KR20160049327A - Transfer apparatus for machine tool - Google Patents

Transfer apparatus for machine tool Download PDF

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Publication number
KR20160049327A
KR20160049327A KR1020140146310A KR20140146310A KR20160049327A KR 20160049327 A KR20160049327 A KR 20160049327A KR 1020140146310 A KR1020140146310 A KR 1020140146310A KR 20140146310 A KR20140146310 A KR 20140146310A KR 20160049327 A KR20160049327 A KR 20160049327A
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KR
South Korea
Prior art keywords
ball screw
variable
shaft
screw shaft
support portion
Prior art date
Application number
KR1020140146310A
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Korean (ko)
Inventor
이영희
Original Assignee
두산인프라코어 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 두산인프라코어 주식회사 filed Critical 두산인프라코어 주식회사
Priority to KR1020140146310A priority Critical patent/KR20160049327A/en
Publication of KR20160049327A publication Critical patent/KR20160049327A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/36—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission in which a servomotor forms an essential element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
    • B23Q5/402—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw in which screw or nut can both be driven

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The present invention relates to a transfer device for a machine tool, and a transfer device for a machine tool according to an embodiment of the present invention includes a ball screw shaft, a ball screw which is screwed to the ball screw shaft and reciprocates according to rotation of the ball screw shaft, A driving motor for supplying rotational force to the ball screw shaft and a variable sliding type ball supporting the ball screw shaft at three or more positions and capable of supporting the ball screw shaft in accordance with the movement of the ball screw nut, And a screw shaft support assembly.

Figure P1020140146310

Description

[0001] TRANSFER APPARATUS FOR MACHINE TOOL [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device for a machine tool, and more particularly to a transfer device for a machine tool which can be stably used in a large machine tool.

Machine tools are machines that are used for machining metal or non-metal workpieces to various shapes and sizes using various cutting or non-cutting methods.

Machine tools are largely classified as turning centers and machining centers. The machine tool has a feeder for the machine tool which moves the table on the machine tool bed in most cases.

A ball screw is mainly used for a transfer device for a machine tool. In general machine tools, deflection of the ball screw shaft used as a conveying device is small, and a change in length due to a temperature change can be compensated by applying a pre-tension to the end of the ball screw shaft, The effect is negligible.

However, if the length of the ball screw used in the transfer device becomes long as the machine tool becomes large, the deflection due to the self weight generated in the ball screw shaft also becomes large. As described above, when the deflection of the ball screw shaft becomes large, there is a limitation in a method of compensating by applying a preload to the ball screw shaft.

Therefore, when deflection of the ball screw shaft occurs, the positioning is incorrectly selected during a work requiring precision or a work requiring a die processing such as a free-form surface, and reliability can not be expected in machining a workpiece.

In addition, there may arise a problem that the driving motor is damaged by an overload due to factors such as defective alignment of the ball screw shaft.

The embodiment of the present invention provides a transfer device for a machine tool which can be used stably even in a large machine tool.

According to an embodiment of the present invention, a transfer device for a machine tool includes a ball screw shaft, a ball screw nut screwed to the ball screw shaft and reciprocating according to rotation of the ball screw shaft, And a variable sliding type ball screw shaft support assembly supporting the ball screw shaft at three or more positions and varying the position of supporting the ball screw shaft according to the movement of the ball screw nut.

The variable sliding type ballscrew shaft support assembly includes a first main shaft support portion and a second main shaft support portion which support the ball screw shaft at both sides with the ball screw nut interposed therebetween and a first main shaft support portion and a second main shaft support portion, A first variable shaft portion that is fixedly coupled in parallel with the ball screw nut and extends in the direction of the ball screw nut, a first variable shaft portion slidably fitted in the first guide rod to support the ball screw shaft, A second guide rod fixed in parallel with the ball screw shaft and extending in the direction of the ball screw nut, and a second variable axle portion slidably fitted in the second guide bar to support the ball screw shaft.

In addition, the variable sliding type ball screw shaft support assembly may be configured such that the first main shaft support portion, the first variable shaft support portion, the second main shaft support portion, and the second variable shaft support portion are slidable in the longitudinal direction of the ball screw shaft And a guide rail for supporting the guide rail.

The variable-sliding-type ballscrew shaft support assembly may further include a shaft-link connecting bar connecting the first variable shaft portion and the second variable shaft portion with a predetermined distance therebetween.

