WO2016182113A1 - Ball-screw type transfer robot having gravity compensation device - Google Patents

Ball-screw type transfer robot having gravity compensation device Download PDF

Info

Publication number
WO2016182113A1
WO2016182113A1 PCT/KR2015/005550 KR2015005550W WO2016182113A1 WO 2016182113 A1 WO2016182113 A1 WO 2016182113A1 KR 2015005550 W KR2015005550 W KR 2015005550W WO 2016182113 A1 WO2016182113 A1 WO 2016182113A1
Authority
WO
WIPO (PCT)
Prior art keywords
horizontal
transfer
frame
coupled
plate
Prior art date
Application number
PCT/KR2015/005550
Other languages
French (fr)
Korean (ko)
Inventor
김승식
Original Assignee
(주)티보텍
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.)
Filing date
Publication date
Application filed by (주)티보텍 filed Critical (주)티보텍
Publication of WO2016182113A1 publication Critical patent/WO2016182113A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present invention relates to a ball screw transfer robot having a gravity compensation device, and more particularly, to remove a product that has undergone a first step from a processing machine in a process of processing a product, or to supply a product to a next process.
  • the present invention relates to a transfer robot having a gravity compensation device for transporting from side to side.
  • Such transfer robots include a vertical movement process, a horizontal movement process, and a rotation movement process, depending on the characteristics of the machine required for the process, and must transfer materials required for one process quickly and accurately.
  • the transfer robot will also be loaded according to the horizontal and elevating conditions.
  • the transfer robot In order to withstand the excessively large or the motor has to be large because it takes a lot of space and the performance of the motor increases as the performance of the motor increases, there is a problem that the economic efficiency of the work is lowered.
  • an object of the present invention is to provide an overload of a motor by using a gravity compensation device without having to occupy excessive space even if the transfer robots working vertically and horizontally have a long distance between the primary and secondary fixed working distances.
  • the transfer robot is constituted by a horizontal moving device 100, a vertical moving device 200, and a support 300, but the horizontal moving device 100 is positioned horizontally on the ground.
  • a horizontal transfer frame 120 formed at a position corresponding to the horizontal base frame 110 in parallel;
  • a horizontal moving plate (130) provided between the horizontal base frame (110) and the horizontal conveying frame (120);
  • a clamp 140 provided at the front portion of the horizontal transfer frame 120;
  • a horizontal moving motor (150) provided at one end of the rear surface of the horizontal base frame (110);
  • a horizontal ball screw 111 provided horizontally on the ground to the horizontal base frame 110 and coupled to the horizontal moving plate 130;
  • a rack gear (112) provided in the horizontal base frame (110) and the horizontal transfer frame (120) at a corresponding position horizontally on the ground;
  • a pinion gear 131 provided on the horizontal movable plate 130 and fitted to the rack gears 112;
  • Belt gears 121 provided at both end portions of the horizontal transfer frame 120;
  • the vertical moving device 200 is vertically positioned on the support 300. More than one support frame 210; A support plate 220 coupled to at least one perpendicular to the support frame 210; A vertical moving motor 230 coupled to the support plate 220; A vertical transfer plate 240 provided between the support frames 210 and coupled to the horizontal base frame 110 to move up and down; A cylinder 250 positioned in parallel between the support frames 210 and having a cylinder rod coupled to a lower end of the vertical transfer plate 240 and having a cylinder head fixed to the other side; One end is coupled to the lower end of the vertical transfer plate 240, the other end is a vertical ball screw 231 is coupled to the vertical movement motor 230;
  • the support 300 is a plurality of height adjustment unit It is characterized in that the 310 is coupled.
  • a gear groove 123 is formed at a coupling portion of the belt 122 and the driving belt part 153 in the belt gear 121, the driving gear part 151, and the driven gear part 152.
  • a position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, a position corresponding to the horizontal transfer frame 120 and the clamp 140, and the support frame 210 and the vertical transfer A plurality of guide rails 113 at a position corresponding to the plate 240, respectively; is provided, respectively provided in the horizontal plate 130, the clamp 140 and the vertical transfer plate 240 and the guide It includes; the moving part 114 is fitted to the rail 113.
  • the base plate 221 is vertically coupled to the lower portion of the support frame 210 and coupled to the support 300; And a top plate 222 vertically coupled to the upper portion of the support frame 210.
  • the cylinder 250 is characterized in that the cylinder selected from one of the air cylinder, hydraulic cylinder.
  • the mobile ring 223 is formed on the top plate 222; includes.
  • the present invention does not increase the size of the transfer robot excessively even if the moving distance of the horizontal moving device increases, and even if the weight of the product to be transported increases, the performance of the motor is reduced by reducing the overload of the motor due to the gravity compensation device. This reduces the energy consumption and increases the economics of the work.
  • FIG. 1 is a perspective view of a ball screw transfer robot having a gravity compensation device according to the present invention.
  • Figure 2 is a rear view of the ball screw transfer robot having a gravity compensation device according to the present invention.
  • FIG 3 is a plan view of a ball screw transfer robot having a gravity compensation device according to the present invention.
  • FIG. 4 is an enlarged right side view of a perspective view of a ball screw transfer robot having a gravity compensation device according to the present invention
  • Figure 5 is an enlarged view of the right side view of a ball screw transfer robot with a gravity compensation device according to the present invention.
  • Figure 6 is a horizontal ball screw operation structure diagram of a ball screw transfer robot having a gravity compensation device according to the present invention.
  • the transfer robot is largely horizontal moving device 100, vertical moving device 200, support 300
  • the horizontal moving device 100 is a horizontal base frame 110, which is positioned horizontally on the ground, a horizontal transfer frame 120 provided at a position corresponding in parallel with the horizontal base frame 110, A horizontal moving plate 130 provided at a position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, is provided in the front portion of the horizontal transfer frame 120, the product for transferring the product
  • the clamp 140 which serves to transfer power to the sending unit, is provided at one end of the rear portion of the horizontal base frame 110, and transmits power to the horizontal conveying plate 130 to horizontally move the horizontal conveying frame 120. Letting The horizontal movement motor 150 is divided into small.
  • the horizontal base frame 110 is provided with a horizontal ball screw 111 in parallel to the horizontal transfer plate 130 to receive the power from the horizontal moving motor 150 to enable horizontal movement, the horizontal
  • the process of receiving power from the moving motor 150 is received by the drive gear unit 151, the driven gear unit 152, and the drive belt 153 which will be described later.
