KR101321505B1 - Linear robot equipped with dustproof band - Google Patents

Abstract

PURPOSE: A linear robot with a dustproof band is provided to fundamentally prevent foreign substances such as dust from flowing in the inside of a guide groove by removing a gap generated when a transfer block is reciprocating and maximizing sealing efficiency of the dustproof band. CONSTITUTION: A linear robot with a dustproof band comprises a base block (10), a dustproof band (30), and a transfer block (20). A guide unit of the top plate of the transfer block is formed in a tunnel shape. The guide unit is formed in a curved shape facing upwards to the central part of the guide unit from a front/rear entrance of the guide unit. A first magnetic member (28) is connected to the front/rear end of a connection unit (26) and the transfer block is reciprocating while the dustproof band is closely attached to the first magnetic member. The guide unit includes a boundary unit and a corresponding boundary unit. The corresponding boundary unit is separated from the boundary unit on the different lower surface of the top plate connected to an installation unit and has a shape corresponding to the boundary unit.

Description

LINEAR ROBOT EQUIPPED WITH DUSTPROOF BAND}

The present invention relates to a linear robot having an anti-vibration band,

More specifically, in a linear robot that can be applied to various industrial machine automation equipment and performs a linear reciprocating motion, it is provided with a dustproof band sealing a guide groove for accommodating a reciprocating moving block, and closely adhering the guide groove downward. The present invention relates to a linear robot having a first magnetic body including a close contact portion formed to be inclined to protect the driving means to ensure reciprocation from external factors such as dust and the like.

Prior arts related to linear robots that can be used in automation facilities throughout the industry include Published Patent Publication No. 10-1998-077260 (published date November 16, 1998).

The invention is a linear transfer device using a linear motor, the most stable structure capable of high speed and high precision control is disclosed, the disclosed linear transfer device includes a stator and a mover of the linear motor, the linear motor stator is fixedly supported Composed of bed frame, table with linear motor mover, a pair of guide rails and guide blocks for sliding the table to the bed frame, and linear scale and scale reader for detecting the table transfer position, parallelism between stator and guide rail The present invention relates to a linear transfer apparatus effective for high speed and high precision control of various mechanical mechanisms having an XY coordinate system moving in at least two axes in a plane such as an industrial robot, which is formed to have a jaw on a bed angle installation surface formed in a bed frame for regulation.

Another prior art is published Patent Publication No. 10-2009-0106857 (published date 2009.10.12.)

The invention provides a linear guide device comprising a base, an LM rail fixedly installed on an upper side of the base, and an LM block slidably coupled to the LM rail, wherein the LM rail is provided with a first grease injection passage. The outlet of the grease injection passage is formed at the contact surface on which the LM block slides, the inlet of the first grease injection passage is formed at the lower portion of the LM rail, and the second grease injection passage is formed at the base, and the outlet of the second grease injection passage is formed. Is formed at a position in communication with the inlet of the first grease inlet passage, the inlet of the second grease inlet passage is formed so as to open on one side, the grease injected into the inlet of the base via the second grease inlet passage, the LM rail It relates to a linear guide device characterized in that it is supplied to the contact surface in which the LM block is slid to the LM rail through the first grease injection passage.

Another prior art is registered room No. 20-0364020 (registration date 2004.09.24.),

The invention relates to a rail structure of a linear motion guide, and a guide groove which is open upward along the longitudinal direction to guide the bearing members of the slider for linear movement is formed, which is in contact with the bearing member on the opposite vertical wall surface of the guide groove A coupling groove is formed to allow the shaft to be coupled, and a cutting groove is formed at the front and rear ends in the longitudinal direction to cut vertical and horizontal surfaces outward in the longitudinal direction, and a screw hole is formed at the bottom of the cutting groove. A rail body formed with a bolt coupling hole for fixing on the bottom surface of the groove; The bolt coupling hole is formed to be tightly coupled to the incision groove and the bolt passes through the upper surface to be screwed to the screw hole, and the shaft fixing groove is opened downward so that exposed ends of the shaft can be guided on both bottom surfaces thereof. It is related to the rail structure of the linear motion guide, characterized in that it comprises a; shaft fixed block.

