KR101430908B1 - The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure - Google Patents

The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure Download PDF

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Publication number
KR101430908B1
KR101430908B1 KR1020140007026A KR20140007026A KR101430908B1 KR 101430908 B1 KR101430908 B1 KR 101430908B1 KR 1020140007026 A KR1020140007026 A KR 1020140007026A KR 20140007026 A KR20140007026 A KR 20140007026A KR 101430908 B1 KR101430908 B1 KR 101430908B1
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KR
South Korea
Prior art keywords
traveling
carrier
traveling beam
rail
dimensional
Prior art date
Application number
KR1020140007026A
Other languages
Korean (ko)
Inventor
김인환
Original Assignee
주식회사 맥스로텍
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Priority to KR1020140007026A priority Critical patent/KR101430908B1/en
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Publication of KR101430908B1 publication Critical patent/KR101430908B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0095—Manipulators transporting wafers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coupling structure of a three-dimensional gantry transfer system capable of maximizing work efficiency, productivity and use range of a multi-joint robot by applying a multi-joint robot capable of three-dimensional three-dimensional operation to a gantry .
That is, according to the present invention, a vertical post held at a predetermined interval is held on one side and a rear side, and a traveling beam having a considerable length is horizontally installed on the upper side between the two side posts. And a carrier driving means for providing a driving force required for traveling is provided between the traveling carrier and the traveling beam; On one side of the carrier, arms on the upper side of the base are constituted by six-axis joints, and a total of six movements including left and right rotational motion, front motion, up and down motion, left and right rolling motion, bending upward and downward, A jointed-arm robot capable of three-dimensional motion capable of reaching any point in space; The end arm of the last arm of the articulated robot having six axes is equipped with a gripper for material transfer, which is manufactured in a cramping structure suitable for a workpiece having a predetermined size and shape.

Description

[0001] The present invention relates to a three-dimensional gantry transfer system equipped with a multi-joint robot,

The present invention relates to a three-dimensional gantry transfer system equipped with a six-axis articulated robot and a three-dimensional gantry transfer system having the three-dimensional operation and the efficiency thereof, and a reasonable combination structure thereof, thereby greatly improving operation precision, To a coupling structure of a three-dimensional gantry transfer system equipped with a multi-joint robot.

A vertical type post (not shown) is normally installed on one side and the other side of the gantry for normal material conveyance which are kept at a constant interval from each other, and a horizontal running beam 120 (not shown) And a traveling carrier 130 reciprocating in the left and right direction along the traveling beam 120 is installed at one side of the traveling beam 120. The traveling carrier 130 A lifting and lowering conveying belt 140 capable of moving upward and downward is installed on one side of the carrier and a gripper (= clamp) capable of picking up a work (workpiece) is provided at the lower end of the lifting and lowering conveying belt 140 The combined structure is common.

Therefore, since the gantry for normal material conveyance can quickly move along the traveling beam 120 after gripping the material, it is possible to supply the material to another desired process and cope with it, It is known to be more efficient than any other equipment.

However, since the gripper for picking up the material and the operation mechanism associated with the gantry can cope with each process only within a simple two-dimensional operation range, such as up-down operation, up-down operation and turn operation, There is a problem in that it is practically impossible to effectively transfer the material and perform the process if the required position and direction are extremely varied and the conditions are changed greatly.

On the other hand, the six-axis articulated robot has the following functions: the left and right rotation motion, the front motion, the up and down movement, the rolling motion to the left and right, the bending motion to the left and right, and the turning motion to the left and right, Since a total of six pre-position movements are possible,

Not only is it possible to process all sorts of complicated and diverse forms within a certain radius of work, but when the material is picked up after mounting the gripper, the advantage of three-dimensional motion makes it possible to precisely respond to variable positions in any position and direction. outstanding.

However, the 6-axis articulated robot can only operate in a range where it is fixed to one of the points, and it is necessary to additionally install several more expensive robots having different work recipes or to reconfigure the automated production line itself In the event of production of a small quantity of a variety of products, which is not effective for mass production of consecutive large quantities of products (repeated operation of the same working conditions) line, the type, size and model of the workpiece are changed every time, There was a disadvantage in that it was extremely inefficient.

In the present invention, a new multi-jointed robot type gantry system which can be utilized as a more effective and efficient three-dimensional machining or transferring mechanism by organically combining gantry and 6-axis articulated robot free from various 3-dimensional motion, And a high-efficiency coupling structure in which a six-axis articulated robot can be sufficiently equipped with the operation precision, the original activity and the stability in a new gantry environment condition, and has completed the technical problem.

