KR20060095589A - Trans portation equipment of up and down - Google Patents

Abstract

The present invention relates to a vertical transfer apparatus, and more particularly, when the first ball screw is coupled to the AC server motor by a coupling, and the first ball screw and the second ball screw having opposite threads are connected to each other by belt. Drive in the opposite direction, each ball screw is provided with a nut and a support, the support is connected to the top plate and another AC servo motor is provided with the third ball screw and the fourth ball screw in the same configuration as above Provides the configuration of the device that can move up and down by using AC servo motor and ball screw.

Up and down feed, motor, ball screw, top plate, support

Description

Trans Portation Equipment of Up and Down

1 is a perspective view of the vertical conveying device of the present invention

2 is a block diagram of the vertical conveying device of the present invention

Figure 3 is an operating state diagram of the vertical conveying device of the present invention

※ Explanation of code for main part

1. First supporter 2. Second supporter

3. Top plate 4. First ball screw

5. First nut 6. First support

7. 2nd Ball Screw 8. 2nd Nut

9. Second support 10. Third ball screw

11. Third nut 12. Third support

13. Fourth Ball Screw 14. Fourth Nut

15. Fourth Support 16. AC Servo Motor

17. Coupling 18. Belt

The present invention relates to a vertical transfer device.

Conventionally, the upper and lower conveying apparatus has a cylinder type using oil and pneumatic, but in the case of pneumatic, the force of the cylinder supporting the upper plate, that is, the output torque is small, so that it is difficult to move the heavy machine tool or object up and down, and the weight is limited. There was a problem.

In the case of hydraulic pressure, the limitation on weight, which is a problem of pneumatic pressure, was overcome, but the manufacturing cost is increased and maintenance is difficult because a complicated configuration and a controller for controlling the hydraulic cylinder must be provided when the hydraulic cylinder is manufactured. There was a problem.

The present invention is to solve the above problems by coupling the first ball screw to the AC servomotor as a coupling, and the first ball screw and the second ball screw in the opposite direction to the thread is connected to the belt driving in the opposite direction Each ball screw is provided with a nut and a support, the support is connected to the top plate and another AC servo motor is provided in the same configuration as the third ball screw and the fourth ball screw as well as the AC servo motor and It is an object of the present invention to provide a configuration of an apparatus capable of vertically conveying by using a ball screw.

The present invention relates to a vertical transfer device, will be described with reference to the accompanying drawings.

1 is a perspective view of the vertical conveying apparatus of the present invention,

2 is a block diagram of the vertical conveying apparatus of the present invention,

3 is an operating state diagram of the vertical transfer apparatus of the present invention.

As shown in FIGS. 1 and 2, the configuration of the present invention includes two ball screws, that is, a first ball screw 4 and a second ball screw 7, provided in the first supporter 1 in the opposite direction. The AC servomotor 16 is coupled to the ball screw of one of the two ball screws, and the coupling 17 is coupled to the belt 18. When the AC servomotor 16 is driven, the first ball screw 4 ) And the second ball screw 7 are rotated in opposite directions.

The first nut 5 is connected to the first ball screw 4, the first support 6 is connected to the first nut 5, and the second nut 8 is connected to the second ball screw 7. Is connected, the second nut (8) is provided with a second support (9) is connected, the first support (6) and the second support (9) is connected to the top plate.

Here, since the first nut 5 and the second nut 8 are located at edges opposite to each other, they are provided to cross each other.

Therefore, when the AC servomotor 16 is driven, the first nut 5 connected to the first ball screw 4 and the second nut 8 connected to the second ball screw 7 move inward to form the first nut. The support 6 and the second support 9 is raised by the distance to move.

In addition, the first supporter 2 is provided with two ball screws, that is, the third ball screw 10 and the fourth ball screw 13 in the opposite direction to each other by a belt 18, and the two balls Since the AC servomotor 16 is coupled to the ball screw of one of the screws 17, when the AC servomotor 16 is driven, the third ball screw 10 and the fourth ball screw 13 are opposite to each other. Direction of rotation.

A third nut 11 is connected to the third ball screw 10, a third support 12 is connected to the third nut 11, and a fourth nut 14 is attached to the fourth ball screw 13. Is connected, the fourth nut 14 is provided with a fourth support 15 is connected, the third support 12 and the fourth support 15 is connected to the top plate.

Since the third nut 11 and the fourth nut 14 are located at edges in opposite directions to each other, the third nut 11 and the fourth nut 14 are provided to cross each other.

Therefore, when the AC servomotor 16 is driven, the third nut 11 connected to the third ball screw 10 and the fourth nut 14 connected to the fourth ball screw 13 are moved inward to form a third. The support 12 and the fourth support 15 are raised by the distance to move.

Here, the AC servomotor 16 connected to the first supporter 1 and the AC servomotor 16 connected to the second supporter 2 should be driven at the same time, for which reason, the four supports 6, 9, 12, and 15 are supported. Since both are connected to the top plate (3), if only one of the two AC servomotor is operated, the top plate (3) can not be leveled.

In order to lower the upper plate 3 which has been raised in the above configuration, the rotational direction of the AC servomotor 16 is changed to fall.

Figure 1 shows the finite-jerk velocity profile. The vibration and shock is due to the infinite jerk value at the constant velocity and acceleration / deceleration boundary where the finite-jerk velocity profile is input to the AC servomotor for high speed and flexible motion. This will occur.

 Using the finite-jerk velocity profile, the jerk value is finite, resulting in a more flexible velocity profile than the normal trapezoidal profile.

By using the shanghai song mechanism using the invention can be lowered the center of gravity of the upper side to enable a stable movement.

And by inputting finite-jerk velocity profile, high speed flexible movement is possible.

finite-jerk speed profile

[Figure 1]

 Since the upper and lower conveying apparatus of the present invention uses a ball screw, the configuration is simpler than that of a device employing a cylinder using hydraulic pressure, thereby reducing manufacturing costs and simplifying maintenance.

In addition, by mounting a wheel on the upper portion of the lower and upper transfer device of the present invention, the robot becomes a vertical transport robot, and when a machine tool is mounted on the upper plate, it can be utilized as a vertical transport table, and can be utilized throughout the industry.

Since the present invention configured as described above uses the ball screw to move up and down, manufacturing cost is reduced, and maintenance and repair are simpler than the up and down conveying device of the hydraulic / pneumatic cylinder type. When the robot is mounted on the top plate with wheels, the robot can be moved up and down, and when the machine tool is mounted on the top plate, it can be used as a top and bottom transfer table. .

Claims (1)

In the vertical feeder, A pair of ball screws 4, 7 having opposite driving directions to the first supporter 1 are connected by a belt 18, and either of the ball screws 4, 7 couples with the AC servomotor 16. Ring 17 coupled; A pair of ball screws 10, 13 having opposite driving directions to the second supporter 2 are connected by a belt 18, and one of the ball screws 10, 13 is coupled to the AC servomotor 16. Ring 17 coupled; Each ball screw (4, 7, 10, 13) is provided with a nut (5, 8, 11, 14) and the support (6, 9, 12, 15) up and down conveying, characterized in that connected to the upper plate (13) Device.

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