KR101860195B1

KR101860195B1 - the transfer robot and the transfer system therewith

Info

Publication number: KR101860195B1
Application number: KR1020160038866A
Authority: KR
Inventors: 권현근
Original assignee: 권현근
Priority date: 2016-03-31
Filing date: 2016-03-31
Publication date: 2018-05-21
Also published as: KR20160042838A

Abstract

The present invention relates to a transfer robot and a transfer system using the transfer robot. The transfer robot includes a vertical transfer unit having a vertical moving unit vertically moving up and down by a vertical moving unit; A horizontal frame which is horizontally long and fixed to the vertical moving body, a middle frame which is parallel to the horizontal frame and moves along the longitudinal direction of the horizontal frame, a horizontally long transport frame, a transport cradle which is parallel to the transport frame and belongs to the transport frame And a pair of free pulleys are arranged in the middle portion of the middle frame. A belt is wound around each pulley so that both ends of the belt are opposed to the edges of the horizontal frame and the transfer frame And the transfer robot is horizontally moved by the vertical moving means so that the middle frame moves linearly to the left and right by the horizontal moving means, The movement of the transfer cradle is fast and accurate by the pulleys and belts, The transfer robot has a structure in which a pair of transfer robots are arranged diagonally opposite each other and an intermediate holder is interposed therebetween. One transfer robot, a holder, and another transfer robot constitute a transfer system And a transfer system that can be applied to a long transfer distance is provided.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a transfer robot and a transfer robot using the transfer robot,

Generally, in the machining and manufacturing processes, the conveyed material (material, material, product) is conveyed in a series of processes mainly by moving along the conveyor, but in this process, the conveyed material is supplied from any process to another machine, It is necessary to remove the coarse conveyed matter, or to carry the conveyed object such as the supply to the next process. In order to convey the conveyed object, various transfer robots have been developed.

Such a transfer robot carries a conveyed article quickly and accurately, including a horizontal movement process, a vertical movement process (lift movement process), a rotation movement process, and the like, depending on the characteristics of the machine required for the process.

As an example of such a transfer robot, the first Korean Patent Registration No. 1446576 discloses a frame fixed to a base; A first rail fixed to the frame; A second rail slidably installed on the first rail; A transfer arm slidably installed on the second rail; A second rail driver for driving the second rail to move linearly with respect to the first rail; And a transfer arm driving unit for driving the transfer arm to linearly move with respect to the second rail, wherein the second rail driving unit is constituted by a combination of a rack and a pinion, and the transfer arm driving unit is constituted by a combination of a belt and a pulley, A "single-arm transfer robot" with a structure that transfers a product over its width using a device having a minimum width (second rail width) is disclosed.

Secondly, Korean Patent Registration No. 1576871 discloses a transfer robot constituted by a horizontal transfer device, a vertical transfer device, and a support, wherein the horizontal transfer device comprises a horizontal transfer frame parallel to a horizontal base frame; A horizontal moving plate provided between the horizontal base frame and the horizontal transfer frame; A clamp provided on a front surface of the horizontal transfer frame; A horizontal moving motor on the horizontal base frame rear surface; A horizontal ball screw coupled to the horizontal moving plate; A rack gear having at least one pair of the horizontal base frame and the horizontal transfer frame at the corresponding positions horizontally on the ground; A pinion gear provided on the horizontal moving plate and fitted to the rack gears; A belt gear provided at both ends of the horizontal transfer frame; A belt fitted to the belt gear; And a ball screw type transfer robot equipped with a gravity compensation device having a structure including a fastening groove portion formed in the clamp.

An example of a transfer device capable of transferring a workpiece requiring machining is disclosed in Korean Patent Registration No. 1178422, in which a material take-out portion, a transfer table, and a material take-in portion are arranged parallel to each other, And a "press material transfer device" having a structure in which the transfer material moves along the conveying path.

However, the transfer robots of the first and second inventions exemplified above use a combination of a rack and a pinion (pinion gear) as a conveying means, and a general transfer robot needs to precisely control the position according to the used environment And the rack and pinion gears have a backlash due to the engagement of the gears. There is a problem that precise control of rotation is difficult due to the backlash, and there is a risk that the accuracy and precision of the transfer are lowered due to wear of the gears. The coupling has a problem that noise is generated during transportation.