The invention and the invention are related to the robot in a linear motion or the movement path of the table, LM block, slider (hereinafter referred to as the moving block for convenience of description) is always opened (opening), the outside of the robot Dirt or foreign matter caused by a factor is introduced into the movement path of the moving block, which causes a failure or interferes with precise control, thereby degrading workability.

Conventional technology for solving the above problems is the registered patent No. 10-0766788 (registration date 2007.10.08.),

The present invention is to prevent sagging of the upper cover of the long-axis robot, the vertical bulkhead is provided at the front, rear, left and right ends, respectively, the base to be the main body of the long axis robot; LM guides which are installed in the longitudinal direction on both sides of the inner upper surface of the base; A linear motor installed parallel to the LM guide in a longitudinal direction on an inner upper surface of the base; A slider comprising a LM block constituting the LM guide and a mover constituting the linear motor coupled to a lower surface to slide in the longitudinal direction of the base and protruding to an upper portion of the base; A first permanent magnet installed on the upper surface of the slider such that all polarities of the upper direction are aligned in the longitudinal direction; An upper cover fixed to the front and rear ends of the base to cover an upper portion of the base except for a path of the protrusion of the slider; And installed in the longitudinal direction on the lower surface of the upper cover, is located on the upper portion of the first permanent magnet to maintain a predetermined distance with the first permanent magnet, the downward polarity of the upper portion of the first permanent magnet It relates to a long axis robot upper cover deflection prevention device configured to include; a second permanent magnet installed to be the same as the direction polarity.

However, the present invention is to prevent sagging of the upper cover that covers the upper portion of the base except for the movement path of the moving block (slider), and there is a problem in that the gap that can occur during the reciprocating movement of the moving block cannot be completely sealed.

Accordingly, the present invention has been made to solve the above-mentioned problems,

The guide groove of the base block prevents problems such as dust or the like, which hinders the operation of the moving block reciprocating along the guide groove or causes a failure, and enables precise control of the moving block. It is provided with an anti-vibration band, and in order to maximize the anti-vibration function by eliminating the gap formed between the anti-vibration band and the guide groove during the reciprocating motion of the moving block, toward the guide of the moving block penetrated by the anti-vibration band It is characterized in that it provides a linear robot with a dustproof band comprising a first magnetic body to closely contact the dustproof band in the downward direction through a close contact formed to be inclined.

In another aspect, the present invention has a first inclined portion and a second inclined portion having a different inclination angle toward the guide so that the gap between the dustproof band and the guide groove is not formed to more firmly adhere to the lower side of the dustproof band, or formed in a curved shape. An object of the present invention is to provide a linear robot including a first magnetic body including a close contact portion and a second magnetic body for bringing the vibration band into close contact with the guide groove.

In order to achieve the above object, the linear robot with a dustproof band according to the present invention is

A base block having a receiving portion in which a driving means is built and having a guide groove;

A dustproof band formed on the guide groove and covering the guide groove; And

It is made, including; a moving block connected to the drive means for reciprocating along the guide groove,

The front and rear ends of the moving block is characterized in that the first magnetic body including a close contact portion formed to be inclined toward the upper direction in order to closely contact the vibration band in the downward direction during the reciprocating movement of the moving block.

In addition, the linear robot having a dustproof band according to the present invention is accommodated in the receiving portion of the base block and the lower plate connected to the drive means, and the upper plate having a guide hole which is located on the upper side of the guide groove can penetrate the dustproof band And a connection part connecting the lower plate and the upper plate and provided with the first magnetic material.

The uppermost end of the first magnetic body is formed at the same height as the guide.

Subsequently, in the linear robot provided with the anti-vibration band according to the present invention, the close contact portion of the first magnetic body may include a first inclined portion and a second inclined portion having different inclination angles,

The close contact portion of the first magnetic body is composed of a flat portion that is not inclined, and an inclined portion formed to be inclined,

The close contact portion of the first magnetic body is characterized in that the curved form.

In addition, in the linear robot with a vibration band according to the present invention, the first magnetic material is characterized in that the plurality of roller magnetic material is arranged in a row arranged inclined.

