KR20090002990A - A driving apparatus of crane type robot - Google Patents

Abstract

A driving apparatus of a crane type robot is provided to ensure precise perpendicular control since the minimum value of drive control allowable distance is set without restriction and to prevent the generation of noise and dust through elastic connection driving. A driving apparatus of a crane type robot, the crane type robot including a crane body(C) and a sub body(SC) transferring a loading and transferring object along X and Y axes, respectively, on a box type gantry frame(F), comprises X and Y axis transfer rail frames which are chamfered on the gantry frame and the crane body, a drive wheel roller and an auxiliary wheel roller which are rotated by the driving of a servo motor, are coated with an elastomer layer and drive the crane body and the sub body, and a sub motor controller which corrects a drive error due to the slip and etc.

Description

A driving apparatus of a crane type robot

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the drive structure in the parts logistics management system suitable for applying the drive device of the overhead crane type robot of this invention.

2 is an explanatory view illustrating a basic configuration of the entire assembly of a gantry crane and a frame to which a driving device of the ceiling crane robot of the present invention is applied.

Fig. 3 is a perspective view as seen from A of Fig. 2 showing a drive transmission unit in a driving apparatus of a ceiling crane type robot having a conventional configuration, and B disclaimer enlarged explanatory diagram of Fig. 3;

4 is an exploded perspective view and main portion enlarged view of a corresponding part of FIG. 2 showing an improved drive transmission in the drive of the overhead crane robot of the present invention.

FIG. 5 is an explanatory view showing only a drive transmission unit in a state where a crane body is removed in order to show a configuration of an X-axis driving device of the driving device of the overhead crane robot of the present invention; FIG.

FIG. 6 is an explanatory view showing only a drive transmission unit in a state in which the crane body is removed and viewed from the A1 side of FIG.

7 is an explanatory view for explaining the control of the X-Y axis drive device of the drive device of the overhead crane robot of the present invention.

* Explanation of symbols used in the main part of the drawing *

F: gantry frame

C: gantry crane body

B: frame bar

D: drive shaft

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device of a ceiling crane type robot, and more particularly, to a driving device of a preferred configuration to be applied to so-called crane type robot driving as a transfer means employed for various purposes.

In the large logistics management system, goods management warehouse, parts warehouse, parts logistics management system, etc., the crane shape is driven on the frame installed above to transfer the objects loaded in the warehouse and to perform the sorting, delivery, and yard work. Work equipment will be provided.

In particular, in a large logistics system or the like, since a heavy weight body can be easily transported or classified, a means using a overhead crane robot driven on a so-called skeleton type rigid frame is employed.

The overhead crane type robot is relatively simple in construction and includes a crane driven on a gantry frame with multiple axes, usually along two axes, and a gripping and lifting means driven in a direction perpendicular to the crane. Easily transportable, relatively high durability and controllability are widely used.

Conventionally, such a crane crane has been used in a wide range of applications such as tire logistics system, logistics system of agricultural and livestock debris, loading of electronic products, loading of electronic component boxes, etc. The driving method is a servo motor for driving and this servo. It is driven by connecting the pinion mounted on the motor, the gear reducer, and the rack gear attached to the gantry frame, and the moving distance and speed are controlled according to the operator's control.

However, many problems have been found in the conventional driving device of the overhead crane type robot.

(1) A drive device using a mechanical connection drive such as a pinion-rack gear has a minimum value in the pitch of the pinion and the rack, so that it is difficult to precisely control the drive below the set pitch value.

Therefore, there is a problem in that it is difficult to apply to expensive products, such as a fine connection or separation work is performed. In order to solve this problem, if the pitch value is lowered, the processing cost of parts such as rack gears is greatly increased and maintenance is difficult, resulting in costly irrationality.

(2) The pinion rack gear requires mechanical lubrication and continuous inspection of lubrication and wear, and significant noise and friction dusts are generated during operation, resulting in high precision environment for food and electronic products. In the case of the required product, there is an application problem that cannot be used.

(3) Machining rack gears with long gantry frames is not an easy task, and due to machining problems, the manufacturing cost is considerable.

In order to solve this problem from the prior art, in the driving device of the ceiling crane-type robot of the present invention provides a driving device of the ceiling crane-type robot of a new configuration,

It is an object to further provide a control means having means for solving the problems that such an apparatus may have.

