WO2015002624A1 - Telescopic gantry system - Google Patents
Telescopic gantry system Download PDFInfo
- Publication number
- WO2015002624A1 WO2015002624A1 PCT/TR2014/000219 TR2014000219W WO2015002624A1 WO 2015002624 A1 WO2015002624 A1 WO 2015002624A1 TR 2014000219 W TR2014000219 W TR 2014000219W WO 2015002624 A1 WO2015002624 A1 WO 2015002624A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- ball screw
- movement
- outer body
- drive unit
- telescopic
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Definitions
- the invention relates to a telescopic structure with ball screw to be used in gantry systems.
- the invention particularly relates to a telescopic structure which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
- the structures operating particularly in vertical axis are moved by various drive and transmission mechanisms.
- a motor is utilized as drive system
- circular movement of the motor is transformed to a linear movement by a rack-pinion mechanism or ball screw mechanism, thus movement in different axes is provided.
- rack-pinion mechanism or ball screw mechanism there is a particular movement distance of this structure and the carrier body moves along this movement distance in the vertical axis.
- Insufficiencies in the present systems can be listed as follows:
- - Movement speed is limited to maximum speed of the drive system and/or maximum speed allowed by the ball screw and/or maximum linear speed allowed by the ball screw.
- carrier body When top of the vertical movement is reached, carrier body lifts up and reaches a point much above all the gantry structure, which creates problem in the factory it operates. It is because upper part of the carrier body may hit the ceiling or the structures such as beam or which passing therethrough. This problem is frequently encountered, thus generally the gantry and the mechanism (e.g. workpiece, positioner) on which the gantry operates are placed in a hole dug in the ground. This, in turn, creates a very serious investment cost.
- the mechanism e.g. workpiece, positioner
- This module consists of base frame profile, dust seal grooves, mounting lug grooves, switch mounting grooves, module upper cover grooves, bearing rail channel, stable bearing component, moving bearing component, middle hub, module rail, carrier car, mounting apparatus, carrier table (i.e. flange), mounting grooves, dust seal, circulation plastic, circulation pulley, rail fitting groove, module ball screw, round nut, module mounting lug, and module cover cap.
- the object of the invention in order to eliminate the present disadvantages, is to develop a telescopic structure which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
- Telescopic gantry system according to the invention has important advantages when compared to the present technique. These advantages are specified below.
- Movement distance is increased with the length of the second ball screw which is used.
- Movement speed is limited to the total speed allowed by the two ball screws, thus two times more speed can be reached when compared to the present system.
- the carrier body moving in the vertical axis When the carrier body moving in the vertical axis reaches the top of the movement, it remains lower as much as the half of the movement distance thereof when compared to the gantries in the present technique. Thus, it can properly operate in factories having lower ceiling. For instance, while a gantry having a movement distance of 2 meters in vertical axis lifts up to 5 meters from the ground in top of the vertical movement thereof, in the telescopic gantry system according to the invention this height is approximately 4 meters.
- a structure which provides longer movement distance and higher speed and also high position sensitivity in smaller areas in robotic gantry systems comprises a drive unit; an outer ball screw connected to the drive unit by means of a connector; an outer body where outer ball screw turned by means of the drive unit and the connector is connected with the outer ball screw bearings; at least one outer step guide used for providing the linear movement between the outer body and the carrier portion; and an outer ball screw nut connected to the carrier portion is developed, wherein said structure has a telescopic feature, and this telescopic structure comprises an inner body placed inside the outer body; an inner ball screw connected to the inner portion of the outer body and moved by the outer ball screw; at least one inner step guide connected to the outer body from one side and to the inner body from the other side for providing the linear movement between the inner body and the
- Figure 1 is the general perspective view of the telescopic structure according to the invention used in gantry system.
- Figure 2 is the side view of the telescopic structure according to the invention used in gantry system in upper position.
- Figure 3 is the side view of the telescopic structure according to the invention used in gantry system in middle position.
- Figure 4 is the side view of the telescopic structure according to the invention used in gantry system in lower position.
- Figure 5 is the upper perspective view of the telescopic structure according to the invention.
- Figure 6 is the side view of the telescopic structure according to the invention.
- Figure 7 is the upper view of the telescopic structure according to the invention.
- Figure 8 is the side view of the telescopic structure according to the invention.
- Figure 9 is perspective view of the telescopic structure according to the invention from a different angle.
- Figure 10 is the side view of the telescopic structure according to the invention.
- Figure 11 is the A-A cross-sectional view shown in figure 10.
- Figure 12a is the side view of the telescopic structure according to the invention in rear position.
