KR200144291Y1 - Gantry robot transfer system with eccentric shaft - Google Patents

Abstract

The disclosure is directed to a gantry robot transfer system that moves to a desired location and performs operations such as welding. In the gantry robot system disclosed in this application, the shaft coupled to the wheel is constituted by an eccentric shaft having an eccentric amount. Therefore, it is possible to eliminate the angular deviation (?) At which the lifter is inclined and the center axis of the lifter becomes an integral straight line, and the height difference of each of the guide rails provided at the left and right ends, The same problems can be solved.

Description

Gantry robot transfer system with eccentric shaft

1 is a front view showing a conventional gantry robot,

Fig. 2 is a right side view of Fig. 1,

FIG. 3 is a view showing mainly the birds that are coupled to each other in FIG. 2;

FIG. 4 is a view showing a height difference that can be generated in the both end guide rails of FIG. 3,

FIG. 5 is a view for showing an angular deviation that may occur in the lifter of FIG. 2;

6A is a view showing a gantry robot system axially coupled with an eccentric shaft according to the present invention,

6B is a view showing an operation example in which the eccentric shafts viewed in the axial direction are rotated at 0 DEG, 45 DEG and 180 DEG.

[Description of Drawings]

10: Gantry Robot 12: Lifter

16: coupling member 14: carriage

20: drive device 50: girder

60, 160: saddles 62, 162:

64: guide rails 66, 166: bearing member

68: Axis 168: Eccentric axis

[Detailed explanation of design]

[Purpose of Design]

The object of the present invention is to provide a gantry robot transfer system having an eccentric shaft that can be adjusted by vertically moving a wheel that is rotatably fixed.

[TECHNICAL FIELD OF THE INVENTION AND RELATED ART OF THE SAME]

The present invention relates to a gantry robot transfer system that moves to a required place and performs a work such as welding, and more particularly, to a gantry robot transfer system configured to be able to vertically move a wheel by axially coupling an eccentric shaft having an eccentricity .

First, an example of a conventional gantry robot transfer system will be described with reference to the accompanying drawings.

FIG. 1 is a front view showing a conventional gantry robot, FIG. 2 is a right side view thereof, and FIG. 3 is a view showing focused saddles of FIG. 2. The gantry robot 10 is shown in the center of Fig. 1. The gantry robot 10 has a lifter 12 which is movable up and down. The lifter 12 is a carriage 14 with a coupling member such as a bolt or a nut. In addition, the carriage 14 is coupled to a girder 50 so that the gantry robot 10 can be moved to the left and right. The girder 50 is also supported at its both ends by a saddle 60. One end of the saddle 60 is axially coupled to the wheel 62. [ This coupling structure can be seen in detail in FIG. As shown in the drawings, the saddle 60 has a hollow, in which a wheel 62 in contact with the upper surface of the guide rail 68 is located. The center of the wheel 62 is pierced by the shaft 68 and fixed to both side walls of the saddle 60. In addition, a bearing member 66 such as a bearing is formed at a portion where the wheel 62 penetrates and abuts against the shaft 68. Thus, the shaft 62 (which is fixed to the saddle 60) So that it can be driven without friction. That is, the wheel 62 is brought into contact with the upper surface of the guide rail 64, so that the gantry robot 10 can be moved back and forth. The drive of the apparatus having such a structure is mainly composed of a drive device 20 such as an electric motor connected to each necessary device. Thus, the operator can control the drive by applying power when necessary. Therefore, the gantry robot can move forward, backward, left and right as well as up and down.