According to an aspect of the present invention, there is provided a vertical post which is maintained at a predetermined interval on one side and the other side, a traveling beam of a considerable length is horizontally installed on the upper side between the two side posts, A carrier for driving to reciprocate left and right along the rail is provided, and a carrier driving means is provided between the traveling carrier and the traveling beam to provide driving force necessary for traveling; On one side of the carrier, arms on the upper side of the base are constituted by hexagonal joints, and a total of six movements including left and right rotational motion, front motion, up and down motion, rolling motion to the left and right, bending motion upward and downward, A jointed-arm robot capable of three-dimensional motion capable of reaching any point in space; The end arm of the last arm of the articulated robot having six axes is equipped with a gripper for material transfer, which is manufactured in a cramping structure suitable for a workpiece having a predetermined size and shape.

The coupling structure of the three-dimensional gantry transfer system equipped with the articulated robot according to the present invention as described above is characterized in that the quickness and stability of the horizontal movement can be freely reached at any point in the space in accordance with the movement of the joints, , It is possible to install a multi-joint robot capable of three-dimensional movement in three dimensions and to provide a system that effectively establishes an organic coupling relationship therebetween. Accordingly, the gantry can greatly contribute to the diversity and functionality of the transfer operation using the gantry Of course, it is a useful invention capable of coping with a three-dimensional process in any direction and position required when supplying a material.

1 is a schematic view showing a preferred embodiment of the present invention.
Figure 2 is an exemplary diagram illustrating a three-dimensional gantry transfer system of the present invention.
3 is an exploded assembly example of a three-dimensional gantry according to the present invention
4 is a partial enlarged view of a three-dimensional gantry according to the present invention
Figure 5 is an exploded assembly example of a three-dimensional gantry transfer system of the present invention
Figure 6 is an enlarged side view of a three-dimensional gantry transfer system of the present invention
Fig. 7 is an exemplary view of the carrier driving means of the present invention and an exploded assembly example
8 is an exemplary view and a sectional enlarged view of the downward roller unit of the present invention

The coupling structure of the three-dimensional gantry transfer system equipped with the articulated robot of the present invention will be described in more detail with reference to the accompanying drawings.

That is, according to the present invention, a vertical post 100, which is maintained at a predetermined interval on one side and another side, is erected, a traveling beam 200 having a considerable length is horizontally installed on the upper side between the two side posts 100, The traveling carrier 300 is provided at one side of the beam 200 so as to reciprocate right and left along the rail and is provided between the traveling carrier 300 and the traveling beam 200 to provide driving force necessary for traveling A carrier driving means 400 is provided.

The traveling carrier 300, which reciprocates left and right along the traveling beam 200,

And a robot binding plate 320 on which a six-axis articulated robot can be fixed is provided below the rear side of the driving motor mounting plate 310. The driving motor mounting plate 310, And the left and right sides including the driving motor mounting plate 310 and the robot binding plate 320 are formed in a "? &Quot; shape so as to correspond to a traveling beam, which is a permissible space through which the traveling beam 200 can pass, The left and right support plates 330 and 330 'are secured,

A side reinforcement band 350 is formed on both sides of the rear side of the robot binding plate 320 and a lower side reinforcement band 360 is formed on the lower side of the robot binding plate 320. [ As a result,

It is possible to facilitate the correspondence with the traveling beam 200, and at the same time, the stability and robustness of the overall skeleton structure can be enhanced, and various components and components can be easily installed.

The carrier driving unit 400, which is installed between the traveling carrier 300 and the traveling beam 200,

A first rail 210 is formed on an upper surface of the traveling beam 200 and a traveling beam 200 corresponding to the first rail 210 is provided to realize a traveling operation of the carrier 300 moved along the traveling beam 200. [ Not only one second rail 220 is installed on the bottom surface of the first rail 210 but also a horizontal conveying rack gear 230 is fixed on the traveling beam 200 in front of the first rail 210.

A driving motor 410 driven by a power source is installed above the driving motor mounting plate 310 provided in the horizontal feeding rack gear 230 and the traveling carrier 300,

A rotating shaft 411 of the driving motor 410 protrudes downward and a pinion gear 240 corresponding to the rack gear 230 is formed on a rotating shaft 411 of the driving motor mounting plate 310 Accordingly, a structure capable of horizontally transporting can be completed by the gear engagement between the rack gear 230 and the pinion gear 240.