- Figure 12b is the side view of the telescopic structure according to the invention in any intermediate position.
- Figure 12c is the side view of the telescopic structure according to the invention in any intermediate position.
- Figure 12d is the side view of the telescopic structure according to the invention in forward position.
- the invention particularly relates to a telescopic structure (A) which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
- the entire telescopic structure (A) is moved by a drive unit (1).
- Drive unit (1) is physically fixed to an outer body (12), wherein said drive unit (1) is also connected to an outer ball screw (7) by means of a connector (16).
- the outer ball screw (7) turned by means of the drive unit (1) and connector (16) is connected to the outer body (12) with outer ball screw bearings (8, 9).
- Outer ball screw nut (10), however, is connected to the carrier portion (13).
- at least one outer step guide (14) is used.
- One side of the outer step guide (14) is connected to the outer body (12) while the other side thereof to the carrier portion (13).
- the outer ball screw (7) turned by means of the drive unit (1) provides linear movement of the outer body (12) on the carrier portion (13) with the aid of at least one outer step guide (14).
- An inner ball screw (3) is connected to the inner portion of the outer body (12) with the aid of inner ball screw bearings (4, 5).
- Inner ball screw nut (6) is connected to the inner body (11).
- at least one inner step guide (15) is used.
- One side of the inner step guide (15) is connected to the outer body (12) while the other side thereof to the inner body (11).
- a movement transmission mechanism (2) is used (B detail).
- Inner ball screw (3) and outer ball screw (7) are reverse gears (one is left gear, the other is right gear).
- inner ball screw (3) is also driven, namely rotated, by outer ball screw (7) thanks to the movement transmission mechanism (2).
- the outer body (12) proceeds linearly on the carrier portion (13) thanks to the rotation of the outer ball screw (7) and with the aid of at least one outer step guide (14). Therefore, as soon as the drive unit (1) starts to operate, both the outer body (12) along with the all the elements thereon proceeds linearly on the carrier portion (13) and the inner body (11) proceeds linearly inside the outer body (12) thanks to the rotation of the inner ball screw (3) and with the aid of the inner step guide (15).
- two ball screws (3, 7) are driven by a single drive unit (1) and a two-step overlapping movement is provided.
- a three-step movement is made with an additional step to be added on the inner body (11) and thus movement distance can be increased.
- movement transmission mechanism (2) providing movement transmission between the ball screws (3, 7) can determine the gear directions of the ball screws (3, 7). If the movement transmission mechanism (2) between the ball screws turns the ball screws (3, 7) reversely to one another (for instance, a gear mechanism), the gear directions of the ball screws (3, 7) should be identical to one another. If the movement transmission mechanism (2) between the ball screws turns the ball screws (3, 7) in the same direction to one another (for instance, smoothly connected timing belt pulley mechanism), the gear directions of the ball screws (3, 7) should be reverse to one another (i.e. while one is the right gear, the other is the left gear).
- relative movement speeds between the two steps can be provided at desired rates by selecting the pitches of the ball screws (3, 7) at desired values.
- a cycle rate between the rotations of the ball screws (3, 7) with the movement transmission element (2) between the ball screws can be provided (for instance, the diameters of the pulleys and the gears connected to two ball screws can be provided at different values).
- the outer body (12) is provided as a four-piece (i.e. quadripartite) structure.
- quadripartite i.e. quadripartite
- both the inner body (11) and the outer body (12) are made into a closed structure like a box provides a substantial rigidity.
- inner step guides (15) are placed at the both sides of the inner body (11).
- inner step guides (15) on both sides of the inner body (11) increase the rigidity of the structure as well as provide a smooth linear movement.
- Inner step linear guides (15) can increase the rigidity by being used in many more surfaces and numbers.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention particularly relates to a telescopic structure (A) which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
Description
DESCRIPTION
TELESCOPIC GANTRY SYSTEM Technical Field
The invention relates to a telescopic structure with ball screw to be used in gantry systems.
The invention particularly relates to a telescopic structure which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
State of the Art In the present gantry systems, the structures operating particularly in vertical axis are moved by various drive and transmission mechanisms. Particularly, in the structures where a motor is utilized as drive system, circular movement of the motor is transformed to a linear movement by a rack-pinion mechanism or ball screw mechanism, thus movement in different axes is provided. There is a particular movement distance of this structure and the carrier body moves along this movement distance in the vertical axis. Insufficiencies in the present systems can be listed as follows:
- Movement distance cannot be longer than the length of the ball screw.
