KR101933984B1 - A gantry robot system with easy expansion of profile - Google Patents

Abstract

According to the present invention, a gantry robot system capable of easily expanding a profile comprises a plurality of support units, at least one profile body, a rail, an electricity supply unit, a power transmission member, a drive unit, a moving unit, an articulated robot arm, a grip module, a profile coupling unit, a pair of deviation prevention unit, a material supply unit, and a material collection unit.

Description

[0001] The present invention relates to a gantry robot system,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a gantry robot system mounted with a multi-axis joint robot for use in transporting a material, and more particularly, to a gantry robot system in which a profile provided for moving a robot mounted on the gantry system is installed The present invention relates to a gantry robot system which can expand a moving radius of a gantry robot system easily without being limited by the size of a corresponding place.

Various industrial robots have been used in the industrial field due to the development of robot technology. In particular, various gantry robots have been developed in order to perform not only a transfer operation for a specific article but also a welding operation and a material processing operation more easily and freely .

Generally, in the gantry system used in the above-described transfer operation, welding operation, material processing operation, etc., a vertical frame is provided on one side and a vertical frame on the other side, which are kept at a constant interval from each other, A horizontal frame coupled to the vertical frame horizontally is mounted, and the work performing device equipped with the robot is constructed to be able to proceed with the work while being moved along the horizontal frame.

Particularly, as a robot mounted on the gantry system, a multi-joint robot is mainly used. In the multi-joint robot, since the joints can move independently of each other, the joints can be rotated in the left- It is possible to process all the complex and various forms in a certain working radius because six pre-position movements including motion and left and right turning movements are possible. In addition, if the material is picked up after mounting the gripper, , It is possible to precisely and variably cope with any position and direction. Therefore, the efficiency of the gantry system is remarkably excellent, which is a trend in recent gantry systems.

However, the 6-axis articulated robot can be operated only in a range where it is fixed to any one point, and a plurality of expensive robots having different operation recipes may be additionally provided in a section outside the operation range, It is effective in line mass production (operation to repeatedly perform the same working conditions) line, but it is necessary to change the type of workpiece, size and model of each workpiece every time, There is a disadvantage in that it is extremely inefficient.

As a prior art for solving such a problem, a patent application and a patent application for a 'component transfer system using a robot equipped with a gripper' of Patent Application No. 10-2015-0024222 filed in the Korean Intellectual Property Office have been disclosed, As the gantry loader on which the robots are mounted can not be extended in the part transfer system, there is still a problem that the transfer operation using the robots in the limited area must proceed.

In order to solve the above problems, it is an object of the present invention to provide a component transfer system using a robot, There is provided a gantry robot system which can expand the working radius of a robot moved along the profile body to improve work efficiency by giving extensibility to one or more profile bodies. .

The gantry robot system according to the present invention has a plurality of support portions extending upward from the ground. The gantry robot system extends in a direction perpendicular to the extending direction of the support portion, And a power supply unit disposed on the other side of the rail and spaced apart from the ground by a predetermined distance. The power supply unit includes at least one profile body having a rectangular cross section, a rail longitudinally formed on one side of the profile body, A first power transmitting member disposed on the same line as the extending direction of the profile body and coupled to an upper surface of the profile body, a driving motor provided to generate power transmitted to the power transmitting member, And the second power transmitting member is engaged with the first power transmitting member, A moving part connected to the driving motor of the driving part so as to be movable along the extending direction of the profile body; a articulated robot arm provided in front of the moving part; A profile coupling part for interconnecting one of the profile bodies and the other of the profile bodies to couple the plurality of profile bodies when the plurality of profile bodies are provided; A material supply unit provided to supply the material to be processed and a material collecting unit provided to collect the material supplied from the material supply unit, the material collection unit being disposed below the profile body and coupled to both ends of the material collecting unit, Wherein the profile body comprises a square tubular body portion, A recess formed at one side of the body so as to allow the seat to be mounted thereon along the longitudinal direction and at least one or more recesses formed on one side of the body so that the rail is formed along the longitudinal direction of the body, A flat processing surface formed on an area adjacent to the first binding groove and coupled with the rail and at least one or more at least one side surface of the body part; The second coupling groove is formed at a position spaced apart from the depression by a predetermined distance and is provided at a position adjacent to the side surface of the body portion with respect to the forming position of the second coupling groove, A third binding groove formed on at least one side surface of the profile body and to which the profile engaging part is engaged, Formed on one side of at least one, and further characterized in that a fourth coupling groove formed to be coupled to the power supply unit and the additional coupling profile.