The upper and lower support plates 330 and 330 'on the upper side of the traveling beam counterpart 330 are provided with an upper roller unit 360 capable of rolling while holding the first rail 210 formed on the upper surface of the traveling beam 200 370 are installed symmetrically,

7, the roller units 370 and 373 'having front and rear rollers 372 and 372' are spaced apart from each other at one side of the fixed support block 371 And an upper roller 373 capable of rolling in a state of being in contact with the upper surface of the first rail 210 is provided at one upper end between the front and rear rollers 372 and 372 '

A rail guide piece 374 for holding the center of the first rail 210 passing through the front and rear rollers 372 and 372 so as to be guided more clearly and safely is further provided on one side of the upper roller 373 .

The second rail 220 provided on the bottom surface of the traveling beam 200 is provided at the rear of the left and right support plates 330 and 330 ' The corresponding downward roller units 380 are also provided symmetrically as above,

The lower roller unit 380 is also provided with roller axes 383 and 383 'having front and rear rollers 382 and 382' at a certain distance from one side of the fixed support block 381 as shown in FIG. Respectively, as shown in FIG.

The traveling carrier 300 is guided by the first and second rails 210 and 220 formed on the upper and lower surfaces of the traveling beam 200 by very precise and smooth rolling, Operation becomes possible.

Particularly, in the upper roller unit 370 and the lower roller unit 380, at least one of the respective front and rear rollers 372, 372 ', 382, 382' A flexible variable means 390 is provided to enable a flexible variable (fine flow) operation,

The elastic variable means 390 is configured to rotate the front and rear rollers 372, 372 ', 382, 382' coupled to the fixed support blocks 371, 381 of the upper roller unit 210 and the lower roller unit 220, When constituting any one of the roller shafts 373 and 373 '(383 and 383') as the shafts,

An elastic input portion 392 is protruded at the rear upper end with respect to the hinge shaft 391 while a rear binding portion 393 is further projected rearward, An operable link member 394 is formed and then joined to the rear linking portion 393 of the link member 394;

The elastic input part 392 is screwed to form a control pin 396 for adjusting the distance between the front and rear parts as needed, and a protruding type touch part 395 is provided at one end of the elastic input part 392.

A support piece 397 protruding upward in a state of being fixed to the rear end of the fixed support blocks 371 and 381 is formed on the front side corresponding to the touch use adjustment pin 396, A spring 398 having a predetermined elastic force is coupled in a condensed state and a resiliently moving pin 399 is elastically moved by the spring 398 between the regulating fins 396 and the resilient fins 399, Shaped touch portion 399a is provided at the rear end thereof.

Therefore, when the front and rear rollers 372 and 372 'are rolled in close contact with both sides of the first rail 210 or the second rail 220, the warpage and wear of the rails 210 and 220 And even if foreign substances are attached, it is possible to avoid automation while moving in a flexible and active manner.

Vibration, noise, and breakdown of the rail 210,220 despite various changes such as warping, abrasion, foreign matter adherence, etc., as well as minimizing noise, It is possible to carry out the transfer operation and it is an extremely useful invention.

In the robot binding plate 320 of the traveling carrier 130, the arms on the upper side of the base are formed of six-axis multi-joints, and are rotated in the left and right directions, in the front direction, in the upward and downward directions, Joint robot 500 capable of three-dimensional three-dimensional operation capable of reaching any point in space by a total of six movements including bending motion, turning motion to the left and right,

A gripper 300 for material transfer, which is manufactured by a cramping structure suitable for a workpiece having a predetermined size and shape, or a tool necessary for machining a product, is provided at an end of a last arm of the articulated robot 500, Can be mounted.

In the articulated robot 500, the arms on the upper side of the base are composed of six-axis joints, and the right and left rotation motions, the front motions, the up and down motions, the right and left rolling motions, the upward and downward bending motions, 6-axis articulated robot capable of three-dimensional three-dimensional operation capable of reaching any point in the space by a total of 6 movements including a robot, Shaft, and 5-axis articulated robot may be alternatively applied.

Further, the gripper 600 for transferring the material, which is mounted on the end of the arm of the articulated robot 500, can easily grip (grip) a material having a predetermined shape, The gripper mechanisms of various structures may be selected and applied,

if. If the purpose of using the articulated robot 500 is to carry out three-dimensional machining instead of material transfer, various tools necessary for machining may be mounted on the end of the arm instead of the gripper 600 for transferring the material.