In the first embodiment of the present invention, the second rail slides by the rack and pinion gear engagement of the second rail drive unit, and the feed arm is slid by engagement of the belt and the pulley of the feed arm drive unit However, the rack and pinion gears have problems in that the conveying speed is slower than that of the belt, and noise is generated. In the second example of the invention described above, in the case of the transfer robot using the rack and pinion gear combination, belt and pulley, In this case, however, the conveying distance of the conveyed material (material, material, product, etc.) is limited to the left and right length of the rack or belt, and as the length of the left and right is increased, the length of the belt, The increase in the total weight may cause the shaking or bending phenomenon at the time of transportation, which may lower the accuracy.

When a transfer robot is used to transfer workpieces such as thin sheets, it is possible to move several plates in a stacked manner due to the nature of the plate during this process. In this case, A plate or a device for moving only a desired number of plates is required.

In the last embodiment of the present invention, there is a structure in which a workpiece (workpiece) is sequentially transferred to a workpiece take-out unit, a transfer table, and a workpiece carry-in unit. The moving distance of the workpiece is limited and there is a limit to the moving speed because the workpiece carry-out portion, the transfer table, and the workpiece carry portion directly move along the LM guide. Therefore, The development of a conveying device or conveying system having a conveying mechanism is required.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a vertical conveying device, A horizontal frame which is horizontally long and fixed to the vertical moving body, a middle frame which is parallel to the horizontal frame and moves along the longitudinal direction of the horizontal frame, a horizontally long transport frame, a transport cradle which is parallel to the transport frame and belongs to the transport frame And a pair of free pulleys are arranged in the middle portion of the middle frame. A belt is wound around each pulley so that both ends of the belt are opposed to the edges of the horizontal frame and the transfer frame And the transfer robot is horizontally moved by the vertical moving means so that the middle frame moves linearly to the left and right by the horizontal moving means, However, the moving distance to the transfer cradle is twice the distance traveled by the pulley and belt coupling structure to the nut block of the screw And so that the air moves faster and increase the accuracy.

In addition, the fixing means further includes a load cell, which allows the load cell to recognize the quantity of the article to be conveyed, and to transfer the designed quantity of the article.

Further, an elevation portion is further provided between the conveyance stand and the fixing means, and the elevation portion allows the fixing means to vertically convey the article.

Then, a transfer robot is disposed between the work stations for supplying the conveyed material, processing the conveyed material, or loading the processed conveyed material. The transfer robot constitutes a pair of transfer robots between neighboring work stations, And a transfer system constituted by an intermediate cradle is constructed between the transfer robots so that one transfer robot transfers the articles placed in one work station to the intermediate cradle, One transfer robot is transferred to the other workstation, which facilitates the transfer of workpieces between the workstations by transfer robots that have a high transfer rate and an accurate and long transfer distance.

In addition, the intermediate holding table feeds the conveyed object in the direction of the conveyed object in an inverted 180 占 direction, and reverses the conveyed object when the conveyed object needs to be reversed.

Accordingly, the present invention provides a vertical conveying device having a structure in which a vertical moving body vertically moves up and down by vertical moving means; A horizontal frame which is horizontally long and fixed to the vertical moving body, a middle frame which is parallel to the horizontal frame and moves along the longitudinal direction of the horizontal frame, a horizontally long transport frame, a transport cradle which is parallel to the transport frame and belongs to the transport frame And a pair of free pulleys are arranged in the middle portion of the middle frame. A belt is wound around each pulley so that both ends of the belt are opposed to the edges of the horizontal frame and the transfer frame The transfer robot is horizontally connected to the vertical transfer unit and horizontally connected to the transfer cradle of the transfer arm to transfer the transfer product. The transfer robot is horizontally moved up and down by the vertical transfer unit, The middle frame is moved linearly to the left and right by the moving means, and the moving distance to the feeding cradle is determined by the structure of the pulley and the belt, Are two of the distance traveled on the nut block ship movement speed is fast, high accuracy, it is effective to minimize the noise.

The fixing means further includes a load cell for recognizing the quantity of the object to be conveyed by the load cell and for preventing the object such as the sheet material from being conveyed in a stacked manner and conveying the designed amount of the conveyed object have.

Further, an elevation portion is further provided between the conveyance stand and the fixing means, and the elevation portion can vertically convey the conveyance by the fixing means.

