KR20090124217A - Loader for loading a heavy goods - Google Patents

Abstract

PURPOSE: A loader for heavy goods is provided to achieve position control with high precision by employing a linear motor for transfer of a carriage unit. CONSTITUTION: A loader for heavy goods comprises a base frame(100), a pair of flat support rails(200), a carriage unit(300), a bearing unit(400), a stator for a linear motor, and a forcer for the linear motor. The base frame forms a transfer path of heavy goods(10). The support rails are installed in the transfer direction of the heavy goods. The carriage unit in which the heavy goods and a control panel(20) are mounted moves being supported on the support rails. The bearing unit rolls in contact with the outermost end of the support rails. The stator and the forcer are installed corresponding to each other in the transfer direction of the heavy goods.

Description

Load device for loading heavy goods {loader for loading a heavy goods}

The present invention relates to a transfer apparatus, and more particularly, to a transfer apparatus for mounting a heavy load of a new type capable of high-speed transfer and precise transfer while stably supporting a heavy object such as a gantry robot capable of working for various purposes.

In general, a gantry robot is a kind of industrial robot mainly used for simple repetitive tasks.

The gantry robot is configured to perform various operations while being mounted on a base frame having a predetermined length (typically about 10 to 30M in length).

Conventionally, a moving device for moving the gantry robot from the base frame includes a rack and pinion, a gear box and a servo motor.

At this time, the carriage on which the gantry robot is mounted is configured to be moved while being supported by a pair of LM rails installed along both sides of the upper surface of the base frame, and any one of the pair of LM rails A rack is installed along an adjacent portion of the rail, and the servo motor is configured to drive the pinion that engages the rack while being installed in the carriage.

However, the conventional gantry robot transfer device as described above has a problem that the high speed and impact resistance and environmental resistance and durability is low because the gantry robot is configured to move while being supported by the L rail when considering the heavy object.

That is, because the structure supported by the L rail is small but only a small number of balls, it is not suitable for the support of heavy materials, and thus high speed, impact resistance, environmental resistance, and durability are inevitably low. .

In addition, the transfer device for a conventional gantry robot has a contact structure such as a rack (pinion), a pinion (gear box) and a servo motor (servo motor) for generating a thrust, according to the contact There is a problem that noise and foreign matters can not be caused.

In particular, there is a problem that a position error is inevitably generated due to the backlash between the rack and the pinion or the gears in the servo motor and the gear box.

In addition, in the above-described gantry robot transfer apparatus according to the prior art, since the servo motor and the gear box are installed in the carriage, a predetermined installation space is required for the carriage, which makes it difficult to change the shape of the carriage. In addition, there is a problem that it is difficult to achieve a simplified device.

The present invention has been made to solve the various problems according to the prior art described above, the object of the present invention is possible to move fast and precise movement even if the mounting on a heavy object such as a gantry robot, impact resistance, The present invention relates to a transport device for mounting a heavy load of a new type, which can improve environmental performance and durability, and can prevent noise and foreign substances.

According to the present invention, a heavy weight loading transport apparatus for achieving the above object; A pair of flat support rails provided on both sides of an upper surface of the base frame and having an outer end protruding outward of the base frame and installed along a conveying direction of the heavy material; A carriage unit fixedly coupled in a state where a heavy object and a control panel are mounted and being supported by the support rail; A bearing part provided at each corner portion of the bottom of the carriage part and provided with a plurality of bearings in close contact with the outer end of the support rail and rolling in motion: and an upper surface of the base frame and a bottom of the carriage part And a stator for a linear motor and a mover for a linear motor, which are positioned at opposite portions and correspond to each other in a transport direction of the heavy material.

Here, the bearing portion is the upper bearing, the lower bearing and the side bearing, which are in close contact with the upper surface, the lower surface and the outer surface of the outer end of the support rail, and the fixed end fixed to the bottom surface of the carriage portion and the respective bearings are It characterized in that it comprises a bearing block formed by the installation end is installed to the shaft of each bearing to be in close contact with each of the upper and lower surfaces and the outer surface of the outer end of the rail portion.