The power transmitting member includes a rack gear, a second power transmitting member including the pinion gear and engaged with the first power transmitting member, and a driving motor provided to rotate the second power transmitting member , The rack gear is coupled to at least any one of the second coupling grooves of the pair of second coupling grooves, and the diameter of the pinion gear is smaller than or equal to the separation distance between the second coupling grooves.

In addition, the gantry robot system in which the profile is easily expandable may further include a profile coupling unit coupled to the third coupling groove, the profile coupling unit not including the depression.

A gantry robot system comprising: a plurality of binding grooves formed in a plurality of profile bodies disposed to be horizontal with respect to the ground; and a plurality of binding members, So that the working efficiency can be improved by significantly expanding the working radius of the robot moved along the profile body.

In addition, the shape of the profile body is provided so as to have a rectangular pipe shape penetrating through the inside of the profile body, thereby making it possible to provide an effect of reducing the weight of the profile body.

Further, by joining the rails to the flat machined surface formed at the position adjacent to the binding groove, the straightness of the rail can be improved, thereby improving the running stability of the robot provided to travel along the profile body It is possible to provide an effect that can be achieved.

1 is a side view showing a side view of a gantry robot system in which the profile of the present invention is easily expandable.
2 is a plan view showing a gantry robot system in which the profile of the present invention is easily expandable.
Fig. 3 is a front view showing a rear front view of the gantry robot system of the present invention, in which the profile is easily expandable.
FIG. 4 is a cross-sectional view of a profile body portion included in a gantry robot system in which the profile of the present invention is easily expandable.
FIG. 5 is a use state diagram showing the use state of a gantry robot system in which the profile of the present invention is easily expandable.

Hereinafter, the technical idea of the present invention will be described more specifically with reference to the accompanying drawings.

The accompanying drawings are merely illustrative examples of the present invention in order to more particularly describe the technical concept of the present invention, and therefore the technical idea of the present invention is not limited to the accompanying drawings.

The embodiments of the present invention can be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below.

It is needless to say that the shape and size of elements in the drawings may be exaggerated for clarity.

First, a gantry robot system in which the profile of the present invention is easily expandable will be described with reference to FIGS. 1 to 3. FIG.

As shown in FIGS. 1 to 3, the gantry robot system of the present invention has an easily expandable profile. The gantry robot system includes a support unit 100, a profile body 200, a rail 300, a power supply unit 400, The present invention is characterized by including at least one profile body 200 including at least one profile body 500, a moving part 600, a articulated robot arm 700, a profile coupling part 800, do.

Referring to FIG. 1, the support part 100 is formed to extend upward from the ground and is provided to support the profile body 200.

The profile body 200 is coupled to the upper ends of the plurality of support parts 100 and may be disposed at the upper end of the support part 100 in a direction orthogonal to the extending direction of the support part 100 .

In particular, the profile body 200 is provided so that its cross section can be formed in a quadrangle, which will be described later in more detail with reference to FIG.

Next, the rail 300 is formed on one side of the profile body 200 in a longitudinal direction so that a moving part 600, which will be described later, can be stably engaged.

The power supply unit is provided along the longitudinal direction of the profile body so that a power cable for supplying power can be seated so as to prevent interference with the moving unit 600 moved along the rail 300 This will be described in more detail in FIG. 2, which will be described later.

The driving unit 500 is disposed on the same extension line as the extending direction of the profile body 200 and is coupled to the upper surface of the profile body 200, and includes a power transmitting member and a driving member.

The moving unit 600 is coupled to the driving unit 500 so as to be movable with respect to the rail and is moved in a direction in which the rail is installed as the driving unit 500 is driven. And is provided so that the articulated robot arm 700 to be described later can be coupled.

