KR101576871B1 - Ball screw-type transfer robot equipped with a gravity compensation device - Google Patents

Ball screw-type transfer robot equipped with a gravity compensation device Download PDF

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Publication number
KR101576871B1
KR101576871B1 KR1020150064881A KR20150064881A KR101576871B1 KR 101576871 B1 KR101576871 B1 KR 101576871B1 KR 1020150064881 A KR1020150064881 A KR 1020150064881A KR 20150064881 A KR20150064881 A KR 20150064881A KR 101576871 B1 KR101576871 B1 KR 101576871B1
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KR
South Korea
Prior art keywords
horizontal
frame
plate
support
belt
Prior art date
Application number
KR1020150064881A
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Korean (ko)
Inventor
김승식
Original Assignee
(주)티보텍
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Publication date
Application filed by (주)티보텍 filed Critical (주)티보텍
Priority to KR1020150064881A priority Critical patent/KR101576871B1/en
Priority to PCT/KR2015/005550 priority patent/WO2016182113A1/en
Application granted granted Critical
Publication of KR101576871B1 publication Critical patent/KR101576871B1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a ball screw-type transfer robot having a gravity compensation device which prevents a size of a transfer robot from being excessively increased even if a horizontal moving device moves far away and maintains a performance of a motor even if a weight of transferred products is increased by reducing an overload of the motor using the gravity compensation device; thus improving a cost-efficiency of work by reducing energy consumption.

Description

Technical Field The present invention relates to a ball screw-type transfer robot equipped with a gravity compensation device,

The present invention relates to a ball screw type transfer robot having a gravity compensation device, and more particularly, to a ball screw type transfer robot having a gravity compensation device, and more particularly, And a gravity compensation device for transporting the gravity compensation device from side to side.

Generally, in the processing and manufacturing process of a product, a process of transporting a material such as a supply from a primary process to a secondary process is required. Since the process of transporting such a material affects a work speed, A transfer robot is being developed.

Such a transfer robot includes a vertical movement process, a horizontal movement process, and a rotation movement process, depending on the characteristics of the machine required for the process, and it is necessary to quickly and accurately carry the material necessary for one process.

However, when the load of the processed product is large, if the accuracy of the motor is low due to the overload of the motor during the transportation of the material, or if the separation distance between the primary process and the secondary process is long, The amount of energy consumed increases as the performance of the motor increases and the economical efficiency of the operation is deteriorated.

Therefore, it is an object of the present invention to provide a transfer robot that performs vertical and horizontal operations, which does not take up too much space even when the working distance of the primary process and the secondary station is far away, And the energy consumption of the power source of the transfer robot is reduced. Therefore, even if the size of the product and the transfer robot is increased, the load of the power source is reduced and the energy consumption is reduced, thereby improving the economical efficiency of the transfer robot.

In order to solve the above-described problems, the present invention provides a horizontal moving device, a vertical moving device, and a support device, wherein the horizontal moving device is positioned horizontally A horizontal base frame 110; A horizontal transfer frame 120 formed at a position corresponding to the horizontal base frame 110 in parallel; A horizontal moving plate 130 provided between the horizontal base frame 110 and the horizontal transfer frame 120; A clamp 140 provided at a front portion of the horizontal transfer frame 120; A horizontal movement motor 150 provided at one end of the back surface of the horizontal base frame 110; A horizontal ball screw 111 horizontally disposed on the horizontal base frame 110 and engaged with the horizontal moving plate 130; A rack gear (112) having at least one pair of the horizontal base frame (110) and the horizontal transfer frame (120) at the corresponding positions horizontally on the ground; A pinion gear 131 provided on the horizontal movement plate 130 and fitted to the rack gears 112; A belt gear 121 provided at both ends of the horizontal transfer frame 120; A belt 122 fitted to the belt gear 121; A fastening groove 141 formed in the clamp 140; A product conveying unit that is manufactured in accordance with the shape of the product to be conveyed to be fastened to the fastening groove 141; A driver unit 151 coupled to one end of the horizontal movement motor 150; A longitudinal synchronous fisher 152 provided at one end of the horizontal ball screw 111; And a driving belt unit 153 fitted to the driving unit 151 and the follower unit 152. The vertical moving unit 200 is vertically positioned at the supporting unit 300, The support frame 210; A support plate 220 to which at least one of the support flames 210 is vertically coupled; A vertical movement motor 230 coupled to the support plate 220; A vertical transfer plate 240 provided between the support frames 210 to be coupled with the horizontal base frame 110 to be transferred up and down; A cylinder 250 positioned parallel to the support frame 210 and having a cylinder rod coupled to a lower end of the vertical transfer plate 240 and a cylinder head fixed to the other side; And a vertical ball screw 231 having one end coupled to the lower end of the vertical transfer plate 240 and the other end coupled to the vertical movement motor 230. The support 300 includes a plurality of height adjustment units (310) are coupled to each other.