100: vertical post 200: traveling beam
300: traveling carrier 310: driving motor mounting plate
311: passage groove 320: robot binding plate
330, 330 ': left and right support plates 331:
340: upper reinforcing bar 350: side reinforcing bar
360: lower reinforcing bar 370: upper roller unit
400: carrier driving means 410: driving motor
411:

Claims (1)

A vertical post 100 is held at one side of the traveling beam 200 at a predetermined interval and a traveling beam 200 is horizontally installed on the upper side between the two side posts 100, And a carrier driving means 400 is provided between the traveling carrier 300 and the traveling beam 200 to provide a driving force necessary for driving the traveling carrier 300. [ And;

The traveling carrier 300 reciprocating left and right along the traveling beam 200 has a driving motor mounting plate 310 having a rotational axis passing groove 311 formed thereon, 310 and the robot binding plate 320 are fixed to the left and right sides of the driving motor mounting plate 310 and the robot binding plate 320, The left and right support plates 330 and 330 'having the traveling beam counterpart 331 which is an allowable space through which the traveling beam 200 can pass can be formed inside the driving motor mounting plate 310 A side reinforcing bar 350 is formed on both sides of the rear side of the robot binding plate 320 and a lower reinforcing bar 360 is formed on a lower side of the upper reinforcing bar 340;

The carrier driving means 400 installed between the traveling carrier 300 and the traveling beam 200 realizes a traveling operation of the carrier 300 moved along the traveling beam 200, The first rail 210 is formed on the upper surface of the traveling beam 200 and the second rail 220 is installed on the lower surface of the corresponding traveling beam 200, The rack gear 230 for horizontal movement is fixedly mounted on the front traveling beam 200 and the upper side of the driving motor mounting plate 310 provided on the horizontal carrier rack gear 230 and the traveling carrier 300 A rotating shaft 411 of the driving motor 410 protrudes downward from a lower portion of the driving motor mounting plate 310 and a rotating shaft 411 The rack gear 230 and the corresponding pinion gear 240 are configured;

An upper roller unit 370 capable of rolling and holding the first rail 210 formed on the upper surface of the traveling beam 200 is mounted on the left and right supporting plates 330 and 330 'above the traveling beam counterpart 330, Are symmetrically installed;

