KR20170008075A

KR20170008075A - Transfer apparatus using ball array with omni-wheel

Info

Publication number: KR20170008075A
Application number: KR1020150099347A
Authority: KR
Inventors: 구경본
Original assignee: 구경본
Priority date: 2015-07-13
Filing date: 2015-07-13
Publication date: 2017-01-23
Also published as: KR101801362B1

Abstract

The present invention relates to a transfer device for a ball array, capable of stably transferring various articles and people in various transfer directions. According to the present invention, the transfer device for a ball array includes: a driving ball array in which multiple driving ball rollers are arranged at fixed intervals in a row/column structure; a driven ball array in which the outer circumferences of multiple driven ball rollers are in contact with each other on the upper one side of the driving ball array; a first driving unit driving the multiple ball rollers in a first direction; and a second driving unit driving the multiple ball rollers in a second direction. The first driving unit includes: multiple first driving shafts transferring a rotation force in the first direction by being arranged to be at right angles to the first direction to directly rotate and drive the driving ball rollers of each row unit; and multiple first omni-wheels fixed to the first driving shaft and transmitting the rotation force of the first driving shaft to the ball roller by being arranged to come into contact with the ball roller by rotating. The second driving unit includes: multiple second driving shafts arranged to be at the right angles to the second direction to directly rotate and drive the ball rollers of the each column unit and transmitting the rotation force in the second direction; and multiple second omni-wheels fixed to the second driving shaft and transmitting the rotation force of the second driving shaft to the ball roller by being arranged to come into contact with the ball roller by rotating. The first driving shaft and the second driving shaft individually rotate by a first driving motor and a second driving motor.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a ball array transfer device having an omni-

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transfer device, and more particularly, to a transfer device using a ball array having an omni wheel capable of stably transferring various articles, people, and the like in various transfer directions.

BACKGROUND ART [0002] In general, various types of transfer apparatuses for transferring a conveyed object such as various articles, people, etc. to a desired position have been widely used.

Such a transfer device includes a cylinder, a conveyor belt, and a transfer robot.

Although the conveying apparatus using the cylinder has no significant problem in conveying the conveyed object in one direction, the conveying distance is short, and in order to convey the conveyed object in the horizontal / vertical / diagonal direction, a plurality of cylinders must be combined, , It is pointed out that disadvantages are that the facility cost is increased by installing several cylinders.

In addition, although a conveying device using a conveyor belt is suitable for conveying a conveyed object at a long distance, it is also necessary to provide a conveyor belt in accordance with the conveying direction in order to convey the conveyed object in the horizontal / vertical / diagonal directions. It is complicated and it is pointed out that the installation cost of the conveyor belts increases, and the occupied area of the facilities is also increased.

In addition, although the transfer device using the transfer robot can transfer the objects to be transported in the x, y, and z directions in a plurality of directions by one robot, it is expensive and requires a space for installing the transfer robot, In addition, it is not economical to maintain a dead zone to prevent danger due to malfunction of the transfer robot. In addition, since the transfer robot is composed of complicated mechanical devices and control devices, careful maintenance is required to prevent malfunctions And it is pointed out that the maintenance cost is high.

In addition, there is a conveying device using a rolling member such as a roller, and it is advantageous that control of the conveying direction can be freely controlled by such rolling members. However, the driving mechanism for driving the rolling members, The manufacturing cost and the installation cost are increased, and the driving control of the rolling members is very difficult, thereby increasing the maintenance cost.

US 8567587 B2 (Mar. 10, 2013)

SUMMARY OF THE INVENTION The present invention has been studied and developed in order to solve various drawbacks of the prior art as described above, and it is an object of the present invention to provide an apparatus and a method for maintaining a precise and stable driving performance for a plurality of drive ball rollers and follower ball rollers arranged in a constant row / And it is an object of the present invention to provide a ball array feeding apparatus having an omni wheel capable of controlling the driving of a plurality of driving ball rollers and driven ball rollers very efficiently and easily.