A gear groove 123 is formed at the coupling portion of the belt 122 and the drive belt portion 153 in the belt gear 121, the drive gear portion 151 and the follower gear portion 152 A belt groove 124 is formed at a joint portion where the belt 122 and the drive belt portion 153 are engaged with the belt gear 121, the drive gear portion 151 and the follower gear portion 152 .

The positions of the horizontal transfer frame 120 and the clamp 140 and the positions of the support frame 210 and the vertical transfer frame 120 are the same as the positions of the horizontal base frame 110 and the horizontal transfer frame 120, A plurality of guide rail portions 113 are provided at positions corresponding to the plate 240 and are provided on the horizontal movement plate 130, the clamp 140 and the vertical transfer plate 240, And a moving part 114 fitted to the rail 113.

A base plate 221 vertically coupled to the lower portion of the support frame 210 and coupled to the support 300; And a top plate 222 vertically coupled to the top of the support frame 210.

Further, the cylinder 250 is a cylinder selected as one of an air cylinder and a hydraulic cylinder.

Preferably, a movement ring 223 formed on the top plate 222 is included.

As described above, according to the present invention, even when the moving distance of the horizontal moving device is shortened, the size of the transfer robot does not excessively increase, and even if the weight of the product to be transferred increases, the motor performance is reduced due to the gravity compensation device. And thus, energy consumption is reduced by reducing the energy consumption, thereby increasing the economical efficiency of the work.

1 is a perspective view of a ball screw type transfer robot equipped with a gravity compensation device according to the present invention;
2 is a rear view of a ball screw type transfer robot equipped with a gravity compensation device according to the present invention.
3 is a plan view of a ball screw type transfer robot having a gravity compensation device according to the present invention.
4 is a right side enlarged view of a perspective view of a ball screw type transfer robot having a gravity compensation device according to the present invention.
5 is an enlarged view of a right side view of a ball screw type transfer robot having a gravity compensation device according to the present invention.
6 is a structural view of a horizontal ball screw operation of a ball screw type transfer robot equipped with a gravity compensation device according to the present invention.

1 to 6, the transfer robot mainly includes a horizontal movement device 100, a vertical movement device 200, a support platform 300, The horizontal moving device 100 includes a horizontal base frame 110 positioned horizontally on the ground surface, a horizontal transport frame 120 disposed on a position corresponding to the horizontal base frame 110 in parallel with the horizontal base frame 110, A horizontal movement plate 130 provided at a position corresponding to the position between the horizontal base frame 110 and the horizontal transfer frame 120 and a product for transferring the product are provided at a front portion of the horizontal transfer frame 120, A clamp 140 disposed at one side of the back surface of the horizontal base frame 110 for transmitting power to the horizontal transport plate 130 to move the horizontal transport frame 120 horizontally Let And is horizontally divided into a horizontal movement motor 150.

More specifically, the horizontal base frame 110 is provided with horizontal ball screws 111 so as to horizontally move the horizontal transfer plate 130 by receiving power from the horizontal movement motor 150, The process of receiving the power from the moving motor 150 is received by the driving unit 151, the follower unit 152, and the driving belt 153, which will be described later.

Between the horizontal base frame 110 and the horizontal transfer frame 120, a pair of rack gears 112 horizontally provided at the corresponding positions are fitted and coupled between the rack gears 112, A pinion gear 131 is provided in the horizontal split plate 130 so that power can be effectively transmitted when the horizontal transfer frame 120 horizontally moves.

The horizontal transfer plate 120 is provided with a clamp 140 for transferring the final product to a position corresponding to the horizontal transfer plate 130 and a power transmitted from the horizontal transfer plate 130 to the horizontal transfer plate 130. [ A belt 122 is provided at both ends of the horizontal transfer frame for transferring to the clamp 140 and a belt 122 fitted to the belt gear 121 is coupled to the horizontal transfer plate 130 and the clamp 140 ). The connected belt 122 causes the horizontal transfer plate 130 to move the power from the horizontal movement motor 150 to the driver unit 151 and often to the gear unit 152 and the drive belt 153, The horizontal transfer plate 130 connected to the horizontal ball screw is horizontally moved to transmit the power to the clamp 140 connected to the horizontal transfer frame 120 and the drive belt 153 And horizontal motion is performed.

