Genderless base connection device

Abstract

The present invention relates to a genderless base connection device and, more specifically, to a genderless base connection device in which there is no distinction between male and female connection types so that directivity does not to be considered during a mechanical and electrical connection between modules. In order to accomplish the objective, the present invention provides the genderless connection device comprising: a lower base module provided on the floor surface; and an upper base module coupled to the upper portion of the lower base module and coupled by sliding from one side to the other side of the lower base module, wherein the upper base module can, even while rotated by a multiple of 90 degrees, be inserted into and coupled to the lower base module.

Description

Genderless base connector

[0001] The present invention relates to a genderless base connection device, and more specifically, to a genderless base connection device that eliminates the need to consider directionality when mechanically and electrically connecting modules by eliminating the distinction between male and female sexes.

[0002]

[0003] With the advancement of robotic technology, robots performing various tasks are being utilized in manufacturing, service industries, logistics, and the medical sector. In particular, manipulators such as robotic arms require rapid attachment, detachment, and expansion depending on the work environment, and various base connection devices are being developed to meet this need.

[0004] Conventional robot base connectors typically utilize a planetary system distinguished by male and female forms. This method has the disadvantage of low versatility due to its fixed coupling direction. Furthermore, when expanding to higher system levels through module integration, the limited degrees of freedom in the coupling direction during assembly complicates the design of the integrated system. Additionally, since they often provide only simple mechanical connections, environments requiring electrical, pneumatic, or hydraulic connections necessitate additional interfaces, making the assembly process cumbersome.

[0005] With the recent rise in importance of robot modularity, there is a growing need for connection technologies that allow users to freely combine components in their desired manner. However, existing genderless connector technologies also exhibit limitations in terms of scalability and struggle to adapt to diverse work environments as they focus primarily on mechanical connections.

[0006] Accordingly, there is a demand for genderless base connector technology that allows users to selectively attach and detach electrical, pneumatic, and hydraulic modules as needed, while ensuring structural rigidity in the shear direction and being applicable to various working environments.

[0007]

[0008] <Prior Art Literature>

[0009] Korean Published Patent 10-2015-0070370

[0010]

[0011] The objective of the present invention to solve the above-mentioned problem is to provide a genderless base connection device that eliminates the need to consider directionality during mechanical and electrical connections between modules by eliminating the distinction between male and female sexes.

[0012] The technical problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art to which the present invention belongs from the description below.

[0013]

[0014] The present invention provides a genderless base connection device for achieving the above-mentioned purpose, comprising: a lower base module installed on a floor surface; and an upper base module coupled to the upper part of the lower base module, which is coupled by sliding from one side of the lower base module to the other side, wherein the upper base module is configured to be insertable and coupled to the lower base module even when rotated in 90-degree increments.

[0015] In an embodiment of the present invention, the lower base module may be characterized by comprising: a lower body portion formed on a bottom surface and forming a body; a lower coupling portion formed on the upper surface of the lower body portion, extending along the length direction of the lower body portion and spaced apart in the width direction of the lower body portion; and a lower insertion portion formed on the upper surface of the lower body portion where the lower coupling portion is not formed and extending along the length direction of the lower body portion to form a path into which the upper base module is inserted.

[0016] In an embodiment of the present invention, the lower coupling portion may be characterized by being formed to extend from one side to the other of the lower body portion in a trapezoidal cross-sectional shape in which the width increases toward the top.

[0017] In an embodiment of the present invention, the upper base module may be characterized by comprising: an upper body portion forming a body; an upper coupling portion formed on the lower surface of the upper body portion and arranged at regular intervals in the length and width directions of the upper body portion; and an upper insertion portion formed between adjacent upper coupling portions, extending in multiple numbers in the length and width directions of the upper body portion, and arranged to form a path into which the lower coupling portion is inserted.

[0018] In an embodiment of the present invention, the upper coupling portion may be characterized by comprising: a coupling block extending toward the lower part of the upper body portion; and an inclined surface formed on a side portion of the coupling block that contacts the upper insertion portion and is formed to face outward as it extends downward, wherein the angle of the inclined surface is set to have a cross-sectional shape corresponding to the upper insertion portion and the lower coupling portion.

[0019] In an embodiment of the present invention, the lower base module further includes a sensing part formed in the lower coupling part or the lower insertion part, and the sensing part may be characterized by being provided to detect whether the upper base module is normally inserted and the direction of rotation.