The present invention has the following features in order to achieve the above object.

The present invention relates to a drive ball array in which a plurality of drive ball rollers are arranged at regular intervals and arranged in a row / column structure; A driven ball array in which a plurality of driven ball rollers are arranged so that their outer circumferential surfaces contact each other on one side of the drive ball array; A first driving unit for driving the plurality of drive ball rollers in a first direction; And a second drive unit for driving the plurality of drive ball rollers in a second direction, wherein the first drive unit includes a plurality of drive ball rollers that are orthogonal to the first direction A plurality of first drive shafts arranged to be rotatable in contact with the ball rollers and arranged to be fixed to the first drive shaft and to transmit the rotational force of the first drive shaft to the ball rollers, Wherein the second driving unit includes a first omnidirectional wheel and a plurality of second driving units disposed in a direction orthogonal to the second direction so as to directly drive the ball rollers of each row unit, And a plurality of second omniwheels provided to be fixed to the second drive shaft and arranged to rotate in contact with the ball rollers and to transmit rotational force of the second drive shaft to the ball rollers, Shaft and the second drive shaft is rotated by a respective first drive motor and second drive motor.

Wherein the plurality of first drive shafts and the plurality of second drive shafts are disposed so that any one of the first drive shafts or the second drive shafts is positioned below the other one so as not to interfere with each other, Each drive ball roller and driven ball rollers of the ball array are rotatably received in a receiving housing, the receiving housing having a base frame and a cover frame assemblably mounted on the top of the base frame.

The base frame is provided with a plurality of lower rotation supporting structures for individually rotatably supporting the lower portion of the rotating driving ball rollers. The lower rotation supporting structure is protruded from the base frame to the lower side of the driving ball rollers, And a plurality of bearing balls disposed in the seating grooves on the support plate and configured to contact the outer peripheral surface of the lower side of the drive ball rollers and rotatably supporting the drive ball rollers.

The cover frame is formed with a through hole through which a plurality of driven ball rollers are passed and exposed. The ball retainer accommodates a plurality of driven ball rollers and rotatably supports the ball rollers, Is opened to receive the driven ball roller and expose the upper portion of the driven ball roller through a certain portion to the upper opening side and one lower side is opened so that the lower one side of the driven ball roller is in rotational contact with the drive ball roller.

The base frame further includes a plurality of side rotation support structures for rotatably supporting the side portions of the driving ball rollers. The side rotation support structure includes a plurality of support blocks spaced apart from each other by a predetermined distance on the base frame, Side support surface is formed on the side of the side edge of the drive ball roller so as to support the side surface of each drive ball roller.

According to the present invention, a plurality of drive ball rollers arranged in a predetermined row / column structure are directly rotationally driven by the first drive unit and the second drive unit, thereby precisely and accurately driving the plurality of drive ball rollers and the plurality of driven ball rollers It is possible to maintain the stable driving performance and to control the driving of the plurality of driving ball rollers and the plurality of driven ball rollers very efficiently and easily.

In addition, as the rotational force of the first drive shaft and the second drive shaft is transmitted to the plurality of drive ball rollers through the first omni wheel and the second omni wheel, the first and second omni wheels are driven in different directions Even if the ball roller rotates, the frictional resistance due to this can be minimized.

1 is a perspective view illustrating a ball array transfer apparatus according to an embodiment of the present invention.
2 is an exploded perspective view showing a ball array transferring apparatus according to the present invention.
3 is a plan view showing a state in which a drive unit is included in the ball array transfer apparatus according to the present invention.
4 is a cross-sectional view taken along the line A-A 'in Fig.
5 is a cross-sectional view taken along the line B-B 'in Fig.
6 is a perspective view illustrating a combined state of the first drive shaft, the second drive shaft, and the drive ball array according to the present invention.
FIG. 7 is a perspective view showing a state in which a driven ball array is further combined in FIG.
8 is a perspective view illustrating a lower rotation support structure and a side rotation support structure according to the present invention.
9 is a perspective view of a ball cage according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. For the sake of convenience, the size, line thickness, and the like of the components shown in the drawings referenced in the description of the present invention may be exaggerated somewhat. The terms used in the description of the present invention are defined in consideration of the functions of the present invention, and thus may be changed depending on the user, the intention of the operator, customs, and the like. Therefore, the definition of this term should be based on the contents of this specification as a whole.