Although the clamping groove 141 is formed in the clamp 140, it is not shown in the drawings, but a product customized to the shape of the product to be transferred is fastened. Thus, .

The horizontal movement motor 150 is provided at one end of the rear portion of the horizontal base frame 110 so as not to be disturbed by the horizontal movement of the horizontal transfer frame 120 and the horizontal transfer plate 130 And a driver unit 151 coupled to a rotational part of the horizontal movement motor 150 to transmit power to the horizontal ball screw 111 to transmit power, The screw 111 also includes a follower fisher 152 at one end to receive power. The drive belt 153 is engaged with the drive gear 151 and the follower gear 152 so as to transmit the power of the drive gear 151 to the follower synchronizer 152.

When the horizontal movement device 100 receives the power from the horizontal movement motor 150 as described above, it can horizontally move to the length of the horizontal base frame 110 and the horizontal movement frame 120 Thereby, there is an advantage that consumption of necessary space required compared to the conventional transfer robot performing horizontal movement is reduced.

Next, the vertical movement device 200, which enables vertical movement, is vertically positioned at the support platform 300 and includes at least one support frame 210, a support plate 220 provided at the support frame 210 A vertical movement motor 230 coupled to the support plate 220 to generate power for vertical movement, a vertical movement motor 230 coupled with the horizontal base frame 110 to vertically transmit the power of the horizontal movement device 100, A transfer plate 240, and a cylinder 250 having a cylinder rod coupled to the lower end of the vertical transfer plate 240 and a cylinder head fixed to the other side.

More specifically, at least one support frame 210 is vertically formed on the ground, and one end of the support frame 210 is connected to the support 300.

In addition, the support plate 220 is provided in the support frame 210 to support the vertical movement motor 230 and the physical vibration generated during vertical movement, It is preferable that a plurality of the support frames 210 are provided and that a plurality of support frames 210 are provided along the length of the support frames 210 so as to disperse physical influences generated during vertical movement.

The vertical movement motor 230 is coupled with the vertical ball screw 231 to transmit power for vertical movement and the vertical ball screw 231 is connected to the vertical transfer plate 240, To transmit the vertical motion power.

The vertical transfer plate 240 is provided in the support frame 210 and is coupled to the horizontal movement device 100 at a front portion thereof and is coupled to the lower end portion of the vertical ball screw 231, When the motive power for the vertical motion is transmitted from the mobile motor 230, the mobile motor 230 slides up and down.

A cylinder 250 coupled to a lower end of the vertical transfer plate 240 and a cylinder head fixed to the other side transmits power for vertical movement of the vertical movement motor 230, When the vertical movement motor 240 slides up and down, the weight due to the load and gravity of the horizontal movement device 100 and the product is dispersed from the vertical movement motor 230 to prevent overloading. It is preferable to provide at least one weight in proportion to the weight of the horizontal moving device 100 to serve as a gravity compensating device and to fix the supporting frame 210 to the support frame 210 so as not to be separated from the force of physical vibration, .

The support base 300 is engaged with the lower portion of the support frame 210 to disperse the physical effects generated during the vertical and horizontal movements and adjusts the height according to the height of the product and the processing machine. A plurality of height adjustment portions 310 are provided to maintain the parallelism of the ball screw type transfer robot equipped with the gravity compensation device.

The ball screw type transfer robot having the above-described gravity compensation device is configured to transfer the belt 122 and the drive belt unit 153 to the belt gear 121, the drive unit 151 and the follower unit 152, And a belt groove 124 is formed on the belt 122 and the drive belt portion 153 so that the belt groove 121 is formed on the belt 121 and the drive gear portion 151, It is preferable that the belt groove 124 is formed at a portion to be engaged with the synchronizer 152 so that the belt groove 124 can be transmitted without loss when power is transmitted by engaging the belt groove.

