KR20130012692A - Transferring device for accuracy movement of gantry robot - Google Patents

Abstract

PURPOSE: A precise transferring device of a gantry robot is provided to improve the positioning control performance of the robot as movements of a loader arm along three axes are guided by a plurality of sliders and LM guides. CONSTITUTION: A precise transferring device(300) of a gantry robot comprises first and second sliders(310,320). The first slider is moved along a horizontal-axis frame(100) to a horizontal direction. The second slider is moved to a longitudinal direction which is vertical to the horizontal frame with respect to the first slider. First, second, and third driving members are installed on the second slider, and provide driving force transferring a loader arm(200) to three axial directions. The loader arm is mounted on the front surface of the second slider and moves up and down.

Description

Transfer device for Accuracy Movement of Gantry Robot}

The present invention relates to a gantry robot, and more particularly, to precisely transfer a three-axis motion type gantry robot, which can greatly improve the accuracy of machining by preventing vibration or torsional phenomena during transportation of a workpiece or various workpieces. For the device.

In general, the main purpose of using gantry robots in various machinery is to increase the productivity and quality of the product. For this purpose, it is essential to precisely move the position of the robot head to the desired position at high speed while minimizing the settling time.

However, the biggest problem in speeding up the gantry robot is that when the transport frame moves at high speed, unwanted vibration occurs in the head due to the large inertia. In other words, the orthogonal structure of the gantry robot usually uses one driver for each axis, but if the length of the transport frame is longer, the rigidity of the frame is lowered, resulting in a problem of increasing residual vibration during high-speed transport, resulting in a poor position control performance. Will impair sex.

In particular, in the case of a gantry robot that moves the robot head in different orthogonal directions of the 3 (X, Y, Z) axes, abrasion and play are generated on the slider means such as the LM guide on the vertical (Z) axis by the load of the driver. Due to the shaking or twisting phenomenon occurs during the transfer process, there is a limit that precision work is impossible such as severe error in the input position of the workpiece or workpiece.

Therefore, it is very important to mechanically remove vibrations and distortions in order to improve positional accuracy in the gantry robot.

As an example of such a gantry robot, a four-axis control gantry loader is disclosed in Korean Patent No. 10-0788835, but a horizontal (Y) axis (traveling part) in which a hydraulic actuator (transfer cylinder) forms a movement path in left and right directions. It is composed of a structure that moves the loader arm (grip section) equipped with a head for clamping the object by pushing or pulling the vertical (Z) axis (vertical feed section) which is vertically raised and lowered in the vertical direction. Because of this, there is no doubt that there is a structural vulnerability that contains the above problems.

Accordingly, the inventors of the present invention have made and completed the present invention while making an effort to develop a transfer device of a new gantry robot capable of improving processing accuracy by emphasizing on solving the above-mentioned matters and problems.

Accordingly, it is an object of the present invention to provide a precision transfer device of a gantry robot that can improve the precision of the machining by preventing vibration or torsional phenomena due to the transfer.

In order to achieve the above object, an embodiment of the present invention, the loader arm is provided so as to be movable in the horizontal direction along the horizontal axis frame installed at a predetermined height relative to the ground, the head for clamping the object to the lower end A gantry robot's transfer device mounted up and down in a vertical direction perpendicular to a horizontal axis frame, comprising: a first slider mounted to be movable in a horizontal direction along a horizontal axis frame; and a forward and backward direction perpendicular to the horizontal axis frame with respect to the first slider A gantry comprising a second slider mounted on the front surface thereof, the first to third driving means providing driving force for transferring the loader arm in three axes, and the loader arm being liftably mounted on a front surface thereof. Provides a precision transfer device for robots.

As a result, the present invention can prevent vibrations, torsional phenomena, and the like during transportation, thereby greatly improving the precision of machining.

In another embodiment of the present invention, the first to third driving means may include a first to third motor, an upper surface of the horizontal axis frame, an upper surface of the first slider, and a front surface of the second slider. It is possible to provide a precision transfer device of the gantry robot including a rack fixed to the rear, respectively, and pinions coupled to the rotary shafts of the first to third motors, respectively.

In addition, according to another embodiment of the present invention, the first and second LM guides for guiding the first slider in the horizontal direction along the horizontal axis frame between the upper and front surfaces of the horizontal axis frame and the surface of the first slider facing the horizontal axis frame. Third and fourth LM guides are mounted between the upper surface of the first slider and the bottom of the second slider and on both sides of the loader arm on the front of the first slider to guide the second slider in the front-rear direction perpendicular to the horizontal axis frame. And, between the front of the second slider and the rear of the loader arm can provide a precision transfer device of the gantry robot equipped with a fifth LM guide for guiding to move in the vertical direction perpendicular to the horizontal axis frame.