1 to 9 are views showing a ball array transfer apparatus according to an embodiment of the present invention.

1 and 2, a ball array transfer apparatus according to an embodiment of the present invention includes a plurality of drive ball rollers 10a spaced apart at regular intervals and arranged in a row / A driven ball array 11 in which a plurality of driven ball rollers 11a are arranged so that their outer circumferential surfaces are in contact with one side of the upper side of the drive ball array 10 and a plurality of driven ball rollers 10a, And a second drive unit 30 for driving the plurality of drive ball rollers 10a in the second direction to transmit the rotational force.

A plurality of drive ball rollers 10a are arranged in a row / column structure spaced apart at regular intervals and are rotatably installed in the receiving housing 50 as shown in FIGS. A plurality of driven ball rollers 11a are arranged on the upper side of the drive ball roller 10a so as to be rotatable and capable of rotating by receiving the rotational force of the drive ball roller 10a.

In addition, the upper portion of the driven ball roller 11a is installed so as to be exposed at the upper portion of the receiving housing 50 so that the conveyed object is seated.

The first drive unit 20 is configured to transmit the rotational force to the drive ball rollers 10a in the first direction (see arrow X direction in Fig. 3).

3 to 7, the first drive unit 20 drives the drive ball rollers 10a arranged in a column (see arrow Y direction in Fig. 3) in a first direction A plurality of first driving shafts 21 which are rotatably driven by the first driving shaft 21 and transmit rotational force to the first driving shaft 21 and a second driving shaft 21 A plurality of first omni wheels 22 for transmitting the rotational force of the first driving motor 21 to the driving ball roller 10a and a plurality of second driving motors 23 and 24 for rotating the plurality of first driving shafts 21 simultaneously 24).

Each of the first drive shafts 21 is arranged in each column unit as in the first column C1 and the second column C2 (the ball array conveying apparatus according to the present invention is constituted by two rows and two columns for the sake of convenience in the drawing) The plurality of first driving shafts 21 are arranged in a direction orthogonal to the first direction (see arrow Y direction in FIG. 3) between the column units C1 and C2 .

The plurality of first driving shafts (21) are configured to be simultaneously driven to rotate in the same direction by the first driving motor (23) and the first driving mechanism (24). The first transmission mechanism 24 includes a plurality of first pulleys 25 provided on the output shaft of the first drive motor 23 and the end of each first drive shaft 21 and a plurality of first pulleys 25 disposed on the end of the first drive shaft 21, And a plurality of first winding motor sections (26) provided between the pulleys (25). The power of the first drive motor 23 is transmitted to the plurality of first drive shafts 21 through the first transmission mechanism 24 so that the plurality of first drive shafts 21 are rotationally driven in the same direction at the same time. The first winding motor section 26 is composed of a timing belt, a belt, a chain, and the like, and is wound around the adjacent first pulleys 25.

3, the first transmission mechanism 24 is composed of a plurality of first pulleys 25, a plurality of first winding motor sections 26, and the like, and the ball rollers 11 of the plurality of column units C1 and C2 But it is also possible to independently drive the ball rollers 11 of each thermal unit at the same time by independently installing the first transmission mechanism in the ball rollers 11 of each thermal unit . Although the first transmission mechanism 24 exemplifies the winding transmission mechanism, various transmission mechanisms such as other gear transmission mechanisms and the like can be applied.

3, the first driving mechanism 24 is connected to the first driving shaft 21 adjacent to the first driving shaft 21 by a first winding motor section 26 so that one first driving shaft 21 is separately provided on the left and right sides The entire first drive shaft 21 may be connected to a motor section 26 such as one timing belt without forming the first winding motor section 26 of the motor.