Wherein the variable sliding type ball screw shaft support assembly includes a first elastic member provided between the first main shaft support portion and the first variable shaft support portion and a second elastic member provided between the second main shaft support portion and the second variable shaft support portion, And may further include an elastic member.

The variable sliding type ballscrew shaft support assembly includes a third elastic member provided adjacent to one end of the ballscrew shaft and elastically pulling the first main shaft support member and a third elastic member provided adjacent to the other end of the ballscrew shaft, And a fourth resilient member which elastically pulls the two main axially supported portions.

When the ball screw nut moves to one side edge of the ball screw shaft while pushing the first variable shaft portion, the first variable shaft portion compresses the first elastic member and moves adjacent to the first main shaft portion, The second variable axially supported portion and the second main axially supported portion move in the center direction of the ball screw shaft with a predetermined distance to prevent the ball screw shaft from sagging.

When the ball screw nut moves to the other side edge of the ball screw shaft while pushing the second variable shaft portion, the second variable shaft portion compresses the second elastic member and moves adjacent to the second main shaft portion And the first variable axle support portion and the first main axle support portion move in the center direction of the ball screw axis at a predetermined distance to prevent deflection of the ball screw shaft.

According to the embodiment of the present invention, the transfer device for a machine tool can be stably used even in a large-sized machine tool, thereby minimizing the occurrence of defects.

1 is a perspective view of a transfer device for a machine tool according to an embodiment of the present invention.
FIGS. 2 to 4 are partial perspective views each showing an enlarged view of both side edges and a central area of the transfer device for the machine tool of FIG. 1; FIG.
5 to 7 are perspective views illustrating an operation state of the transfer apparatus for a machine tool according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

The drawings are schematic and illustrate that they are not drawn to scale. The relative dimensions and ratios of the parts in the figures are exaggerated or reduced in size for clarity and convenience in the figures, and any dimensions are merely illustrative and not restrictive. And to the same structure, element or component appearing in more than one drawing, the same reference numerals are used to denote similar features.

The embodiments of the present invention specifically illustrate ideal embodiments of the present invention. As a result, various variations of the illustration are expected. Thus, the embodiment is not limited to any particular form of the depicted area, but includes modifications of the form, for example, by manufacture.

Hereinafter, a transfer apparatus 101 for a machine tool according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

A transfer device 101 for a machine tool according to an embodiment of the present invention is disposed between a bed 500 for a machine tool and a table (not shown) for a machine tool, for example, . At this time, the workpiece to be processed by the machine tool is seated on the table.

1, a transfer device 101 for a machine tool according to an embodiment of the present invention includes a ball screw shaft 200, a ball screw nut 300, a driving motor 250, a variable sliding type ball screw And a shaft support assembly (400).

In addition, the transfer device 101 for a machine tool according to an embodiment of the present invention may further include a motor bracket 260 and an end bracket 290.

The drive motor 250 supplies rotational power to the ball screw shaft 200. The motor bracket 260 is coupled to one side of the ball screw shaft 200 to transmit the rotational power of the driving motor 250 to the ball screw shaft 200. The end bracket 290 is coupled to the other side of the ball screw shaft 200 to rotatably support the ball screw shaft 200. That is, the motor bracket 260 and the end bracket 290 support both ends of the ball screw shaft 200. Further, the motor bracket 260 and the end bracket 290 are installed on the above-mentioned machine tool bed 500.

The ball screw nut 300 is screwed to the ball screw shaft 200. When the driving motor 250 rotates the ball screw shaft 200, the ball screw nut 300 is linearly reciprocated along the ball screw shaft 200, Exercise.

In addition, the ball screw nut 300 is connected to a table (not shown) for the above-mentioned machine tool. Accordingly, the table for the machine tool is linearly reciprocated on the machine tool bed together with the ball screw nut 300 as the ball screw shaft 200 rotates.

In one embodiment of the present invention, the variable-sliding ball screw shaft support assembly 400 supports the ball screw shaft 200 at least three or more different positions, and moves the ball screw shaft 200 along the ball screw shaft 300 200 are varied.

More specifically, the variable sliding type ball screw shaft support assembly 400 includes a first main shaft support portion 411, a second main shaft support portion 421, a first guide rod 416, a second guide rod 426, A first variable axes support portion 412, and a second variable axes support portion 422. [

The variable sliding type ball screw shaft support assembly 400 includes a guide rail 470, a shaft support link bar 450, a first elastic member 418, a second elastic member 428, a third elastic member 419 And a fourth elastic member 429, as shown in Fig.