Then, a transfer robot is disposed between the work stations for supplying the conveyed material, processing the conveyed material, or loading the processed conveyed material. The transfer robot constitutes a pair of transfer robots between neighboring work stations, And a transfer system constituted by an intermediate cradle is constructed between the transfer robots so that one transfer robot transfers the articles placed in one work station to the intermediate cradle, One transfer robot is transferred to the other workstation, and the transfer robot can transfer the workpiece between the workstations with a high transfer speed and an accurate and long transfer distance.

In addition, when the conveyed object needs to be reversed during the processing of the conveyed object, the intermediate stand may be supplied with the conveyed object inverted by 180 ° along the direction of the conveyed object.

1 is a rear view of a transfer robot according to the present invention.
2 is a front view of a vertical transfer section of the transfer robot of the present invention.
3 is a plan view and a partial enlarged view of the transfer robot according to the present invention.
4 is a plan view according to another embodiment of the transfer robot of the present invention.
5 is a side view according to another embodiment of the transfer robot of the present invention.
6 is a side view according to another embodiment of the transfer robot of the present invention.
FIGS. 7A and 7B are front views of the horizontal transfer arm according to the transfer of the transfer robot of the present invention, and plan views of the transfer robot in the state. FIG.
8 (C) and 8 (D) are a front view of the horizontal rail according to the transfer of the transfer robot of the present invention and a top view of the transfer robot in the state.
Fig. 9 is a plan view showing the transfer according to the additional transfer means according to the transfer of the transfer robot of the present invention; Fig.
10 shows a transfer system using a transfer robot according to the present invention.
11 (E) and 11 (F) are a plan view and a side view, respectively, of an intermediate holder that includes a transition function according to the present invention.

First, a description will be made of a transfer robot according to the present invention, and a transfer system using the transfer robot will be described. First, the transfer robot comprises a vertical transfer unit and a horizontal transfer arm. 5, the vertical conveying unit includes a supporting unit 100, a vertical moving unit 130, a vertical moving unit 140, a cylinder 160, and the like. First, as shown in FIG. 1, The supporting part 100 is composed of a base 110 and a vertical frame 120. The base 110 is structured to be supported by a horizontal supporting plate 111 and a plurality of legs 112 having an appropriate area, The vertical frame 120 has a predetermined height perpendicular to the horizontal support plate 111, and the vertical frame 120 has a hexagonal shape and an appropriate area and height.

The vertical moving body 130 is composed of a plate or a hexahedron frame having an appropriate area. The vertical moving body 130 has a structure of moving vertically by the vertical moving means 140 and the cylinder 160, The moving means 140 includes a screw 141 (ball screw), a nut block 142 assembled with the screw 141 and a motor 143 for rotating the screw 141.

The screw 141 of the vertical moving means 140 is vertically installed between the vertical frame 120 and the vertical moving body 130. Both ends of the screw 141 are fixed to the vertical frame 120 by a block including a bearing, And the motor 143 is connected to one end of the screw 141 to transmit the rotational force. The screw 141 and the motor 143 are connected to each other by a screw 141 and a motor 143 are disposed parallel to the left and right, and the rotational force of the motor 143 is transmitted through the screw 143 through a power transmitting means (a pulley, a belt, a gear, a chain and a sprocket as power transmission means, The nut block 142 assembled to the screw 141 is fixed to the vertical moving body 130 so that the vertical moving body 130 is rotated by the rotation of the motor and the reverse rotation, 130 are vertically arranged vertically with respect to the vertical frame 120 It can slide.

For example, the motor 143 may be rotated and reversely rotated, and may be selected from a general motor, a geared motor, a stepping motor, and a servo motor (brake type servo motor) A decelerator is connected and a bracket 143a is additionally required in order to install the motor 143. [

A guide is provided between the vertical frame 120 and the vertical moving body 130 to guide the vertical movement of the vertical moving body 130. The guide may be a linear motion guide or a combination of a linear bearing (not shown) and a guide rod And the like.

1 and 2, the linear motion guide includes an LM rail 150 and an LM block 151 that moves along the LM rail 150. The linear motion guide includes a vertical frame A plurality of LM rails 150 are installed in the vertical direction in parallel with the screws 141 and constitute an LM block 151 moving along the installed LM rail 150. In the LM block 151, The vertical moving body 130 is guided and vertically guided by the linear motion guide in the vertical direction.