As long as the end of the first drive shaft 21 is connected to the first drive motor 23 and can receive the rotational force of the first drive motor 23, And the present invention is not limited thereto.

On the other hand, the first driving shaft 21 is formed so that a plurality of first omni wheels 22 are coaxially rotated, so that the outer circumferential surface of the first omni wheel 22 is rotatably contacted with the respective driving ball rollers 10a .

The first omnidirectional wheel 22 is coupled to the wheel body 22a by a plurality of passive rollers 22b so that the passive roller 22b idles at a rotational force different from the rotational direction of the first driving shaft 21 The frictional resistance along the first omni wheel 22 is minimized with respect to the rotational direction of the first drive shaft 21, that is, the rotational direction different from the first direction.

The first omni wheel 22 according to the present invention may be applied to various shapes such as a universal wheel, a Mecanum wheel, a double wheel, and the like. Any type of omni wheel may be employed in the present invention as long as it can minimize frictional resistance between different directions of rotation between the wheel 22 and the second omni wheel 32 rotating in the second direction.

At least one or both of the first omni wheel 22 and the drive ball roller 10a is made of a resilient material such as urethane or rubber so that the first omni wheel 22 and the drive ball roller 10a The first omni wheel 22 and the drive ball roller 10a come into rotational contact with each other in a state of being in close contact with each other and the drive force of the first drive unit 20 is reliably transmitted to the drive ball roller 10a So that the driving of the driving ball rollers 10a can be stabilized.

A driven ball array 11 is disposed on the upper side of the driving ball array 10. The driven ball array 11 is composed of a plurality of driven ball rollers 11a spaced apart from each other, (11a) is arranged so that a plurality of rollers (11a) are rotatably contacted to one side of the upper portion of the drive ball roller (10a).

Accordingly, when the driving ball roller 10a is rotated by the first driving unit 20 and the second driving unit 30, the rotational force is transmitted to the driven ball roller 11a which is in rotational contact.

A certain portion of the upper end of the driven ball roller 11a is configured to be protruded from the receiving housing 50 to be exposed, thereby conveying the article (person or person) to be placed on the driven ball roller 11a.

Of course, the follower ball rollers 11a constituting the driven ball array 11 are formed in the shape of balls having the same diameter, and are arranged so as to have the same height and have the same height of the projecting upper end.

It is preferable that the driven ball rollers 11a are rotatably contacted with four drive ball rollers 10a in the upper four directions thereof.

Of course, even if they are arranged at three or less positions or at least five positions, there is no influence on the transmission of the rotational force and the feeding force of the articles to be conveyed. However, in order to optimize the uniform distribution of the driven ball rollers 11a and the power transmission efficiency, .

Specifically, the rotational contact relationship between the first omnidirectional wheel 22 and the drive ball roller 10a and the driven ball rollers 11a will be described in detail. When a conveyed object such as an article or a person is seated on the driven ball rollers 11a The first omni wheel 22 and the drive ball rollers 10a and the drive ball rollers 10a and the follower ball rollers 11a maintain a state in which they merely come into line contact with the outer surface.

When the conveyed object is seated, the driven ball roller 11a is pressed downward by the load of the conveyed object, and is brought into rotational contact with the drive ball roller 10a, but is elastically deformed and brought into airtight contact with the drive ball roller 10a.

In addition, the load is also brought into surface contact with the driving ball roller 10a and the first omni wheel 22 to further increase the torque transmission efficiency. That is, when the conveyed object is not seated, the first omni wheel 22 and the drive ball roller 10a and the follower ball roller 11a are simply rotated in a line-contact state, and when the conveyed object is seated The first omni wheel 22 and the driving ball roller 10a and the driven ball rollers 11a are brought into rotational contact with each other while being kept in tight airtight contact with each other due to the load of the conveyed object, And the like can be greatly improved.