Further, in another embodiment of the present invention, reinforcing plates for fixing the rails of the fourth LM guide are coupled to both sides of the first slider in the moving direction, and support for fixing the slider block of the fourth LM guide to both sides of the front surface of the second slider. It is possible to provide a precision transfer device of the gantry robot with the bracket coupled.

The present invention having the above-described problem solving means and configuration has a large number of sliders and LM guides that naturally guide the three-axis movement of the loader arm equipped with the robot head. The stability and robustness are doubled, which completely prevents vibration and torsional phenomena during the transfer process, further improving the precision of machining.

1 is a configuration diagram showing a three-dimensional gantry robot according to an embodiment of the present invention,
2 is a block diagram showing a state of the front gantry robot according to an embodiment of the present invention,
Figure 3 is an exploded view showing the three-dimensional view of the state of the precision transport device of the gantry robot in accordance with an embodiment of the present invention,
Figure 4 is an exploded view of the main part showing the three-dimensional precision transport device of the gantry robot in accordance with an embodiment of the present invention,
Figure 5 is an exploded view showing the three-dimensional state in which the precision transport device of the gantry robot according to an embodiment of the present invention slightly moved in the two axis direction,

Hereinafter, embodiments according to the present invention will be described more specifically with reference to the accompanying drawings.

Prior to this, the following terms are defined in consideration of the functions in the present invention, which specifies that the concept should be construed as a concept consistent with the technical spirit of the present invention and commonly understood or commonly recognized in the art.

In the following description, well-known functions or constructions are not described in detail to avoid obscuring the subject matter of the present invention.

On the other hand, in the following description, the direction in which the feeder moves from side to side in parallel to the ground in the X-axis direction, and in the Y-axis direction, the direction moving back and forth in parallel with the X-axis direction and parallel to the ground in the Y-axis direction. Direction and orthogonal to the Y-axis direction and moving up and down with respect to the ground is defined as the Z-axis direction.

In addition, the gantry robot according to an embodiment of the present invention is automatically linked to the machining cycle, such as automated machine tools such as automated production lines or machining centers to automatically supply the workpiece to the machining position or processing of the workpiece is completed in the next process It is installed to carry out a series of automated processes for transporting.

1 is a configuration diagram showing a gantry robot according to an embodiment of the present invention in three dimensions, Figure 2 is a configuration diagram showing a state in front of the gantry robot according to an embodiment of the present invention, Figure 3 is a view of the present invention Figure 3 is an exploded view showing the three-dimensional state of the gantry robot according to the embodiment of the precision transport device viewed from the rear.

As shown in Figures 1 to 3, the gantry robot according to an embodiment of the present invention is roughly divided into a horizontal axis frame 100, the loader arm 200 and the transfer device 300, it is configured to include such.

First, the horizontal axis frame 100 is to guide the loader arm 200 to form a moving path in the horizontal direction, left and right by a support pillar 110 is formed in a substantially rectangular cylinder shape and erected vertically on both sides of the automation machine. The rack 324, which is a component of the first driving means, which is installed at a predetermined height with respect to the ground and provides a driving force for transferring the loader arm 200 in the X-axis direction along the left and right longitudinal directions of the upper surface, is fixed. It is.

In addition, both ends of the horizontal axis frame 100 is provided with a limit switch 150 to stop when the transfer operation of the transfer device 300 reaches a certain limit position.

The loader arm 200 ascends in a vertical direction perpendicular to the horizontal axis frame 100, is formed in a substantially rectangular tube shape like the horizontal axis frame 100, and has a head 210 for clamping an object to a lower end thereof. A rack 326, which is a component of the third driving means for providing a driving force for feeding in the Z-axis direction along the vertical length of the rear surface thereof, is fixed.

In addition, the upper end of the loader arm 200 is provided with a limit switch 250 to stop when the lowering operation of the loader arm 200 with respect to the transfer device 300 reaches a certain limit position.

The conveying device 300 is installed to be movable in the horizontal direction along the horizontal axis frame 100 so that the loader arm 200 can be moved up and down in a vertical direction perpendicular to the horizontal axis frame 100 while being perpendicular to the horizontal axis frame 100. The first and second sliders 310/320, the first to fifth LM guides (311/312/313/314/315) and the first to the third driving means to enable movement in the direction .