1 and 2, the cylinder 160 is installed upright on the supporting part 100, and the cylinder 160 is installed in parallel with the screw 141 of the vertical moving means 140, 160 is fixed to the vertical moving body 130 and the head of the cylinder 160 on the opposite side of the rod is fixed to the horizontal support plate 111 of the support portion 100.

1, one cylinder 160 may be installed on one side of the screw 141, or, as shown in FIG. 2, may be provided with a screw 141 The cylinder 160 is installed on both sides of the cylinder 160.

In addition, the cylinder 160 is constituted by a normal cylinder (pneumatic cylinder or hydraulic cylinder), and the diameter, length, and stroke of the cylinder tube are determined by the horizontal and horizontal weights, And the cylinder 160 is connected to a pneumatic device capable of supplying compressed air or a hydraulic device capable of supplying hydraulic oil. By the operation of the cylinder, the rod of the cylinder 160 is moved in the vertical direction 130).

When the vertical conveying unit including the supporting unit 100, the vertical moving unit 130, the vertical moving unit 140 and the cylinder 160 is constructed and the motor 143 and the cylinder 160 of the vertical conveying unit are operated, The nut block 142 that moves along the screw 141 moves the vertical moving body 130 up and down by moving the vertical moving body 130 in a horizontal direction, When the vertical moving body 130 is vertically moved by the cylinder 160 even if the horizontal position of the horizontal moving body 130 is unbalanced due to the horizontal movement of the horizontal moving body, Thereby preventing problems such as poor feeding and malfunctions.

3, 4, and 5, the horizontal direction of the horizontal rail 200 includes a horizontal frame 200, a middle frame 300, a transfer frame 400, a transfer platform (not shown) The horizontal frame 200 includes a plate or a hexahedral frame structure having an appropriate length and width. The horizontal frame 200 constitutes a horizontal moving means 210, and the middle frame 200 300 is a frame structure of a plate or a hexahedron having an appropriate length and width, the transfer frame 400 is a plate or cube frame structure having an appropriate length and width, and the transfer cradle 500 is a plate having an appropriate length and width Or a hexahedron frame structure. The horizontal frame 200 constitutes a horizontal moving means 210. The horizontal frame 200 is coupled to the vertical moving body 130 of the vertical conveying unit described above.

The horizontal frame 200, the middle frame 300, the transfer frame 400 and the transfer cradle 500 are parallel to each other. The horizontal frame 200 and the transfer frame 400 are long Since the middle frame 300 moves along the longitudinal direction of the horizontal frame 200, the middle frame 300 is shorter than the horizontal frame 200 and has a proper lateral width.

3, the transporting platform 500 is fixed to the transporting frame 400 or moves along the longitudinal direction of the transporting frame 400 as shown in FIG. 4, Is shorter than the transfer frame 400 and has an appropriate lateral width.

The horizontal frame 200 constitutes a horizontal moving means 210. The horizontal moving means 210 includes a screw 211, a nut block 212 assembled with the screw 211, And a motor 211 for rotating the screw 211. The screw 211 is installed along the longitudinal direction of the horizontal frame 200 so that both ends of the screw 211 are supported by a block including a bearing. And a motor 213 for transmitting a rotational force is disposed at one end of the screw 211. The nut block 212 assembled to the screw 211 is fixed to the middle frame 300, The nut block 212 and the middle frame 300 fixed to the nut block 212 can slide in the horizontal straight line direction with respect to the horizontal frame 200. [

The horizontal frame 200 and the middle frame 300 are provided with a guide for linear sliding guidance parallel to each other. The guide is connected to the linear motion guide or the linear bearing (not shown) ), And the like.

The linear motion guide includes an LM rail 220 and an LM block 221 that moves along the LM rail 220. The linear motion guide includes a linear motion guide A plurality of LM rails 220 are installed parallel to the screws 211 and constitute an LM block 221 which moves along the LM rail 220. The LM block 221 is mounted on the middle frame 300 When fixed, the middle frame 300 is linearly guided and slid with respect to the horizontal frame 200 by the linear motion guide.

The LM block 221 of the linear motion guide of the horizontal frame 200 is coupled to one surface of the middle frame 300 to constitute the release zone 310 and the pulley 320, The LM block 411 of the linear motion guide of the moving frame 400 is coupled to the linear motion guide 300.

