KR100723963B1 - Panel carrier robot - Google Patents

Panel carrier robot Download PDF

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Publication number
KR100723963B1
KR100723963B1 KR1020060016508A KR20060016508A KR100723963B1 KR 100723963 B1 KR100723963 B1 KR 100723963B1 KR 1020060016508 A KR1020060016508 A KR 1020060016508A KR 20060016508 A KR20060016508 A KR 20060016508A KR 100723963 B1 KR100723963 B1 KR 100723963B1
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KR
South Korea
Prior art keywords
bracket
casing
hand
core
panel
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Application number
KR1020060016508A
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Korean (ko)
Inventor
이성환
최용원
한경섭
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삼성전자주식회사
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Priority to KR1020060016508A priority Critical patent/KR100723963B1/en
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Publication of KR100723963B1 publication Critical patent/KR100723963B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
    • B65D85/50—Containers, packaging elements or packages, specially adapted for particular articles or materials for living organisms, articles or materials sensitive to changes of environment or atmospheric conditions, e.g. land animals, birds, fish, water plants, non-aquatic plants, flower bulbs, cut flowers or foliage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/18—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents providing specific environment for contents, e.g. temperature above or below ambient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
    • B65D81/24—Adaptations for preventing deterioration or decay of contents; Applications to the container or packaging material of food preservatives, fungicides, pesticides or animal repellants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2205/00—Venting means
    • B65D2205/02—Venting holes

Abstract

A panel carrier robot is provided to reduce the weight of the robot and the size of a driving unit. A panel carrier robot includes a hand finger for supporting a panel; and a hand bracket(150) to which the hand finger is coupled. The hand bracket includes a bracket casing(160) which forms an external appearance of the hand bracket, and has an inside with a core accommodation part; a separation wall member(170) for dividing the core accommodation part and supporting the bracket casing; and a core member(180) having a Fractal structure, accommodated in the core accommodation part. The bracket casing includes an inner casing(161) for covering the core member along the outer surface of the core member; and an outer casing(162) for covering the inner casing along the outer surface of the inner casing.

Description

패널반송로봇{Panel Carrier Robot}Panel Carrier Robot

도 1은 본 발명에 따른 패널반송로봇을 나타낸 사시도,1 is a perspective view showing a panel transport robot according to the present invention,

도 2는 본 발명에 따른 패널반송로봇의 핸드브래킷을 나타낸 사시도,2 is a perspective view showing a hand bracket of a panel transport robot according to the present invention;

도 3은 본 발명에 따른 패널반송로봇의 핸드브래킷의 제작방법을 설명하기 위한 개략도이다. Figure 3 is a schematic diagram for explaining the manufacturing method of the hand bracket of the panel transport robot according to the present invention.

* 도면의 주요 부분에 대한 부호의 설명 *Explanation of symbols on the main parts of the drawings

100 : 패널반송로봇 110 : 몸체부100: panel transfer robot 110: body

111 : 구동부 120 : 아암부111: drive part 120: arm part

121 : 관절 122 : 아암121: Joint 122: Arm

130 : 핸드부 140 : 핸드핑거130: hand 140: hand finger

150 : 핸드브래킷 160 : 브래킷 케이싱150: hand bracket 160: bracket casing

161 : 내부케이싱 162 : 외부케이싱161: inner casing 162: outer casing

163 : 내부 코어수용부 164 : 외부 코어수용부163: inner core accommodating part 164: outer core accommodating part

170 : 격벽부재 180 : 코어부재170: partition member 180: core member

본 발명은, 패널반송로봇에 관한 것으로서, 보다 상세하게는 패널을 지지하는 핸드부의 구조를 개선한 패널반송로봇에 관한 것이다.The present invention relates to a panel transport robot, and more particularly, to a panel transport robot having an improved structure of a hand portion for supporting a panel.

LCD(Liquid Crystal Display), PDP(Plasma Display Panel) 등과 같은 평면표시장치(FPD, Flat Panel Display)는 화소가 배열되어 화상 표시 영역이 형성되는 패널(Panel)에 구동칩 및 각종 제어회로 등이 실장된 인쇄회로기판(PCB, Printed Circuit Board)과 같은 피본딩 소재를 이방성 도전필름(ACF, Anisotropic Conductive Film) 등의 전도성 접착소재를 통해 고온 접합시켜 제조된다.In flat panel displays (FPDs), such as liquid crystal displays (LCDs) and plasma display panels (PDPs), drive chips and various control circuits are mounted on a panel in which pixels are arranged to form an image display area. Bonded materials such as printed circuit boards (PCBs) are manufactured by high temperature bonding through conductive adhesive materials such as anisotropic conductive films (ACFs).