The upper roller unit 370 couples roller shafts 373 and 373 'having front and rear rollers 372 and 372' to one side of the fixed support block 371 in a state in which they are spaced apart from each other And an upper roller 373 capable of being rolled in a state of being in contact with the upper surface of the first rail 210 is provided at one upper end between the front and rear rollers 372 and 372 ' A rail guide piece 374 for centering the first rail 210 passing through the front and rear rollers 372 and 372 'is further provided at one side thereof;
The second rail 220 provided on the bottom surface of the traveling beam 200 is provided at the rear of the left and right support plates 330 and 330 ' The downward roller units 380 are provided symmetrically;
The downward roller unit 380 includes roller shafts 383 and 383 'having front and rear rollers 382 and 382' on one side and one side of the fixed support block 381, ;
At least one of the front and rear rollers 372, 372 ', 382, 382' of the upper roller unit 370 and the lower roller unit 380 is resiliently deformed in accordance with the change of the rail involved in the use process A flexible variable means (390) is provided to allow variable operation to be performed;
The elastic variable means 390 is configured to rotate the front and rear rollers 372, 372 ', 382, 382' coupled to the fixed support blocks 371, 381 of the upper roller unit 210 and the lower roller unit 220, An elastic input portion 392 protrudes at the rear upper end with respect to the hinge shaft 391 while a rear binding portion 393 is provided at the rear side with respect to the hinge shaft 391. [ A link member 394 capable of performing a tilting operation with a predetermined radius around the hinge shaft 391 is formed and joined to the rear binding portion 393 of the link member 394, The elastic input part 392 is screwed to constitute a control pin 396 for a touch having a protruding touch part 395 at one end while being able to adjust a distance between the front and rear parts, 396 are provided at the rear ends of the fixed support blocks 371, 381, And a spring 398 having a predetermined elastic force is coupled in a condensed state between the supporting piece 397 and the touch adjusting pin 396. At the same time, A resilient flow pin 399 which is resiliently moved by a spring 398 is formed and an engraved type touch portion 399a is provided at a rear end of the resilient flow pin 399;
On the other hand, in the robot binding plate 320 of the traveling carrier 130, the arms on the upper side of the base are formed of six-axis multi-joints so as to rotate in the left and right directions, move up and down, move up and down, Joint robot 500 capable of three-dimensional three-dimensional motion capable of reaching any point in space with a total of six movements including bending motion and turning motion to the left and right;
The articulated robot 500 may be equipped with a gripper for conveying a material having a predetermined size and shape or a tool necessary for machining a product, at the end of a last arm having six axes. Coupled gantry transfer system.
KR1020140007026A 2014-01-21 2014-01-21 The articulated robotic transfer system is equipped with a combination of a three-dimensional gantry structure KR101430908B1 (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101832947B1 (en) * 2016-05-20 2018-02-27 (주) 에스.피.시스템스 Robot gantry system
CN108147121A (en) * 2018-01-04 2018-06-12 李大德 Crusher roll insert automatic transportation equipment
CN110000766A (en) * 2019-05-20 2019-07-12 品湛自动化设备制造(苏州)有限公司 A kind of heavy-load robot truss
CN111975738A (en) * 2019-05-24 2020-11-24 北京海益同展信息科技有限公司 Clamping device and track inspection robot
CN112099555A (en) * 2020-08-26 2020-12-18 胡锦犇 Wisdom green house and monitored control system based on 5G
US20210040724A1 (en) * 2019-03-06 2021-02-11 Icon Technology, Inc. Systems and methods for the construction of structures
CN112571442A (en) * 2020-12-28 2021-03-30 浙江湖州精沃机械有限公司 Mechanical part clamping device
KR20210056138A (en) * 2019-11-08 2021-05-18 한국원자력연구원 Steam generator tube inspection system
CN113001511A (en) * 2021-03-02 2021-06-22 王夏杰 Intelligent self-moving manipulator
CN113021417A (en) * 2021-03-26 2021-06-25 山西戴德测控技术有限公司 Track walking structure device of inspection robot
CN115847161A (en) * 2023-02-23 2023-03-28 广州市锐美汽车零部件有限公司 Automatic truss system for spline machining of rotating shaft of driving motor

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KR900018779A (en) * 1989-05-30 1990-12-22 이노마다 시게오 Driving control method of mobile robot

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Publication number Priority date Publication date Assignee Title
KR900018779A (en) * 1989-05-30 1990-12-22 이노마다 시게오 Driving control method of mobile robot

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101832947B1 (en) * 2016-05-20 2018-02-27 (주) 에스.피.시스템스 Robot gantry system
CN108147121A (en) * 2018-01-04 2018-06-12 李大德 Crusher roll insert automatic transportation equipment
US20210040724A1 (en) * 2019-03-06 2021-02-11 Icon Technology, Inc. Systems and methods for the construction of structures
US11761195B2 (en) * 2019-03-06 2023-09-19 Icon Technology, Inc. Systems and methods for the construction of structures
CN110000766A (en) * 2019-05-20 2019-07-12 品湛自动化设备制造(苏州)有限公司 A kind of heavy-load robot truss
CN111975738A (en) * 2019-05-24 2020-11-24 北京海益同展信息科技有限公司 Clamping device and track inspection robot
CN111975738B (en) * 2019-05-24 2023-09-01 京东科技信息技术有限公司 Clamping device and track inspection robot
KR102282161B1 (en) * 2019-11-08 2021-07-28 한국원자력연구원 Steam generator tube inspection system
KR20210056138A (en) * 2019-11-08 2021-05-18 한국원자력연구원 Steam generator tube inspection system
CN112099555A (en) * 2020-08-26 2020-12-18 胡锦犇 Wisdom green house and monitored control system based on 5G
CN112571442A (en) * 2020-12-28 2021-03-30 浙江湖州精沃机械有限公司 Mechanical part clamping device
CN113001511B (en) * 2021-03-02 2022-05-24 徐州元成机械制造有限公司 Intelligent self-moving manipulator
CN113001511A (en) * 2021-03-02 2021-06-22 王夏杰 Intelligent self-moving manipulator
CN113021417A (en) * 2021-03-26 2021-06-25 山西戴德测控技术有限公司 Track walking structure device of inspection robot
CN115847161A (en) * 2023-02-23 2023-03-28 广州市锐美汽车零部件有限公司 Automatic truss system for spline machining of rotating shaft of driving motor

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