The articulated robot arm 700 has a plurality of joints. Since the articulated joints can independently move, the articulated robot arm 700 can be rotated in the right and left direction, the forward and backward motion, the up and down motion, the left and right rolling motion, And a grip module 710 can be attached to the distal end of the articulated robot arm 700 so as to grip various materials.

The profile coupling unit 800 is provided to couple the plurality of profile bodies 200 to each other. The profile coupling unit 800 connects the ends of one of the profile bodies 200 to the other The plurality of profile bodies 200 can be coupled to each other by being disposed at the end of the profile body 200.

In order to prevent the deviation preventing part 900 from being detached from the profile body 200 when the driving part 500 and the moving part 600 are moved along the profile body 200, Are bound to both ends of the body (200).

In addition, although not shown in the drawings, the separation preventing portion 900 is provided with a shock absorbing member made of an elastic material, and when the driving portion 500 and the moving portion 600 are in contact with the separation preventing portion 900 The damage that may occur can be minimized.

FIG. 2 is a plan view showing a gantry robot system in which the profile of the present invention is easy to expand, and FIG. 3 is a front view showing a rear front view of a gantry robot system in which a profile can be easily expanded.

The rails, the driving unit, and the moving unit of the gantry robot system of the present invention will be described in more detail with reference to FIG. 2 and FIG.

As shown in FIG. 2, the driving unit 500 is disposed between the power supply unit 400 and the moving unit 600.

The power supply unit 400 is disposed on the opposite side of the moving unit 400 and coupled along the longitudinal direction of the profile body so that the power supply unit 400 and the moving unit 500 are spaced apart from each other by a predetermined distance To form an arrangement structure.

The power cable 400 and the driving unit 500 are coupled to each other through the power supply unit 400 and the moving unit 600 by a predetermined distance, The interference between the robot arms 700 can be minimized.

The driving unit 500 includes a first power transmitting member 510 including a rack gear and a second power transmitting member 520 transmitting a driving force by engaging with the first power transmitting member 510 and including a pinion gear, And a driving motor 520 for applying a driving force to the second power transmitting member 520.

In particular, when the rack gear is used as the first power transmitting member 510, the rack gear is disposed on the upper portion of the profile body 200, and the rack gear is extended in the longitudinal direction of the profile body 200 .

When the rack gear is used as the first power transmitting member 510, a pinion gear may be used as the second power transmitting member 520, and the pinion gear may be coupled to the rack gear have.

3, a driving unit 500 is disposed above the profile body 200, and a power supply unit 400, a moving unit 600, and a power supply unit 600 are installed on both sides of the profile body 200. [ A joint robot arm 700 is disposed.

First, the driving unit 500 includes a first power transmitting member 510, a second power transmitting member 520, and a driving motor 530, as described above.

The first power transmitting member 510 is coupled to the upper surface of the profile body 200. More specifically, the first power transmitting member 510 includes a pair of second power transmission members 510, (250) of one of the binding grooves (250).

Here, when a rack gear is used as the first power transmitting member 510, and a pinion gear is used as the second power transmitting member 520, the diameter of the pinion gear is larger than the diameter of the pair of second coupling grooves 250 May be smaller than the spacing distance between the first and second electrodes.

The driving motor 530 can be mounted on the upper end of the moving unit 600 to minimize the vertical external force applied to the second power transmitting member 520, The second power transmitting member 520 can be smoothly driven.

The moving part 600 is provided with a separate cable tray 610 to prevent the power cable installed in the power supply part 400 for supplying power to the driving part 500 from being stretched in the direction of the ground, May be disposed on the other side of the profile body (200).

In addition, the power supply unit 400 is coupled to the fourth binding groove 270 formed at the lower end of the profile body 200.

The rail 300 is longitudinally formed on one side of the profile body 200 and more specifically is coupled to the first binding groove 240 of the profile body 200.

Particularly, the block assembly 310 may be provided so as to be movable along the rail 300, and the rails 300 may be provided at the upper and lower ends of one side of the profile body 200, .

