KR20130125964A - Saddle for gantry roader and the gantry roader using the same - Google Patents

Abstract

The present invention relates to a gantry type Cartesian robot and provides a two-axis gantry loader for minimizing the usage space and size and remarkably improving the assemblability and productivity. Disclosed is a saddle for the two-axis gantry loader composed as follows. A first pinion gearing with a first rack installed on an X-axis beam slides in a horizontal direction according to the operation of an X-axis servo motor fixed to a rotary shaft. A second pinion gearing with a second rack installed on a Y-axis beam is lifted up and down according to the operation of a Y-axis servo motor fixed to the rotary shaft. First and second horizontal mounting grooves for the installation of a first linear block sliding in a horizontal direction are formed on the rear surface of the second pinion to be vertically separated from each other. A vertical mounting groove for the installation of a second linear block sliding in a vertical direction is formed on the front surface of the second pinion. An X-axis motor mounting hole for an X-axis servo motor is formed between the first and second horizontal mounting grooves. A Y-axis motor mounting hole for a Y-axis servo motor is formed on the top of the first horizontal mounting groove. Multiple X-axis and Y-axis sensor mounting holes for the installation of position sensors which perform position control according to sliding are formed on the opposite side of the vertical mounting groove to the X-axis and Y-axis motor mounting holes.

Description

[0001] DESCRIPTION [0002] Saddle for a two-axis gantry loader and a two-axis gantry loader using the same [

The present invention relates to a gantry type orthogonal robot, and more particularly, to a gantry type loader structure for a biaxial directional operation gantry loader capable of greatly improving the assemblability and productivity while minimizing the volume, will be.

A gantry loader for loading and unloading a workpiece or workpiece on a table, that is, a machining portion of an automated machine tool such as an NC machine tool, is installed to interlock with a machining cycle of an automated machine tool, It is a transfer robot that is applied as an essential device in order to perform machining process through automated machine tools because it automatically discharges and recovers machined products.

In particular, a so-called Cartesian Coordinate Roader having a linear guide device for performing a linear sliding motion within a finite range and composed of a combination of two orthogonal axes (X, Y) is used in various precision machines, And is mainly utilized for transferring, inserting, transporting, or welding work.

This biaxial rectangular coordinate type gantry loader is designed such that a Y-axis beam 4 is supported by an X-axis beam (not shown) supported by a column 2, as shown in Fig. 1, 3, a loader arm 14 or a gripper 14 which can move to an arbitrary position along the Y-axis direction at the lower end of the Y-axis beam 4 and grips the product, Each of the linear blocks slid along the linear rail is mounted on a saddle (table) 5, and a linear guide is mounted on the saddle (table) 5 Respectively.

Racks 6 and 8 are respectively provided on the X axis and Y axis beams 3 and 4. The saddle 5 has a pinion 7 meshing with the respective racks 6 and 8, (10) and (12) for driving the X and Y axes, which are coupled to the shaft (9), are fixed. A position sensor is provided for accurately recognizing and controlling the movement of the object to be processed. The gripper 14 or the gripper is provided to be driven according to the operation of an air compressor and an actuator.

Therefore, the saddle 5 is moved horizontally along the X-axis beam 3 by driving the X-axis servo motor 10 under the control of the PC-based controller, and the Y- The shaft beam 4 and the loader arm 14 vertically move up and down to the working position in the Y-axis direction.

However, in the course of manufacturing such a gantry loader, it is necessary to install the saddle 5 and the loader arm 14 so that the saddle 5 and the loader arm 14 are maintained in a perfectly horizontal and vertical state in the X axis and Y axis directions, Machining tolerance, and welding tolerance. In addition, since separate brackets are required to mount the servo motors 10 and 12 and the position sensor, not only assembly performance and workability are significantly reduced, but also a large volume There is a problem that installation is limited by space.

