KR101793343B1 - Apparatus for cartesian coordinates robot - Google Patents

Apparatus for cartesian coordinates robot Download PDF

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Publication number
KR101793343B1
KR101793343B1 KR1020150188552A KR20150188552A KR101793343B1 KR 101793343 B1 KR101793343 B1 KR 101793343B1 KR 1020150188552 A KR1020150188552 A KR 1020150188552A KR 20150188552 A KR20150188552 A KR 20150188552A KR 101793343 B1 KR101793343 B1 KR 101793343B1
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KR
South Korea
Prior art keywords
rotary arm
end effector
frame
guide rail
control unit
Prior art date
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KR1020150188552A
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Korean (ko)
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KR20170078939A (en
Inventor
윤정원
이호수
김태우
Original Assignee
경상대학교산학협력단
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Priority to KR1020150188552A priority Critical patent/KR101793343B1/en
Publication of KR20170078939A publication Critical patent/KR20170078939A/en
Application granted granted Critical
Publication of KR101793343B1 publication Critical patent/KR101793343B1/en

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    • 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
    • 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
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • 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

Abstract

A Cartesian coordinate robot apparatus according to the present invention is a rectangular coordinate robot apparatus that moves along a guide rail to transfer an object, comprising: a frame having one end connected to the guide rail and linearly reciprocating along the guide rail; An end effector spaced apart from the frame and contacting the object; A rotary arm which is rotatably coupled at one end to the other end of the frame and whose other end is rotatably coupled to the end effector; And a posture control unit coupled to the other end of the frame so as to be rotatable on the upper end of the frame and to be rotatable on the upper end of the end effector.
According to the rectangular coordinate robot apparatus of the present invention, the rotary arm is provided at one end of the frame, and when the frame moves along the guide rail, the rotary arm rotates together to allow vertical movement of the end effector. Also, since the rotary arm is provided, the height required for installation can be reduced, and the space utilization is good. The posture control unit is driven by the four-link structure, so that the direction of the end effector can be maintained constant even when the rotary arm rotates, so that the object can be transported safely and quickly, and the production efficiency is high.

Description

{Apparatus for cartesian coordinates robot}

The present invention relates to a rectangular coordinate robot apparatus, and more particularly, to a rectangular coordinate robot apparatus that moves along a guide rail to transfer an object.

In general, the Cartesian robot (Gantry robot) used in factory automation is a large part of the product. The Cartesian coordinate robot apparatus includes a horizontal beam connecting a pair of vertical frames spaced apart from each other and a pair of vertical frames and moving along a rail provided on the horizontal beam to move a heavy machine, It is used to lift or transport objects.

Korean Patent Laid-Open No. 10-2009-0131514 discloses a technique related to a conventional rectangular coordinate robot apparatus.

However, the conventional rectangular-coordinate robot apparatus is installed at the upper part to utilize the planar space. However, since the height required for driving at the time of installation is high, there are many spatial restrictions in the vertical direction. Therefore, the space utilization in the vertical direction is not good.

In addition, since the conventional rectangular-coordinate robot apparatus has a large load applied to the driving unit, the weight is increased by using a motor having a large capacity. Therefore, there is a disadvantage that when the driving failure occurs, the risk is high and the water retention is low.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an orthogonal coordinate robot device capable of achieving high spatial efficiency and weight reduction and stable high-speed movement.

According to another aspect of the present invention, there is provided a rectangular coordinate robot apparatus for moving an object along a guide rail, the rectangular coordinate robot apparatus having one end connected to the guide rail, A frame reciprocating linearly; An end effector spaced apart from the frame and contacting the object; And a rotary arm coupled at one end to be rotatable at the other end of the frame and at the other end to be rotatably coupled to the end effector; And a posture control unit coupled to the other end of the frame so as to be rotatable on the upper end of the frame and to be rotatable on the upper end of the end effector.

Here, the rotary arm may have a bent shape and at least one hole may be formed.