The second drive unit 30 is configured to transmit the rotational force to the drive ball rollers 10a along the second direction (see arrow Y direction in Fig. 3).

As shown in the figure, the second drive unit 30 includes a plurality of drive ball rollers 10a arranged in row units R1 and R2 for rotating the drive ball rollers 10a in a second direction A second drive shaft 31 and a second drive shaft 31 which are provided to be fixed to the second drive shaft 31 and are arranged to be in rotational contact with the drive ball roller 10a to transmit the rotational force of the second drive shaft 31 to the drive ball roller 10a And a second drive motor 33 and a second drive mechanism 34 for simultaneously rotating the plurality of second omnidevolles 32 and the plurality of second drive shafts 31. [

Each of the second drive shafts 31 is provided so as to directly drive the drive ball rollers 10a arranged in each row unit such as one row R1 and two rows R2, 31 are arranged in a direction perpendicular to the second direction (see the arrow X direction in Fig. 3) between the drive ball rollers 10a on a row-by-row basis.

The plurality of second driving shafts (31) are configured to be rotationally driven in the same direction by the second driving motor (33) and the second driving mechanism (34). The second transmission mechanism 34 includes at least one output shaft of the second drive motor 33 and one or more second pulleys 35 provided at the ends of the respective second drive shafts 31, And a second winding motor section (36) installed between the two pulleys (35).

The power transmission structure of the second drive motor 33 and the second transmission mechanism 34 is the same as that of the first drive motor 23 and the first drive mechanism 24 described above, and thus a detailed description thereof will be omitted.

A plurality of second omni wheels 32 provided in the second drive shaft 31 rotate together with the second drive shaft 31 to be in contact with the outer circumferential surface of the second omni wheel 32, Like the first omni wheel 22 described above, to transmit the rotational force to the first omnidirectional wheel 10a.

On the other hand, the first drive shaft 21 of the first drive unit 20 is installed so as not to interfere with the second drive shaft 31 of the second drive unit 30. For example, the first drive shaft 21 may be positioned lower than the second drive shaft 31, and vice versa.

When the diameter of the first omni wheel 22 and the diameter of the second omni wheel 32 that are formed in the first drive shaft 21 and the second drive shaft 31 are the same, The heights of the contact points are different from each other.

In order to make the heights of the contact points equal to each other, the axes of the first and second omni wheels 22 and 32 are different from each other in height.

The height of such a contact point is preferably such that the diameter of the two omni wheels 22, 32 is different for a uniform support load since the omni wheel having a lower contact point receives a higher supporting load after the article is placed will be.

On the other hand, the receiving housing 50 includes drive ball rollers 10a of the drive ball array 10, driven ball rollers 11a of the driven ball array 11, And the first omni wheel 22 and the first drive shaft 31 and the second omni wheel 32 of the second drive unit 30, as shown in FIG.

2, the housing housing 50 has a base frame 51 and a cover frame 52 which is assemblably mounted on the top of the base frame 51. [

The base frame 51 is formed with a plurality of lower rotation supporting structures 53 for rotatably supporting the lower portions of the rotating driving ball rollers 10a.

The lower rotation support structure 53 includes a support plate 53a protruding from the lower side of the driving ball roller 10a on the base frame 51 and having a plurality of hemispherical seating grooves 53b on the upper side thereof, And a plurality of bearing balls 53c disposed in the seating grooves 53b on the support plate and configured to contact the lower outer circumferential surface of the drive ball roller 10a to rotate and support the drive ball roller 10a.

The plurality of bearing balls 53c are preferably configured to reduce the frictional force with the seating grooves 53b. For this purpose, the material of the contact surfaces of the bearing balls 53c formed with the seating grooves 53b is made of a polymer It can be composed of material.

In addition, the bearing balls 53c may be formed at four positions in the east, west, south, and north directions. However, the bearing balls 53c may be provided in a larger number if necessary. The upper side of the support plate 53a is recessed in the form of a hemispherical groove, A plurality of bearing balls 53c may be disposed between the support plate 53a and the ball rollers 11, as shown in FIG.