일반적으로, 패널은 패널반송로봇에 의해 각각의 공정으로 이송된다.In general, the panels are transferred to each process by the panel transport robot.

이러한 패널반송로봇은 다수의 관절과 아암에 의해 작동되는 핸드부를 통해 패널을 지지하며 이송한다.The panel transport robot supports and transports the panel through a hand part operated by a plurality of joints and arms.

종래의 패널반송로봇은 핸드부가 탄소섬유 강화수지(CFRP, Carbon Fiber Reinforced Plastics)로 마련된다.In the conventional panel transport robot, the hand part is provided with carbon fiber reinforced plastics (CFRP).

그러나, 이러한 패널반송로봇은 패널의 크기가 대형화됨에 따라 강성이 보장되도록 패널을 지지하는 핸드부의 크기도 대형화되어 패널반송로봇 구동부의 크기도 커지며 구동전력을 많이 소모하는 문제점이 있다. 또한, 핸드부가 탄소섬유 강화수지만으로 마련되어 패널반송로봇의 중량이 증가되고, 제작비용 또한 상승되는 문제점이 있다.However, such a panel transport robot has a problem in that the size of the hand part supporting the panel is also increased so that the rigidity is ensured as the size of the panel is increased, so that the size of the panel transport robot driver is large and consumes a lot of driving power. In addition, the hand portion is provided with only carbon fiber reinforced resin, there is a problem that the weight of the panel transport robot is increased, manufacturing cost is also increased.

따라서, 본 발명의 목적은, 대용량의 패널을 지지하며, 이송하도록 핸드부의 강성을 보장하며, 중량을 줄이고, 구동부의 크기도 소형화되며, 구동전력의 소모량 을 줄이고, 제작비용도 절감할 수 있는 패널반송로봇을 제공하는 것이다.Accordingly, an object of the present invention is to support a large-capacity panel, to ensure the rigidity of the hand portion to transport, to reduce the weight, to reduce the size of the drive portion, to reduce the consumption of driving power, and to reduce the production cost panel It is to provide a carrier robot.

상기 목적은, 본 발명에 따라, 패널을 지지하는 핸드핑거와, 상기 핸드핑거를 결합 지지하는 핸드브래킷을 포함하는 패널반송로봇에 있어서, 상기 핸드브래킷은, 상기 핸드브래킷의 외관을 형성하며, 내부에 코어수용부가 형성된 브래킷 케이싱과; 상기 코어수용부를 분할하며, 상기 브래킷 케이싱을 지지하는 격벽부재와; 프랙털 구조를 갖고 상기 코어수용부에 수용되는 코어부재를 포함하는 것을 특징으로 하는 패널반송로봇에 의하여 달성된다. According to the present invention, a panel transport robot comprising a hand finger for supporting a panel and a hand bracket for holding and supporting the hand finger, wherein the hand bracket forms an appearance of the hand bracket, and A bracket casing having a core accommodation portion formed thereon; A partition member for dividing the core accommodation portion and supporting the bracket casing; It is achieved by a panel transport robot having a fractal structure and including a core member accommodated in the core accommodation portion.

여기서, 상기 브래킷 케이싱은, 상기 코어부재의 외주면을 따라 상기 코어부재를 둘러싸는 내부케이싱과, 상기 내부케이싱의 외주면을 따라 상기 내부케이싱을 둘러싸는 외부케이싱을 포함하는 것이 바람직하다.Here, the bracket casing preferably includes an inner casing surrounding the core member along the outer circumferential surface of the core member, and an outer casing surrounding the inner casing along the outer circumferential surface of the inner casing.

상기 코어부재의 재질은 알루미늄 합금을 포함하는 것이 바람직하다.It is preferable that the material of the core member includes an aluminum alloy.

상기 브래킷 케이싱 및 상기 격벽부재의 재질은 탄소섬유 강화수지를 포함하는 것이 바람직하다.The material of the bracket casing and the partition member preferably includes carbon fiber reinforced resin.

그리고, 상기 브래킷 케이싱, 상기 격벽부재 및 상기 코어부재는 일체로 성형된 것이 바람직하다.The bracket casing, the partition member and the core member are preferably integrally molded.