[Technical Challenge]

However, such a conventional gantry robot system has some problems. FIG. 4 is a view showing a height difference that can be generated in the both end guide rails of FIG. 3. FIG. The wheels 62 penetrating the saddle 60 are positioned at the same height on the upper surfaces of the guide rails 64 at both ends. However, even if the guide rails 64 are installed precisely, if the installation length is increased, a height difference h between the guide rails 64 is generated. Accordingly, the girder connected to the saddle 60 and the wheel 62 mounted on the gantry robot is inclined at a horizontal plane, thereby causing a problem that affects the precision of the gantry robot. In addition, as shown in FIG. 5, there is also a problem due to the angular deviation. Fig. 5 is a view showing an angle deviation which may occur in the lifter of Fig. 2; Fig. The lifter 12 having a long length is fixed to the girder 50 mainly by using the engaging member 16. Therefore, it is difficult to vertically install the driving part of the lifter due to the angular deviation that may be caused by the operation error in assembling the gantry robot, which is a large structure. That is, there is a problem that the angle deviation? Is generated. Accordingly, a gantry robot system capable of solving these problems is provided.

[Configuration and Operation of Design]

In order to achieve the above object, the present invention features a gantry robot transfer system having a lifter that moves up and down, and is movable by a wheel axially coupled to pivotally contact with at least two upper surfaces of guide rails provided at a lower end,

A stepped portion having a center line eccentric by an amount of eccentricity? Is formed at a center line of the axis of the shaft coupled to rotate the wheel, the wheel is mounted so as to be rotatable on the stepped portion, A gantry robot transfer system capable of compensating an error of the two guide rails by appropriately adjusting the vertical size

.

Hereinafter, a preferred embodiment will be described with reference to the accompanying drawings to explain the structure and operation of the present invention.

FIG. 6A is a view showing a gantry robot system axially coupled with an eccentric shaft according to the present invention, and FIG. 6B is a view showing an operation example in which an eccentric axis seen in an axial direction is rotated at 0 °, 45 °, and 180 °. The present invention relates to a gantry robot system and, more particularly, to an axially coupled portion of the wheel, and therefore, in this drawing, an axially coupled portion inside the saddle is mainly shown. A saddle 160 supporting the gantry robot at both ends is shown. Inside the saddle 160, a wheel 162 that contacts the upper surface of the guide rail 164 is positioned. The wheel 162 is pierced by an eccentric shaft 168 having an eccentric amount and the eccentric shaft 168 passing through is fixed to both sidewalls of the saddle 160. The wheel 162 penetrated by the eccentric shaft 168 is provided with a bearing member 166 such as a bearing at a portion where the wheel 162 is pushed by the eccentric shaft 168 so that no friction is applied to the eccentric shaft by the rotation of the wheel 162 . In addition, the fixed eccentric shaft 168 of the wheel 162 can also be pivoted if necessary. Therefore, the height difference h and the angular deviation? As shown in Figs. 4 and 5 can be removed only by rotating and adjusting the eccentric shaft. For example, the following will be described in more detail. As shown in FIG. 4, when the right guide rail is installed higher than the left and a height difference h occurs, the eccentric shaft coupled to the other side according to the present invention is rotated to adjust the wheel to move downward. In this way, the result is that the birds on the left side move upwards, so that the height h can be eliminated. Further, as shown in Fig. 5, even in the case of the angular deviation?, In which the center axis of the lifter is inclined with an integer straight line, the eccentric axis of the wheels at a predetermined distance from the lifter is adjusted and its position is raised The angular deviation can be eliminated.

[Effect of Design]

Therefore, in the gantry robotic system according to the present invention, the shaft coupled to the wheel is constituted by an eccentric shaft having an eccentric amount, so that an angle deviation (?) In which the lifter is inclined so that the center axis of the lifter forms an integral straight line, It is possible to eliminate the height difference of each of the guide rails and solve problems such as degradation of the precision of the gantry robot caused thereby.

Claims (1)

A gantry robot transfer system having a lifter that moves up and down and is movable by a wheel axially coupled to pivot so as to come into contact with the upper surface of at least two guide rails provided at the lower end, A stepped portion having a center line eccentric by an amount of eccentricity? Is formed at a center line of the axis of the shaft coupled to rotate the wheel, the wheel is mounted so as to be rotatable on the stepped portion, The gantry robot transfer system capable of compensating the error of the two guide rails by appropriately adjusting the vertical size.