And in the linear robot having a vibration band according to the present invention, the base block is coupled to both side walls of the base block, and comprises a side cover spaced apart from each other to form the guide groove, the side cover is the side wall It is formed to be removable and the side cover, characterized in that the second magnetic body further provided along the longitudinal direction.

In addition, in the linear robot having the anti-vibration band according to the present invention, the driving means is formed along the longitudinal direction of the receiving portion of the base block and has a screw groove, and a through hole provided in the lower plate and the drive shaft can pass through And, it is made of a ball screw coupled to the screw groove along the through hole.

Subsequently, in the linear robot having the anti-vibration band according to the present invention, the base block may include a position sensor on either or both of the side walls, and the sensor may detect one side or both sides of the moving block. Characterized in that the sensor is further provided.

The linear robot having the anti-vibration band according to the present invention has a close contact portion formed to be inclined toward the guide hole through which the anti-vibration band passes in order to closely contact the anti-vibration band and the anti-vibration band downward to seal the guide groove which is the movement path of the moving block. By introducing the first magnetic material to include the gap between the reciprocating movement of the moving block to maximize the sealing function of the dust-proof band to prevent the inflow of foreign substances such as dust into the guide groove, and to generate noise generated during the reciprocating movement And it can prevent the deformation of the dust band and the like to prevent the failure of the robot and more precise control is possible to improve the workability.

In addition, the linear robot having a dustproof band according to the present invention includes a first magnetic body including a close contact portion formed of a first slope portion and a second slope portion having different inclination angles or a curved shape, and close the dustproof band to the close contact band. By introducing a second magnetic material for maximizing the downward contact force of the dust-proof band to prevent foreign substances of small particles such as fine dust from entering the guide groove.

1 is a perspective view of a linear robot having a dustproof band according to the present invention.
Figure 2 is an exploded perspective view of a linear robot having a vibration band according to the present invention.
Figure 3 is a cross-sectional perspective view of a linear robot with a dustproof band according to the present invention.
Figure 4 is a front sectional view and a main portion enlarged view of a linear robot with a dustproof band according to the present invention.
5 is a cross-sectional view AA of the linear robot with a dustproof band according to the present invention.
Figure 6 is a perspective view and a cross-sectional view showing various embodiments of the first magnetic body in a linear robot with a dustproof band according to the present invention.
Figure 7 is a front sectional view and enlarged view of the main portion showing a modification of the first magnetic body in a linear robot with a dustproof band according to the present invention.

The present invention may be modified in various ways and may have various forms, and thus embodiments (or embodiments) will be described in detail in the text. However, this is not intended to limit the present invention to the specific form disclosed, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

In the drawings, the same reference numerals are used for the same reference numerals, and in particular, the numerals of the tens and the digits of the digits, the digits of the tens, the digits of the digits and the alphabets are the same, Members referred to by reference numerals can be identified as members corresponding to these standards.

In addition, in the drawings, the components are exaggerated in size (or thickness), in size (or thickness), in size (or thickness), or in a simplified form or simplified in view of convenience of understanding. It should not be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present application, the term " comprising " or " consisting of ", or the like, refers to the presence of a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

It is to be understood that the first to second aspects described in the present specification are merely referred to in order to distinguish between different components and are not limited to the order in which they are manufactured, It may not match.

In the description of the linear robot with the anti-vibration band according to the present invention, if the approximate direction of the rigid direction is specified for convenience, referring to FIG. 4, the direction in which gravity acts downward is as shown below. And determine the front and rear in the reciprocating direction of the moving block 20.

In addition, in the description of the linear robot having the anti-vibration band according to the present invention, the linear robot including the moving block 20 for horizontal motion is limited and described. However, this is for convenience of description. Not only a robot but also a multi-axis robot (a robot capable of moving up, down, front, back, left and right) using the linear robot of the present invention, and those skilled in the art (hereinafter referred to as those skilled in the art) Modifications, modifications and substitutions can be made with sufficient prediction, which should not limit the interpretation of the rights of the present invention.

Hereinafter, with reference to the accompanying drawings a linear robot having a vibration band according to the present invention.