In addition, when used for a long period of time, uneven wear and clearance are generated on the contact surfaces of the racks 6, 8 and the pinions 7, 9 by the load of the servomotors 10, 12 and the like, And when the saddle 5 is transported at a high speed, the loader arm 14 is vibrated or distorted due to a large inertia, so that the position control performance is degraded and errors in the positions of the object to be processed or the workpiece are seriously wrong There is a problem that occurs.

Korean Patent Publication No. 10-2004-0075825 (Aug. 30, 2004) Korea Public Utility Shinan Public Affairs Office 1998-064520 (1998.11.25) Korean Patent Publication No. 10-2009-0124219 (2009.12.03) Korean Registered Patent No. 10-1054324 (Aug. 4, 2011)

Accordingly, the present inventor has focused on solving the above-mentioned problems and problems and minimized the occurrence of vibration or torsion during transportation of objects to be processed or various workpieces, thereby greatly improving the accuracy and minimizing the volume of the transfer device The present invention was invented and completed in order to develop a biaxial directional operation type gantry loader capable of greatly improving productivity, assembling ability and productivity.

It is therefore an object of the present invention to provide a saddle of a biaxial gantry loader and a biaxial gantry loader to which the structure is simplified by reducing the volume of the component and improving the assemblability.

Another object of the present invention is to provide a saddle of a two-axis gantry loader and a two-axis gantry loader using the same, which can easily control a preload between a rack and a pinion.

In order to achieve the above-mentioned object, an embodiment of the present invention is characterized in that a first pinion, which is coupled between the X-axis and Y-axis beams by the linear guide and the first rack mounted on the X- And a second pinion engaged with the second rack mounted on the Y-axis beam is driven by the Y-axis servomotor fixed to the rotating shaft, and the Y In the saddle of a two-axis gantry loader in which an axial beam is vertically moved, first and second lateral mounting grooves for mounting a first linear block sliding in a horizontal direction on a rear surface are formed at regular intervals A vertical mounting groove for mounting a second linear block slidable in a vertical direction on a front surface thereof is formed, and an X axis motor for mounting the X axis servo motor between the first and second horizontal mounting grooves is formed A Y-axis motor mounting hole for mounting the Y-axis servomotor is formed on an upper portion of the first horizontal mounting groove, and a Y-axis motor mounting hole is formed in the X- and Y- And a biaxial gantry loader shed having a plurality of X- and Y-axis sensor mounting holes for mounting X- and Y-axis position sensors for controlling the position along the sliding movement on the opposite side.

Thus, the present invention minimizes the volume of the transporting apparatus and greatly improves the assembling property and the productivity, as well as greatly improving the transfer accuracy of the object to be processed and various workpieces.

In another embodiment of the present invention, the X-axis and Y-axis motor mounting holes of the saddle are arranged in the direction of the first and second racks in which the first and second pinions face each other, Wherein the X-axis and Y-axis slider guide grooves are formed in the saddle so that the X-axis and Y-axis sliders are movable in the first and second rack directions, The X-axis and Y-axis slider guide grooves at the positions corresponding to the X-axis and Y-axis motor mount holes of the X-axis and Y-axis sliders are provided with X-axis and Y-axis pinion passes A hole may be formed.

According to another aspect of the present invention, there is provided an X-ray imaging apparatus including: an X-axis beam having first linear rails mounted on a front surface at regular intervals and having a first rack mounted between the first linear rails; A Y-axis beam having a second rack mounted on a side surface thereof, a second linear rail mounted on an opposite rear surface thereof, and a Y-axis beam installed on the side surface so as to be slidable in the horizontal direction between the X- and Y-axis beams, Axis beam, and the first linear blocks corresponding to the first linear rails and sliding in the horizontal direction are mounted on a rear surface of the second linear rail, And an X-axis and a Y-axis servo motor fixed to the rotary shaft, wherein the first and second pinions are engaged with the first and second racks, and the saddle And the second liner Wherein the first and second horizontal mounting grooves for mounting the first linear blocks are formed on the rear surface at predetermined intervals in the vertical direction, and the first and second horizontal mounting grooves A Y-axis motor mounting hole for mounting the Y-axis servomotor is formed in an upper portion of the first horizontal mounting groove, and a vertical mounting hole for mounting the Y- The X-axis and Y-axis sensor mounting holes for mounting the X-axis and Y-axis position sensors for controlling the position of the saddle and Y-axis beam relative to the sliding movement of the saddle and Y- Axis gantry loader.