이하에서는 첨부도면을 참조하여 본 발명에 대해 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 패널반송로봇(100)은, 도 1에 도시된 바와 같이, 패널이 이송되는 경로를 따라 주행하는 몸체부(110)와, 몸체부(110)에 결합되어 몸체부(110)로부터 승강, 회동 및 수평 운동 중 적어도 어느 하나를 하는 아암부(120)와, 아암 부(120)에 결합되어 아암부(120)의 승강, 회동 및 수평 운동에 안내되며, 패널을 지지하는 핸드부(130)를 포함한다.The panel transport robot 100 according to the present invention, as shown in Figure 1, the body portion 110 and the body portion 110 to run along the path that the panel is transported is coupled to the body portion 110 from the body portion 110 An arm portion 120 which performs at least one of lifting, rotating and horizontal movements, and a hand portion coupled to the arm portion 120 to guide the lifting, rotating and horizontal movements of the arm portion 120 and supporting the panel ( 130).

몸체부(110)는, 도 1에 도시된 바와 같이, 패널이 이송되는 경로를 따라 주행하며, 아암부(120)를 구동하도록 구동부(111)를 포함한다.As shown in FIG. 1, the body part 110 travels along a path in which the panel is transported, and includes a driving part 111 to drive the arm part 120.

아암부(120)는, 도 1에 도시된 바와 같이, 몸체부(110)에 결합되어 몸체부(110)로부터 승강, 회동 및 수평 운동 중 적어도 어느 하나를 하도록 적어도 하나 이상의 관절(121)과 아암(122)을 포함한다.As shown in FIG. 1, the arm part 120 is coupled to the body part 110 to perform at least one of lifting, pivoting, and horizontal movements from the body part 110, and at least one joint 121 and the arm. (122).

핸드부(130)는, 도 1에 도시된 바와 같이, 패널을 지지하는 핸드핑거(140)와, 핸드핑거(140)를 결합 지지하는 핸드브래킷(150)을 포함한다.As shown in FIG. 1, the hand part 130 includes a hand finger 140 for supporting a panel and a hand bracket 150 for jointly supporting the hand finger 140.

핸드브래킷(150)은, 도 2에 도시된 바와 같이, 핸드브래킷(150)의 외관을 형성하며, 내부에 코어수용부(163,164)가 형성된 브래킷 케이싱(160)과; 코어수용부(163,164)를 분할하며, 브래킷 케이싱(160)을 지지하는 격벽부재(170)와; 프랙털 구조를 갖고 코어수용부(163,164)에 수용되는 코어부재(180)를 포함한다.Hand bracket 150, as shown in Figure 2, forms the appearance of the hand bracket 150, and the bracket casing 160, the core receiving portion (163, 164) formed therein; A partition member 170 for dividing the core accommodation portions 163 and 164 and supporting the bracket casing 160; It includes a core member 180 having a fractal structure and accommodated in the core accommodation parts 163 and 164.

브래킷 케이싱(160)은, 도 2 내지 도 3에 도시된 바와 같이, 내부 코어수용부(163)를 갖고 코어부재(180)의 외주면을 따라 코어부재(180)를 둘러싸는 내부케이싱(161)과, 외부 코어수용부(164)를 갖고 내부케이싱(161)의 외주면을 따라 내부케이싱(161)을 둘러싸는 외부케이싱(162)을 포함한다. 그리고, 브래킷 케이싱(160)의 재질은 에폭시(Epoxy) 수지 등을 포함하는 결합재가 함침된 탄소섬유 강화수지를 포함하는 것이 바람직하다. 이에 따라, 핸드브래킷(150)의 내부에 알루미늄 합금 재질을 포함하는 코어부재(180)를 수용하여도 탄소섬유 강화수지 재질을 포함하 는 브래킷 케이싱(160)에 의해 핸드브래킷(150)의 외관을 형성할 수 있다. 또한, 브래킷 케이싱(160)의 재질에 결합재가 함침되어 있어, 브래킷 케이싱(160)에 의해 격벽부재(170) 및 코어부재(180)의 외주면을 긴밀하게 둘러쌀 수 있다.The bracket casing 160 includes an inner casing 161 having an inner core accommodating portion 163 and surrounding the core member 180 along the outer circumferential surface of the core member 180, as shown in FIGS. And an outer casing 162 having an outer core accommodating portion 164 and surrounding the inner casing 161 along the outer circumferential surface of the inner casing 161. In addition, the material of the bracket casing 160 preferably includes a carbon fiber reinforced resin impregnated with a binder including an epoxy resin. Accordingly, even when the core member 180 including the aluminum alloy material is accommodated inside the hand bracket 150, the appearance of the hand bracket 150 is improved by the bracket casing 160 including the carbon fiber reinforced resin material. Can be formed. In addition, the bonding material is impregnated in the material of the bracket casing 160, so that the outer circumferential surfaces of the partition member 170 and the core member 180 may be closely surrounded by the bracket casing 160.