1 and 2, the linear robot having a vibration band according to the present invention has a receiving portion 12 in which a driving means (not shown) is built, and a base block having a guide groove 11 thereon. 10;

A dustproof band 30 formed on the guide groove 11 to cover the guide groove 11; And

And a moving block connected to the driving means to reciprocate along the guide groove.

The base block 10 is fixed in a linear robot to transfer the driving force of the reciprocating motion of the moving block 20, and has a function of guiding the reciprocating motion of the moving block 20.

To this end, the base block 10 has a bottom surface 14 and both sidewalls 15 and the sidewalls forming the receiving portion 12 of the guide groove 11 in the longitudinal direction of the bottom surface 14, respectively. It comprises a side cover 16 which is coupled, spaced apart from each other to form the guide groove (11).

As shown in Figures 2 and 5, the side cover 16 is bent vertically, such as the cross-sectional shape of the letter 'b' can function as the support of the vibration band 30 and the top plate 24. have.

In addition, the side cover 16 may be formed to be detachable from the side wall 15. By designing the side cover 16 to be detachable, the linear robot according to the present invention can easily clean the inside of the base block can improve the user convenience during maintenance of the equipment.

Subsequently, when a foreign body is introduced into the base block in a site where a precision process such as a semiconductor is required in the conventional linear robot, a failure is likely to occur during the reciprocating movement of the moving block. This increasing problem can occur.

In order to solve the above problems, the present invention is provided with a dustproof band 30 for sealing the guide groove 11, as shown in Figures 3 to 5 foreign matter such as dust from the outside into the receiving portion 12. Inflow can be prevented.

The anti-vibration band 30 may be made of various materials, but it is preferable that the anti-vibration band 30 is made of a metal material (for example, stainless steel) having elastic properties so as to secure the adhesion of the anti-vibration band 30 to maximize the anti-vibration function.

By introducing the anti-vibration band 30 having a metal material and an elastic force, the present invention can secure the adhesion of the anti-vibration band 30 through the first and second magnetic bodies, which will be described later in detail.

And the present invention may further include a separate fixing member (not shown) for fixing the dust band 30 to the front and rear ends of the base block 10 so as to cover the guide groove (11). .

Subsequently, in the present invention, the movable block 20 (see FIG. 1) is accommodated in the receiving part 12 and connected to the driving means, as shown in FIG. 2, and above the guide groove 11. And a top plate 24 having a guide hole 25 through which the anti-vibration band 30 can penetrate, and a connecting portion 26 connecting the lower plate 21 and the upper plate 24 and provided with the first magnetic material. Including)

The lower plate 21 of the movable block 20 is accommodated in the receiving portion 12 of the base block 10 and is connected to the driving means to enable the reciprocating motion of the movable block 20.

To this end, the bottom surface 14 of the base block 10 is provided with a linear guide 13 for guiding and guaranteeing a linear motion, the lower surface of the lower plate 21 is slid to the linear guide 13 It is preferable that a linear groove 23 is formed to engage.

One or more linear guides 13 may be formed and may be selected according to the purpose of use of the linear robot according to the present invention (particularly, the load to be supported by the movable block 20 for reciprocating motion).

In addition, the lower plate 21 is connected to the drive means to perform the reciprocating motion of the moving block 20, the lower plate 21 can be implemented in various ways depending on the manner of the drive means.

In the embodiment of the linear robot according to the present invention, a driving method using a ball screw (not shown) is adopted.

The driving method using the ball screw, referring to Figure 2, is located in the receiving portion 12 of the base block 10, the drive shaft (S) formed with a screw groove (S1) on the outer peripheral surface, and the lower plate 21 ) Is provided with a through-hole 21A through which the drive shaft S can pass, and a ball screw coupled with the screw groove S1 along the through-hole 21A, thereby moving the rotational force of the drive shaft S. It is a drive system that can be switched to the linear reciprocating motion of the block 20. (Drive shaft is omitted in Figures 3 to 5 for convenience of description.)