The stator for the linear motor may be installed to protrude along the upper surface of the base frame, and the linear motor mover may be installed along the bottom surface of the carriage part.

In addition, the stator for the linear motor and the mover for the linear motor is characterized in that it is installed along the position where the center of gravity of the combined weight and the control panel mounted on the carriage unit.

At this time, the control panel is configured to enable wireless data communication, the control unit for controlling the operation of the heavy weight is characterized in that the operation signal is provided via wireless data communication.

According to the heavy-weight transfer device of the present invention as described above has various effects as described later.

First, the heavy load mounting apparatus of the present invention has an effect that the linear motor may be configured to transport the carriage part due to the structural features of the flat support rail and the structural features of the bearing part.

Secondly, since the transport device for mounting a heavy load of the present invention is configured with a linear motor to transport the carriage part, since there is no backlash, precise position control is possible, and noise is prevented by operating in a non-contact manner. Since there is no foreign matter, it can be applied to clean room facilities.

Third, the stator for the linear motor and the mover for the linear motor constituting the heavy-weight transfer device of the present invention are installed on the upper surface of the base frame and the lower surface of the carriage part to have a stable operation of the carriage part. .

Fourth, the weight-mounted transfer apparatus of the present invention has the effect of forming a recess in the upper surface of the base frame, the stator for the linear motor is installed along the recess portion, the height of the overall equipment can be minimized.

Hereinafter, a preferred embodiment of the weight-mounted transfer device of the present invention will be described with reference to FIGS.

1 and 2 are shown a heavy load mounting apparatus according to a preferred embodiment of the present invention.

As can be seen through this, the heavy load mounting apparatus according to an embodiment of the present invention is largely the base frame 100, a pair of flat support rail 200, the carriage 300, the bearing 400 And the linear motor 500 having the stator 510 for the linear motor and the mover 520 for the linear motor.

This will be described in more detail for each component as follows.

First, the base frame 100 will be described with reference to FIG. 1.

The base frame 100 is a portion that forms a transport path for heavy materials, and is installed along the ceiling or the ground of the workplace.

At this time, the weight 10 is shown as a gantry robot as an example, but may be a robot device for other processes, if necessary.

In addition, the base frame 100 is formed in the upper surface indentation. This structure is to prevent the height of the overall device is increased when considering that the stator 510 for the linear motor to be described later protrudes from the upper surface of the base frame 100.

Next, the pair of flat support rails 200 will be described.

The pair of flat support rails 200 is a series of components for supporting the carriage unit 300.

At this time, the pair of flat support rails 200 are provided on both sides of the upper surface of the base frame 10, the outer end is projected to the outside of the base frame 100 while the conveying direction (or, the The base frame).

Next, the carriage unit 300 will be described with reference to FIG. 2.

The carriage unit 300 is a series of components that are fixedly coupled in a state in which the heavy material 10 and the control panel 20 are mounted, and is configured to move under the support of the flat support rail 200.

At this time, the control panel 20 is a configuration for controlling the operation of the linear motor 500 while controlling the operation of the heavy object (gantry robot) 10.

The embodiment of the present invention suggests that the control panel 20 is configured to enable wireless data communication.

This allows the carriage unit 300 to be moved more smoothly by eliminating unnecessary lines by receiving an operation signal through a wireless data communication with an operation unit (not shown) operated by an operator to control the operation of the heavy object. In addition, it is to prevent the occurrence of interference in advance while the carriage unit 300 is moved due to the lines.

In addition, in the embodiment of the present invention, in the case of the heavy material 10 is installed to be located directly above the base frame 100 of each portion of the carriage unit 300, the control panel 20 is the carriage unit ( It is suggested that the weight 10 of each part of the 300 is installed to be located on the outer side of the installed part.

In the case of the heavy material 10, the heavy load 10 because the vertical load by the heavy load 10 is relatively large compared to the vertical load by the control panel 20 in consideration of the configuration that is operated for various operations The support is to be supported by the base frame 100.