격벽부재(170)는, 도 2에 도시된 바와 같이, 코어수용부(163,164)를 분할하며, 핸드브래킷(150)에 핸드핑거(140)를 결합하는 방향으로 브래킷 케이싱(160)을 지지한다. 그리고, 격벽부재(170)의 재질은 에폭시 수지 등을 포함하는 결합재가 함침된 탄소섬유 강화수지를 포함하는 것이 바람직하다. 본 발명의 일실시예로서, 핸드브래킷(150)에 핸드핑거(140)를 결합하는 방향으로 격벽부재(170)가 브래킷 케이싱(160)을 지지하도록 마련된 것으로 설명하였지만, 핸드브래킷(150)에 핸드핑거(140)를 결합하는 방향에 가로방향으로도 격벽부재(170)가 브래킷 케이싱(160)을 지지하도록 복수로 마련될 수도 있다. 이에 따라, 핸드브래킷(150)의 내부에 알루미늄 합금 재질을 포함하는 코어부재(180)를 수용하여도 탄소섬유 강화수지 재질을 포함하는 격벽부재(170) 및 브래킷 케이싱(160)에 의해 핸드브래킷(150)의 강성을 보강할 수 있다.As shown in FIG. 2, the partition member 170 divides the core accommodation parts 163 and 164 and supports the bracket casing 160 in a direction in which the hand finger 140 is coupled to the hand bracket 150. In addition, the material of the partition member 170 preferably includes a carbon fiber reinforced resin impregnated with a binder including an epoxy resin. As an embodiment of the present invention, the partition member 170 is described as being provided to support the bracket casing 160 in the direction in which the hand finger 140 is coupled to the hand bracket 150, the hand bracket 150 A plurality of partition members 170 may be provided to support the bracket casing 160 in the horizontal direction in the direction in which the fingers 140 are coupled. Accordingly, even if the core member 180 including the aluminum alloy material is accommodated in the hand bracket 150, the hand bracket (b) is formed by the partition member 170 and the bracket casing 160 including the carbon fiber reinforced resin material. 150) can be reinforced.

코어부재(180)는, 도 2 내지 도 3에 도시된 바와 같이, 적층구조가 프랙털 구조로서 단면이 다각형인 복수의 중공심재들이 적층된 구조로 마련된다. 그리고, 코어부재(180)의 재질은 두랄루민(duralumin)을 비롯한 알루미늄 합금을 포함하는 것이 바람직하다. 본 발명의 일실시예로서, 코어부재(180)의 적층구조가 단면이 6각형인 복수의 중공심재들이 적층된 구조인 것으로 설명하였지만, 핸드브래킷(150)의 강성만 충분히 보장된다면 3각형, 4각형, 5각형 등의 다양한 다각형 프랙털 구 조로 마련될 수도 있다. 이에 따라, 알루미늄 합금 재질을 포함하는 코어부재(180)에 의해 중량이 가벼우면서도 강성이 보장되는 핸드브래킷(150)을 마련할 수 있다.As shown in FIGS. 2 to 3, the core member 180 is provided in a structure in which a plurality of hollow core materials having a polygonal cross section as a stacked structure is stacked. In addition, the material of the core member 180 preferably includes an aluminum alloy including duralumin. As an embodiment of the present invention, the stacking structure of the core member 180 has been described as a structure in which a plurality of hollow core materials having a hexagonal cross section are laminated, but if the rigidity of the hand bracket 150 is sufficiently ensured, triangular and quadrangular It may also be provided with various polygonal fractal structures such as pentagons. Accordingly, the hand bracket 150 having a light weight and rigidity may be provided by the core member 180 including the aluminum alloy material.