The release frame 310 of the middle frame 300 is configured to allow the pulley 320 to freely rotate and the shaft of the pulley 320 can freely rotate by the bearing. A long hole 311 is formed so that the position of the pulley 320 can be moved horizontally in the longitudinal direction of the rail to adjust the tension of the belt 330 to be coupled to the pulley 320.

As shown in FIGS. 3 and 4, a pair of release loops 310 are provided at a predetermined interval in the middle portion of the middle frame 300, and pulleys 320 are coupled to the release loops 310 One end of the belt 330 is fixed to an edge portion of the horizontal frame 200 facing the middle frame 300 and the belt 330 is fixed to the middle frame 300 And the other end of the belt 330 is fixed to an edge portion of the transfer frame 400 facing the middle frame 300 so that both ends of the belt 330 are connected to the horizontal frame 200, And the transfer frame 400, respectively.

That is, the belt 330 rolls around a single pulley 320 and both ends of the belt 330 are fixed to the edges of the horizontal frame 200 and the transfer frame 400, respectively, A pair of pulleys 320 are installed symmetrically on the belt 330 and a pair of pulleys 320 are connected to each other by a belt 330 Is not a structure.

The middle frame 300 and the transfer frame 400 are slidable relative to each other. The middle frame 300 and the transfer frame 400 are provided with guides for sliding parallel to each other in a linear direction. A motion guide coupling, or a combination of a linear bearing (not shown) and a guide rod (not shown).

The linear motion guide includes an LM rail 410 and an LM block 411 moving along the LM rail 410. The linear motion guide includes a linear motion guide A plurality of LM rails 410 are installed parallel to the longitudinal direction and the mounting direction of the LM rails 410 is parallel to the screws 211 of the horizontal frame 200 and along the LM rails 410 When the LM block 411 is fixed to the middle frame 300, the middle frame 300 is linearly guided with respect to the horizontal frame 200 by the linear motion guide Slide.

The transporting platform 500 is provided with a fixing means 600. The fixing means 600 is composed of an electric magnet, a gripper, a vacuum adsorber, a clamp or the like capable of holding and releasing the transported object 700, The transporting platform 500 may be installed at a specific position of the transporting frame 400 or the transporting platform 500 may be transported by the additional transporting means 430, So that it can move along the frame 400.

4, the additional conveying means 430 includes a pulley 431 and a motor 434. A pulley 431 is formed at both ends of the conveying frame 400, A pair of pulleys 431 are coupled to a belt 433 and one pulley 431 is configured to rotate by a motor 434.

The pulley 431 of the additional conveying means 430 is supported by the unlocking zone 432. The unlocking zone 432 is a stand where the pulley 431 can rotate freely. And the elongated hole 432a is formed in the elongated hole 432 so that the position of the pulley 431 can be moved in the longitudinal direction of the transfer frame 400 to be coupled to the pulley 431 The conveyance table 500 is fixed to the side where the belt 433 is exposed and the conveyance table 500 is rotated by the rotation of the motor 434 and the reverse rotation of the conveyance table 500, 400 along the longitudinal direction thereof.

The motor 434 of the additional conveying means 430 can be rotated and reversely rotated and selected from a general motor, a geared motor, a stepping motor and a servo motor, A bracket 434a is additionally required for connecting the speed reducer and installing the motor 434. [

8 and 9, the belt 433 wound around the pulley 431 of the additional conveying means 430 is not located at all between the conveying frame 400 and the conveying bed 500 The belt 433 on one surface of the transfer frame 400 faces the middle frame 300 and the belt 433 on the other side of the transfer frame 400 The structure in which the conveyance frame 500 is fixed to the belt 433 and the belt 433 is wound around the conveyance frame 400 has a structure in which horizontal Minimize and minimize the degree of horizontal protrusion of the tongs against the vertical conveyance.

The transfer frame 400 and the transfer table 500 are configured to slide with respect to each other. The transfer frame 400 and the transfer table 500 are provided with guides for sliding in a linear direction. Guide coupling, or a combination of a linear bearing (not shown) and a guide rod (not shown).

The linear motion guide includes a guide LM rail 420 and an LM block 421 that moves along the LM rail 420. The linear motion guide includes a linear motion guide A plurality of LM rails 420 are installed in parallel along the longitudinal direction and an LM rail 420 is installed parallel to the screws 211 of the horizontal frame 200, When the LM block 421 is fixed to the transporting platform 500, the transporting platform 500 is guided in a linear direction parallel to the horizontal frame 200 by the linear motion guide. .