According to the present invention having the above-described objects and features, it is possible to easily and easily mount the X-axis and Y-axis servo motors, the linear blocks, and the position sensors on the saddle, and the assembled state thereof can be firmly and stably maintained The assembling property and the productivity can be improved.

In addition, the present invention maximizes space efficiency and minimizes cost due to unnecessary material cost reduction by simplifying parts and minimizing volume, so that installation can be performed without difficulty even in a narrow space.

In addition, since the preload between the rack and the pinion can be adjusted easily and quickly, the present invention can prevent the occurrence of vibration or torsion during transportation of the object, thereby greatly improving the accuracy of the processing.

1 is an exemplary view showing a gantry loader according to a conventional technique,
2 is a schematic view of a gantry loader according to an embodiment of the present invention,
3 is a perspective view showing a state in which a local portion of a gantry loader according to an embodiment of the present invention is viewed from the back;
FIG. 4 is a view showing a state in which a local portion of a gantry loader according to an embodiment of the present invention is viewed from the front;
5 is a view showing a state in which the gantry loader according to the embodiment of the present invention is viewed from the side of a local portion,
6 is a view showing a state in which a local portion of a gantry loader according to an embodiment of the present invention is viewed from a plane,
FIG. 7 is a perspective view showing the gantry loader according to the embodiment of the present invention as viewed from the front, except for the X-axis and Y-axis beams;
8 is a perspective view showing a state of the gantry loader according to the embodiment of the present invention, viewed from the rear side except for the X-axis and Y-axis beams,
FIG. 9 is a perspective view showing a bird's eye view of a gantry loader according to an embodiment of the present invention,
FIG. 10 is a perspective view showing a state in which saddles of a gantry loader according to an embodiment of the present invention are viewed from the back; FIG.
11 is a front view for explaining an operating state of the saddle among the gantry loaders according to the embodiment of the present invention,

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

Before describing the present invention, it is to be understood that the following terms are defined in consideration of the functions of the present invention, and that they should be construed in accordance with the technical idea of the present invention and interpreted in a general sense or commonly understood in the technical field.

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

Here, the attached drawings are exaggerated or simplified in order to facilitate understanding and clarification of the structure and operation of the technology, and the components do not exactly coincide with actual sizes.

In the following description, the direction in which the saddle moves left and right parallel to the ground is defined as the X-axis direction, the direction perpendicular to the X-axis direction and moving up and down with respect to the ground is defined as the Y-axis direction, Axis of the saddle facing the Y-axis beam is defined as the front surface, and the saddle surface facing the X-axis beam is defined as the rear surface of the saddle facing the Y-axis beam.

In addition, the gantry loader according to the embodiment of the present invention can automatically feed a workpiece to a machining position in cooperation with a machining cycle of an automatic machine tool such as an automated production line or a machining center, To a plurality of automated processes.

2 to 8 illustrate a gantry loader according to an embodiment of the present invention. As shown in FIG. 2, the gantry loader according to an embodiment of the present invention includes an X-axis beam 100, a Y-axis beam 200, 300, a loader arm 400, and a strut 500.

The X-axis beam 100 is horizontal with respect to the ground and has a predetermined length in the transverse direction. One end of the X-axis beam 100 is fixedly supported at a predetermined height by the struts 500 and the other end is freely installed. The first linear rails 110 are mounted at regular intervals in the vertical direction and a first rack 120 is mounted between the first linear rails 110.