In addition, at least one block assembly 310 that is movable along the rail 300 may be provided.

The moving part 600 is coupled to the block assembly 310 so that the moving part 600 can move along the rail 300.

FIG. 4 is a cross-sectional view of a profile body portion of the gantry robot system of the present invention. Referring to FIG. 4, the profile body portion will be described in more detail.

4, the profile body 200 is formed to include the body 210, the depressions 220, the first through fourth binding grooves 230 through 270, and the flattened surface 240. As shown in FIG. do.

First, the body 210 has a rectangular tube shape, and can be manufactured using a material that is not easily deformed even after the driving unit, the power supply unit, and the like are mounted.

The depression 220 is formed along a longitudinal direction on one side of the body so that the first power transmission member can be seated. Through the formation of the depression 220, the first power transmission member 220, The first power transmitting member can be prevented from being easily detached from the profile body 200 even when a driving force is applied to the first power transmitting member.

In addition, at least one or more first binding grooves 230 are formed on one side surface of the body portion, and the first binding grooves 230 are formed along the longitudinal direction of the body portion so that the rails described above can be bound.

The first binding groove 230 may have an inner edge to improve a binding force with the rail and a flat processing surface 240 may be formed in a region adjacent to the first binding groove 230 .

Particularly, the flattening surface 240 is formed to correct the straightness of the rail when the rail is coupled to the first binding groove 230. Through the formation of the flattening surface 240, , The movement stability of the moving part provided to move along the rail can be further improved.

At least one or more second binding grooves 250 are formed on one side of the body 210 and are spaced apart from each other by a predetermined distance in the recess 220 so that the first power transmitting member is engaged And it is needless to say that the flattened surface described above may be formed on the adjacent side surface of the second binding groove 250 in order to improve the straightness of the first power transmitting member.

Also, an inner step is formed on the inner side of the second coupling groove 250 to improve the coupling force with the power transmitting member, thereby improving driving stability.

The third binding groove 260 may be formed at a position spaced from the depression 220 by a predetermined distance so that the position of the third binding groove 260 is smaller than the position of the second binding groove 250, And is formed on at least one side surface of the profile body 200.

In addition, the auxiliary coupling portion 810, which is provided to reinforce the coupling force between the plurality of profile bodies 200 through the profile coupling portion, may be coupled to the third coupling groove 260.

Particularly, the auxiliary coupling portion 810 is provided so as not to invade the region where the depression 220 is formed, and when the auxiliary coupling portion 810 is bound to the third coupling groove 260, The movement of the moving part provided to be moved along the profile coupling part of the present invention is prevented so that interference with the first power transmitting member which is disposed at the position adjacent to the groove 260 and coupled to the second binding groove 250 does not occur, It can be done smoothly.

In addition, an inner step may be formed on the inner side of the third binding groove 260, so that the binding force with the auxiliary coupling portion 810 can be improved, so that the coupling between the plurality of profile bodies 200 The stability can be further improved.

In addition, at least one or more of the fourth binding grooves 270 may be formed on one side of the body 210, and the power supply unit and the profile coupling unit may be coupled to each other.

Similarly, an inner step may be formed inside the fourth coupling groove 270, thereby improving the coupling force between the power supply unit and the profile coupling unit. Accordingly, the support stability against the power supply unit, The bonding stability between the profile bodies can be improved.

Next, FIG. 5 is a use state diagram showing the use state of the gantry robot system in which the profile of the present invention is easy to expand, and the operation state of the gantry robot system according to the present invention can be roughly described .

As shown in FIG. 5, the gantry robot system of the present invention includes a material supply unit 1000 and a material collection unit 1100.

At least one or more than one of the material supply units 1000 is provided to supply a workable material to be grasped by the grasping module 710 included in the gantry robot system of the present invention while being disposed below the profile body 200 .

When the material is supplied from the material supply unit 1000, movement of the moving unit 500, which is arranged to move along the profile body 200, proceeds toward the position where the material supply unit 1000 is disposed The workpiece supplied from the workpiece supply unit 1000 can be selectively grasped through the grasping module 710 after the movement unit 500 is moved.