The first main shaft support portion 411 and the second main shaft support portion 421 support the ball screw shaft 200 on both sides with the ball screw nut 300 interposed therebetween.

The first guide rod 416 is fixed to the first main shaft support portion 411 in parallel with the ball screw shaft 200 and extends in the direction of the ball screw nut 300. The first variable shaft portion 412 supports the ball screw shaft 200 in a slidably coupled state to the first guide rod 416.

The second guide bar 426 is fixed to the second main shaft support portion 421 in parallel with the ball screw shaft 200 and extends in the direction of the ball screw nut 300. The second variable axially supported portion 422 supports the ball screw shaft 200 in a state of being slidably engaged with the second guide rod 426.

The first elastic member 418 is provided between the first main shaft support portion 411 and the first variable shaft support portion 412 and the second elastic member 428 is provided between the second main shaft support portion 421 and the second variable shaft portion 412. [ And is provided between the shaft supporting portions 422.

The first elastic member 428 connects the first main shaft portion 411 and the first variable shaft portion 412 to each other and the second elastic member 422 connects the second main shaft portion 421 and the second variable shaft portion 412. [ And the branch portions 422 can be connected to each other.

The first elastic member 418 and the second elastic member 428 may be coil springs wound around the first guide bar 416 and the second guide bar 426, respectively. When the first variable shaft portion 412 moves along the first guide rod 416 in the direction of the first main shaft portion 411, the first variable shaft portion 412 can be restored to its original position by the elastic force of the first elastic member 418 have. When the second variable axle support portion 422 moves along the second guide rod 426 in the direction of the second main axially support portion 421, the second variable axle support portion 422 can be restored to the original position by the elastic force of the second elastic member 428 have

The guide rail 470 has a first main shaft support portion 411, a first variable shaft support portion 412, a second main shaft support portion 421 and a second variable shaft support portion 422, And is slidably supported in the longitudinal direction. Therefore, the first main shaft support portion 411, the first variable axle support portion 412, the second main axially support portion 421, and the second variable axially support portion 422 move along the guide rail 470, So that the shaft 200 can be supported.

In addition, in one embodiment of the present invention, the connecting rod 450 may be connected to the first variable axially supporting portion 412 and the second variable axially supporting portion 422 at a predetermined distance.

When the first variable shaft portion 412 is caught by the ball screw nut 300 as the ball screw nut 300 moves, the second variable shaft portion 422 connected by the shaft portion connecting bar 450, So that they can be pulled together. That is, when the first variable axle support portion 412 is caught by the ball screw nut 300 and moves to one side end of the ball screw shaft 200, the second variable axle support portion 422 is pulled and the ball screw nut 300 The ball screw shaft 200 moves relatively to the central region and prevents the ball screw shaft 200 from sagging. At this time, the second main shaft portion 421 can be moved to the central region of the ball screw 200 together with the second variable shaft portion 422 by the second elastic member 428.

In contrast, when the second variable axially supported portion 422 is caught by the ball screw nut 300 as the ball screw nut 200 moves, the first variable axle support portion 412 connected by the axially supporting portion connecting bar 450, So that they can be pulled together. That is, when the second variable axle support portion 422 is caught by the ball screw nut 300 and moves to the other end of the ball screw shaft 200, the first variable axle support portion 412 is pulled, The ball screw shaft 200 moves relatively to the central region and prevents the ball screw shaft 200 from sagging. At this time, the first main shaft portion 411 can be moved to the central region of the ball screw 200 together with the first variable shaft portion 412 by the first elastic member 418.

The third elastic member 419 is provided adjacent to one end of the ball screw shaft 200 to elastically pull the first main shaft support portion 411. That is, the first main shaft portion 411 is provided with a tensile force in the direction of one end of the ball screw shaft 200.

The fourth elastic member 429 is provided adjacent to the other end of the ball screw shaft 200 and elastically attracts the second main shaft support portion 421. That is, the second main shaft portion 4721 is provided with a tensile force in the direction of the other end of the ball screw shaft 200.

For example, the third elastic member 419 and the fourth elastic member 429 may be spring springs.

When the first variable axle support portion 412 is pulled and moved by the axle support portion connection portion 450 connected to the second variable axle support portion 422, the first main axle support portion 411 also receives the elastic force of the first elastic member 418 The third elastic member 419 provides a tensile force to the first main shaft portion 411 so that the first variable shaft portion 412 and the first main shaft portion 411 are spaced apart from each other at a predetermined interval, Thereby enabling the screw shaft 200 to be supported. Further, the third elastic member 419 restores the first main shaft portion 411 to its original position when the pulling force to the first variable shaft portion 412 disappears.