4 and 5, the first slider 310 is installed to enable a linear reciprocating movement along the horizontal axis frame 100, the horizontal axis to have a surface corresponding to the upper and front surfaces of the horizontal axis frame 100 When viewed from both sides in the longitudinal direction of the frame 100, it is formed in a substantially '-' shape, and smoothly moving in the horizontal direction along the horizontal axis frame 100 on the surface facing the top and front surfaces of the horizontal axis frame 100. The first and second LM guides (311/312) for guiding the.

That is, the first slider 310 has a horizontal axis frame 100 by a slider block mounted on the bottom surface and a surface corresponding to the front surface of the horizontal axis frame 100 and a rail mounted on the top and front surfaces of the horizontal axis frame 100, respectively. It is installed to be able to move smoothly along the longitudinal direction X of the horizontal axis frame 100 by the driving force of the 1st driving means 321/324/327 in the state mounted in the state.

In addition, the reinforcing plate for firmly fixing the rail of the fourth LM guide 314 on both sides of the moving direction of the first slider 310 and strengthening the installation state of the first slider 310 and the second slider 320. 330 is coupled, and a stopper 350 is coupled to the front side of the reinforcing plate 330 to prevent the second slider 320 from being separated in the front direction with respect to the first slider 310.

The second slider 320 is installed to be movable in the front-rear direction perpendicular to the horizontal frame 100 with respect to the first slider 310, and transfers the loader arm 200 in the 3 (X / Y / Z) axis direction. The motors 321/322/323 of the first to third driving means for providing a driving force for each is mounted, the loader arm 200 is mounted on the front surface to be able to lift.

In addition, support brackets 340 for fixing the slider block of the fourth LM guide 314 to correspond to the rail fixed to the reinforcing plate 330 are coupled to both front sides of the second slider 320.

Therefore, the second slider 320 is slid to the front of the horizontal axis frame 100 from the top of the first slider 310, the reinforcement plate 330 and the support bracket 340 is located in front of the horizontal axis frame 100 Since the fourth LM guide 314 is stably supported, the movement of the loader arm 200 with respect to the horizontal axis frame 100 in the front-rear direction Y is smoothly and stably guided without flow.

The first to fifth LM guides (311/312/313/314/315) is to support the loader arm 200 and the transfer device 300 to be precisely conveyed through the sliding movement of the rail and the slider block, The second LM guide 311/312 is mounted between the upper surface and the front surface of the horizontal axis frame 100 and the surface of the first slider 310 facing the horizontal axis frame to guide the first slider 310 in the longitudinal direction of the horizontal axis frame 100. Follow the guide to move smoothly in the horizontal direction.

The third and fourth LM guides 313/314 may be mounted between the upper surface of the first slider 310 and the bottom surface of the second slider 320 and on both sides of the loader arm 200 in front of the first slider 310. The second slider 320 is guided to smoothly move in the front-rear direction Y perpendicular to the horizontal axis frame 100.

In addition, the fifth LM guide 315 is mounted between the front of the second slider 320 and the rear of the loader arm 200 to guide the fifth LM guide 315 to move smoothly in the vertical direction Z perpendicular to the horizontal axis frame 100.

In particular, the third to fifth LM guides (313/314/315) is preferably installed in a pair of left and right to distribute the forces such as the inertial force and the unloading load according to the transfer to allow a more smooth transfer and maintain a high precision operation. .

The first to third driving means provide a driving force for transporting the loader arm 200 in the three axis (X / Y / Z) direction with respect to the ground, the first to third motor (321/322/323) And racks 324/325/326 fixed to an upper surface of the horizontal axis frame 100 and a rear surface of the loader arm 200 facing the upper surface of the first slider 310 and the front surface of the second slider 320, respectively. And a pinion 327/328/329 coupled to the rotation shafts of the first to third motors 321/322/323 and engaged with the racks 324/325/326, respectively.

Here, the first to third driving means is preferably configured to engage the servo motor with a gear driving method such as a rack and pinion so as to convert the rotational motion of the servo motor into a linear motion, but, for example, comprises a driving means such as an LM actuator. You may. In addition, the servo motor may include a speed reducer configured to reduce the rotation speed of the motor to output the force required for driving.

On the other hand, the head 210 of the loader arm is provided with a pair of grippers and jaws for clamping the workpiece by the operation of the hydraulic actuator, each gripper and jaws are mounted to be perpendicular to each other to position each other according to the rotation operation You can change it.

Referring to the operation state of the gantry robot according to an embodiment of the present invention configured as described above are as follows.

