Handler

[0116] 301: Liquid dispensing control module

[0117] θ1: First rotational joint

[0118] θ2: Second rotational joint

[0119] θ3: Third rotational joint

[0120] θ4: 4th rotational joint

[0121] θ5: 5th rotational joint

[0122] 1: Liquid dispensing module

[0123] 2: Cap

Claims

1. In a vertical multi-joint robot having multiple end effectors, A body part connected through multiple rotational joints to enable three-dimensional movement; A first handler coupled to the end of the body portion and configured to grip the container and open and close the cap of the container; and A second handler coupled to the end of the above-mentioned body portion, supporting a liquid dispensing module so as to be mounted and detachable, and configured to dispense liquid using the liquid dispensing module, A vertical multi-joint robot including 2. In Paragraph 1, A vertical multi-joint robot in which the first handler and the second handler are arranged side by side at the end of the body part and are each configured to rotate independently with respect to the end of the body part.

3. In Paragraph 1, The above body part is, Base section; A first support member rotatably coupled to the base member; A second support member rotatably coupled to the first support member; and A third support member rotatably coupled to the second support member, to which the first handler and the second handler are coupled, A vertical multi-joint robot that includes 4. In Paragraph 3, The above plurality of rotational joints are, A first rotational joint provided between the base part and the first support part; A second rotational joint provided between the first support member and the second support member; A third rotational joint provided between the second support member and the third support member; A fourth rotational joint provided between the third support member and the first handler; and A fifth rotary joint provided between the third support member and the second handler, A vertical multi-joint robot that includes 5. In Paragraph 1, A vertical multi-joint robot characterized by having a sealing structure for blocking the inflow of contaminants between the inside and outside of the body portion, provided to correspond to each of the plurality of rotational joints.

6. In Paragraph 3, A vertical multi-joint robot characterized by a liquid dispensing control module for controlling the operation of the liquid dispensing module being positioned on the upper part of the third support member.

7. In Paragraph 1, The above-mentioned first handler is, A vertical multi-joint robot that performs the operation of opening the cap by rotating it while gripping the cap of the container, or the operation of sealing the container by rotating the cap in the reverse direction.

8. In Paragraph 1, The above-mentioned second handler is, A vertical multi-joint robot that performs the action of supporting the liquid dispensing module while the liquid dispensing operation is being performed or the action of automatically dispensing the liquid dispensing module after the liquid dispensing operation is completed.

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