  • the pinion gear 131 is provided inside the horizontal transfer plate 130 to effectively transmit power when the horizontal transfer frame 120 moves horizontally.
  • the clamp 140 which finally serves to convey the product, is provided at a position corresponding to the horizontal conveying plate 130, and the power transmitted by the horizontal conveying plate 130 is
  • a belt gear 121 is provided at both ends of the horizontal transfer frame to transfer to the clamp 140, and a belt 122 fitted to the belt gear 121 includes the horizontal transfer plate 130 and the clamp 140. ).
  • the horizontal transfer plate 130 is driven by the belt 122 connected to the driving gear 151, often the gear 152 and the driving belt 153 from the horizontal movement motor 150 to the horizontal ball
  • the horizontal transfer plate 130 connected to the horizontal ball screw is a horizontal movement to power the clamp 140 connected to the horizontal transfer frame 120 and the drive belt 153. It transmits to make horizontal movement.
  • the clamp 140 is formed with a fastening groove 141, characterized in that the product transfer part is made to be tailored to the shape of the product to be conveyed, the horizontal motion to convey the product supplied It will play a role.
  • the horizontal moving motor 150 is provided at one end of the rear portion of the horizontal base frame 110, which is provided so as not to interfere with the horizontal movement of the horizontal conveying frame 120 and the horizontal conveying plate 130.
  • the horizontal ball screw 111 is located in the rear portion to include a drive gear unit 151 coupled to the rotational movement of the horizontal moving motor 150, the horizontal ball
  • the screw 111 also includes a driven gear 152 at one end in order to receive power.
  • the driving belt 153 is fitted to the driving gear 151 and the driven gear 152 to transfer the power of the driving gear 151 to the driven gear 152.
  • the horizontal movement device 100 receives the power from the horizontal movement motor 150 and performs the horizontal movement, horizontal movement is possible up to the length of the horizontal base frame 110 and the horizontal transfer frame 120. Therefore, there is an advantage that the consumption of the required space is reduced as compared to the transfer robot in the conventional horizontal motion.
  • the vertical movement device 200 that enables vertical movement is located vertically on the support 300, at least one support frame 210, the support plate 220 provided in the support frame 210 ), A vertical movement motor 230 coupled to the support plate 220 to generate power for vertical movement, and a vertical movement coupled to the horizontal base frame 110 to vertically transmit the horizontal movement device 100.
  • the support frame 210 is provided with one or more perpendicular to the ground, one side end is connected to the support 300 is fixed.
  • the support plate 220 is provided on the support frame 210 to serve to support the vertical movement motor 230 and to distribute physical vibrations generated during vertical movement, and the support frame.
  • the support frame 210 is configured in plural and at least plural along the length, it is preferable to connect the support frames 210 to disperse the physical influence generated during the vertical movement.
  • the vertical movement motor 230 is coupled to the vertical ball screw 231 to transmit power for vertical movement
  • the vertical ball screw 231 is connected to the vertical transfer plate 240, up and down To transmit vertical movement power.
  • the vertical transfer plate 240 is provided in the support frame 210, coupled to the horizontal transfer device 100 and the front portion, the vertical ball screw 231 is coupled to the lower end, the vertical When the power for the vertical movement is transmitted from the moving motor 230, it is moved by sliding up and down.
  • the cylinder rod is coupled to the lower end of the vertical transfer plate 240, the cylinder 250 fixed to the cylinder head to the other side transmits the power for the vertical movement of the vertical movement motor 230 to the vertical transfer plate
  • the product It is preferable to serve as a gravity compensation device by providing at least one in proportion to the weight and the weight of the horizontal moving device 100, and fixed to the support frame 210 so as not to be separated from the force such as physical vibration generated during vertical movement It is desirable to be.
  • Support 300 is coupled to the lower portion of the support frame 210, serves to disperse the physical effects generated during vertical and horizontal movement, adjust the height according to the height of the product and the process machine to transport, the ground When not flat, in order to maintain parallelism of the ball screw transfer robot provided with a gravity compensating device, a plurality of height adjusting portions 310 are provided.
  • the ball screw transfer robot having a gravity compensation device as described above has the belt 122 and the driving belt part 153 at the belt gear 121, the driving gear part 151, and the driven gear part 152.
  • a gear groove 123 is formed in a portion coupled to the belt groove
  • a belt groove 124 is formed in the belt 122 and the driving belt part 153 by the belt gear 121, the driving gear part 151, and the bell. It is preferable to form the belt groove 124 at the portion to be combined with the synchronous gear 152, so that the coupling can be carried out without loss in transmitting power by engaging the fitting.
  • the position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, the position corresponding to the horizontal transfer frame 120 and the clamp 140, and the support frame 210 and the vertical transfer plate A plurality of guide rails 113 are provided at positions 240 corresponding thereto, and a plurality of moving parts 114 are provided at the horizontal moving plate 130, the clamp 140, and the vertical transfer plate. It is desirable to increase the durability of the ball screw transfer robot having a gravity compensation device because it is stably fixed from the physical effects occurring during vertical and horizontal movements.
  • the base plate 221 which is located in the lower portion of the support frame 210 and the upper support 300, and includes a top plate 222 vertically coupled to the upper portion of the support frame 210. It serves to stably support the support frame 210, the mobile ring 223 is formed at the top of the top plate 222 to move the ball screw transfer robot equipped with a gravity compensation device when the mobile ring It would be desirable to use 223.
  • the cylinder 250 uses a cylinder selected from one of an air cylinder and a hydraulic cylinder.
  • waste oil does not occur, but a load depends on the weight of a product to be transported or the size of the horizontal motion device 100. If this is a large action, there is a disadvantage that the force to withstand the limit, the hydraulic cylinder can withstand more load than the air cylinder, but waste oil is generated, and the viscosity is changed under the influence of temperature, the efficiency is also changed Since there is a disadvantage, it is preferable to select and use according to the weight of the product and the load of the horizontal motion device (100).
  • the present invention does not excessively increase the size of the transfer robot even if the moving distance of the horizontal moving device increases, and maintains the performance of the motor by reducing the overload of the motor due to the gravity compensation device even if the weight of the product to be transported increases. As a result, the energy consumption can be reduced and energy saving can be increased.