In this case, the base frame 100 is provided with an extension frame 110 extending up to directly below the portion where the control panel 20 is installed among the portions of the carriage unit 300, the carriage unit 300 ) Further suggests that a cloudable cloud portion 310 is installed along the extension frame 110.

This structure is to ensure that the support for the control panel 20 is installed also made stable.

Of course, the base frame 100 may be formed to be large to reach the installation site of the control panel 20, but in this case the casting cost for the manufacturing of the base frame 100 can be significantly increased as described above As in the example, it is more preferable to additionally install a separate extension frame 110.

Next, the bearing unit 400 will be described with reference to FIG. 3.

The bearing part 400 is a series of components for supporting the movement of the carriage part 300, and is provided at each corner portion of the bottom of the carriage part 300, each of which is the support rail 200. A plurality of bearings (410, 420, 430) that are in close contact with the outer end of the rolling motion is made.

That is, the bearing portion 400 according to the embodiment of the present invention is in close contact with the upper bearing 410 rolling in close contact with the upper surface of the outer end of the support rail 200 and the lower surface of the outer end of the support rail 200. And a lower bearing 420 to be rolled, a side bearing 430 to be in close contact with the outer surface of the outer end of the support rail 200, and a bearing block 440 to which the respective bearings 410, 420 and 430 are installed. It is composed.

In this case, each of the bearings (410, 420, 430) is composed of a shaft-integrated bearing formed of a shaft (not shown) integrally formed on the inner ring, the bearing block 440 is fixed to the bottom of the carriage 300 It is composed of a fixed end 441 and the installation end 442 is installed shafts of the bearings (410, 420, 430).

Next, the stator 510 for the linear motor and the mover 520 for the linear motor will be described with reference to FIG. 4.

The stator 510 for the linear motor and the mover 520 for the linear motor are configured to form the linear motor 500, and portions of the upper surface of the base frame 100 and the lower surface of the carriage part 300 that face each other. Located in the corresponding direction along the transport direction of the heavy material 10 is installed.

In the embodiment of the present invention, the stator 510 for the linear motor is installed to protrude along the recessed portion of the upper surface of the base frame 100, and the linear motor mover 520 of the carriage unit 300 It is installed along the bottom.

This configuration is to allow the driving method for the movement of the carriage unit 300 to achieve a non-contact drive to solve the limit of the speed, to prevent the occurrence of noise and wear during high speed operation to enable a substantially high speed operation.

Of course, the stator 510 for the linear motor is installed to protrude along the bottom surface of the carriage unit 300, and the linear motor mover 520 is installed along the recessed portion of the upper surface of the base frame 100. It may also be configured to.

In addition, as described above, the structure for moving the carriage unit 300 may be configured as the linear motor 500 because the structure supporting the movement of the carriage unit 300 includes the bearing unit 400. Do.

Here, the stator 510 for the linear motor includes permanent magnets 511 of different poles and mounting blocks 512 for installing the permanent magnets 511 on the upper surface of the base frame 100. It is configured by.

At this time, each of the permanent magnets 511 is configured to achieve a state arranged along the upper surface of the base frame 100 while different poles (極) are repeated continuously.

In addition, the linear motor mover 520 is installed along a portion corresponding to the installation position of the linear motor stator 510 among the bottom surfaces of the carriage part 300, and the coil 521 and the guide block 522. It is configured to include).

In this case, the guide block 522 provides a space in which the coil 521 is installed, and forms a portion that is coupled to the carriage unit 300, and a circumferential portion of each of the stator 510 for the linear motor is formed. It is formed to surround the permanent magnet 511 so that the linear motor mover 520 and the linear motor stator 510 maintain a stable installation relationship to enable more accurate operation.

In particular, in the embodiment of the present invention, the center of gravity of the combined weight of the control panel 20 and the weight 10 on which the stator 510 for the linear motor and the mover 520 for the linear motor are mounted on the carriage part 300 is determined. It is shown to be installed along the site where it is located.

This is to allow the stator 510 and the linear motor mover 520 to be positioned at the center of gravity of the components mounted on the carriage 300 so that the carriage 300 can be more stably transported. to be.