The conveyance platform 500 can reciprocate along the longitudinal direction of the conveyance frame 400 while the belt 433 is moved by the operation of the motor 434 of the conveyance frame 400. [

5 and 6, the fixing unit 600 is coupled to the conveying table 500, but the fixing unit 600 is vertically elevated and lowered between the conveying table 500 and the fixing unit 600 The elevating part 510 may further include a screw 511 (ball screw), a nut block 512 assembled and moved to the screw 511, a screw 511 And the screw 511 is installed horizontally in a direction perpendicular to the longitudinal direction of the railcar 511. Both ends of the screw 511 are installed to be supported by a block including a bearing, The nut 514 is fixed to the fixing means 600 and the motor 513 is rotated and rotated in the reverse direction to rotate the nut 513. [ The block 512 and the fixing means 600 fixed to the nut block 512 move up and down with respect to the transfer frame 400 Loses.

In order to slide the fixing means 600 in the vertical direction with respect to the feeding cradle 500, the guide is provided with a linear motion guide or a combination of a linear bearing (not shown) and a guide rod (not shown) And the like.

The linear motion guide includes an LM rail 514 and an LM block 515 that moves along the LM rail 514. The linear motion guide includes a plurality of The mounting direction of the LM rail 514 is parallel to the screw 141 of the vertical transporting means 140 and the LM block 515 moving along the respective LM rails 514, When the LM block 515 is fixed to the fixing means 600, the fixing means 600 has a structure in which the linear motion guide slides in the vertical direction with respect to the feeding stand 500.

The fixing means 600 further comprises a load cell 610 which senses the weight of the article 700 to be held by the fixing means 600, When a weight greater than the set weight is detected, a stop signal or a stop signal (a warning sound or a warning light) is generated. When a conveyed object 700 such as a thin plate material is conveyed one by one, It is possible to prevent the transported object 700 from being stacked and transported.

The horizontal frame 200, the middle frame 300, the transfer frame 400, and the transfer cradle 500 constitute a horizontal parallel structure, and the horizontal frame 200 of the horizontal horizontal frame 200 is vertical And is fixed to the vertical moving body 130 of the transfer section to constitute a transfer robot. The transfer station 500 of the transfer robot is coupled with a fixing means 600 capable of holding or releasing the transferred object 700.

The fixing means 600 of the transfer robot can horizontally move and return vertically in the vertical direction by the vertically moving means 140 of the vertical conveying unit and horizontally move the horizontal moving means 210 of the rail- Both ends of the belt 330 fixed to the pulleys 320 of the middle frame 300 are supported by the transfer frame 400 and the horizontal frame 200 And the transfer cradle 500 is moved at twice the moving distance of the nut block 212 moved by the horizontal moving means 210 so that the movement and operation of the transfer cradle 500 is fast and accurate , The time required for the transportation is shortened, and the noise is less than that of a conventional transfer robot driven by a rack and a pinion gear.

Further, each transfer robot can transfer only the quantity to be transferred in advance by the load cell 610 of the fixing means 600 in advance.

In addition, since the transporting platform 500 can be further moved left and right along the transporting frame 400, the entire transporting distance is maximized, and when vertical movement is required at the final position, the vertical transporting unit 140 and the cylinder 160 of the vertical transporting unit, It is possible to raise and lower the fixing means 600 at the elevation part 510 of the transfer platform 500 to minimize the shaking and improve the accuracy.

10 and 11, the transfer system includes a plurality of transfer robots, each transfer robot including a transfer robot and a transfer robot, The work station is composed of at least one robot, wherein the work station is a processing machine such as a press, a punching machine, a punching machine, a hall air, and a tapping machine, a workbench carried with the workpiece to be fed to the machining machine, And a work table for loading the finished article.

The workstations are arranged in succession at appropriate intervals, and a transfer robot is arranged therebetween, and it is the simplest transfer system that the transfer robot transfers the workpiece workpiece to the next workpiece.

On the other hand, when the distance between the two work stations is long, one or more transfer robots are disposed, and between the two work stations, a middle holder for temporarily holding the workpiece is required, and these two or more transfer robots and the intermediate holder are disposed The transfer system will be described with reference to FIG.