Here, the pillars 500 may be fixed directly to the ground or fixed to the side of the automated machine tool.

The Y-axis beam 200 is formed so as to have a predetermined length in the vertical direction with respect to the paper surface and intersect with the X-axis beam 100 in front of the X-axis beam 100, The second linear rail 210 is mounted on the rear surface, and the second rack 220 is mounted on the side surface.

A loader arm 400 which is movable in an arbitrary position along a vertical direction is mounted in a longitudinal direction lower portion of the Y axis beam 200. The loader arm 400 is moved in accordance with the operation of a separate air compressor and a hydraulic actuator And the loader arm 400 is provided with a pair of grippers and a pair of upper and lower grippers for gripping or clamping the workpiece or the workpiece by the operation of the hydraulic actuator.

Here, the X-axis beam 100 and the Y-axis beam 200 are preferably made of a metal material such as aluminum, which is lightweight and excellent in rigidity and corrosion resistance, through a profile in the form of a profile.

The saddle 300 is positioned between the X-axis and Y-axis beams 100 and 200 and moves in the longitudinal direction of the X-axis beam 100, that is, The first linear rails 110 correspond to the first linear rails 110 and are slidably moved in the longitudinal direction of the first linear rails 110 in the horizontal direction, A plurality of first linear blocks 320 are mounted on each of the first linear blocks 320. The Y-axis beams 200 correspond to the second linear rails 210 on the front surfaces facing each other, And second linear blocks 330 for guiding movement of the second linear blocks 330 are mounted.

In addition to the first and second linear rails 110 and 210, the first and second linear blocks 320 and 330 disperse forces such as an inertial force and a deflected load during transportation, It is preferable to install them in a pair of left and right or upper and lower pairs so as to maintain precise operation of the battery.

That is, the saddle 300 is stably supported and slidable in the horizontal direction by the first and second linear rails 110 and 210, and the Y-axis beam 200 is supported by the first and second linear blocks 320 ) 330 can stably support the saddle 300 and can be elevated and lowered in the vertical direction, so that even if a force biased to either side occurs due to load or inertia of the object or workpiece, the first and second linear rails 110) 210 and the first and second linear blocks 320, 330 uniformly distribute it to prevent damages due to clearance or uneven wear as well as minimize vibration and torsion, Can be maintained firmly.

The saddle 300 is coupled between the X-axis and Y-axis beams 100 and 200 by a linear guide made of a linear rail and a linear block, and is fixed to the rotary shaft of the X- The first pinion 341 is slid in the left and right horizontal directions along the first rack 120 engaged with the first pinion 341 by rotation and the second pinion 351 fixed to the rotation axis of the Y axis servo motor 350 rotates The second rack 220 coupled with the second rack 220 moves up and down together with the Y-axis beam 200 in the vertical direction.

Here, the X-axis and Y-axis servomotors 340 and 350 may include a speed reducer that adjusts the speed of the motor so as to reduce the speed of rotation of the motor and output it with a force required for driving.

The saddle 300 is provided with first and second pinions 341 and 351 engaged with the first and second racks 120 and 220. The X and Y axis servo motors 340 and 350 And a position corresponding to the sliding movement of the Y-axis beam 200 with respect to the saddle 300 and the saddle 300 with respect to the X-axis beam 100 is set to be And X-axis and Y-axis position sensors 360 and 361 for controlling the X-axis and Y-axis position sensors.

9 to 11, the saddle 300 can be easily and easily mounted on the rear surface of the first linear blocks 320, the basic shapes of which are formed in a flat hexahedron, First and second horizontal mounting grooves 301 and 302 for keeping the mounting state firm and stable can be formed at regular intervals in the vertical direction and the second linear mounting grooves 301 and 302, Vertical mounting grooves 303 are formed to allow the block 330 to be easily and easily mounted while maintaining its mounting state stably and stably.