[0020] In an embodiment of the present invention, the sensing member may be characterized by comprising: a sensor receiving hole formed on the upper surface of the lower insertion part or the lower coupling part and having an open top; a first sensor provided in the sensor receiving hole; and a second sensor provided in the sensor receiving hole and formed closer to the end side of the lower body part than the first sensor.

[0021] In an embodiment of the present invention, the upper base module further comprises an upper coupling groove portion provided at a position corresponding to the sensor receiving hole, wherein the upper coupling groove portion is located at the end side in the 90-degree direction of the upper body portion and is formed at a position corresponding to the first sensor; a first groove unit located at the end side in the 180-degree direction of the upper body portion and is formed at a position corresponding to the second sensor; and a third groove unit located at the end side in the 270-degree direction of the upper body portion and is formed at a position corresponding to the first sensor and the second sensor.

[0022] In an embodiment of the present invention, the first sensor and the second sensor may be characterized by including a light-emitting unit that emits light; and a light-receiving unit that detects the intensity of light reflected back from the light-emitting unit and outputs an electrical signal.

[0023] In an embodiment of the present invention, the sensing unit may be characterized by being configured to detect the mounting state and rotation direction of the upper base module according to the electrical signals detected by the first sensor and the second sensor.

[0024] In an embodiment of the present invention, the lower base module may be characterized by further including a plurality of fixing holes formed in the lower body portion, into which a coupling unit can be inserted to be coupled with the bottom surface.

[0025] In an embodiment of the present invention, the upper base module may be characterized by further including a coupling hole formed in the upper body portion and capable of coupling a robot module located on the upper part of the upper body portion.

[0026] In an embodiment of the present invention, the lower base module may further include a fixing part formed on an outer side and configured to be fixed by being coupled to the side of the upper base module while the upper base module is connected on the lower base module.

[0027] The present invention, for achieving the above-mentioned purpose, provides a robot module comprising a genderless base connecting device according to the invention; and a robot arm coupled to the upper part of the genderless base connecting device.

[0028]

[0029] The effect of the present invention according to the above configuration is that modules can be easily combined without distinction between male and female.

[0030] In addition, when modules are combined, the problem of some modules malfunctioning can be resolved by recognizing the direction and providing notifications and correcting the posture.

[0031] In addition, it has the advantage of being efficient and easy to replace, as necessary modules can be easily separated depending on the situation.

[0032] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the invention or the claims.

[0033]

[0034] FIG. 1 is an exemplary diagram of a robot module equipped with a genderless base connection device according to an embodiment of the present invention.

[0035] FIG. 2 is a top-view perspective of a genderless base connection device according to an embodiment of the present invention.

[0036] FIG. 3 is an upper plan view of a lower base module according to an embodiment of the present invention.

[0037] FIG. 4 is a cross-sectional view showing a sensing unit according to an embodiment of the present invention.

[0038] FIG. 5 is a perspective view of a genderless base connection device according to an embodiment of the present invention, viewed from below.

[0039] FIG. 6 is a lower plan view of an upper base module according to an embodiment of the present invention.

[0040] FIG. 7 is a front view of a genderless base connection device according to an embodiment of the present invention.

[0041] FIG. 8 is a side view of a genderless base connection device according to an embodiment of the present invention.

[0042] FIG. 9 is a perspective view showing the state before coupling of a genderless base connection device according to an embodiment of the present invention.

[0043] FIG. 10 is a perspective view showing the state during assembly of a genderless base connection device according to an embodiment of the present invention.

[0044] FIG. 11 is a perspective view showing the state after coupling of a genderless base connection device according to an embodiment of the present invention.

[0045] FIG. 12 is an exemplary diagram showing the detection results of the sensing unit according to the rotation direction of the upper base module according to an embodiment of the present invention.

[0046]

[0047] A most preferred embodiment according to the present invention comprises: a lower base module installed on a bottom surface; and an upper base module coupled to the upper part of the lower base module, which is coupled by sliding from one side of the lower base module to the other side, wherein the upper base module is configured to be insertable and coupled to the lower base module even when rotated in 90-degree increments.

[0048]

[0049] The present invention will be described below with reference to the attached drawings. However, the present invention can be implemented in various different forms and is therefore 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 have been given similar reference numerals.

