KR20210095364A - 2-axis positioner - Google Patents

Abstract

The present invention discloses a biaxial positioner device. The disclosed biaxial positioner device comprises: a main body; a first positioner having both ends rotatably installed on the main body; a second positioner installed at the center of the first positioner such that a turntable unit is coupled, and rotating the turntable unit; a first driving unit provided in the main body to drive the first positioner; and a second driving unit provided in the first positioner to drive the second positioner. Accordingly, the present invention can accurately and stably rotate a turntable while improving durability and precision.

Description

2-axis positioner device {2-AXIS POSITIONER}

The present invention relates to a two-axis positioner, and more particularly, to a two-axis positioner device capable of accurately and stably rotating a rotating object while improving durability and precision.

A positioning apparatus (Positioning Apparatus) is an apparatus for fixing a workpiece on a stage, transporting the workpiece fixed on the stage to a processing position, and aligning it to a position required for processing.

Such a positioning device can be used in various industrial fields, for example, automobile production facilities, semiconductor deposition facilities, OLED manufacturing processes, etc., and is used to accurately and quickly transport a workpiece to a target position (target position).

In addition, the positioning device is provided with 2-axis, 3-axis, etc. so that the position of the workpiece can be changed more diversely, and the position of the workpiece is changed using an electrical method, a mechanical method, and a hydraulic method.

The mechanical method includes Geneva mechanism, ratchet mechanism, CAM mechanism, etc., the electrical method includes servo motor and stepping motor, and the hydraulic method includes cylinder mechanism and hydraulic hydraulic motor.

However, the biaxial positioning device of the prior art as described above has a problem in application to equipment requiring precision due to reduced durability and positioning accuracy. Therefore, there is a need to improve it.

On the other hand, domestic registration patent No. 10-2050106 (registration date: November 22, 2019) discloses a "two-axis positioner structure for arc welding".

An object of the present invention is to provide a two-axis positioner device capable of accurately and stably rotating a turntable unit while improving durability and precision.

In order to achieve the above object, a two-axis positioner device according to an aspect of the present invention is installed in a central portion of the first positioner so that a main body, a first positioner having both ends rotatably installed on the main body, and a turntable unit are coupled. and a second positioner rotating the turntable unit, a first driving unit provided in the main body to drive the first positioner, and a second driving unit provided in the first positioner to drive the second positioner. characterized.

In addition, in the present invention, the main body, both ends of the first positioner is characterized in that it comprises a compatible rotation support so as to be rotatably coupled, respectively.

In addition, in the present invention, the first positioner is disposed between the rotation supports, the rotation body to which the second positioner is coupled to the central portion, is coupled to one side of the rotation body, and is rotatably provided on the rotation support. The main rotation shaft connected to the first driving unit and rotated by the first driving unit and the other side of the rotation support are coupled to the rotation support so as to be rotatably connected to guide the rotation of the rotation body, and the rotation body in the center It characterized in that it comprises a rotation guide portion having a communication hole portion communicating with the installation space of the.

In addition, in the present invention, the first positioner is coupled to the rotating body to cover the second driving part, it characterized in that it further comprises a weight case to which a balance weight is coupled therein.

In addition, in the present invention, the rotation guide part is characterized in that the wiring guide pipe is coupled to the communication hole part so as to wire the electric wire to the installation space part.

In addition, in the present invention, the first driving unit includes a first long gear-type interlocking reduction unit coupled to the rotation support so as to be connected to the main rotating shaft, and a first driving motor, and is coupled to the first long gear type interlocking speed reduction unit. It is characterized in that it comprises a first long gear-type drive reducer that interlocks the first long gear-type interlocking speed reducer.

In addition, in the present invention, the second positioner, a rotation support shaft portion coupled to the rotation body so as to penetrate the installation space portion, is rotatably seated on the upper end of the rotation body, the rotation support shaft portion passes through the central portion, The lower end is coupled to the second driving unit, characterized in that it comprises a table mounting block rotated by the second driving unit.

In addition, in the present invention, the second driving part is coupled to the installation space so that the rotation support shaft part penetrates, and a second long gear-type interlocking reduction part which is coupled to the table mounting block to rotate the table mounting block; It is characterized in that it includes a second long gear-type drive reducer having a drive motor, coupled to the second long-winding interlocking speed reduction unit and interlocking the second long-winding type interlocking speed reduction unit.

As described above, the two-axis positioner device according to an aspect of the present invention has the effect of accurately and stably rotating the turntable unit while improving durability and precision, unlike the prior art.