The X-axis servo motor 340 can be easily and easily mounted between the first and second horizontal mounting grooves 301 and 302, and the X-axis servo motor 340 can be easily and stably mounted. The Y-axis servo motor 350 can be easily and easily mounted on the upper portion of the first horizontal mounting groove 301 and the mounting state thereof can be maintained firmly and stably A Y-axis motor mounting hole 305 is formed.

The sliding movement of the saddle 300 and the position of the Y-axis beam 200 in the vertical direction are controlled on the opposite side of the X-axis and Y-axis motor mounting holes 304 and 305 with respect to the vertical mounting groove 303 A plurality of X-axis and Y-axis sensor mounting holes 306 and 315 for mounting a plurality of X-axis and Y-axis position sensors 360 and 361 are formed.

That is, the X-axis and Y-axis sensor mounting holes 306 and 315 interact with stoppers, limit switches, and dogs mounted on the X-axis and Y-axis beams 100 and 200, And a plurality of X-axis and Y-axis position sensors 360 and 361 for detecting the lowest point, the reference point, and the like, respectively.

Here, the Y-axis position sensor 361 can be mounted in a direction orthogonal to the position of the Y-axis sensor mounting hole 315 by a separate connecting bracket 365.

On the other hand, the X-axis and Y-axis motor mounting holes 304 and 305 are formed such that the first and second pinions 341 and 351 are connected to the first and second pinions 341 and 351, respectively, Can be formed on the X-axis and Y-axis sliders 311 and 312 so as to be slidable in accordance with the rotation operation of the preload adjusting bolt 317 in the direction of the opposed first and second racks 120 and 220, respectively .

In this case, the saddle 300 is provided with X-axis and Y-axis slider guide grooves 307 (hereinafter referred to as " Y-axis guide slits ") so that the X- and Y-axis sliders 311 and 312 can move in the directions of the first and second racks 120 and 220 308 can be formed and the X-axis and Y-axis slider guide grooves 307 (corresponding to the X-axis and Y-axis slider 311) 312 at positions corresponding to the X- and Y- The X-axis and Y-axis pinion passing holes 309 and 310 may be formed in the inner surface of the X-axis and Y-axis sliders 308 so that the first and second pinions 341 and 351 pass through, The guide holes 313 and 314 are formed in the saddles 311 and 311, respectively, and then the saddle 300 can be slid smoothly without being detached from the saddle 300 by bolting.

That is, after the X-axis and Y-axis sliders 311 and 312 are seated in the X-axis and Y-axis slider guide grooves 307 and 308 of the saddle 300, respectively, The X axis and Y axis servo motors 340 and 350 mounted on the X axis and Y axis sliders 311 and 312 can move their positions by operating the first and second racks 317 and 317, The pre-pressures between the first and second pinions 341 and 351 can be easily and quickly adjusted.

The first and second linear blocks 320 and 310 and the X and Y axis servomotors 340 and 350 are connected to the saddle 300 through first and second horizontal mounting grooves 301 and 302 A plurality of bolting holes such as a count bore may be formed at a predetermined interval so as to be easily fixedly coupled to the vertical mounting groove 303.

The saddle 300 of the gantry loader according to the embodiment of the present invention and the gantry loader using the saddle loader can minimize the volume of the apparatus for the transfer operation and can greatly improve the assemblability and the productivity. In addition, the performance of the position control is significantly improved by a plurality of linear guides that naturally and smoothly guide the movement of the loader arm 400 in the biaxial direction, and the stability and accuracy of the feeding are doubled, and vibration or twisting It is possible to greatly improve the transfer accuracy of the object to be processed and various workpieces.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments or constructions. Various changes and substitutions may be made without departing from the spirit and scope of the invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: X-axis beam 110: first linear rail
120: First rack 200: Y-axis beam
210: second linear rail 220: second rack
300: saddle 301: first horizontal mounting groove
302: second horizontal mounting groove 303: vertical mounting groove
304: X-axis motor mounting hole 305: Y-axis motor mounting hole
306: X-axis sensor mounting hole 307: X-axis slider guide groove
308: Y-axis slider guide groove 309: X-axis pinion through hole
310: Y-axis pinion passing hole 311: X-axis slider
312: Y-axis slider 313/314: guide hole
315: Y-axis sensor mounting hole 320: First linear block
330: second linear block 340: X-axis servo motor
341: First pinion 350: Y axis servo motor
351: Second pinion 360: X-axis position sensor
361: Y-axis position sensor 400: loader arm
500: holding