[0050] Throughout the specification, when it is stated that a part is "connected (connected, in contact, combined)" with another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components.

[0051] The terms used herein are merely for describing specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0052] Additionally, terms such as "...part," "...unit," and "...module" described in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware, software, or a combination of hardware and software.

[0053] Additionally, in this specification, when a step is described as being located "before" or "after" another step, this includes not only cases where a step is in a direct chronological relationship with another step, but also cases where there is an indirect chronological relationship in which the chronological order of the two steps may change, such as a mixing step following each step.

[0054] Embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0055] FIG. 1 is an exemplary diagram of a robot module equipped with a genderless base connection device according to an embodiment of the present invention, and FIG. 2 is a perspective view of a genderless base connection device according to an embodiment of the present invention viewed from above.

[0056] FIG. 3 is an upper plan view of a lower base module according to an embodiment of the present invention, and FIG. 4 is a cross-sectional view showing a sensing part according to an embodiment of the present invention.

[0057] FIG. 5 is a perspective view of a genderless base connection device according to an embodiment of the present invention viewed from below, and FIG. 6 is a bottom plan view of an upper base module according to an embodiment of the present invention.

[0058] FIG. 7 is a front view of a genderless base connection device according to an embodiment of the present invention, and FIG. 8 is a side view of a genderless base connection device according to an embodiment of the present invention.

[0059] FIG. 9 is a perspective view showing the state before coupling of a genderless base connecting device according to an embodiment of the present invention, FIG. 10 is a perspective view showing the state during coupling of a genderless base connecting device according to an embodiment of the present invention, and FIG. 11 is a perspective view showing the state after coupling of a genderless base connecting device according to an embodiment of the present invention.

[0060] Referring to FIGS. 1 to 11, the genderless base connection device (10) may include a lower base module (100) and an upper base module (200).

[0061] The lower base module (100) is installed on the floor surface and may include a lower body part (110), a lower coupling part (120), a lower insertion part (130), a sensing part (140), and a fixing hole (150).

[0062] The lower body part (110) is a portion that forms the body of the lower base module (100) and can be installed on the floor surface. The lower body part (110) can be provided in the shape of a rectangular plate as illustrated. However, the shape of the lower body part (110) is not limited to this, and it is also possible to provide it in the shape of a cube, a cylinder, etc. Such a lower body part (110) can be provided at a location where the robot module (20) is to be positioned.

[0063] The lower coupling portion (120) is formed to protrude in the direction of the upper surface of the lower body portion (110) and may be formed to extend in the longitudinal direction from one end to the other end of the lower body portion (110). The lower coupling portion (120) may be provided in a plurality, and the plurality of lower coupling portions (120) may be formed spaced apart at a predetermined interval in the width direction of the lower body portion (110).

[0064] More specifically, the longitudinal section of the lower coupling part (120) is provided in a trapezoidal cross-sectional shape in which the width increases toward the top, and the trapezoidal cross-sectional shape may be provided in a form that extends from one side to the other side of the lower body part (110).

[0065] The lower insertion portion (130) may be formed as a portion of the upper surface of the lower body portion (110) where the lower coupling portion (120) is not formed, and may be extended in the longitudinal direction of the lower body portion (110) to form a path into which the upper base module (200) is inserted.

[0066] Specifically, the lower insertion part (130) may be formed between adjacent lower coupling parts (120) and between the lower coupling part (120) and the side of the lower body part (120) in the width direction. Accordingly, the shape of the lower insertion part (130) may be provided as a groove shape in which the upper and lower parts are inverted from the shape of the adjacent lower coupling part (120).

[0067] The above-mentioned sensing unit (140) may be formed in the lower coupling unit (120) or the lower insertion unit (130) to detect whether the upper base module (200) is properly inserted and the rotational direction of the inserted upper base module (200). Although the sensing unit (140) is shown as being formed in the lower coupling unit (120) in the drawing, it may also be provided in the lower insertion unit (130).

[0068] The above detection unit (140) may include a sensor receiving hole (141), a first sensor (142), and a second sensor (143).

[0069] The sensor receiving hole (141) is provided on the upper surface of the lower coupling part (120) or the lower insertion part (130) and may be formed in the shape of a hole with an open top. The first sensor (142) and the second sensor (143) may be provided to be located inside the sensor receiving hole (141).

