DETACHABLE DEVICE FOR LOADING UNIT OF ROBOT, ROBOT, AND CONTROLLING METHOD OF ROBOT USING THE SAME

• US 20170043479A1
• Filed: 11/30/2015
• Published: 02/16/2017
• Est. Priority Date: 08/13/2015
• Status: Active Grant

• Current Assignee: Korea Institute of Machinery & Materials (Dawonsys Co., Ltd.)
• Original Assignee: Korea Institute of Machinery & Materials (Dawonsys Co., Ltd.)
• Inventors: Cho, Jang Ho, WOO, Hyun Soo
• Granted Patent: US 9,815,195 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: H01F 7/0252 PM holding devices H01F7/021, H01F7/0215, H01F7/0226 take precedence
• CPC Class Codes: H01F 7/04 Means for releasing the attractive force
• CPC Class Codes: H01F 7/20 without armatures cores H01F3/00; coils H01F5/00 ; shaping metal by applying magnetic forces B21D26/14; electromagnets specially adapted for NMR applications G01R33/381

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.

Claims

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.

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. The detachable device of the loading unit for the robot of claim 1, 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. The detachable device of the loading unit for the robot of claim 1, 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. The detachable device of the loading unit for the robot of claim 1, 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.

7. The detachable device of the loading unit for the robot of claim 1, 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.

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

9. A robot comprising:

a connection unit that is movable with respect to a robot main body to help rehabilitation exercise of a patient;

a loading unit of which a part of a patient'"'"'s body is installed in one side and the other side is detachably combined to the connection unit; and

a detachable unit detachably combining the loading unit to the connection unit,

wherein the detachable unit comprises;

a first magnet unit provide in the loading unit for alignment of the connection unit and the loading unit and having a first magnet pattern; and

a second magnet unit provided in the connection unit, having a second magnet pattern including a corresponding pattern of the first magnet pattern and combined with the first magnet unit,

wherein the first magnet pattern is a unique pattern according to a patient or the loading unit.

10. The robot of claim 9, further comprising a prismatic joint unit adjusting the length of the connection unit corresponding to the loading unit or adjusting a position of the second magnet unit.

11. A method for controlling a robot for detachably combining a loading unit to a connection unit of a robot, comprising:

recognizing one of an object held by the loading unit and a first magnet pattern of a first magnet unit provided in the loading unit or a corresponding pattern of the first magnet pattern when the loading unit is supported by the connection unit;

recognition data matching for selecting whether or not recognition data recognized through the pattern recognition matches predetermined matching data; and

right positioning for applying power to the second magnet unit to provide magnetic attraction force to the first magnet pattern from a part of a second magnet pattern of a second magnet unit provided in the connection unit when the recognition data matches the predetermined matching data.

12. The method for controlling the robot of claim 11, wherein the pattern recognition comprises data inputting for inputting input data with respect to an object held by the loading unit, and

wherein the recognition data comprises pattern data with respect to the first magnet pattern based on the input data, pattern data with respect to a corresponding pattern of the first magnet pattern based on the input data, or the input data input through the data inputting.

13. The method for controlling the robot of claim 11, wherein the pattern recognition comprises magnetic sensing for sensing a first magnet pattern formed in the first magnet unit or a corresponding pattern of the first magnet pattern, and

wherein the recognition data comprises pattern data with respect to the first magnet pattern sensed through the magnetic sensing or pattern data with respect to the corresponding pattern of the first magnet pattern.

14. The method for controlling the robot of claim 13, further comprising:

pattern identification for selecting whether or not power is applied to a part of a plurality of pattern electromagnet portions having a magnetic force by power applied before the magnetic sensing; and

applying identification power for applying power to a part of the plurality of pattern electromagnet portions, selected through the pattern identification to form the first magnet pattern.

15. The method for controlling the robot of claim 11, further comprising, after the right positioning, fixing a loading unit for applying power to a detachment electromagnet unit provided in the connection portion for combination of a detachment fixing unit provided in the loading unit by a magnetic force generated from the detachment electromagnet unit.

16. The method for controlling the robot of claim 11, further comprising, before the right positioning, position adjusting for adjusting the length of the connection unit corresponding to the loading unit.

17. The method for controlling the robot of claim 15, further comprising, after the fixing a loading unit,

operation checking for checking at least one of operation of the connection unit and power applied in the fixing of the loading unit while the connection unit is moving,

wherein when at least one of malfunctioning of the connection unit and blocking of power applied in the fixing of the loading unit is selected in the operation checking, and loading unit separation is performed to release the magnetic force of the detachment electromagnet unit for separation of the detachment electromagnet unit and the detachment fixing unit.