Claims (3)

The first pinion, which is coupled between the X-axis and Y-axis beams by the linear guide and is engaged with the first rack mounted on the X-axis beam, is slid in the horizontal direction according to the driving of the X- And a second pinion engaged with the second rack mounted on the Y-axis beam is moved to the saddle of the biaxial gantry loader in which the Y-axis beam is vertically moved in accordance with the driving of the Y-axis servomotor fixed to the rotary shaft As a result,
First and second horizontal mounting grooves for mounting the first linear blocks sliding in the horizontal direction on the rear surface of the first linear block are vertically spaced apart from each other, A vertical mounting groove is formed,
An X-axis motor mounting hole is formed between the first and second horizontal mounting grooves for mounting the X-axis servomotor, and a Y-axis motor for mounting the Y-axis servomotor on the first horizontal mounting groove. A mounting hole is formed,
X-axis and Y-axis for mounting the X-axis and Y-axis position sensors for controlling the position according to the sliding movement of the birds and the elevation of the Y-axis beam on the opposite side to the X- and Y-axis motor mounting holes relative to the vertical mounting groove Saddle of a two-axis gantry loader, characterized in that a plurality of shaft sensor mounting holes are formed.
The method of claim 1,
The X and Y axis motor mounting holes of the birds,
The first and second pinions are formed on the X-axis and Y-axis sliders so as to slide in the direction of the first and second racks opposed to the first and second racks, respectively, in accordance with the rotating operation of the bolts,
The saddle is formed with X-axis and Y-axis slider guide grooves so that the X-axis and Y-axis sliders can be moved in the directions of the first and second racks,
The X-axis and Y-axis slider guide grooves are provided with inner surfaces of the X-axis and Y-axis slider guide grooves at positions corresponding to the X-axis and Y-axis motor mount holes of the X-axis and Y- And a through-hole is formed in the sidewall of the biaxial gantry loader.
An X-axis beam having first linear rails mounted on the front surface at regular intervals and having a first rack mounted between the first linear rails;
A Y-axis beam having a second linear rail mounted on a rear surface opposite the X-axis beam and a second rack mounted on a side thereof;
It is installed to be slidably movable in the horizontal direction between the X-axis and Y-axis beam, the first linear blocks corresponding to the first linear rails and sliding in the horizontal direction are mounted on the rear surface opposite to the X-axis beam A saddle having a second linear block mounted on a front surface opposite to the Y-axis beam and guiding the Y-axis beam to move up and down in a vertical direction;
X and Y-axis servomotors in which the first and second pinions engaged with the first and second racks are fixed to a rotation axis; Including, the birds,
Vertical mounting grooves for mounting the second linear blocks are formed on the front surface, and first and second horizontal mounting grooves for mounting the first linear blocks on the rear surface are formed at regular intervals up and down,
An X-axis motor mounting hole is formed between the first and second horizontal mounting grooves for mounting the X-axis servomotor, and a Y-axis motor for mounting the Y-axis servomotor on the first horizontal mounting groove. A mounting hole is formed,
X-axis and Y-axis for mounting the X-axis and Y-axis position sensors for controlling the position according to the sliding movement of the birds and the elevation of the Y-axis beam on the opposite side to the X- and Y-axis motor mounting holes relative to the vertical mounting groove 2-axis gantry loader, characterized in that the shaft sensor mounting hole is formed.

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