[0070] The first sensor (142) and the second sensor (143) are provided in the sensor receiving hole (141) and may be arranged along the length of the lower insertion part (130). Specifically, the second sensor (143) may be arranged to be positioned closer to the end side than the first sensor (142).

[0071] More specifically, the first sensor (142) and the second sensor (143) may include a light-emitting unit and a light-receiving unit.

[0072] The above-mentioned light-emitting unit may be configured to emit light toward the top.

[0073] The light receiving unit may be configured to detect the intensity of light reflected back from the light emitting unit and output an electrical signal. More specifically, the light receiving unit may be configured to detect the intensity of light, measure the voltage, and thereby measure the distance to the target object, the upper base module (200), very finely and precisely. The light receiving unit may be configured to detect the upper base module (200) at a point where the electrical signal changes rapidly depending on the distance.

[0074] The mounting status and insertion rotation direction of the upper base module (200) may be determined in real time according to the electrical signals detected by the first sensor (142) and the second sensor (143) provided in this manner, and a detailed explanation thereof will be provided later.

[0075] The above fixing hole (150) is a plurality of holes formed in the lower body part (110), into which a coupling unit such as a screw or bolt can be inserted to be coupled with the bottom surface.

[0076] Meanwhile, the lower base module (100) may further include a fixed part (160).

[0077] The above fixing part (160) is provided on the side of the lower base module (100), and can be provided to be fixed by being connected to the side of the upper base module (200) when the upper base module (200) is fully seated and connected to the upper surface of the lower base module (100).

[0078] The above fixing part (160) may be provided in a hinge manner as illustrated, so as to be screw-coupled to the side of the lower base module (100) and the upper base module (200), and all other types of fixing methods are also possible.

[0079] The upper base module (200) may be coupled to the upper part of the lower base module (100), and may be configured to be coupled by sliding from one side of the lower base module (100) to the other side.

[0080] The upper base module (200) may include an upper body part (210), an upper coupling part (220), an upper insertion part (230), an upper coupling groove part (240), and a coupling hole (250).

[0081] The upper body portion (210) may be provided to form the body of the upper base module (200). The upper body portion (210) may be provided with a shape and size corresponding to the lower body portion (110), and may be provided in the form of a rectangular plate shape as illustrated. However, the shape of the upper body portion (210) is not limited thereto, and it is also possible to provide it in the shape of a cube, a cylinder, etc. The robot module (20) may be provided to be coupled to the upper part of the upper body portion (210).

[0082] The upper coupling portion (220) may be formed on the lower surface of the upper body portion (210) and arranged at regular intervals in the length and width directions.

[0083] Specifically, the upper coupling part (220) may include a coupling block (221) and an inclined surface (222).

[0084] The above-mentioned coupling block (221) is provided to protrude toward the lower part of the upper body portion (210) and may be arranged at regular intervals along the length and width directions of the upper body portion (210). The protruding height of the coupling block (221) may be provided to be the same as the protruding height of the lower coupling portion (120).

[0085] The inclined surface (222) is an inclined surface formed on the side portion of the coupling block (221) that contacts the upper insertion part (230), and may be formed to face outward as it extends downward. At this time, the angle of the inclined surface (222) may be provided to be the same as the side angle of the lower coupling part (120). As a result, the angle of the inclined surface (222) may be provided to have a cross-sectional shape corresponding to the upper insertion part (230) and the lower coupling part (120).

[0086] The upper insertion part (230) may be formed between adjacent upper coupling parts (220) to form a path into which the lower coupling part (120) is inserted. The upper insertion part (230) may be provided in multiple numbers and may extend in the length and width directions of the upper body part (210).

[0087] The upper base module (200) provided in this manner can be configured to be inserted and coupled to the lower base module (100) even when rotated in 90-degree increments regardless of direction, as shown in FIG. 6.

[0088] The upper coupling groove (240) is a groove portion formed in the upper base module (200) and can be formed at a position corresponding to the sensor receiving hole.

[0089] Specifically, the upper coupling groove portion (240) may include a first groove unit (241), a second groove unit (242), and a third groove unit (243).

[0090] As shown in Fig. 6, a groove unit is not provided on the end side in the 0-degree direction.