- Movement speed is limited to maximum speed of the drive system and/or maximum speed allowed by the ball screw and/or maximum linear speed allowed by the ball screw.
- When the movement distance is desired to be increased with an additional step, a new ball screw system and a new drive unit are required to be used in addition to the existing ball screw system.
- When top of the vertical movement is reached, carrier body lifts up and reaches a point much above all the gantry structure, which creates problem in the factory it operates. It is because upper part of the carrier body may hit the ceiling or the structures such as beam or which passing therethrough. This problem is frequently encountered, thus generally the gantry and the mechanism (e.g. workpiece, positioner) on which the gantry operates are placed in a hole dug in the ground. This, in turn, creates a very serious investment cost.
- Using rack-pinion mechanisms instead of ball screw decreases the position sensitivity.
Any patent/utility model application similar to the invention is not encountered in the patent search. The patent application No. 2011/06102 registered at Turkish Patent Institute (TPI), int. cl. H05B 7/18, relates to the development made on arc furnace cover (i.e. lid) lifting mechanism, wherein the cover is lifted up and down vertically by means of the cover lifting arms connected with cover lifting system mounted to the gantry.
The utility model application No. 2006/04104 registered at TPI, int. cl. B66D 3/00, relates to a winding mechanism developed for parasailing winch. The utility model application No. 2008/01041 registered at TPI, int. cl. B65G 21/00, relates to compact, linear movement module driven by servo motor. This module consists of base frame profile, dust seal grooves, mounting lug grooves, switch mounting grooves, module upper cover grooves, bearing rail channel, stable bearing component, moving bearing component, middle hub, module rail, carrier car, mounting apparatus, carrier table (i.e. flange), mounting grooves, dust seal, circulation plastic, circulation pulley, rail fitting groove, module ball screw, round nut, module mounting lug, and module cover cap.
Objects of the Invention
The object of the invention, in order to eliminate the present disadvantages, is to develop a telescopic structure which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems. Telescopic gantry system according to the invention has important advantages when compared to the present technique. These advantages are specified below.
Movement distance is increased with the length of the second ball screw which is used.
Movement speed is limited to the total speed allowed by the two ball screws, thus two times more speed can be reached when compared to the present system.
Both investment and operating costs are reduced by using a single drive mechanism.
Progress as much as the total pitches of the two ball screw per each circuit of the motor is made, thus energy saving is provided.
Longer movement distances are provided with smaller structures.
When the carrier body moving in the vertical axis reaches the top of the movement, it remains lower as much as the half of the movement distance thereof when compared
to the gantries in the present technique. Thus, it can properly operate in factories having lower ceiling. For instance, while a gantry having a movement distance of 2 meters in vertical axis lifts up to 5 meters from the ground in top of the vertical movement thereof, in the telescopic gantry system according to the invention this height is approximately 4 meters.
• Thanks to the ball screw structure, higher position sensitivity is provided when compared to other mechanisms, this in turn, provides the robot to be connected to the gantry to reach the point it desires more accurately in robotic gantry systems. In order to achieve said objects, a structure which provides longer movement distance and higher speed and also high position sensitivity in smaller areas in robotic gantry systems, comprises a drive unit; an outer ball screw connected to the drive unit by means of a connector; an outer body where outer ball screw turned by means of the drive unit and the connector is connected with the outer ball screw bearings; at least one outer step guide used for providing the linear movement between the outer body and the carrier portion; and an outer ball screw nut connected to the carrier portion is developed, wherein said structure has a telescopic feature, and this telescopic structure comprises an inner body placed inside the outer body; an inner ball screw connected to the inner portion of the outer body and moved by the outer ball screw; at least one inner step guide connected to the outer body from one side and to the inner body from the other side for providing the linear movement between the inner body and the outer body; a movement transmission mechanism for providing movement transmission between the inner ball screw and the outer ball screw.
Figures for a Better Understanding of the Invention
Figure 1 is the general perspective view of the telescopic structure according to the invention used in gantry system.
Figure 2 is the side view of the telescopic structure according to the invention used in gantry system in upper position.
Figure 3 is the side view of the telescopic structure according to the invention used in gantry system in middle position.
Figure 4 is the side view of the telescopic structure according to the invention used in gantry system in lower position.
Figure 5 is the upper perspective view of the telescopic structure according to the invention. Figure 6 is the side view of the telescopic structure according to the invention.
Figure 7 is the upper view of the telescopic structure according to the invention.
Figure 8 is the side view of the telescopic structure according to the invention.
Figure 9 is perspective view of the telescopic structure according to the invention from a different angle.
Figure 10 is the side view of the telescopic structure according to the invention.