The position of the horizontal transfer frame 120 and the clamp 140 and the positions of the support frame 210 and the vertical transfer plate 120 corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, The clamp 140 and the vertical transfer plate are provided with a plurality of guide portions 113 at positions corresponding to the vertical movement plate 240 and the horizontal movement plate 130, It is preferable to increase the durability of the ball screw type transfer robot equipped with the gravity compensation device since the stationary and stationary motions and the horizontal motions are stably fixed from the physical influences generated during the movement.

A base plate 221 for connecting the lower portion of the support frame 210 to the upper portion of the support 300 and a top plate 222 vertically coupled to the upper portion of the support frame 210 Screw type transfer robot having a gravity compensating device is formed on the upper portion of the top plate 222 to support the support frame 210 in a stable manner. (223).

The cylinder 250 uses a cylinder selected as one of an air cylinder and a hydraulic cylinder. In the case of an air cylinder, there is no waste oil. However, depending on the weight of the product to be transported or the size of the horizontal movement device 100, The hydraulic cylinder can withstand more load than the air cylinder, but the waste oil is generated. When the temperature is influenced, the viscosity changes and the efficiency changes. Therefore, it is preferable to selectively use the product according to the weight of the product and the load of the horizontal motion device 100. [

100: horizontal movement device 110: horizontal base flame
111: Horizontal ball screw 112: Rack gear
113: guide rail part 114: moving part
120: Horizontal transfer frame 121: Belt gear
122: Belt 123: Gear groove
124: Belt groove 130: Horizontal moving plate
131: Pinion gear 140: Clamp
141: fastening groove part 150: horizontal moving motor
151: driver unit 152: longitudinal motor unit
153: drive belt section 200: vertical movement device
210: support frame 220: support plate
221: base plate 222: top plate
223: Movement ring 230: Vertical movement motor
231: Vertical ball screw 240: Vertical transfer plate
250: cylinder 300: support
310:

Claims (6)

1. A transfer robot for transporting and returning products vertically and horizontally,
The transfer robot is composed of a horizontal movement device 100, a vertical movement device 200, and a support platform 300,
The horizontal moving device 100 includes a horizontal base frame 110 positioned horizontally on the ground; A horizontal transfer frame 120 formed at a position corresponding to the horizontal base frame 110 in parallel; A horizontal moving plate 130 provided between the horizontal base frame 110 and the horizontal transfer frame 120; A clamp 140 provided at a front portion of the horizontal transfer frame 120; A horizontal movement motor 150 provided at one end of the back surface of the horizontal base frame 110; A horizontal ball screw 111 horizontally disposed on the horizontal base frame 110 and engaged with the horizontal moving plate 130; A rack gear (112) having at least one pair of the horizontal base frame (110) and the horizontal transfer frame (120) at the corresponding positions horizontally on the ground; A pinion gear 131 provided on the horizontal movement plate 130 and fitted to the rack gears 112; A belt gear 121 provided at both ends of the horizontal transfer frame 120; A belt 122 fitted to the belt gear 121; A fastening groove 141 formed in the clamp 140; A product conveying unit that is manufactured in accordance with the shape of the product to be conveyed to be fastened to the fastening groove 141; A driver unit 151 coupled to one end of the horizontal movement motor 150; A longitudinal synchronous fisher 152 provided at one end of the horizontal ball screw 111; And a drive belt unit 153 fitted to the drive gear unit 151 and the follower gear unit 152,
The vertical movement device 200 is vertically positioned in the support 300 and includes at least one support frame 210; A support plate 220 to which at least one of the support flames 210 is vertically coupled; A vertical movement motor 230 coupled to the support plate 220; A vertical transfer plate 240 provided between the support frames 210 to be coupled with the horizontal base frame 110 to be transferred up and down; A cylinder 250 positioned parallel to the support frame 210 and having a cylinder rod coupled to a lower end of the vertical transfer plate 240 and a cylinder head fixed to the other side; And a vertical ball screw 231 having one end coupled to the lower end of the vertical transfer plate 240 and the other end coupled to the vertical movement motor 230,
The support base 300 is characterized in that a plurality of height adjustment portions 310 are coupled,
A gear groove 123 is formed at a coupling portion between the belt 122 and the driving belt 153 in the belt gear 121, the driving gear unit 151 and the follower gear unit 152, A belt groove 124 is formed at a coupling portion where the driving belt portion 122 and the driving belt portion 153 are engaged with the belt gear 121, the driving gear portion 151 and the follower gear portion 152,
A position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120 and a position corresponding to the horizontal transfer frame 120 and the clamp 140 and a position corresponding to the support frame 210 and the vertical transfer plate 120. [ The clamp 140 and the vertical transfer plate 240 are provided with a plurality of guide rail portions 113 at positions corresponding to the horizontal movement plate 130, the clamp 140 and the vertical transfer plate 240, And a moving part (114)
A base plate 221 vertically coupled to the lower portion of the support frame 210 and coupled to the support 300; And a top plate (222) vertically coupled to the top of the support frame (210)
And a movement ring (223) formed on an upper portion of the top plate (222). delete delete delete delete delete
KR1020150064881A 2015-05-08 2015-05-08 Ball screw-type transfer robot equipped with a gravity compensation device KR101576871B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020150064881A KR101576871B1 (en) 2015-05-08 2015-05-08 Ball screw-type transfer robot equipped with a gravity compensation device
PCT/KR2015/005550 WO2016182113A1 (en) 2015-05-08 2015-06-03 Ball-screw type transfer robot having gravity compensation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150064881A KR101576871B1 (en) 2015-05-08 2015-05-08 Ball screw-type transfer robot equipped with a gravity compensation device