Rotation of the drive shaft (S) can be done manually, and furthermore, it is preferable to secure a rotational force of the drive shaft (S) by mounting a motor (not shown) connected to the drive shaft (S) on one side of the base block (10). Do.

In addition, the driving means is made of a pneumatic or hydraulic method or having a linear motor on the lower plate 21 and having a drive shaft formed in the receiving portion corresponding to the linear guide 13 to perform a linear reciprocating motion or It can be made in various ways, such as by introducing a belt drive method to ensure a linear motion.

In addition, the base block 10 may be further provided with a stopper (not shown) made of an elastic material to stop the movement and absorb the shock during the reciprocating movement of the lower plate 21 at both ends of the receiving portion (12). .

Next, referring to FIGS. 2 and 3, the moving block 20 connects an upper plate 24 positioned above the guide groove 11, and a connecting portion 26 connecting the upper plate 24 and the lower plate 21. It is made to include.

The driving force of the driving means is transmitted to the movable block 20 by the connecting portion 26 so that linear reciprocating motion of the movable block 20 including the upper plate 24 formed on the guide groove 11 is possible. .

And the present invention is further provided with a mounting portion (24A) for mounting a separate member on the top plate (24).

The mounting portion 24A is provided with a fastener for directly fixing semiconductor equipment or the like, or is configured to be fastened to an additional arm, and the like, and can be utilized in various ways. Can be made.

Furthermore, the present invention preferably further comprises a position detecting means for detecting the position of the movable block 20 for reciprocating movement.

The position detecting means may be implemented in various forms, but in order to increase the ease of manufacture and generality, the position detecting sensor 17 may be provided on any one of the side walls 15 or both thereof. It is preferable to provide a sensing body 27 that can be sensed by the sensing sensor 17 on one side or both sides of the moving block 20 to enable position control of the moving block 20.

For the position detecting sensor 17, the side grooves 15 may be provided with an installation groove 15A along a length direction, and may be fixed after coupling the position detection sensor 17 to the installation groove.

Since the position sensor 17 may be different in position according to the utilization of the linear robot of the present invention, it is preferable that the position sensor 17 is formed in a fixed manner to freely adjust the position.

In addition, the position sensor 17 may include a light emitting diode 17A and the like so that the user may identify the movement state of the linear robot or the position of the moving block from the outside.

Furthermore, the present invention is preferably provided with a plurality of sensors to adjust the position of the moving block 20 in accordance with the utilization of the linear robot.

As a preferred embodiment of FIG. 1 of the present specification, in order to set a limit of the base block, two sensors are provided at both ends before and after the side wall 15, and the position detection of the moving block 20 at any position of the side wall 15 is performed. And one sensor is further provided for the origin detection.

The sensor may be formed of a variety of sensors for position detection, and typically comprises a sensor 27 in a manner that the sensor detects the magnetic force of the sensor 27 or a magnet that is an electric force, and the electric force of the magnet The way the sensor detects or installs an infrared emitter and an infrared detector in the sensor 17 and whether the configuration protruding from the sensor 27 blocks the infrared rays of the sensor 17. It can be implemented in various ways such as detecting location.

Detailed configuration of the position sensor and the sensor, the connection relationship, the fixing method, etc. will be omitted for convenience of description because those skilled in the art can fully reproduce the prediction.

Subsequently, referring to FIG. 3, the movable block 20 may include a guide port 25 through which the anti-vibration band 30 penetrates the base block 10.

As described above, the dustproof band 30 seals the spaced portion of the guide groove 11 to prevent the inflow of foreign substances so that the guide 25 is secured to the upper plate 24. It can be formed in a tunnel form.

In this case, the anti-vibration band 30 is preferably formed wider than the guide groove 11 for the anti-vibration function, and the connecting portion 26 has a structure that can only be formed narrower than the guide groove 11, the upper plate ( 24 is preferably formed with a guide (25) corresponding to the width of the vibration band (30).

In addition, since the guide port 25 is formed above the height of the vibration band 30, the vibration band 30 passing through the moving block 20 during the reciprocating motion of the moving block 20 is the guide groove. (11), more specifically, a gap is formed between the side cover 16 forming the guide groove 11, and there is a problem that foreign matter may flow through the gap.