When the second variable axle support portion 422 is pulled and moved to the axle support portion connection portion 450 connected to the first variable axle support portion 412, the second main axle support portion 421 is also engaged with the second elastic axle support portion 422 The fourth elastic member 429 provides a tensile force to the second main axial supporting portion 421 so that the second variable axial supporting portion 422 and the second main axial supporting portion 421 are spaced apart at regular intervals Thereby enabling the ball screw shaft 200 to be supported. The fourth elastic member 429 restores the second main shaft support portion 421 to the original position when the pulling force on the second variable shaft support portion 422 disappears.

Hereinafter, the operation principle of the transfer device 101 for a machine tool according to one embodiment of the present invention will be described in detail with reference to FIGS. 5 to 7. FIG.

5, when the drive motor 250 rotates the ball screw shaft 200 in one direction, the ball screw nut 300 starts to move to one end of the ball screw shaft 200. As shown in FIG. At this time, the ball screw nut 300 moves while pushing the first variable shaft portion 412.

6, when the ball screw nut 300 moves to one end of one end of the ball screw shaft 200, the first variable shaft portion 412, which is caught by the ball screw nut 300 and moved together, And is in close contact with the first main shaft supporting portion 411 while pressing the first elastic member 418 as a spring.

When the first variable axle support portion 412 moves, the second variable axle support portion 422 connected via the axle support link bar 450 is pulled, and the second variable axle support portion 422 pulls the second variable axle support portion 422, The second main shaft support portion 421 connected via the elastic member 428 is moved together.

Accordingly, the second variable axle support portion 422 and the second main axle support portion 421 relatively move to the central region of the axis of the ball screw 200 to prevent the ball screw shaft 200 from sagging.

In addition, since the fourth elastic member 429, which is a spring spring, provides a tensile force in a direction opposite to the direction in which the second main axial bearing portion 421 moves, the second variable axial bearing portion 422 and the second main axial bearing portion 421 Is gradually increased as the first variable axle support portion 412 is moved toward one end of the ball screw shaft 200. [

Therefore, even when the length of the bolt-like shaft 200 is very long, the second variable axle support portion 422 and the second main axle support portion 421 can spread at appropriate intervals to disperse and support the ball screw shaft 200 .

That is, according to the embodiment of the present invention, even when the length of the ball screw shaft 200 is very long and the ball screw nut 300 is moved to almost the end of one end of the ball screw shaft 200, Can be prevented effectively.

7, when the ball screw nut 300 is moved to the other end of the other end of the ball screw shaft 200, the second variable shaft portion 422, which is caught and moved together with the ball screw nut 300, Is pressed against the second main shaft portion 421 while pressing the second elastic member 428 which is a coil spring.

When the second variable axle support portion 422 moves, the first variable axle support portion 412 connected through the axle support link bar 450 is pulled, and the first variable axle support portion 412 again pulls the first variable axle support portion 412 as the coil spring The first main shaft support portion 411 connected via the elastic member 418 is moved together.

The first variable axle support portion 412 and the first main axle support portion 411 move relative to the central region of the ball screw shaft 200 to prevent the ball screw shaft 200 from sagging.

In addition, since the third elastic member 419, which is a spring-loaded spring, provides a tensile force in a direction opposite to the direction in which the first main shaft support portion 411 moves, the first variable shaft support portion 412 and the first main shaft support portion 411 Becomes gradually wider as the second variable axially supported portion 422 is directed to one end of the ball screw shaft 200. [

Therefore, even when the length of the bolt-type shaft 200 is very long, the first variable axle support 412 and the first main axle support 411 can spread at appropriate intervals to disperse and support the ball screw shaft 200 .

That is, according to the embodiment of the present invention, even when the length of the ball screw shaft 200 is very long and the ball screw nut 300 is moved to almost the other end of the ball screw shaft 200, Can be prevented effectively.

With such a configuration, the transfer device 101 for a machine tool according to an embodiment of the present invention can be stably used even in a large machine tool, thereby minimizing the occurrence of defects.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. will be.