First, when the head 210 is to be moved along the horizontal axis frame 100 in the horizontal direction (X axis), the separate control unit controls and drives the first motor 321 of the first driving means to rotate and operate. The first slider 310 of the transfer device is operated by the first motor 321, the rack 324, the pinion 327, and the first and second LM guides 311/312 interlocked with each other. And the second slider 320 and the loader arm 200 mounted thereon move in the horizontal direction (X), and thus the head 210 mounted on the loader arm 200 moves in the horizontal direction. Done.

In addition, when the head 210 is to be moved in the front-rear direction (Y-axis) perpendicular to the horizontal axis frame 100, the second motor 322 of the second driving means is controlled and driven to rotate to operate the transfer apparatus. The second slider 320 is operated with respect to the first slider 310 by the operation of the second motor 322, the rack 325, the pinion 328 and the third and fourth LM guides 313/314 interlocking with the second slider 320. Smoothly moving in the front and rear direction (Y), at the same time the loader arm 200 moves in the front and rear direction (Y), so that the head 210 is moved in the front and rear direction.

In addition, when moving the head 210 in the vertical direction (Z-axis) perpendicular to the horizontal frame 100, the control arm and drive the third motor 323 of the third driving means to rotate the loader arm ( The head 210 moves upward and downward since the 200 is smoothly moved up and down by the third motor 323, the rack 326, the pinion 329, and the fifth LM guide 315 interlocked with the fifth motor 323. Done.

That is, the second slider 320 supporting the state in which the loader arm 200 is suspended in the air is slidably moved forward and backward while being stably supported by the third and fourth LM guides 313/314. The first slider 310, which is organically supported by supporting the second slider 320, is slidably moved leftward and rightward while being stably supported by the first and second LM guides 311/312 to thereby support the head 210. Even if a biased force occurs in either direction due to product load or inertia, the first and second sliders 310/320 and the first to fifth LM guides 311/312/313/314/315 disperse it. It not only prevents damage due to play or wear, but also minimizes vibration and torsion, thereby maintaining a high level of precision when positioning the workpiece.

On the other hand, the present invention is not limited by the above-described embodiment and the accompanying drawings, and can be changed to other embodiments equivalent to substitutions and equivalents within the scope without departing from the spirit of the present invention is common in the art It will be apparent to those who have knowledge.

100: horizontal axis frame 110: support pillar
150: limit switch
200: loader arm 210: head
250: limit switch
300: conveying device
310: first slider 311: first LM guide
312: second LM guide 313: third LM guide
314: fourth LM guide 315: fifth LM guide
320: second slider 321: first motor
322: second motor 323: third motor
330: reinforcement plate 340: support bracket
350: stopper

Claims (4)

The gantry robot is installed to be movable in a horizontal direction along a horizontal axis frame installed at a predetermined height with respect to the ground, and is capable of lifting up and down in a vertical direction perpendicular to the horizontal axis frame with a loader arm having a head for clamping a workpiece at a lower end thereof. In the conveying apparatus of the,
A first slider movably mounted in a horizontal direction along the horizontal axis frame;
It is installed so as to be movable in the front-rear direction perpendicular to the horizontal axis frame with respect to the first slider, the first to third driving means for providing a driving force for transporting the loader arm in the three-axis direction is mounted, the front A second slider on which the loader arm is liftably mounted;
Gantry robot precision transport device comprising a.
The method of claim 1, wherein the first to third driving means,
First to third motors;
A rack fixed to an upper surface of the horizontal frame and an upper surface of the first slider and a rear surface of the loader arm facing the front surface of the second slider;
Pinions respectively coupled to the rotation shafts of the first to third motors and engaged with the racks;
Gantry robot precision transmission device comprising a.
3. The method according to claim 1 or 2,
First and second LM guides for guiding the first slider to move horizontally along the horizontal axis frame are mounted between the top and front surfaces of the horizontal axis frame and the surface of the first slider facing the horizontal axis frame. Third and fourth LM guides are installed between the upper surface and the bottom of the second slider and on both sides of the loader arm in front of the first slider to guide the second slider to move forward and backward perpendicular to a horizontal axis frame. Precision transfer device of the gantry robot equipped with a fifth LM guide for guiding to move in the vertical direction perpendicular to the horizontal axis frame between the front of the two sliders and the rear of the loader arm.
The method of claim 3, wherein
A gantry robot is coupled to both sides of the first slider in a moving direction for fixing the rail of the fourth LM guide, and a support bracket for fixing the slider block of the fourth LM guide to both sides of the front side of the second slider. Precision feeder.

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