In order to solve the problem, the guide 25 is formed in a tunnel shape, as shown in FIG. 4, the curved shape toward the upper side toward the central portion of the guide 25 at the front and rear entrance of the guide 25. It may be made of or in the form of an inclined.

By forming a curved or inclined guide 25, the present invention minimizes the gap formed while the dust-proof band 30 passes through the guide 25, and may occur when the dust-proof band 30 passes. Noise can be minimized.

In addition, the present invention is the mounting portion 24A of the upper plate 24 on the boundary of the guide 25 for ensuring the ease of manufacture for the guide 25 of the inclined or curved shape and the structure simplified ) May be formed to be detachable.

That is, the linear robot according to the present invention is manufactured to form an inclined or curved boundary portion on a part of the upper surface of the upper plate 24 connected to the connecting portion 26,

The other part of the lower surface of the upper plate 24 including the mounting portion 24A is manufactured to have a corresponding boundary portion having a shape corresponding to that of the boundary portion while being spaced apart from the boundary portion, and then assembled together to guide the tunnel-shaped guide ( 25) can be formed.

Therefore, the present invention is made of a detachable upper plate 24 in consideration of the convenience of manufacturing when forming the guide 25, it is possible to ensure the ease of maintenance, such as ensuring the ease of manufacture and simplify the structure and cleaning.

Nevertheless, as shown in the lower enlarged view of FIG. 4, when the moving block 20 reciprocates, the vibration band 30 may have a sliding phenomenon according to the movement direction of the moving block 20. The resulting gap may occur again.

In addition, the gap may vary depending on the material of the anti-vibration band 30 and the moving speed and the load of the moving block 20 and the width of the gap.

Accordingly, the linear robot according to the present invention moves blocks at the front and rear ends of the connecting portion 26 to prevent problems such as foreign matter inflow by blocking the gap, and to prevent noise and breakage of the vibration band generated during the reciprocating motion. In the reciprocating motion of the 20 is provided with a first magnetic body 28 including a close contact portion (28A) formed to be inclined toward the guide port 25 in order to closely contact the dust-proof band 30 in the downward direction. It features.

That is, the uppermost end of the contact portion of the first magnetic body is formed at the same height as the guide,

Preferably, the close contact portion 28A is inclined so as to be naturally connected to the inlet of the guide 25.

As described above, since the dustproof band 30 includes a metal component,

During the reciprocating motion of the movable block 20, the magnetic force of the first magnetic body 28 and the inclined contact portion 28A block the jungle of the vibration band 30 at the source, thereby preventing the adhesion of the vibration band 30. By maximizing, it is possible to prevent the occurrence of equipment failure due to the inflow of foreign substances or failure due to the failure of precise control.

The first magnetic body 28 and the second magnetic body 18 to be described later are magnetic materials of all materials having magnetic force such as not only permanent magnets such as ferrite magnets, alico magnets, rubber magnets, and samarium cobalt magnets, but also temporary magnets such as electromagnets. Can be done,

In particular, such as neodymium magnets (commonly known as ND magnets) that are frequently used in automated equipment such as robots, it is more preferable that they are made of a magnetic material that is easy to process and has strong magnetic properties.

And the linear robot according to the present invention can be applied to various purposes in various sites, the moving speed of the moving block 20 or the load to be supported by the moving block 20 can vary depending on the purpose of use and thus the dustproof Jungle phenomenon of the band 30 may vary.

Therefore, in some cases (depending on the material of the anti-vibration band 30, the moving speed and the load of the moving block 20, etc.) it is preferable to implement the contact portion 28A of the first magnetic body 28 of the present invention in various forms. .

For this purpose, the close contact portion 28A may be implemented in various forms, as shown in FIG. 6.

First, in FIG. 6A, the first magnetic body having the inclined contact portion described above can be confirmed.

As shown in FIG. 6B, the close contact portion 28A may include a first inclined portion and a second inclined portion having different inclination angles.