[0091] The first groove unit (241) may be located at an upper coupling part (220) or an upper insertion part (230) provided at the end side in a 90-degree direction. More specifically, the first groove unit (241) may be provided in a groove shape at a position corresponding to the first sensor (142), and formed to be deeper than the surrounding area. Additionally, the first groove unit (241) may be provided in a slanted shape inclined in one direction.

[0092] The second groove unit (242) may be located in an upper coupling part (220) or an upper insertion part (230) provided at the end side in the 180-degree direction. More specifically, the second groove unit (242) may be provided in a groove shape at a position corresponding to the second sensor (143), and formed to be deeper than the surrounding area. Additionally, the second groove unit (242) may be provided in a slanted shape inclined in one direction.

[0093] The third groove unit (243) may be located in an upper coupling part (220) or an upper insertion part (230) provided at the end side in the 270-degree direction. The third groove unit (243) may be provided in a groove shape at a position corresponding to the first sensor (142) and the second sensor (143), and formed to be deeper than the surrounding area. Additionally, the third groove unit (243) may be provided in a rectangular groove shape such that the grooves formed at positions corresponding to the first sensor (142) and the second sensor (143) are mutually connected. Furthermore, the third groove unit (243) may be provided in an inclined shape tilted in one direction.

[0094] The above detection unit (140) can detect in real time whether the upper base module (200) is properly inserted and the direction of rotation through the upper coupling groove (240) provided in this manner.

[0095] In addition, since each home unit in the above-mentioned sensing unit (140) is formed as an inclined surface, it is possible to measure the distance in real time to detect when the upper base module (200) is inserted less or more into the lower base module (100).

[0096] FIG. 12 is an exemplary diagram showing the detection results of the sensing unit according to the rotation direction of the upper base module according to an embodiment of the present invention.

[0097] Specifically, referring further to FIG. 12, the sensing unit (140) can recognize that the upper base module (200) is inserted in a 180-degree direction when the distance detected by the first sensor (142) corresponds to the distance to the upper coupling unit (220) or the upper insertion unit (230), and the distance detected by the second sensor (143) corresponds to a preset normal depth among the depths of the second home unit (242). At this time, if the distance measured by the second sensor (143) is shorter than the preset normal depth, it is detected as being less inserted, and if it is longer than the normal depth, it is detected as being more inserted.

[0098] The above detection unit (140) can first determine that the upper base module (200) is inserted into the third home unit (243) when the distance detected by the first sensor (142) and the second sensor (143) is longer than the distance to the upper coupling unit (220) or the upper insertion unit (230), and secondly recognize that the upper base module (200) is inserted normally in the 270-degree direction when the distance measured by the first sensor (142) and the second sensor (143) corresponds to a preset normal depth.

[0099] In this way, the sensing unit (140) can immediately recognize whether the upper base module (200) is properly inserted and the direction of rotation based on the creation position of the home unit and the inclination of each home unit.

[0100] The above coupling hole (250) is provided in the form of a hole formed in the upper body part (210), and can be formed in a shape such that a coupling unit, such as a screw or bolt, can be coupled to the robot module (20).

[0101] The above robot module (20) can be provided in the form of a robot arm, etc., as illustrated.

[0102] As described above, the present invention enables easy coupling between modules without distinction between male and female. Furthermore, it can resolve the problem of some modules malfunctioning by recognizing the direction during coupling and providing notifications and correcting the orientation.

[0103] In addition, the necessary modules can be easily separated from each other depending on the situation, offering the advantage of being efficient and easy to replace.

[0104] Although the foregoing description of the present invention has been illustrated with reference to the drawings, it 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 spirit or essential features of the 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. Furthermore, the described techniques may be performed in a different order than the described method.

[0105] The embodiments described in this specification and the accompanying drawings are merely illustrative of some of the technical ideas included in the present invention. Accordingly, the scope of the present invention is defined by the claims set forth below, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention.

[0106]

[0107] <Explanation of Symbols>

[0108] 10: Genderless base connector

[0109] 20: Robotic arm

[0110] 100: Lower base module

[0111] 110: Lower body part

[0112] 120: Lower connecting part

[0113] 130: Lower insert part

[0114] 140: Detector

[0115] 141: Sensor receiving hole

[0116] 142: First sensor

[0117] 143: Second sensor

[0118] 150: Fixing hole

[0119] 160: Fixed part

[0120] 200: Upper base module

[0121] 210: Upper body part

[0122] 220: Upper connecting part

[0123] 221: Connecting Block

[0124] 222: Slope

[0125] 230: Upper insert part

[0126] 240: Upper coupling groove

[0127] 241: 1st Home Unit

[0128] 242: 2nd Home Unit

[0129] 243: 3rd Home Unit

[0130] 250: Connection hole

Claims

1. A lower base module installed on the floor surface; and It includes an upper base module that is coupled to the upper part of the lower base module and is coupled by sliding from one side of the lower base module to the other side. A genderless base connection device characterized in that the upper base module is configured to be insertable and coupled to the lower base module even when rotated in 90-degree increments.