Further, when the frame moves in the direction opposite to the end effector along the guide rail, the rotary arm rotates clockwise with respect to one end of the rotary arm, and the end effector can move upward.

Also, when the rotary arm rotates clockwise with respect to one end of the rotary arm, the end effector is rotated counterclockwise with respect to the other end of the posture control unit, so that the direction of the end effector can be maintained.

Also, when the frame moves toward the end effector along the guide rail, the rotary arm rotates counterclockwise with respect to one end of the rotary arm, and the end effector can move downward.

Also, when the rotary arm rotates counterclockwise with respect to one end of the rotary arm, the end effector is rotated clockwise with respect to the other end of the posture control unit, so that the direction of the end effector can be maintained.

According to the rectangular coordinate robot apparatus of the present invention, the rotary arm is provided at one end of the frame, and when the frame moves along the guide rail, the rotary arm rotates together to allow vertical movement of the end effector.

Also, since the rotary arm is provided, the height required for installation can be reduced, and the space utilization is good.

The posture control unit is driven by the four-link structure, so that the direction of the end effector can be maintained constant even when the rotary arm rotates, so that the object can be transported safely and quickly, and the production efficiency is high.

In addition, a hole is formed in the rotary arm to reduce weight, and a motor having a small capacity can be used, so that stable high-speed movement is possible. Therefore, it is easy to maintain and repair because it can be manufactured by miniaturization.

1 is a perspective view of a rectangular coordinate robot apparatus according to an embodiment of the present invention.
FIG. 2 is a state diagram showing a driving state in which the end effector of the rectangular coordinate robot apparatus of FIG. 1 moves upward. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, at the time of the present application, It should be understood that variations can be made.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIGS. 1 and 2, a rectangular coordinate robot apparatus 10 according to an embodiment of the present invention moves along a guide rail R to transport an object P. However, the present invention is not limited to the transfer of the object P, but may be applied to welding, assembling, etc., in which the conventional rectangular-coordinate robot apparatus 10 is used. The rectangular coordinate robot apparatus 10 includes a frame 100, an end effector 200, a rotary arm 300, and a posture control unit 400.

One end of the frame 100 is connected to the guide rail R and linearly reciprocates along the guide rail R. It is preferable that the guide rail R is provided at a factory where the Cartesian coordinate robot apparatus 10 is installed or at the upper side of a work site, and it may be installed laterally depending on the application. Therefore, the frame 100 moves linearly reciprocally corresponding to the guide of the guide rail R to be installed.

The end effector 200 is spaced apart from the frame 100 and is in contact with the object P. The end effector 200 can move the object P to an appropriate position by moving in accordance with the movement of the frame 100. [ The end effector 200 can move upward and downward with reference to a preset reference line and moves the upper and lower sides of the end effector 200 up and down with reference to the reference line, . Here, the preset reference line may be set at various positions corresponding to the position of the work site or the position to which the object P is to be transferred. The end effector 200 may include not only a gripper capable of gripping the object P to transport the object P but also a gripper such as a gun and a torch depending on the use of the rectangular- (Torch) or the like may be further provided.

One end of the rotary arm 300 is rotatably coupled to the other end of the frame 100 and the other end is rotatably coupled to the end effector 200. Further, the rotary arm 300 may have a curved shape and at least one hole 310 may be formed. As the hole 310 is formed in the rotary arm 300, the overall weight of the rotary arm 300 is reduced. As the weight is reduced, the motor can be safely moved at a high speed and noise can be reduced. The rotary arm 300 is rotatable on the basis of one end of the rotary arm 300 which is a coupling portion with the frame 100 and can be rotated clockwise or counterclockwise according to the use purpose and the position to be conveyed have. That is, the end effector 200 coupled to the other end of the rotary arm 300 can be moved together by rotating the rotary arm 300, and the end effector 200 can be moved along the rotation direction of the rotary arm 300, Can be moved upward and downward. The rotary arm 300 is preferably rotated in response to the linear motion of the frame 100 to move the end effector 200 upward and downward with respect to a predetermined reference line. By moving the end effector 200 upward and downward by rotating the rotary arm 300, the workable range can be maintained, the height required for installation can be reduced, and space efficiency can be improved.