That is, the first inclined portion 28a having a low inclination angle at the end of the moving block 20 and the inclined angle of the first inclined portion 28a are greater than the inclination angle or curvature of the guide 25. The first magnetic body 28 is provided with a first magnetic body including a close contact portion 28A formed of a second inclined portion 28b having a close inclination angle. The magnetic force of the vibration band 30 is in close contact with the downward direction and at the same time the natural angle formed toward the guide 25 to maximize the adhesion of the vibration band 30 can be blocked foreign material inflow.

Subsequently, as shown in FIG. 6C, the close contact portion 28A may be formed such that the inclination angle of the first inclined portion is 0 degrees, and the second inclined portion 28b is inclined toward the guide hole 25.

That is, when the speed or load of the moving block 20 is low, the vibration phenomenon of the anti-vibration band 30 is weakened to the first inclined portion 28a and the second inclined portion 28b having different inclination angles. When the contact portion 28A is formed, a gap may occur between the dustproof band 30 and the contact portion 28A of the first magnetic body 28 is formed of a flat portion 28c and an inclined portion, so It is more preferable to prevent the occurrence.

In addition, the contact portion 28A of the first magnetic body 28 according to the present invention may have three or more inclined portions. Maximizing the dust-proof function through the anti-vibration band 30 by forming three or more of the close contact portion (28A) to enable the removable first magnetic body 28, regardless of the size, speed or weight of the moving block 20. The configuration of the inclination angle and the like of the first magnetic body 28 may be sufficiently predicted and reproduced by those skilled in the art.

Furthermore, as shown in FIG. 6D, the close contact portion 28A of the first magnetic body 28 may be formed in a curved shape (curved portion 28d).

In other words, the contact portion 28A is formed into a plurality of inclined portions having different inclination angles, and thus the contact portion 28A is formed in a curved shape in consideration of the curved formation angle of the guide tool 25. In any case, the invention can be expected to maximize the adhesion of the anti-vibration band 30 to reduce the burden of failure and improve the workability.

The curved shape of the first magnetic material is not only a concave downward portion as shown in D of FIG. 6, but also a convex portion or a concave portion and a convex portion interconnected upwardly according to the shape of the guide 25. It can be modified.

Furthermore, the first magnetic material is not only fixed to the connection part of the moving block, but also formed to be detachable and deformable so that the first magnetic material of the above-described embodiments may be replaced and applied in some cases.

Subsequently, in the linear robot having the anti-vibration band 30 according to the present invention, as shown in FIGS. 2 and 5, the base block 10 closely contacts the anti-vibration band 30 to the guide groove 11. It may be further provided with a second magnetic body (contact portion 28A).

As described above, the first magnetic material 28 blocks source gaps generated when the vibration band 30 passes through the guide port 25 during the reciprocating motion of the moving block 20.

As the reciprocating motion is continued, the adhesion force of the anti-vibration band 30 formed at the upper side of the guide groove 11 due to the vibration due to the reciprocating motion and not passing through the moving block 20 may be weakened, resulting in a gap. This can happen.

Therefore, the dustproof band 30 is formed by embedding a second magnetic material having a magnetic force along the longitudinal direction of the guide groove 11 (close contact portion 28A) in a portion of the upper side of the side cover 16 forming the guide groove 11. It is possible to secure the adhesion of the more firmly.

The second magnetic body (adhesive portion 28A) may be formed on a part of the side cover 16, and the entire support portion of the side cover 16 is formed of the second magnetic body (adhesive portion 28A). And the like can be variously implemented.

In addition, in the linear robot according to the present invention, the first magnetic body 28 may be formed in a shape in which a plurality of rollers are arranged as well as a block shape having an inclination as described above.

That is, as shown in FIG. 7, the present invention implements a first magnetic body 28 having a magnetic force by using a roller (hereinafter referred to as a roller magnetic body 29), and forms an accumulator in the connection part 26. By arranging a plurality of the roller magnetic body 29 to have an inclination (or curvature),

It is possible not only to secure the adhesion of the dustproof band 30 by magnetic force and inclination (the shaft portion is formed in the connection portion 26, so that the width of the roller magnetic body 29 can be narrowed, and the material of the dustproof band 30 and In consideration of securing adhesion through magnetic force, perfect sealing is possible.)