In addition, in the two-axis positioner device according to the present invention, since the electric wire for supplying power to the second driving unit provided in the first positioner is wired through the rotation center of the first positioner, the electric wire wired to the inside of the first positioner is twisted. This has the effect of preventing it from being damaged or damaged.

1 is a perspective view for explaining a two-axis positioner device according to an embodiment of the present invention.
2 is a perspective view illustrating a state in which a first driving part and a second driving part are installed of the two-axis positioner device according to an embodiment of the present invention.
Figure 3 is a partial exploded perspective view for explaining a two-axis positioner device according to an embodiment of the present invention.
4 is a side view for explaining a two-axis positioner device according to an embodiment of the present invention.
5 is a cross-sectional view for explaining a two-axis positioner device according to an embodiment of the present invention.
6 is an exploded perspective view illustrating a first positioner according to an embodiment of the present invention.
7 is a cross-sectional view for explaining a weight case according to an embodiment of the present invention.
8 is a perspective view for explaining a weight case according to an embodiment of the present invention.
9 is an exploded perspective view for explaining a second positioner according to an embodiment of the present invention.

Hereinafter, an embodiment of a biaxial positioner device according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a perspective view illustrating a biaxial positioner device according to an embodiment of the present invention, and FIG. 2 is a state in which a first driving part and a second driving part are installed of the biaxial positioner device according to an embodiment of the present invention A perspective view, Figure 3 is a partial exploded perspective view for explaining the two-axis positioner device according to an embodiment of the present invention.

In addition, Figure 4 is a side view for explaining a two-axis positioner device according to an embodiment of the present invention, Figure 5 is a cross-sectional view for explaining a two-axis positioner device according to an embodiment of the present invention, Figure 6 is this It is an exploded perspective view for explaining the first positioner according to an embodiment of the present invention.

In addition, FIG. 7 is a cross-sectional view for explaining a weight case according to an embodiment of the present invention, FIG. 8 is a perspective view for explaining a weight case according to an embodiment of the present invention, and FIG. 9 is an embodiment of the present invention It is an exploded perspective view for explaining the second positioner according to the example.

1 to 9 , the two-axis positioner device 100 according to an embodiment of the present invention rotates a product for processing, a welding robot, etc. in two directions, respectively, and adjusts it to an accurate and stable position. .

The two-axis positioner device 100 according to this embodiment has a main body 110 , a first positioner 120 rotating in the main body 110 , and a second positioner 130 rotating in the first positioner 120 . and a first driving unit 140 operating the first positioner 120 and a second driving unit 150 operating the second positioner 130 .

The main body 110 includes a fixed base 111 installed in the working space, and a rotation support 113 coupled to the fixed base 111 and rotatably provided with the first positioner 120 .

The fixed base 111 is fixed to the ground of the work space through an anchor, and the rotation support 113 is coupled to the upper surface.

The rotation support 113 is formed in a "U" shape and is coupled to the fixed base portion 111 through a bolt, and both ends of the first positioner 120 are rotatably assembled to compatible side support portions 113a, respectively. The assembly hole 113b is formed. In addition, the rotation support 113 is provided with a wiring space portion 113d for wiring in the side support portion 113a fixed in contact with the fixed base portion 111 . At this time, the wiring space portion 113d is formed to penetrate the side support portion 113a, and through this, various cables can be easily wired to the both side support portions 113a.

Both ends of the first positioner 120 are rotatably coupled to the assembly hole portions 113b of the rotation support 113 , respectively, and are operated by the first driving unit 140 to rotate together with the second positioner 130 .

The first positioner 120 is coupled to the rotating body 121 and the rotating body 121 positioned between the side support parts 113a and is rotatably installed in the assembly hole part 113b of the side support part 113a. It includes a main rotation shaft 123 and a rotation guide part 125 .

In addition, the first positioner 120 maintains the balance according to rotation stably, and further includes a weight case 127 for protecting the second positioner 130 and the second driving unit 150 .

The rotating body 121 has an installation space 121a for installing the second driving unit 150 formed in the central portion, and a positioner installation hole 121b in which the second positioner 130 is rotatably assembled up and down is formed. do.

In addition, the rotating body 121 has a main rotating shaft 123 coupled to one end, the other end is rotatably assembled to the rotating guide unit 125, and a through-hole portion communicating with the installation space unit 121a on both sides ( 121c) are respectively formed. Here, various cables for the operation of the second driving unit 150 pass through the through-hole portion 121c.