Next, movement of the moving part proceeds toward the workpiece collecting part 1100, which is provided for selectively collecting the workpiece held by the grasping module 710, and finally the workpiece collecting part 1100).

The above-described series of processes are repeatedly performed so that the transportation of the material to be processed proceeds smoothly. In particular, a plurality of the material supplying units 1000 and the material collecting units 1100 should be disposed at arbitrary positions The moving radius of the moving part 600 and the articulated robot arm 700 can be expanded by combining the plurality of profile bodies 200, thereby improving the working efficiency.

Although the present invention has been described with reference to the embodiment thereof, the present invention is not limited thereto, and various modifications and applications are possible. In other words, those skilled in the art can easily understand that many variations are possible without departing from the gist of the present invention. In the following description, well-known functions or constructions relating to the present invention as well as specific combinations of the components of the present invention with respect to the present invention will be described in detail with reference to the accompanying drawings. something to do.

100:
200: Profile body
210:
220:
230: first binding groove
240: flat machined surface
250: second binding groove
260: third binding groove
270: fourth binding groove
300: Rail
310: Block assembly
400: Power supply
500:
510: first power transmitting member
520: second power transmitting member
530: drive motor
600:
610: Cable tray
700: articulated robot arm
710:
800:
810:
900:
1000:
1100:

Claims (3)

At least one profile body extending in a direction perpendicular to the extending direction of the support portion and coupled to an upper end of the plurality of support portions and having a rectangular cross section, A power supply unit disposed on the other side of the rail and spaced apart from the ground by a predetermined distance; a power supply unit disposed on the same extension line as the extending direction of the profile body, A first power transmitting member coupled to an upper surface of the profile body, a driving motor provided to generate power transmitted to the power transmitting member, a second power transmitting member coupled to the driving motor, A drive unit including a first power transmitting member, a second drive unit, A plurality of profile bodies each having a plurality of profile bodies; a plurality of profile bodies each having a plurality of profile bodies; A pair of separation preventing portions coupled to both ends of the profile body, and a pair of separation preventing portions connected to both ends of the profile body, respectively, for connecting the plurality of the profile bodies, And a material collecting unit disposed below the profile body for collecting a material supplied from the material supplying unit, wherein the material collecting unit includes:
Wherein the profile body comprises:
A rectangular tubular body portion;
A depression formed along a longitudinal direction on one side surface of the body portion to allow the power transmission member to be seated;
A first binding groove formed on at least one side of the body part and formed along a longitudinal direction of the body part so that the rail can be bound;
A flattened surface formed in a region adjacent to the first binding groove and coupled to the rail;
A second coupling groove formed at one or more sides of the body and spaced apart from each other by a predetermined distance in the depression so as to be coupled to the power transmitting member;
At least one side surface of the profile body is formed at a position spaced apart from the depression by a predetermined distance and adjacent to a side surface of the body portion with respect to a forming position of the second binding groove, A third binding groove formed in the first binding groove;
A fourth binding groove formed on at least one side of the body part, the fourth binding groove being formed to allow the power supply part and the profile coupling part to be coupled; And
And an inner step formed across the inside of the first to fourth binding grooves and spaced apart from the ends of the first to fourth binding grooves on the side adjacent to the center of the body part,
The moving unit includes:
And a cable tray disposed to be spaced apart from the power supply unit by a predetermined distance at an upper end of the power supply unit so as to support a power cable provided to supply power to the driving unit. Gantry robot system. The method according to claim 1,
The driving unit includes:
A first power transmitting member including a rack gear, a second power transmitting member including a pinion gear and engaged with the first power transmitting member, and a driving motor provided to rotate the second power transmitting member ,
Characterized in that the rack gear is coupled to at least any one of the second coupling grooves of the pair of second coupling grooves and the diameter of the pinion gear is smaller than or equal to a separation distance between the second coupling grooves This easy gantry robot system. The method according to claim 1,
In the gantry robot system in which the profile is easily expandable,
Further comprising an auxiliary coupling unit coupled to the third coupling groove, the auxiliary coupling unit not including the recess formed in the third coupling groove.

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