The posture control unit 400 controls the direction of the end effector 200 and is configured such that one end of the end effector 200 is rotatably coupled to the other end of the frame 100, Lt; / RTI > The posture control unit 400 may rotate the end effector 200 in a predetermined direction by rotating in a direction opposite to the rotation direction of the rotary arm 300. [ The linear distance between one end and the other end of the posture control unit 400 is preferably the same as the linear distance between one end and the other end of the rotary arm 300. The linear distance between the rotary arm 300 coupled to the frame 100 and the posture control unit 400 and the linear distance between the rotary arm 300 coupled to the end effector 200 and the posture controller 400 ) Are preferably equal to each other. Therefore, the linear distance of the coupling portion of the rotary arm 300 and the coupling portion of the posture control portion 400 is coupled in a rhombic shape so that their opposite lengths are the same, so that the rotary arm 300 is rotated The end effector 200 can be rotated by the same angle with the opposite echo and can maintain a constant direction. That is, the direction of the end effector 200 is maintained in the rotation of the rotary arm 300, so that the object P can be safely transported.

 2 is a state diagram showing a driving state for moving the end effector 200 of the rectangular coordinate robot apparatus 10 upward. Referring to FIG. 2, the operation of the Cartesian coordinate robot apparatus 10 will be described step by step.

The frame 100 is moved along the guide rail R in the direction opposite to the end effector 200 (right side of the end effector 200) in order to move the end effector 200 upward, .

2 (b), as the frame 100 moves toward the opposite direction (right side of 2a) of the end effector 200, the rotary arm 300 is moved in a direction And rotates in a clockwise direction with respect to one end of the rotary arm 300. As the rotary arm 300 rotates clockwise, the end effector 200 coupled to the other end of the rotary arm 300 moves upward. At the same time, when the rotary arm 300 rotates in the clockwise direction with respect to one end of the rotary arm 300, the end effector 200 controls the posture control unit 400 to rotate the other end of the posture control unit 400 Counterclockwise as a reference. Therefore, the direction of the end effector 200 can be maintained. The end effector 200 moves upward with reference to a predetermined reference line (dotted line in FIG. 2), and the frame 100 moves along the reference line (dotted line in FIG. 2) The position can be adjusted by linear motion so that it is possible.

2, the end effector 200 moves along the predetermined reference line (the dotted line in FIG. 2) as the frame 100 moves in the direction opposite to the end effector 200 (right side in FIG. 2) And the direction thereof can be continuously maintained through the posture control unit 400. [0054] FIG. Therefore, the object P can be transferred quickly and safely.

 The embodiment of the rectangular coordinate robot apparatus 10 described above rotates the rotary arm 300 in the clockwise direction with respect to one end of the rotary arm 300 coupled to the frame 100, (The left side in FIG. 2) on the basis of the left side (the left side in FIG. 2) of the end effector 200. However, the present invention is not limited thereto, and the rotary arm 300 may be rotated in the counterclockwise direction with respect to one end of the rotary arm 300 coupled to the frame 100, 2 to the upper side of the end effector 200 as shown in FIG.

The frame 100 may be moved along the guide rail R to the end effector 200 side (left side of 2c) in order to move the end effector 200 downward with respect to a predetermined reference line. At the same time, the rotary arm 300 rotates in a counterclockwise direction with respect to one end of the rotary arm 300 coupled with the frame 100, and the end effector 200 is movable downward. As the rotary arm 300 rotates in a counterclockwise direction with respect to one end of the rotary arm 300 coupled to the frame 100, the end effector 200 is rotated in the posture control unit 400 And rotates in the clockwise direction with respect to the other end of the posture control unit 400 coupled to the end effector 200. [ Therefore, the direction of rotation of the rotary arm 300 is maintained, so that the object can be transferred safely and at a high speed.