Figure 11 is the A-A cross-sectional view shown in figure 10.
Figure 12a is the side view of the telescopic structure according to the invention in rear position.
Figure 12b is the side view of the telescopic structure according to the invention in any intermediate position.
Figure 12c is the side view of the telescopic structure according to the invention in any intermediate position.
Figure 12d is the side view of the telescopic structure according to the invention in forward position.
Reference Numbers of the Invention
A. Telescopic structure
1. Drive unit
2. Movement transmission mechanism
3. Inner ball screw
Inner ball screw bearing
Inner ball screw bearing
6. Inner ball screw nut
7. Outer ball screw
Outer ball screw bearing
Outer ball screw bearing
10. Outer ball screw nut
11. Inner body
12. Outer body
13. Carrier portion
14. Outer step guide
15. Inner step guide
16. Connector
Detailed Description of the Invention
The invention particularly relates to a telescopic structure (A) which provides longer movement distance and higher speed in smaller areas and also high position sensitivity thanks to the ball screw structure thereof in robotic gantry systems.
General perspective view of the telescopic structure (A) according to the invention used in gantry system is given in Figure 1. In Figure 2, 3, and 4 however, the side views of the telescopic structure (A) according to the invention used in gantry system in upper, middle, and lower positions, are given respectively.
As seen in Figures 5, 6, and 7, the entire telescopic structure (A) is moved by a drive unit (1). Drive unit (1) is physically fixed to an outer body (12), wherein said drive unit (1) is also connected to an outer ball screw (7) by means of a connector (16). The outer ball screw (7) turned by means of the drive unit (1) and connector (16) is connected to the outer body (12) with outer ball screw bearings (8, 9). Outer ball screw nut (10), however, is connected to the carrier portion (13). In order to provide linear movement between the outer body (12) and the carrier portion (13), at least one outer step guide (14) is used. One side of the outer step guide (14) is connected to the outer body (12) while the other side thereof to the carrier portion (13). Thus, the outer ball screw (7) turned by means of the drive unit (1) provides linear movement of the outer body (12) on the carrier portion (13) with the aid of at least one outer step guide (14). An inner ball screw (3) is connected to the inner portion of the outer body (12) with the aid of inner ball screw bearings (4, 5). Inner ball screw nut (6), however, is connected to the inner body (11). In order to provide linear movement between the inner body (11) and the outer body (12), at least one inner step guide (15) is used. One side of the inner step guide (15) is connected to the outer body (12) while the other side thereof to the inner body (11). In order to provide movement transmission between the inner ball screw (3) and the outer ball screw (7), a movement transmission mechanism (2) is used (B detail). Inner ball screw (3) and outer ball screw (7) are reverse gears (one is left gear, the other is right gear). Thus, while the drive unit (1) with such a structure turns the outer ball screw (7), inner ball screw (3) is also driven, namely rotated, by outer ball screw (7) thanks to the movement transmission mechanism (2). Thus, the outer body (12) proceeds linearly on the carrier portion (13) thanks to the rotation of the outer ball screw (7) and with the aid of at least one outer step guide (14). Therefore, as soon as the drive unit (1) starts to operate, both the outer body (12) along with the all the elements thereon proceeds linearly on the carrier portion (13) and the inner body (11) proceeds linearly inside the outer body (12) thanks to the rotation of the inner ball screw (3) and with the aid of the inner step guide (15).
Thus, two ball screws (3, 7) are driven by a single drive unit (1) and a two-step overlapping movement is provided.
In an alternative embodiment of the invention, a three-step movement is made with an additional step to be added on the inner body (11) and thus movement distance can be increased.
In an alternative embodiment of the invention, movement transmission mechanism (2) providing movement transmission between the ball screws (3, 7) can determine the gear directions of the ball screws (3, 7). If the movement transmission mechanism (2) between the ball screws turns the ball screws (3, 7) reversely to one another (for instance, a gear mechanism), the gear directions of the ball screws (3, 7) should be identical to one another. If the movement transmission mechanism (2) between the ball screws turns the ball screws (3, 7) in the same direction to one another (for instance, smoothly connected timing belt pulley mechanism), the gear directions of the ball screws (3, 7) should be reverse to one another (i.e. while one is the right gear, the other is the left gear).
In an alternative embodiment of the invention, relative movement speeds between the two steps can be provided at desired rates by selecting the pitches of the ball screws (3, 7) at desired values.
In an alternative embodiment of the invention, when desired a cycle rate between the rotations of the ball screws (3, 7) with the movement transmission element (2) between the ball screws can be provided (for instance, the diameters of the pulleys and the gears connected to two ball screws can be provided at different values).