The main rotation shaft 123 is rotatably coupled to any one assembly hole portion 113b through a bearing, one end is fixed to the rotation body 121, and the side support portion 113a through the assembly hole portion 113b to the outside. The first driving unit 140 is connected to the other end exposed.

The rotation guide part 125 is coupled to the other assembly hole part 113b so that the other end of the rotation body 121 is rotatably assembled through a bearing, and guides the rotation of the rotation body 121 .

The rotation guide part 125 includes a rotation support member 125a fixed to the assembly hole part 113b through a bolt and a wiring guide pipe member 125b coupled through the center of the rotation support member 125a for wiring. to provide

The rotation support member 125a is rotatably coupled to the rotation body 121 on the outer surface, and the wiring guide tube member 125b is coupled to the central portion. The wiring guide tube member 125b has a communication hole portion 125c for wiring and is inserted into the through hole portion 121c of the rotating body 121 . At this time, in the wiring guide pipe member 125b, the communication hole 125c communicates with the installation space 121a so that the cable is routed inside, and the cable is prevented from being damaged when the first positioner 120 rotates. .

The weight case 127 is coupled at the front and rear of the rotating body 121 so as to cover the installation space 121a to cover the second driving unit 150, and a ballast weight 127a for maintaining balance is coupled to the distal portion .

The first driving unit 140 is coupled to the rotation support 113 to be connected to the main rotation shaft 123 , thereby rotating the first positioner 120 . The first driving unit 140 transmits the rotational force through the long gear reducer so that the rotation of the first positioner 120 is stable and accurate, and durability due to the load is improved.

Specifically, the first driving unit 140 includes a first long-winding interlocking reduction unit 141 coupled to a rotation support to be connected to the main rotating shaft 123 and a first driving motor 143a, and a first long-shaped interlocking unit. A first gear-type driving reducer 143 coupled to the reduction unit 141 is provided. At this time, the first long gear-type interlocking reduction unit 141 rotates the main rotating shaft 123 by interlocking the main rotating shaft 123 by the first long gear-type driving reducer 143 .

The first driving unit 140 according to the present embodiment decelerates the driving force of the first driving motor 143a using the first long drive reducer 143 and the first long drive type interlocking speed reducer 141 to reduce the driving force to the main rotating shaft ( 123), so that not only the driving force is accurately transmitted, but also durability can be improved.

The second positioner 130 is rotatably assembled to the positioner installation hole 121b of the first positioner 120 , and is rotated in the first positioner 120 by the second driving unit 150 . At this time, the rotation center line of the first positioner 120 and the rotation center line of the second positioner 130 form a right angle.

In addition, the second positioner 130, the rotation support shaft portion 131 coupled to the positioner installation hole portion 121b of the rotating body 121 so as to penetrate the installation space portion 121a, and a turntable to which a workpiece or a robot is coupled ( 133) and a table mounting block 135 for supporting the rotation of the turntable 133. At this time, the turntable 133 is coupled to the upper surface of the table mounting block 135 through a bolt.

The rotation support shaft portion 131 includes a shaft support flange 131a coupled to the positioner installation hole 121b, and a hollow support shaft 131b coupled to the shaft support flange 131a to support the rotation of the table mounting block 135. to provide At this time, the hollow support shaft 131b is coupled to the shaft support flange 131a so as to pass through the second driving unit 150 and the table mounting block 135, and a cable for controlling the robot is routed therein.

The table mounting block 135 is rotatably seated in the positioner installation hole 121b, and the lower end thereof is coupled to the second driving unit 150 to be rotated by the second driving unit 150 . At this time, the table mounting block 135 has a hollow support shaft 131b through the central portion, and its rotation is supported.

The second driving unit 150 is inserted into the installation space 121a of the rotating body 121 to rotate the table mounting block 135 of the second positioner 130 and is coupled to the shaft support flange 131a. The second driving unit 150 not only accurately transmits the driving force, but also prevents damage due to a load caused by a heavy object or a robot. That is, durability is improved.

To this end, the second driving unit 150 transmits the rotational force through the long gear reducer so that the rotation of the second positioner 130 is stable and accurate.

Specifically, the second driving part 150 is coupled to the shaft support flange 131a so that the hollow support shaft 131b passes therethrough, and the second long-shaped interlocking reduction part 151 to which the table mounting block 135 is connected, and the second It includes a driving motor (153a), and a second long gear type drive reducer 153 coupled to the second long gear type interlocking reduction unit 151. At this time, the second long gear-type interlocking speed reducer 151 is coupled to the lower end of the table mounting block 135 to transmit the driving force of the second long gear type drive reducer 153 to the table mounting block 135 .