격벽부재(170) 및 코어부재(180)는, 도 3에 도시된 바와 같이, 모든 외주면이 브래킷 케이싱(160)으로 말아져 둘러싸여 진다. 다음에, 브래킷 케이싱(160), 격벽부재(170) 및 코어부재(180)는 고압반응솥을 이용한 오토클레이브(Auto Clave) 성형방식에 의해 고온, 고압 하에서 일체로 성형된다. 그러나, 브래킷 케이싱(160), 격벽부재(170) 및 코어부재(180)가 일체로 성형되는 방식은 그 외에 다양한 방식으로 이뤄질 수도 있다. 이에 따라, 코어부재(180), 격벽부재(170) 및 브래킷 케이싱(160)의 복합소재로 중량이 가벼우면서도 강성이 더욱 보장되는 핸드브래킷(150)을 마련할 수 있다.As shown in FIG. 3, all of the outer circumferential surface of the partition member 170 and the core member 180 are rolled up and enclosed by the bracket casing 160. Next, the bracket casing 160, the partition member 170 and the core member 180 are integrally formed under high temperature and high pressure by an auto clave molding method using a high pressure reaction cooker. However, the manner in which the bracket casing 160, the partition member 170, and the core member 180 are integrally formed may be performed in various ways. Accordingly, the hand bracket 150 may be provided with a composite material of the core member 180, the partition member 170, and the bracket casing 160, which is light in weight and more rigid.

이러한 구성에 의해, 본 발명에 따른 패널반송로봇을 제작하는 과정을 도 1 내지 도 3을 참조하여 설명하면 다음과 같다.With this configuration, the process of manufacturing the panel transport robot according to the present invention will be described with reference to FIGS. 1 to 3 as follows.

우선, 단면이 6각형인 복수의 중공심재들이 적층된 구조를 가지며, 재질은 알루미늄 합금을 포함하는 코어부재(180)를 마련한다. 그리고, 코어부재(180)와 동일한 폭을 갖는 격벽부재(170)가 코어부재(180) 사이에 개재되도록 하여 코어부재(180) 및 격벽부재(170)를 내부케이싱(161)으로 말아서 둘러싼다. First, a hollow core material having a hexagonal cross section is laminated, and the material is provided with a core member 180 including an aluminum alloy. Then, the partition member 170 having the same width as the core member 180 is interposed between the core member 180 to surround the core member 180 and the partition member 170 by the inner casing 161.

코어부재(180) 및 격벽부재(170)의 외주면을 모두 둘러싼 내부케이싱(161)을 외부케이싱(162)으로 말아서 둘러싼다. 격벽부재(170), 내부케이싱(161) 및 외부케이싱(162)의 재질은 에폭시 수지 등을 포함하는 결합재가 함침된 탄소섬유 강화수지로 마련된다. 이에 따라, 제작자는 격벽부재(170), 내부케이싱(161) 및 외부케이 싱(162)이 상호 접착되는 접착면을 사포로 문질러 브래킷 케이싱(160)이 코어부재(180) 및 격벽부재(170)의 모든 외주면을 긴밀하게 둘러싸도록 할 수 있다.The inner casing 161 surrounding all of the outer circumferential surfaces of the core member 180 and the partition member 170 is rolled around the outer casing 162. The material of the partition member 170, the inner casing 161 and the outer casing 162 is provided with a carbon fiber reinforced resin impregnated with a binder including an epoxy resin. Accordingly, the manufacturer rubs the adhesive surface to which the partition member 170, the inner casing 161 and the outer casing 162 are bonded to each other with sandpaper, and the bracket casing 160 is the core member 180 and the partition member 170. It is possible to closely surround all outer circumferences of.

다음에, 브래킷 케이싱(160), 격벽부재(170) 및 코어부재(180)는 고압반응솥을 이용한 오토클레이브(Auto Clave) 성형방식에 의해 고온, 고압 하에서 일체로 성형된다. 이에 따라, 대용량의 패널을 지지하며, 이송하도록 패널반송로봇(100) 핸드부(130)의 강성을 보장하며, 중량을 줄일 수 있는 핸드브래킷(150)이 마련된다.Next, the bracket casing 160, the partition member 170 and the core member 180 are integrally formed under high temperature and high pressure by an auto clave molding method using a high pressure reaction cooker. Accordingly, the hand bracket 150 is provided to support the large-capacity panel and to ensure the rigidity of the panel conveying robot 100 and the hand part 130 to reduce the weight.