Hereinafter, a description will be given of the operation of the heavy load mounting apparatus according to an embodiment of the present invention configured as described above.

First, when an operator's operation is made through an operation unit (not shown), a control signal according to the operation is provided to the control panel 20 through wireless data communication.

That is, when the transfer operation to the carriage unit 300 is made by the operator, the operation control of the linear motor 500 through the control panel 20 is made, and when the operation operation of the heavy object 10 is made by the operator Operation control of the heavy object 10 through the control panel 20 is made.

Here, when an operation for the carriage of the carriage unit 300 is made, power is supplied to the coil 521 of the linear motor mover 520 constituting the linear motor 500, and thus the linear motor mover. 520 moves along the direction in which the permanent magnet 511 of the stator 510 for the linear motor is installed to transfer the carriage unit 300.

At this time, since the linear motor mover 520 is operated in a non-contact manner with respect to the linear motor stator 510, high speed operation is possible and noise and wear are prevented.

Of course, considering that the bearing parts respectively installed at the four bottom edges of the carriage part are operated to be guided in contact with a pair of flat support rails, the vertical load and the moment load of the heavy weight placed on the carriage part 300 are determined. You will be provided.

However, among the bearings 410, 420, 430 constituting the bearing part, the upper bearing 410 and the lower bearing 420 support the vertical load with respect to the weight 10, and the side bearing 430 has the upper bearing 410. By supporting the moment load according to the operation of the heavy material 10 together with the lower bearing 420), the stable support of the heavy material 10 is possible.

In addition, even when the moment load is generated due to the operation of the heavy material 10 is inclined outward, or inclined inwardly, it is possible to perform a smooth conveyance operation with stable support.

1 is a side view showing for explaining the structure of a transport device for mounting a heavy load according to a preferred embodiment of the present invention

Figure 2 is a plan view showing for explaining the structure of the transport device for mounting a heavy load according to a preferred embodiment of the present invention

Figure 3 is an enlarged view for explaining the structure of the bearing portion of the heavy load mounting apparatus according to an embodiment of the present invention

4 is an enlarged view of a portion “A” of FIG. 1.

Claims (6)

A base frame forming a conveying path of the heavy object; A pair of flat support rails provided on both sides of an upper surface of the base frame and having an outer end protruding outward of the base frame and installed along a conveying direction of the heavy material; A carriage unit fixedly coupled in a state where a heavy object and a control panel are mounted and being supported by the support rail; A bearing part provided at each corner of the bottom of the carriage part and provided with a plurality of bearings in close contact with an outer end of the support rail and rolling; And a stator for a linear motor and a mover for a linear motor, which are positioned on opposite portions of the upper surface of the base frame and the lower surface of the carriage part and installed to correspond to each other in the conveying direction of the heavy material. Conveying device. The method of claim 1, The bearing part An upper bearing, a lower bearing, and a side bearing of the outer ends of the support rails, which are in close contact with the upper and lower surfaces and the outer surfaces, respectively; A bearing block having a fixed end fixed to the bottom of the carriage part and an installation end to which the shafts of the respective bearings are installed such that each bearing is in close contact with an upper surface, a lower surface, and an outer surface of the outer ends of the rail part; Transport device for mounting a heavy load, characterized in that it comprises a. The method of claim 1, The stator for the linear motor is installed to protrude along the upper surface of the base frame, The linear motor mover is a heavy load mounting apparatus, characterized in that installed along the bottom of the carriage portion. The method of claim 3, wherein The inner surface of the upper surface of the base frame is formed to be concave, The stator for the linear motor is a heavy load mounting apparatus, characterized in that the protruding along the recessed portion of the upper surface of the base frame. The method according to claim 1 or 3, The stator for the linear motor and the mover for the linear motor are installed along a position where the center of gravity of the combined weight of the control panel and the heavy object placed on the carriage unit is located. The method of claim 5, wherein The control panel is configured to enable wireless data communication, and the operation unit for controlling the operation of the heavy weight transfer device for mounting a heavy load, characterized in that the operation signal is provided via wireless data communication.

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