The second driving unit 150 according to the present embodiment decelerates the driving force of the second driving motor 153a using the second long drive reducer 153 and the second long drive type interlocking speed reducer 151 to reduce the table mounting block. By rotating 135, the driving force of the second driving motor 153a is accurately transmitted, and durability is improved.

The two-axis positioner device 100 according to an embodiment of the present invention configured as described above applies the driving force of the first driving motor 143a to the first long-winding type interlocking speed reducer 143 and the first long-shaped interlocking speed reducing unit 141 ) to the first positioner 120, and the driving force of the second drive motor 153a is transferred to the first positioner using the second long-winding interlocking speed reducer 153 and the first long-type interlocking speed reducing unit 151. Since it is transmitted to 130, it is possible to accurately and stably transmit power, and to improve durability against weight.

In addition, in the two-axis positioner device 100 according to the present invention, the cable for controlling the second driving unit 150 provided in the rotating body 121 and the robot installed on the turntable 133 is connected to the wiring space unit (113d). and wiring guide tube member 127 and hollow support shaft 131b, as well as easy wiring, it is possible to prevent the cable from being twisted or damaged during operation.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand

Accordingly, the true technical protection scope of the present invention should be defined by the claims.

100: 2-axis positioner device 110: body
111: fixed base 113: rotation support
113a: side support part 113b: assembly hole part
113c: fixed part 113d: wiring space part
120: first positioner 121: rotating body
121a: installation space part 121b: positioner installation hole part
121c: through hole 123: main rotation shaft
125: rotation guide part 125a: rotation support member
125b: wiring guide pipe member 125c: communication hole part
127: weight case 127a: balance weight
130: second positioner 131: rotation support shaft portion
131a: shaft support flange 131b: hollow support shaft
133: turntable 135: table mounting block
140: the first driving unit 141: the first long sphere type interlocking reducer
143: the first long-shaped drive reducer 143a: the first drive motor
150: second driving unit 151: second long-shaped interlocking reducer
153: second long drive reducer 153a: second drive motor

Claims (6)

main body;
a first positioner having both ends rotatably installed on the body;
a second positioner installed in the central portion of the first positioner so that the turntable unit is coupled and configured to rotate the turntable unit;
a first driving unit provided on the main body to drive the first positioner; and
a second driving unit provided in the first positioner to drive the second positioner;
A two-axis positioner device comprising a.
The method of claim 1,
The body includes a rotation support to which both ends of the first positioner are respectively rotatably coupled,
The first positioner may include a rotating body disposed between the rotating supports and coupled to the second positioner in a central portion thereof;
a main rotating shaft coupled to one side of the rotating body, rotatably provided on the rotating support, connected to the first driving unit, and rotated by the first driving unit; and
a rotation guide part coupled to the rotation support so that the other side of the rotation support is rotatably connected to guide the rotation of the rotation body, and having a communication hole in the center portion communicating with the installation space of the rotation body;
A two-axis positioner device comprising a.
3. The method of claim 2,
The first positioner is coupled to the rotating body so as to cover the second driving part, and a weight case to which a balance weight is coupled therein; further comprising,
The rotation guide unit, a biaxial positioner device, characterized in that the wiring guide tube is coupled to the communication hole portion so as to wire the wire to the installation space portion.
4. The method according to claim 2 or 3,
The first driving unit may include: a first long gear-type interlocking reduction unit coupled to the rotating support to be connected to the main rotating shaft; and
a first long gear type drive reducer having a first drive motor and coupled to the first long gear type interlocking speed reduction unit to interlock the first long gear type interlocking speed reduction unit;
A two-axis positioner device comprising a.
3. The method of claim 2,
The second positioner may include a rotation support shaft coupled to the rotation body so as to penetrate the installation space; and
a table mounting block that is rotatably seated on the upper end of the rotating body, the rotating support shaft passes through the center, and the lower end is coupled to the second driving unit and rotates by the second driving unit;
A two-axis positioner device comprising a.
6. The method of claim 5,
The second driving unit may include a second gear-type interlocking reduction unit coupled to the installation space so that the rotation support shaft passes therethrough, and coupled to the table mounting block to rotate the table mounting block; and
a second long gear-type drive reducer having a second drive motor and coupled to the second long gear-type interlocking speed reduction unit to interlock the second long gear-type interlocking speed reduction unit;
A two-axis positioner device comprising a.

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