The transfer system according to the present invention is characterized in that two or more transfer robots T (T ') are arranged between two work stations W', wherein the transfer robots T (T ') face each other diagonally The transfer robot T (T ') is arranged such that the fixing means 600 of the respective transfer robots T (T') face each other and the intermediate holding platform 800 is positioned between the transfer robots T Configure the system.

In such a transfer system, the transfer object 700 of one work station W is transferred to the intermediate transfer platform 800 by the transfer robot T, and the transfer object 700 of the intermediate transfer platform 800 is transferred to another transfer robot (T ') to the next work station (W').

The intermediate holder 800 is constructed in a plate shape and the intermediate holder 800 is structured to be supported by the support frame 860 so that the transfer robot 700 transports the transferred article 700 by the transfer robot T ' So that the conveying height of the conveying unit can be adjusted.

Thus, the transfer system according to the present invention can transfer the transfer robot T (T ') arranged diagonally even if the distance between the two work stations W' is long due to the long transfer distance of the transfer robot T Thereby enabling fast and accurate transfer of the conveyed object 700.

On the other hand, it is necessary to reverse (flip, rotate 180 degrees) the transfer object 700 between the two work stations W 'of the transfer system. For this purpose, the function of the intermediate holder 800 is to be reversed And the intermediate holder 800 of the reversing function will be described with reference to FIG. 11 as follows.

The intermediate holder 800 of the reversing function constitutes a shaft 820 which is rotated by the rotary power unit 830. The shaft 820 is supported at its both ends by bearings (not shown) The shaft 820 is disposed in a vertical direction with respect to the conveying direction of the conveyed object 700, and a motor, a servo motor, a rotary actuator, or the like can be applied to the rotary power unit 830.

The primary mounting portion 810 is formed integrally with the shaft 820. The primary mounting portion 810 is formed in a plate shape so as to allow the article 700 to be placed thereon, A stopper 811 is formed below the part 810 so that the primary mounting portion 810 is positioned horizontally and the primary mounting portion 810 is horizontally positioned in the direction in which the transported article 700 enters. The fixture 840 for fixing the conveyed object 700 during the rotation of the primary stationary part 810 is provided in the primary stationary part 810, An electric magnet, a gripper, a vacuum adsorber, a clamp, or the like may be applied to the fixture 840 depending on the material and size of the object 700. [

The secondary mounting portion 850 further includes a secondary mounting portion 850 located below the rotated position of the primary mounting portion 810. The secondary mounting portion 850 is formed in a plate shape, The shaft 820 is positioned between the primary mounting portion 810 and the secondary mounting portion 850 and the shaft 820 is positioned between the primary mounting portion 810 and the secondary mounting portion 850. In other words, And the primary mounting portion 810 is rotated from the original position to the position above the secondary mounting portion 850 by rotation.

In the structure of the intermediate holder 800 having such an inverting function constructed as described above, the article 700 is placed on the primary mounting portion 810, the article 700 is fixed by the fixing tool 840, The first setter 810 rotates together with the second setter 820 and the fixture 840 releases the transferred object 700 from the second setter 850. In the inverted state, (850). &Lt; / RTI >

As described above, the conveying system having the intermediate holder 800 having the reversing function is characterized in that the conveyed object 700 is easily reversed and supplied during the conveying process.

100: Support part 110: Base 111: Horizontal support plate
112: leg 120: vertical frame 130: vertical moving body
140: vertical moving means 141: screw 142: nut block
143: motor 143a: bracket 150: LM rail
151: LM block 160: cylinder
200: horizontal frame 210: horizontal moving means 211: screw
212: nut block 213: motor 213a: bracket
220: LM rail 221: LM block
300: middle frame 310: release zone 311: long hole
320: pulley 330: belt
400: transport frame 410: LM rail 411: LM block
420: LM rail 421: LM block 430:
431: pulley 432: unfolded zone 432a: long hole
433: Belt 434: Motor 434a: Bracket
500: Feed holder 510: Lift part 511: Screw
512: Nut block 513: Motor
514: LM rail 515: LM block
600: fixing means 610: load cell
700: Transported goods 800: Intermediate holder
810: Primary mounting portion 811: Stopper 820: Axle
830: Rotational power section 840: Fixture 850: Secondary mounting section
860: Support frame
T, T ': Transfer robot W, W': Work station