In order to realize the above object, the present invention provides a driving device of the overhead crane robot of the improved configuration, to reduce the production cost, to prevent the occurrence of noise and dust, etc. to improve the working environment,

It aims to improve applicability by allowing unauthorized control of any control position.

In order to achieve the above object, in the driving device of the overhead crane robot of the present invention;

In the driving device of the overhead crane-type robot having a crane body for transporting the X axis on the box-shaped gantry frame with respect to the object to be loaded and transported, and a sub-body for Y axis transport on the crane body,

The drive device;

A drive wheel roller and an auxiliary wheel are disposed on the gantry frame and the crane body, and the X and Y axis running rail frames are disposed, and are connected to the X and Y running rail frames and rotated by a controlled servo motor. The roller is provided with an elastomeric coating layer (e) coated as an elastic material to drive the crane body and the subbody,

The servomotor controller further comprises a means for correcting a driving deviation caused by slip of the football driving device.

In addition, the correction means, the X-axis servo motor encoder connected to the axis of rotation of the X-axis servo motor of the drive wheel roller for driving the crane body, the X-axis encoding rail and the side installed on the side of the running rail frame, respectively An X-axis encoder connected to an X-axis encoding rail and performing encoding for an actual traveling speed, a Y-axis servo motor encoder of a Y-axis servo motor for driving a wheel roller driving the sub-crane body, and the sub-crane body An additional control device is characterized in that it comprises encoding means for the Y-axis encoder, which encodes in cooperation with the Y-axis encoding rail on the side of the traveling rail frame.

The basic technical concept of the driving device of the overhead crane robot of the present invention together with the accompanying drawings will be described in detail with a brief comparison with the prior art.

An embodiment in which a general crane crane type robot is applied is shown in FIG. 1, and some layouts in a parts logistics management system are illustrated.

Regarding the parts box (T) which is a loading and conveying object,

On the gantry frame (F) constituting the hexagonal frame, the crane body (C) to transfer the X axis by the drive of the servo motor and the sub-body (SC) for driving the Y axis on the crane body (C) have,

The subbody SC is equipped with various gripping apparatuses, lift apparatuses, and the like, which move up and down in the vertical Z direction.

With such a configuration, the parts box T existing at any position inside the gantry frame F along the X, Y, and Z axes can be managed such as transfer and loading. The configuration of the gantry frame (F) described above is briefly shown in FIG.

Conventionally, the conveying means of the transfer of the crane body (C) on the gantry frame (F), and the sub-body (SC) to drive the Y-axis on the crane body (C),

As in the view seen from the direction A of FIG. 2,

Driver gear GR such as a rack gear L fixed to an individual frame bar B of the gantry frame F and a pinion gear fitted to the drive shaft D via a servo motor and a speed reducer (not shown). Was connected and driven while being guided by a pair of guide rollers (RL, RL ').

Therefore, problems such as the limitation of the control distance, generation of noise and dust, improvement of manufacturing cost, and the like as described above existed.

Conventionally, various driving devices have been devised to solve these problems, but there are practical application problems, and there is no superior point compared to the rack gear-pinion driving method.

4 or less will be described in detail the driving device of the overhead crane robot of the present invention.

In the present invention, as shown in the corresponding part of FIG.

The frame portion forming the traveling path of the gantry frame F is subjected to the surface processing, and the driving rail frames 10 and 10 'are formed.

The drive means fitted to the drive shaft D of the sub-motor described later is constituted by the X-axis drive wheel rollers 21, 22, 23, 24, and the entire surface of the X-axis drive wheel rollers 21, 22, 23, 24. Elastomer coated with urethane, neoprene, polysulfide rubber, diene rubber, methyl rubber, butadiene rubber, synthetic rubber such as polybutadiene rubber, polyacrylate rubber, natural rubber, etc. Forming a coating layer (e),

Similarly, in order to prevent the X-axis drive wheel rollers 21, 22, 23, and 24 from escaping from the running rail frames 10, 10 ', they protrude laterally and are connected to the sides of the running rail frames 10, 10'. The auxiliary wheel roller 25 also forms an elastomeric coating layer (e).