Also, in another deformable form, the lower rotation support structure 53 may be formed of a polymer bearing recessed in a hemispherical groove shape.

The driving ball roller 10a may be spaced apart from the lower rotating support structure 53 depending on whether the conveyed object is seated or not. A slight flow is possible.

The predetermined clearance may be set according to the arrangement position of the first omni wheel 22 and the second omni wheel 32 which make a rotational contact with the drive ball roller 10a, It is preferable that the structure 53 and the omnidy wheels 22 and 32 each have a ratio of 8: 2 to 7: 3.

The cover frame 52 has through holes 55 through which the upper portions of the plurality of driven ball rollers 11a are exposed and an upper rotation supporting surface 54 is formed below the through holes 55 , And the upper rotation supporting surface 54 rotatably supports the upper portion of the rotating driven ball roller 11a individually.

Each of the upper rotation support surfaces 54 is preferably formed in a curved surface structure to support an upper portion of the driven ball roller 11a except the exposed upper end thereof.

The upper rotating support surface 54 and the driven ball roller 11a may be spaced apart from each other by a predetermined clearance and the driven ball roller 11a may be slightly Flow is possible.

The base frame 51 is formed with a plurality of side rotation support structures 56 for rotatably supporting the sides of the rotating driving ball rollers 10a. Side supporting surfaces 56a are formed on the side edge sides of the supporting blocks 57 spaced apart from each other by a predetermined distance on the supporting blocks 57 so as to support the side surfaces of the driving ball rollers 10a.

The height of the support block 57 on which the side area support surface 56a is formed may be higher or lower than the center of the drive ball roller 10a. If the height is higher than the center, the position of the drive ball roller 10a Fixed and rotatable.

In addition, the material of the side area support surface 56a formed on the support block 57 is preferably made of a polymer material that is not easily worn by friction.

The support block 57 is formed such that the side area support surface 56a is formed and a certain portion of the first drive shaft 21 and the second drive shaft 31 is inserted and received, And the second drive shaft 31 is rotatably supported.

In order to more stably support the first drive shaft 21 and the second drive shaft 31 in rotation, the receiving points of the first drive shaft 21 and the second drive shaft 31, i.e., the drive shaft 21 and the second drive shaft 31 31 and the first drive shaft 21 and the second drive shaft 31 are rotatably supported by the bearings.

On the other hand, as shown in Fig. 9, the follower ball rollers 11a of the driven ball array 11 are individually accommodated in the ball retainer 60 so as to be arranged so as to stably turn on the drive ball rollers 10a .

The upper end portion of the ball retainer 60 is positioned in the through hole 55 on the cover frame 52 and the upper and lower portions are opened to receive the driven ball rollers 11a.

And the upper portion of the driven ball roller 11a is exposed through a predetermined portion to the upper opening side and one lower side is opened so that the lower one side of the driven ball roller 11a is in rotational contact with the drive ball roller 10a.

The ball retainer 60 is engaged and fixed at two upper and lower middle frames 52a interposed between the base frame 51 and the cover frame 52. The ball retainer 60 is made of a polymer material, It is preferable that the abrasion is minimized even in continuous friction with the ball rollers 11a.

In the ball array conveying apparatus according to the present invention configured as described above, the drive ball rollers 10a of the drive ball array 10 are driven in the first direction (arrow X direction) by the first drive unit 20, The drive ball rollers 10a of the drive ball array 10 are driven in the second direction (arrow Y direction) by the second drive unit 30. [ Accordingly, the rotational force of the driving ball rollers 10a can be transmitted in various directions through the vector sum of the first direction X and the second direction Y, and the rotational ball rollers 11a, Which is transferred again to the article to be placed on top of the driven ball array 11 so that the article can be transported in various directions.