In a preferred embodiment of the invention, the outer body (12) is provided as a four-piece (i.e. quadripartite) structure. By this means, after mounting of the inner body (11) with the components thereon is performed, the outer body (12) can be readily mounted around the inner body (11). Moreover, that both the inner body (11) and the outer body (12) are made into a closed structure like a box provides a substantial rigidity. In order to provide this rigidity again, inner step guides (15) are placed at the both sides of the inner body (11). Thus, when the outer body (12) is mounted in a way to enclose the inner body (11), inner step guides (15) on both sides of the inner body (11) increase the rigidity of the structure as well as provide a smooth linear movement. Inner step linear guides (15) can increase the rigidity by being used in many more surfaces and numbers.
Claims
A structure which provides longer movement distance and higher speed and also high position sensitivity in smaller areas in robotic gantry systems, comprises a drive unit (1); an outer ball screw (7) connected to the drive unit (1) by means of a connector (16); an outer body (12) where outer ball screw (7) turned by means of the drive unit (1) and the connector (16) is connected with the outer ball screw bearing (8, 9); at least one outer step guide (14) used for providing the linear movement between the outer body (12) and the carrier portion ( 3); and an outer ball screw nut (10) connected to the carrier portion (13), characterized in that said structure has a telescopic feature, and this telescopic structure (A) comprises an inner body (11) placed inside the outer body (12); an inner ball screw (3) connected to the inner portion of the outer body (12) and moved by the outer ball screw (7); at least one inner step guide (15) connected to the outer body (12) from one side and to the inner body (11) from the other side for providing the linear movement between the inner body (11) and the outer body (12); a movement transmission mechanism (2) for providing movement transmission between the inner ball screw (3) and the outer ball screw (7); inner ball screw bearings (4, 5) connecting the inner ball screw (3) to the inner portion of the outer body (12); and inner ball screw nut (6) connected to the inner body (11) and providing the movement of the inner body (11) on the inner ball screw (3).
A structure according to Claim 1 , characterized in that the gear directions of the ball screws (3, 7) are identical to one another in the event that movement transmission mechanism (2) turns the ball screws (3, 7) reversely to one another.
A structure according to Claim 1 , characterized in that the gear directions of the ball screw are reverse to one another in the event that movement transmission mechanism (2) turns the ball screws (3, 7) in the same direction to one another.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR201307904 | 2013-07-01 | ||
| TR2013/07904 | 2013-07-01 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015002624A1 true WO2015002624A1 (en) | 2015-01-08 |
Family
ID=51628438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2014/000219 WO2015002624A1 (en) | 2013-07-01 | 2014-06-17 | Telescopic gantry system |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2015002624A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020202033A1 (en) | 2020-02-18 | 2021-08-19 | Bhs Corrugated Maschinen- Und Anlagenbau Gmbh | Equipment feed arrangement |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4682930A (en) * | 1985-06-05 | 1987-07-28 | Ichikoh Engineering, Ltd. | Apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products |
| US5111709A (en) * | 1989-09-27 | 1992-05-12 | Fanuc, Ltd. | Industrial robot with a telescopic horizontal arm |
| US20090121089A1 (en) * | 2007-11-13 | 2009-05-14 | Denso Wave Incorporated | Industrial robot having electric cable connecting movable body and fixed body thereof |
| TR201106102A2 (en) | 2011-06-21 | 2012-07-23 | Cvs Maki̇na İnşaat Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇@ | Development on arc furnace door opening mechanism. |
-
2014
- 2014-06-17 WO PCT/TR2014/000219 patent/WO2015002624A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4682930A (en) * | 1985-06-05 | 1987-07-28 | Ichikoh Engineering, Ltd. | Apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products |
| US5111709A (en) * | 1989-09-27 | 1992-05-12 | Fanuc, Ltd. | Industrial robot with a telescopic horizontal arm |
| US20090121089A1 (en) * | 2007-11-13 | 2009-05-14 | Denso Wave Incorporated | Industrial robot having electric cable connecting movable body and fixed body thereof |
| TR201106102A2 (en) | 2011-06-21 | 2012-07-23 | Cvs Maki̇na İnşaat Sanayi̇ Ve Ti̇caret Anoni̇m Şi̇rketi̇@ | Development on arc furnace door opening mechanism. |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102020202033A1 (en) | 2020-02-18 | 2021-08-19 | Bhs Corrugated Maschinen- Und Anlagenbau Gmbh | Equipment feed arrangement |
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