It will be apparent that the coating thickness of the elastomer coating layer (e) is experimentally managed and obtained according to the object to be applied, the environment, the driving degree, and the type of the coating material.

As described above, dust is generated by noise and friction as the formation of the elastomer coating layer (e) of the X-axis drive wheel rollers 21, 22, 23, 24 and the X-axis drive wheel rollers 21, 22, 23, 24 of the drive unit. The occurrence of is almost eliminated,

A fine slip during driving may be caused, and each of the X-axis driving wheel rollers 21, 22, 23, 24 is driven by a servo motor for individual driving, so that each of the other X-axis driving wheel rollers 21, 22, Since driving deviations between 23 and 24 are caused, additional means for correcting such deviations are needed.

In FIG. 5, only the drive transmission part which shows the structure of the X-axis drive apparatus of the drive apparatus of the overhead crane robot of this invention is demonstrated.

In the figure in which only the lower side is shown by omitting the crane body C,

The two X-axis drive wheel rollers 21 and 22 fitted to the drive shaft D have a plurality of X-axis servo motors 30 and 40 to drive the entire crane body C in the X-axis direction. Driven by).

The X-axis servo motors 30 and 40 have X-axis servo motor encoders 32 and 42 connected to the rotary shafts of the reduction gears 31 and 41 and the X-axis servo motors 30 and 40, respectively. Drive the X-axis driving wheel rollers (21, 22) on the running rail frame (10, 10 ').

As shown in FIG. 6 again as an additional means for correction in addition to the above-mentioned driving means,

X-axis encoders 33 and 43 are provided on the inner sides of the travel rail frames 10 and 10 ', respectively, and are connected to the X-axis encoder rails 33 and 43 to perform encoding for the traveling speed. 34 and 44 are attached to the saddle frames 50 and 51 on the lower side of the crane body C.

FIG. 6 is a sub-crane body SC, which is a Y-axis driving device of the driving device of the overhead crane robot of the present invention, as a perspective view in which the crane body C is omitted in the direction A1 of FIG. 2.

Y-axis driven sub-crane body (SC) on the crane body (C) also elastomer coating layer to run on the Y-axis running rail frame (100, 100 ') disposed on the crane body (C) across the gantry frame (F) Y-axis drive wheel rollers (120, 121) and the auxiliary wheel roller (125) formed with (e).

As the Y-axis driving means, the Y-axis servo motor 130 for driving one Y-axis driving wheel roller 120 is provided with at least one (one in the drawing), and this Y-axis servo motor 130 is also provided. The reducer 131 and the Y-axis servo motor encoder 132 are connected.

As an additional means for correction in addition to the above-described Y-axis driving means, a Y-axis encoding rail 133 is provided on the side of the traveling rail frame 100 and connected to the Y-axis encoding rail 133 for driving speed. The Y-axis encoder 134 is provided in the sub crane body SC to perform encoding.

The control method of the driving apparatus of the overhead crane robot of the present invention operating as a member for the X, Y soccer moving means and the correction means will be described with reference to FIG.

As shown in FIG. 7, the driving apparatus of the overhead crane robot of the present invention receives and controls a signal value drawn out from each encoder, and this controlled value drives each servomotor as a modified value again. Has a configuration.

In addition to the configuration of the present application of the mechanical characteristics described above, a preferable correction control means from among a variety of methods can be exemplarily described.

The control device has a comparison compensator 200 which is totally controlled by the main processor,

The comparison compensator 200 includes the X-axis servo motor encoders 32 and 42 of the X-axis servo motors 30 and 40 and the Y-axis servo motor encoder 132 of the Y-axis servo motor 130. X-axis encoders 34 and 44 which encode driving values of the actual X-axis in cooperation with the XY servo motor encoder feedback unit 10 to which the encoding value is transmitted, and the X-axis encoding rails 33 and 43,

XY absolute value encoder feedback unit 220 to which the value from the Y-axis servo motor encoder 132, which cooperates with the Y-axis encoding rail 133 and encodes the driving value of the actual Y-axis, is transferred;

Based on the above values, it calculates as a preset logic to generate a correction drive control value, and actually drives the X-axis servo motors 30 and 40 and the Y-axis servo motor 130 through the XY servo motor controller 230. Let it drive by value.