Particularly, in the present invention, since the drive ball rollers 10a of the drive ball array 10 are directly driven to rotate by the first drive shaft 21 and the second drive shaft 22, the drive ball rollers 10a Can be transmitted very effectively, and the conveying efficiency of the conveyed object by the driving ball array 10 and the driven ball array 11 can be greatly improved.

In the present invention, a plurality of drive ball rollers 10a are directly driven and rotated by the first drive unit 20 and the second drive unit 30, so that some of the ball rollers 11 are damaged The remaining driving ball rollers 10a can be driven to rotate by the first driving shaft 21 and the second driving shaft 31. Therefore, the driving ball rollers 10a can be rotated while appropriately compensating the rotational force of the driving ball rollers 10a So that even if a part of the drive ball rollers 10a malfunctions, it is possible to transmit appropriate rotational force.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. .

10: drive ball array 10a: drive ball roller
11: driven ball array 11a: driven ball roller
20: first drive unit 21: first drive shaft
22: first omni-wheel 30: second driving unit
31: second drive shaft 32: first omnidirectional wheel
50: receiving housing 51: base frame
52: Cover frame 60: Ball retainer

Claims

A drive ball array in which a plurality of drive ball rollers are spaced apart at regular intervals and arranged in a row / column structure;
A driven ball array in which a plurality of driven ball rollers are arranged so that their outer circumferential surfaces contact each other on one side of the drive ball array;
A first driving unit for driving the plurality of drive ball rollers in a first direction; And
And a second drive unit for driving the plurality of drive ball rollers in a second direction,
The first driving unit includes a plurality of first driving shafts arranged in a direction orthogonal to the first direction so as to directly drive the driving ball rollers of each column unit to transmit rotational force in a first direction, And a plurality of first omni-wheels disposed to be rotatable in contact with the ball rollers to transmit rotational force of the first drive shaft to the ball rollers,
The second drive unit includes a plurality of second drive shafts arranged in a direction orthogonal to the second direction so as to directly drive the ball rollers in each row unit to transmit rotational force in the second direction, And a plurality of second omni-wheels mounted to be fixed and arranged to be in rotational contact with the ball rollers to transmit rotational force of the second drive shaft to the ball rollers,
Wherein the first drive shaft and the second drive shaft are rotated by a first drive motor and a second drive motor, respectively.

The method according to claim 1,
Wherein the plurality of first driving shafts and the plurality of second driving shafts are disposed so that any one of the first driving shafts or the second driving shafts is positioned below the other one so as not to interfere with each other. .

The method according to claim 1,
Each of the drive ball rollers and the driven ball rollers of the drive ball array and the driven ball array are rotatably received in the receiving housing, and the receiving housing includes a base frame and a cover frame assemblably mounted on the upper portion of the base frame A ball array transfer device having an omni wheel.

The method of claim 3,
Wherein the base frame is formed with a plurality of lower rotation supporting structures for individually rotatably supporting the lower portion of the rotating driving ball rollers.

5. The method of claim 4,
The lower rotation support structure
A support plate disposed on a lower side of the drive ball roller and protruding from the base frame and having a plurality of hemispherical mounting grooves on an upper side thereof, And a plurality of bearing balls for rotationally supporting the driving ball rollers.

The method of claim 3,
Wherein the cover frame is provided with a through hole through which a plurality of driven ball rollers pass and expose, and a ball retainer for receiving and rotating a plurality of driven ball rollers is disposed in the through hole. Array transfer device.

The method according to claim 6,
The ball retainer
And a lower portion of the driven ball roller is rotatably brought into contact with the driving ball roller so that the lower portion of the driven ball roller is rotatably contacted with the upper portion of the driven ball roller. And the opening of the oval wheel is opened.

3. The method of claim 2,
Wherein the base frame is formed with a plurality of side rotation support structures for individually supporting the side portions of the rotating ball rollers.

The method according to claim 6,
The side rotation support structure
And a side area supporting surface is formed on a side edge side of a support block protruding from the base frame at a predetermined interval so as to support the side surfaces of the ball rollers.