Claims

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A transfer robot for transferring and returning a workpiece to a desired position via lifting or horizontal linear movement of a fixing means for holding and releasing a workpiece,
A vertical conveying unit having a vertical support unit integral with a horizontal base and a vertical frame, and a vertical moving unit parallel to the vertical frame by a vertical moving unit vertically moving up and down;
A horizontal frame which is horizontally long and fixed to a vertical moving body, a middle frame which is parallel to the horizontal frame and moves along the longitudinal direction of the horizontal frame by horizontal moving means, a horizontally long transport frame, And a feed conveying unit for conveying the conveying conveying unit along the longitudinal direction of the conveying frame,
The horizontal moving means includes a screw arranged along the longitudinal direction of the horizontal frame, a motor connected to one end of the screw, and a nut block assembled to the screw. The nut block is fixed to the middle frame,
A pair of freely rotating pulleys are formed in the middle portion of the middle frame, and both ends of the belt are wound on the respective pulleys so as to face the edges of the horizontal frame and the transfer frame.
The additional feeding means is constituted by a pulley constituting both sides of the conveyance frame, a belt wound on the pulley, and a motor connected to one pulley, and the conveyance stand is fixed to the belt
A horizontal transfer robot is composed of a transfer robot for transferring a conveyed object by a fixing means including a load cell,
The transfer robot moves horizontally by the vertical moving means and moves linearly to the left and right by the horizontal moving means while the moving distance of the transfer cradle becomes double the distance moved to the nut block of the screw, .

The method of claim 3,
A linear motion guide is formed between the horizontal frame and the middle frame,
A linear motion guide is formed between the transport frame and the transport platform,
Wherein the pulleys of the middle frame and the pulleys of the transfer frame are fixed to the release loops,
The pulley is freely rotatable by a bearing, the pulley is moved horizontally along the conveying direction of the rail to control the tension of the belt,
Wherein the belt of the additional transfer means is configured to surround the transfer frame.

5. The method of claim 4,
The vertically moving means of the vertical conveying unit comprises a screw vertically installed in a vertical frame, a motor for rotating the screw, and a nut block assembled to the screw. The nut block is fixed to the vertical moving body,
The cylinder is fixedly mounted, the rod of the cylinder is fixed to the vertical moving body, the cylinder head on the other side is fixed to the base,
A linear motion guide is constituted between the vertical frame and the vertical moving body,
The transfer robot is characterized in that the horizontal is superior in stability to the vertical lift of the railway track, and prevents the railway from rocking due to the vertical movement.

6. The method according to any one of claims 3 to 5,
And a lifting unit is further provided between the feeding cradle and the fixing means,
The elevating portion is constituted by a screw vertically installed on the transfer stand, a motor for rotating the screw, and a nut block assembled to the screw. The nut block is fixed to the fixing means,
And a linear motion guide is formed between the transferring stand and the fixing means.

A transfer system for transferring a workpiece to a work station while transferring the workpiece by a transfer robot by arranging a transfer robot between a work station for supplying the workpiece, machining the workpiece, or loading the processed workpiece ,
A transfer robot according to any one of claims 3 to 5, wherein a horizontal robot is coupled to the vertical transfer section, and a transfer means is horizontally coupled to the transfer stand of the robot arm to transfer the transfer object,
A pair of transfer robots are constituted between neighboring work stations, the transfer robots are arranged to face each other diagonally to each other, and a transfer system constituting an intermediate platform is constituted between the transfer robots,
One transfer robot transfers the workpiece placed on one workstation to the intermediate holder and the other transfer robot is transferred to the other workstation so that the transfer speed is fast and accurate and long Wherein the transfer robot is movable between a work station and a transfer robot.

8. The method of claim 7,
The intermediate cradle,
A rotary shaft rotatable by the rotary power unit, a primary mounting unit rotating left and right with respect to the shaft, a secondary mounting unit located below the position where the primary mounting unit is rotated, And a fixing member
And wherein the intermediate platform is adapted to transport the workpiece to be reversed between the work stations.

9. The method of claim 8,
The fixture of the intermediate platform is formed in the primary platform,
Wherein the fixture is constituted by an electronic magnet, an adsorption machine, a gripper, or a clamp.

8. The method of claim 7,
The transfer robot may further include a lift unit between the transfer cradle and the fixing unit,
The elevating portion is constituted by a screw vertically installed on the transfer stand, a motor for rotating the screw, and a nut block assembled to the screw. The nut block is fixed to the fixing means,
And a linear motion guide is provided between the transferring stand and the fixing means.