That is, the values of the X-axis servo motor encoders 32 and 42 of the X-axis servo motors 30 and 40 and the Y-axis servo motor encoder 132 of the Y-axis servo motor 130 are actually drive control. The Y-axis servo motor encoder 132 which cooperates with the X-axis encoder 34 and 44 and the Y-axis encoding rail 133 to be the set value Ps desired and cooperates with the X-axis encoding rails 33 and 43. The value of becomes the actual value Pd driven by the crane body C and the sub crane body SC.

Therefore, the deviation (Δp = Ps -Pd) of this value is calculated in the compensator 200,

The XY servo motor controller 230 calculates the difference between the calculated value and the set value, and the XY servo motor controller 230 actually corrects the X-axis servo motors 30 and 40 and the Y-axis servo motor 130. To drive with the drive value,

X-axis driving wheel rollers 21 due to slip or abrasion in the traveling rail frames 10, 10 'of the X-axis driving wheel rollers 21, 22, 23, and 24 on which the elastomer coating layer e of the crane body C is formed. 22, 23, 24) to compensate for the change in the diameter to enable precise control.

Although the number of encoders and the number of driving wheel rollers driven are limited, the number of motors, encoders and control loops can be increased or decreased according to the capacity, size, and control accuracy of the overhead crane type robot. to be.

In the driving apparatus of the overhead crane robot according to the present invention,

It can be set without permission without limiting the minimum value of the drive controllable distance, so precise orthogonal control is possible, and the configuration is extremely simple, eliminating the whole mechanical member, greatly reducing the cost and installation cost.

It is an invention having a variety of usefulness, such as making the connection connection is elastic, so that there is little noise and friction dust is induced, so that various hygiene can be applied to the requested work.

Claims (4)

A crane body for transferring an X axis on a box-shaped gantry frame with respect to a load and transfer object, and a subbody for Y axis feeding on the crane body, wherein the driving device comprises: a driving device; A drive wheel roller and an auxiliary wheel are disposed on the gantry frame and the crane body, and the X and Y axis running rail frames are disposed, and are connected to the X and Y running rail frames and rotated by a controlled servo motor. The roller is provided with an elastomeric coating layer (e) coated as an elastic material to drive the crane body and the subbody, And a control device of the servo motor further comprises a means for correcting a driving deviation caused by slip of the soccer driving device. The method of claim 1, The correction means, X-axis servo motor encoder connected to the rotation axis of the X-axis servo motor of the drive wheel roller for driving the crane body, connected to the X-axis encoding rail and the X-axis encoding rail respectively installed on the side of the traveling rail frame X-axis encoder that performs encoding for actual traveling speed, Y-axis servo motor encoder of Y-axis servo motor for driving wheel roller hole for driving the sub-crane body, and side of the running rail frame of the sub-crane body And a driving means of the Y-axis encoder for encoding in cooperation with the Y-axis encoding rail of the overhead crane type robot drive device. The method according to claim 1 or 2, The correction means includes a comparison compensator which is totally controlled by the main processor, and includes encoding values from the X-axis servo motor encoder of the X-axis servo motor and the Y-axis servo motor encoder of the Y-axis servo motor. XY servo motor encoder feedback is delivered, X-axis encoder that encodes the driving value of the actual X-axis in cooperation with the X-axis encoding rail, and XY absolute value transmitted from the Y-axis servo motor encoder that encodes the driving value of the actual Y-axis in cooperation with the Y-axis encoding rail An encoding value of a value encoder feedback unit is transmitted to the comparison compensator, calculated by a preset logic based on the encoded transfer value, and a correction drive control value is generated to pass an X-axis servo motor and a Y-axis servo motor through an XY servo motor controller. The driving device of the ceiling crane-type robot, characterized in that the drive to the corrected drive value. The method according to claim 1 or 2, The elastomer coating layer (e) formed by coating the driving wheel roller and the auxiliary wheel roller is an elastic body having a large friction coefficient, and includes urethane, neoprene, polysulfide rubber, diene rubber, methyl rubber, butadiene rubber, polybutadiene rubber, and poly A drive device for a overhead crane robot, characterized in that the coating is coated with any one or more materials selected from synthetic rubber and natural rubber represented as acrylate rubber.

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