핸드브래킷(150)에 핸드핑거(140)를 결합하여 핸드부(130)를 마련한다. 그리고, 핸드브래킷(150)에 아암부(120)를 결합하고 아암부(120)에 몸체부(110)를 결합하여 패널반송로봇(100)을 마련한다. 이에 따라, 구동부(111)의 크기도 소형화되며, 구동전력의 소모량을 줄이고, 제작비용도 절감할 수 있는 패널반송로봇(100)이 마련된다.The hand finger 130 is coupled to the hand bracket 150 to provide the hand part 130. Then, the arm portion 120 is coupled to the hand bracket 150 and the body portion 110 is coupled to the arm portion 120 to provide the panel transport robot 100. Accordingly, the size of the driving unit 111 is also reduced, the panel transport robot 100 is provided that can reduce the consumption of driving power, and also reduce the manufacturing cost.

이상 설명한 바와 같이, 본 발명에 따르면, 대용량의 패널을 지지하며, 이송하도록 핸드부의 강성을 보장하며, 중량을 줄이고, 구동부의 크기도 소형화되며, 구동전력의 소모량을 줄이고, 제작비용도 절감할 수 있는 패널반송로봇이 제공된다.As described above, according to the present invention, it is possible to support the large-capacity panel, to ensure the rigidity of the hand portion to transport, to reduce the weight, to reduce the size of the driving portion, to reduce the consumption of driving power, and to reduce the production cost Panel return robot is provided.

Claims (5)

패널을 지지하는 핸드핑거와, 상기 핸드핑거를 결합 지지하는 핸드브래킷을 포함하는 패널반송로봇에 있어서, 상기 핸드브래킷은,In the panel transport robot comprising a hand finger for supporting a panel, and a hand bracket for holding and holding the hand finger, the hand bracket, 상기 핸드브래킷의 외관을 형성하며, 내부에 코어수용부가 형성된 브래킷 케이싱과;A bracket casing which forms an appearance of the hand bracket and has a core accommodating portion therein; 상기 코어수용부를 분할하며, 상기 브래킷 케이싱을 지지하는 격벽부재와;A partition member for dividing the core accommodation portion and supporting the bracket casing; 프랙털(Fractal)구조를 갖고 상기 코어수용부에 수용되는 코어부재를 포함하는 것을 특징으로 하는 패널반송로봇.Panel conveyance robot having a fractal (Fractal) structure comprising a core member accommodated in the core receiving portion. 제1항에 있어서,The method of claim 1, 상기 브래킷 케이싱은, The bracket casing, 상기 코어부재의 외주면을 따라 상기 코어부재를 둘러싸는 내부케이싱과, An inner casing surrounding the core member along an outer circumferential surface of the core member; 상기 내부케이싱의 외주면을 따라 상기 내부케이싱을 둘러싸는 외부케이싱을 포함하는 것을 특징으로 하는 패널반송로봇.And a outer casing surrounding the inner casing along an outer circumferential surface of the inner casing. 제2항에 있어서,The method of claim 2, 상기 코어부재의 재질은 알루미늄 합금을 포함하는 것을 특징으로 하는 패널반송로봇.The material of the core member is a panel transport robot, characterized in that it comprises an aluminum alloy. 제2항에 있어서,The method of claim 2, 상기 브래킷 케이싱 및 상기 격벽부재의 재질은 탄소섬유 강화수지를 포함하는 것을 특징으로 하는 패널반송로봇.The material of the bracket casing and the partition member is a panel transport robot, characterized in that it comprises a carbon fiber reinforced resin. 제1항 내지 제4항 중 어느 한 항에 있어서,The method according to any one of claims 1 to 4, 상기 브래킷 케이싱, 상기 격벽부재 및 상기 코어부재는 일체로 성형된 것을 특징으로 하는 패널반송로봇.The bracket casing, the partition member and the core member is a panel transport robot, characterized in that integrally molded.
KR1020060016508A 2006-02-21 2006-02-21 Panel carrier robot KR100723963B1 (en)

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KR101805606B1 (en) 2016-05-27 2017-12-06 (주)영창로보테크 Gripper having enhanced Heat resistance, impact resistance and wear resistance

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KR20000059940A (en) * 1999-03-10 2000-10-16 윤덕용 End-effector of a robot arm
KR20010046677A (en) * 1999-11-15 2001-06-15 윤덕용 Light weight composite wrist block of double arm robots for loading and unloading LCD panels and double arm robots with the wrist block
KR20020077179A (en) * 2001-03-29 2002-10-11 니폰 미쓰비시 오일 코포레이션 Robot hand member and method of producing the same
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KR101805606B1 (en) 2016-05-27 2017-12-06 (주)영창로보테크 Gripper having enhanced Heat resistance, impact resistance and wear resistance

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