2. In Paragraph 1, The above lower base module is, A lower body part installed on the bottom surface and forming the body; A lower coupling portion formed on the upper surface of the lower body portion, extending along the length direction of the lower body portion, and spaced apart in the width direction of the lower body portion; and A genderless base connection device characterized by including a lower insertion portion formed extending in the longitudinal direction of the lower body portion to form a path into which the upper base module is inserted, wherein the lower coupling portion is not formed on the upper surface of the lower body portion.

3. In Paragraph 2, The above lower coupling part is, A genderless base connection device characterized by having a trapezoidal cross-sectional shape with increasing width toward the top, extending from one side to the other of the lower body part.

4. In Paragraph 3, The above upper base module is, An upper body part forming the body; Upper coupling portions formed on the lower surface of the upper body portion and arranged at regular intervals in the length and width directions of the upper body portion; and A genderless base connection device characterized by including an upper insertion part formed between adjacent upper coupling parts, extending in the length and width directions of the upper body part respectively, and arranged to form a path into which the lower coupling part is inserted.

5. In Paragraph 4, The above upper coupling part is, A coupling block formed extending toward the lower part of the upper body portion; and It includes an inclined surface formed on the side portion of the above-mentioned coupling block that contacts the upper insertion portion, and formed to face outward as it extends downward, A genderless base connection device characterized in that the angle of the above inclined surface is set to have a cross-sectional shape corresponding to the upper insertion part and the lower coupling part.

6. In Paragraph 5, The above lower base module is, It further includes a sensing part formed in the lower coupling part or lower insertion part, and A genderless base connection device characterized by the above-mentioned sensing unit being configured to detect whether the upper base module is properly inserted and the direction of rotation.

7. In Paragraph 6, The above sensing unit is, A sensor receiving hole formed on the upper surface of the lower insertion part or the lower coupling part, with an open top; A first sensor provided in the sensor receiving hole above; and A genderless base connection device characterized by including a second sensor provided in the sensor receiving hole and formed closer to the end side of the lower body part than the first sensor.

8. In Paragraph 7, The above upper base module is, It further includes an upper coupling groove provided at a position corresponding to the sensor receiving hole, and The upper coupling groove portion above is, A first groove unit located at the end side in the 90-degree direction of the upper body portion and formed at a position corresponding to the first sensor; A second groove unit located at the end side in the 180-degree direction of the upper body portion and formed at a position corresponding to the second sensor; and A genderless base connection device characterized by including a third groove unit formed at a position corresponding to the first sensor and the second sensor, located at the end side of the upper body portion in the 270-degree direction.

9. In Paragraph 8, The first sensor and the second sensor are, A light-emitting unit that emits light; and A genderless base connection device characterized by including a light receiving unit that detects the intensity of light reflected back from the light-emitting unit and outputs an electrical signal.

10. In Paragraph 9, The above sensing unit is, A genderless base connection device characterized by being configured to detect the mounting state and rotation direction of the upper base module according to the electrical signals detected by the first sensor and the second sensor.

11. In Paragraph 2, The above lower base module is, A genderless base connection device characterized by further including a plurality of fixing holes formed in the lower body portion above, into which a coupling unit can be inserted to be coupled with the bottom surface.

12. In Paragraph 3, The above upper base module is, A genderless base connection device characterized by further including a coupling hole formed in the upper body portion and capable of allowing a robot module located on the upper part of the upper body portion to be coupled.

13. In Paragraph 2, The above lower base module is, A genderless base connection device characterized by further including a fixing part formed on an outer side and configured to be fixed by being coupled to the side of the upper base module while the upper base module is connected on the lower base module.

14. Genderless base connection device according to Paragraph 1; and A robot module including a robot arm coupled to the upper part of the above-mentioned genderless base connection device.

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