It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive, the scope of the invention being indicated by the appended claims, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

101: Feeding device for machine tool
200: Ball screw shaft 250: Driving motor
260: motor bracket 290: end bracket
300: Ball screw nut
400: Variable sliding type ball screw shaft support assembly
411: first main shaft portion 412: first variable shaft portion
416: first guide rod 418: first elastic member
419: third elastic member 421: second main shaft portion
422: second variable axle support portion 426: second guide rod
428: second elastic member 429: fourth elastic member
450: axle branch connecting bar 470: guide rail
500: Bed

Claims (7)

Ball screw shaft;
A ball screw nut screwed to the ball screw shaft and reciprocating according to rotation of the ball screw shaft;
A drive motor for supplying rotational power to the ball screw shaft; And
A variable-sliding-type ball screw shaft support assembly for supporting the ball screw shaft at three or more positions and capable of supporting the ball screw shaft in accordance with movement of the ball screw nut,
And a conveying device for the machine tool. The method of claim 1,
The variable-sliding-type ball screw shaft support assembly includes:
A first main shaft support portion and a second main shaft support portion supporting the ball screw shaft at both sides with the ball screw nut interposed therebetween;
A first guide rod fixedly connected to the first main shaft and parallel to the ball screw shaft and extending in the direction of the ball screw nut;
A first variable axially supported portion for supporting the ball screw shaft in a state of being slidably coupled to the first guide bar;
A second guide rod fixedly connected to the second main shaft and parallel to the ball screw shaft and extending in the direction of the ball screw nut; And
And a second variable axle supporting the ball screw shaft in a state of being slidably coupled to the second guide rod,
And a conveying device for the machine tool. 3. The method of claim 2,
The variable-sliding-type ball screw shaft support assembly is configured to support the first main shaft support portion, the first variable shaft support portion, the second main shaft support portion, and the second variable shaft support portion so as to be slidable in the longitudinal direction of the ball screw shaft And further comprising a guide rail. 3. The method of claim 2,
Wherein the variable-sliding-type ballscrew shaft support assembly further comprises a shaft-link connecting bar connecting the first variable shaft portion and the second variable shaft portion with a predetermined distance therebetween. 5. The method of claim 4,
The variable-sliding-type ball screw shaft support assembly includes:
A first elastic member provided between the first main shaft portion and the first variable shaft portion;
And a second elastic member provided between the second main shaft portion and the second variable shaft portion,
And a transfer mechanism for transferring the machine tool. The method of claim 5,
The variable-sliding-type ball screw shaft support assembly includes:
A third elastic member provided adjacent to one end of the ball screw shaft and elastically pulling the first main shaft portion;
A fourth elastic member provided adjacent to the other end of the ball screw shaft to elastically pull the second main shaft portion,
And a transfer mechanism for transferring the machine tool. The method according to claim 5 or 6,
When the ball screw nut moves to one side edge of the ball screw shaft while pushing the first variable shaft portion, the first variable shaft portion compresses the first elastic member and moves adjacent to the first main shaft portion, The second variable axle support portion and the second main axle support portion move in the center direction of the ball screw axis with a predetermined distance to prevent deflection of the ball screw axis,
When the ball screw nut moves to the other side edge of the ball screw shaft while pushing the second variable shaft portion, the second variable shaft portion compresses the second elastic member and moves adjacent to the second main shaft portion, Wherein the first variable axially supported portion and the first main axially supported portion move in the center direction of the ball screw shaft at a predetermined distance to prevent deflection of the ball screw shaft.
KR1020140146310A 2014-10-27 2014-10-27 Transfer apparatus for machine tool KR20160049327A (en)

Priority Applications (1)

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KR1020140146310A KR20160049327A (en) 2014-10-27 2014-10-27 Transfer apparatus for machine tool

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102157958B1 (en) 2019-04-01 2020-09-18 류욱현 Workpiece bad transport system for machine tools
KR20210047788A (en) 2019-10-22 2021-04-30 주식회사 위너 Open-type ball nut and ball screw-type transfer device and Cartesian coordinate robot with the ball nut
KR20220113218A (en) 2021-02-05 2022-08-12 송천복 Screw and guide integrated rail unit and transferring device including the rail unit

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102157958B1 (en) 2019-04-01 2020-09-18 류욱현 Workpiece bad transport system for machine tools
KR20210047788A (en) 2019-10-22 2021-04-30 주식회사 위너 Open-type ball nut and ball screw-type transfer device and Cartesian coordinate robot with the ball nut
KR20220113218A (en) 2021-02-05 2022-08-12 송천복 Screw and guide integrated rail unit and transferring device including the rail unit

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