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KR101576871B1 true KR101576871B1 (en) 2015-12-17

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WO (1) WO2016182113A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105417127A (en) * 2015-12-21 2016-03-23 安徽德力日用玻璃股份有限公司 Ball screw bottle pushing machine
KR101860195B1 (en) * 2016-03-31 2018-05-21 권현근 the transfer robot and the transfer system therewith
KR101929399B1 (en) * 2017-05-30 2018-12-14 (주)티보텍 Transfer robot
CN109202875A (en) * 2018-10-30 2019-01-15 国网江苏省电力有限公司镇江供电分公司 The loading and unloading mechanical arm of strain insulator mechanism for assembling-disassembling
KR102522779B1 (en) 2021-11-15 2023-04-18 주식회사 드림로봇 System to prevent resonance for the long shaft for the ball screw using spring structure
KR20230070558A (en) 2021-11-15 2023-05-23 주식회사 드림로봇 Actuator with dual ball screw

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CN107052757B (en) * 2017-06-07 2023-04-28 许昌虹榕节能电器设备有限公司 LED lamp pearl feed mechanism
CN107521943A (en) * 2017-09-30 2017-12-29 北京经纬纺机新技术有限公司 A kind of equipment transported for tulle pouch transfer
CN109132307A (en) * 2018-08-02 2019-01-04 苏州康鸿智能装备股份有限公司 A kind of high-precision transmission transfer machine
CN112139434A (en) * 2020-09-17 2020-12-29 四川劲德兴汽车配件有限公司 Hard disk support intramode rivet feeding machine
CN113359772B (en) * 2021-07-06 2022-11-11 山东华宇工学院 Robot is patrolled and examined to electrical automation control cabinet state

Citations (2)

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KR101446576B1 (en) * 2013-12-27 2014-10-06 에이앤피산업(주) Single arm transfer robot
KR101490977B1 (en) * 2014-02-18 2015-02-23 (주) 러스 the lift apparatus for transfer and the transfer robot theirwith

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Publication number Priority date Publication date Assignee Title
KR200207969Y1 (en) * 1995-05-31 2001-01-15 권상문 Gravity Compensation and Safety Device for Vertical Frames

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101446576B1 (en) * 2013-12-27 2014-10-06 에이앤피산업(주) Single arm transfer robot
KR101490977B1 (en) * 2014-02-18 2015-02-23 (주) 러스 the lift apparatus for transfer and the transfer robot theirwith

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105417127A (en) * 2015-12-21 2016-03-23 安徽德力日用玻璃股份有限公司 Ball screw bottle pushing machine
KR101860195B1 (en) * 2016-03-31 2018-05-21 권현근 the transfer robot and the transfer system therewith
KR101929399B1 (en) * 2017-05-30 2018-12-14 (주)티보텍 Transfer robot
CN109202875A (en) * 2018-10-30 2019-01-15 国网江苏省电力有限公司镇江供电分公司 The loading and unloading mechanical arm of strain insulator mechanism for assembling-disassembling
KR102522779B1 (en) 2021-11-15 2023-04-18 주식회사 드림로봇 System to prevent resonance for the long shaft for the ball screw using spring structure
KR20230070558A (en) 2021-11-15 2023-05-23 주식회사 드림로봇 Actuator with dual ball screw

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