 The embodiment of the rectangular coordinate robot apparatus 10 described above rotates the rotary arm 300 in the counterclockwise direction with respect to one end of the rotary arm 300 coupled to the frame 100, (The left side in FIG. 2) on the basis of the left side (left side in FIG. 2) of the end effector 200. However, the present invention is not limited to this, and the rotary arm 300 may be rotated in the clockwise direction with respect to one end of the rotary arm 300 coupled to the frame 100, To the lower side of the end effector 200. In this case,

According to the rectangular coordinate robot apparatus 10 of the present invention, the rotary arm 300 is provided at one end of the frame 100 so that when the frame 100 moves along the guide rail R, So that the end effector 200 can be vertically moved.

In addition, since the rotary arm 300 is provided, the height required for installation can be reduced, and space utilization is good.

Since the posture controller 400 is driven by the four-bar link structure, the direction of the end effector 200 can be maintained constant even when the rotary arm 300 rotates, so that the object can be transported safely and quickly, high.

In addition, since the hole 310 is formed in the rotary arm 300, the weight can be reduced, and a motor having a small capacity can be used, so that stable high-speed movement is possible. Therefore, it is easy to maintain and repair because it can be manufactured by miniaturization.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Cartesian coordinate robot apparatus 100: Frame
200: end effector 300: rotary arm
310: Hall 400:
R: Guide rail P: Object

Claims (6)


1. A Cartesian coordinate robot apparatus for moving an object along a guide rail,
A frame having one end connected to the guide rail and linearly reciprocating along the guide rail;
An end effector spaced apart from the frame and contacting the object;
A rotary arm which is rotatably coupled at one end to the other end of the frame and whose other end is rotatably coupled to the end effector; And
And an attitude control unit coupled to the other end of the frame so as to be rotatable on the upper end of the frame and to be rotatable on the upper end of the end effector,
The posture control unit,
The linear distance between one end and the other end of the posture control unit is the same as the straight line distance between one end and the other end of the rotary arm and the linear distance between the rotary arm and the posture control unit coupled to the frame and the rotary arm coupled to the end effector, Linking structure so that the linear distances of the joining portions are the same,
When the frame moves in the direction opposite to the end effector along the guide rail, the rotary arm rotates clockwise with respect to one end of the rotary arm, and the end effector moves upward,
Wherein when the rotary arm rotates in a clockwise direction with respect to one end of the rotary arm, the end effector is rotated in a counterclockwise direction with respect to the other end of the posture control unit so that the direction of the end effector is maintained. The method according to claim 1,
The rotary arm
Cartesian coordinate robot apparatus in which at least one hole is formed in a bent shape. delete delete The method according to claim 1,
When the frame moves toward the end effector side along the guide rail,
The rotary arm rotates counterclockwise with respect to one end of the rotary arm,
And the end effector moves downward. The method of claim 5,
When the rotary arm rotates counterclockwise with respect to one end of the rotary arm,
Wherein the end effector is rotated in a clockwise direction with respect to the other end of the posture control unit so that the direction of the end effector is maintained.
KR1020150188552A 2015-12-29 2015-12-29 Apparatus for cartesian coordinates robot KR101793343B1 (en)

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KR1020150188552A KR101793343B1 (en) 2015-12-29 2015-12-29 Apparatus for cartesian coordinates robot

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KR101793343B1 true KR101793343B1 (en) 2017-11-03

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KR200495567Y1 (en) * 2020-11-19 2022-06-27 한양로보틱스 주식회사 Take-out robot device for injection molding machine

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3340656B2 (en) * 1997-10-21 2002-11-05 本田技研工業株式会社 Transfer equipment
KR200463645Y1 (en) * 2011-08-12 2012-11-15 (주)로봇플러스 Transfer device for gantry robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3340656B2 (en) * 1997-10-21 2002-11-05 本田技研工業株式会社 Transfer equipment
KR200463645Y1 (en) * 2011-08-12 2012-11-15 (주)로봇플러스 Transfer device for gantry robot

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