Detachable device for loading unit of robot, robot, and controlling method of robot using the same

Patent metadata

Field	Value
Publication number	US-9815195-B2
Application number	US-201514953536-A
Country	US
Kind code	B2
Filing date	Nov 30, 2015
Priority date	Aug 13, 2015
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, includes: a first magnet unit provided in the loading unit and having a first magnet pattern; a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto; a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit.

First claim

What is claimed is:

1. A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, comprising:
a first magnet unit provided in the loading unit and having a first magnet pattern;
a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto;
a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and
a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit,
wherein the pattern recognition unit comprises at least one of a data input unit to which input data with respect to an object held by the loading unit is input and a magnetic sensing unit provided in the connection unit and sensing the first magnet pattern or a pattern corresponding to the first magnet pattern, and
the matching control unit controls power applied to the second magnet unit according to at least one of a result of matching the input data or pattern data based on the input data with predetermined matching data and whether or not the magnetic sensing unit sensed the first magnet pattern or the corresponding pattern of the first magnet pattern.

2. The detachable device of the loading unit for the robot of claim 1 , wherein the first magnet unit comprises a plurality of permanent magnets forming the first magnet pattern, and the first magnet pattern is a predetermined magnet pattern for identification of the loading unit.

3. A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, comprising:
a first magnet unit provided in the loading unit and having a first magnet pattern;
a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto;
a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and
a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit, wherein the first magnet unit comprises:
a plurality of pattern electromagnet portion having a magnetic force by power applied thereto;
a pattern identification portion selecting whether to apply power to a part of the plurality of pattern electromagnet portions corresponding to the first magnet pattern; and
an identification power portion applying power to the part selected by the pattern identification portion among the plurality of pattern electromagnet portions to form the first magnet pattern.

4. A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, comprising:
a first magnet unit provided in the loading unit and having a first magnet pattern;
a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto;
a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and
a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit, wherein at least one of the first magnet unit and the second magnet unit is provided with an interference shielding unit that shields an electric field.

5. The detachable device of the loading unit for the robot of claim 1 , further comprising a second position selection unit provided in the connection unit while being separated from the second magnet unit and combined with the first position selection unit by a magnetic force.

6. A detachable device of a loading unit for a robot, detachably combining the loading unit to a connection unit of the robot, comprising:
a first magnet unit provided in the loading unit and having a first magnet pattern;
a second magnet unit provided in the connection unit, having a second magnet pattern including a pattern that corresponds to the first magnet pattern, and combined with the first magnet unit by a magnetic force generated by power applied thereto;
a pattern recognition unit recognizing an object held by the loading unit and one of the first magnet pattern and the pattern corresponding to the first magnet pattern; and
a matching control unit controlling power applied to the second magnet unit to apply magnetic attraction force to the first magnet pattern from a part of the second magnet pattern according to operation of the pattern recognition unit, further comprising:
a detachment fixing unit provided in the loading unit while being separated from the first magnet unit;
a detachment electromagnet unit provided in the connection unit while being separated from the second magnet unit and combined to the detachment fixing unit by a magnetic force generated by power applied thereto; and
a detachment control unit controlling at least one of operation of the connection unit and power applied to the detachment electromagnet unit.

7. The detachable device of the loading unit for the robot of claim 6 , further comprising a detachment switch unit selecting whether power is applied in the detachment electromagnet unit.

Assignees

• Korea Inst Mach & Materials

Inventors

• Cho Jang Ho
• Woo Hyun Soo

Classifications

• H01F7/04

  Means for releasing the attractive force · CPC title

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• H01F7/20

  without armatures (cores H01F3/00; coils H01F5/00 {; shaping metal by applying magnetic forces B21D26/14; electromagnets specially adapted for NMR applications G01R33/381}) · CPC title

• H01F7/0252

  PM holding devices (H01F7/021, H01F7/0215, H01F7/0226 take precedence) · CPC title