Furthermore, the vibration band 30 may provide a more comfortable working environment by minimizing noise generated when passing through the guide port 25 of the moving block 20.

In the above description of the present invention with reference to the accompanying drawings, but described mainly with a linear robot having a dustproof band having a specific shape and structure, the present invention can be variously modified, changed and replaced by those skilled in the art, such modifications, Modifications and substitutions should be construed as falling within the protection scope of the present invention.

10: base block 11: guide groove
12: accommodating part 13: linear guide
14 bottom 15 side wall
16: side cover 17: sensor
18: second magnetic material
20: moving block 21: lower plate
23: linear groove 24: the top plate
25: guide 26: connection
27: sensor
28: first magnetic body 28A: close contact
28a: first inclined portion 28b: second inclined portion
28c: flat part 28d: curved part
29: roller magnetic material 30: dustproof band

Claims (10)

A base block (10) having a receiving portion (12) in which driving means are built and having a guide groove (11);
A dustproof band 30 formed on the guide groove 11 to cover the guide groove 11 while being formed wider than the guide groove; And
An upper plate having a lower plate 21 accommodated in the accommodating part 12 and connected to the driving means, and a guide port 25 positioned above the guide groove 11 and through which the dustproof band 30 can pass ( 24, and the lower plate 21 and the connecting portion 26 for connecting the upper plate 24 is made of a moving block 20 for reciprocating movement along the guide groove 11;
The guide 25 is made in the form of a tunnel,
The guide is made of a curved form toward the upper side from the front and rear entrance of the guide (25) toward the central portion of the guide (25),
In order to closely contact the vibration band 30 in the downward direction during the reciprocating motion of the moving block 20,
The first magnetic body having a contact portion 28A formed at the front and rear ends of the connecting portion 26 so as to be inclined toward the guide 25 and having the uppermost end at the same height as the front and rear entrance of the guide 25. 28) is coupled, the vibration band is a reciprocating motion of the moving block is made in close contact with the first magnetic material,
The mounting portion 24A of the upper plate 24 is detachable with the guide port 25 as a boundary,
The guide 25 is
A boundary portion of a curved shape on a part of an upper surface of the upper plate 24 connected to the connection portion 26;
The other side surface of the upper plate (24) connected to the mounting portion is a linear robot with a dustproof band, characterized in that it consists of a corresponding boundary portion having a shape corresponding to the boundary portion while being spaced apart from the boundary portion. delete The method of claim 1,
The close contact portion 28A of the first magnetic body 28 includes a first inclined portion 28a having a different inclination angle and a second inclined portion 28b. The method of claim 1,
The close contact portion 28A of the first magnetic body 28 is a straight line robot having an anti-vibration band, comprising a flat portion 28c that is not inclined and an inclined portion formed to be inclined. The method of claim 1,
The close contact portion 28A of the first magnetic body 28 is a linear robot having a dustproof band, characterized in that the curved shape. The method of claim 1,
The first magnetic body (28) is a linear robot with a dustproof band, characterized in that the plurality of roller magnetic material (29) is arranged in a row arranged inclined. The method of claim 1,
The base block 10 includes a side cover 16 coupled to both side walls 15 of the base block 10 and spaced apart from each other to form the guide groove 11.
The side cover (16) is a linear robot having a dustproof band, characterized in that formed to be removable from the side wall (15). The method of claim 7, wherein
The side cover 16 is a linear robot having a dustproof band, characterized in that the second magnetic body 18 is further provided along the longitudinal direction. The method of claim 1,
The driving means is formed along the longitudinal direction in the receiving portion 12 of the base block 10 and having a screw groove (S1) and,
A through hole 21A provided in the lower plate 21 and through which the driving shaft S may pass;
A linear robot having an anti-vibration band comprising a ball screw coupled to the screw groove (S1) along the through hole (21A). The method of claim 1,
The base block 10 includes a position sensor 17 on any one of the side walls 15 or both of the side walls 15 of the base block 10, and one side or both sides of the moving block 20. The linear robot with a dustproof band, characterized in that the sensor 27 is further provided with a sensing body that can be detected by the sensor (17).

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