Abstract

The present invention relates to a ball-screw type transfer robot having a gravity compensation device, which can prevent the size of the transfer robot from growing excessively even when the movement distance of a horizontal movement device thereof is large, and can reduce an overload of a motor thereof and thus maintain the performance of the motor by the gravity compensation device even when the weight of a product to be transported increases. Therefore, the robot can reduce the energy consumption thereof to increase the economic efficiency of an operation thereby through energy-saving.

Description

중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇Ball screw transfer robot with gravity compensation device
본 발명은 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇에 관한 것으로, 더욱 상세하게는 제품을 공정하는 과정에서 공정기계에서 1차공정을 거친 제품을 제거하거나, 다음공정으로 공급하기 위해 제품을 상하, 좌우로 운송하는 중력보상장치를 구비한 트랜스퍼 로봇에 관련된 것이다. The present invention relates to a ball screw transfer robot having a gravity compensation device, and more particularly, to remove a product that has undergone a first step from a processing machine in a process of processing a product, or to supply a product to a next process. The present invention relates to a transfer robot having a gravity compensation device for transporting from side to side.
일반적으로, 제품의 가공, 제조 공정 등에서는 1차 공정에서 2차 공정으로의 공급 등과 같이 소재를 운반하는 과정이 필요하며, 이러한 소재를 운반하는 과정은 작업속도에도 영향을 끼치므로 작업효율의 증대를 위해 트랜스퍼 로봇이 개발되고 있다.In general, in the processing and manufacturing process of the product, it is necessary to transport the material such as the supply from the first process to the second process, and the process of transporting such material affects the working speed, thus increasing the work efficiency. A transfer robot is being developed for this purpose.
이러한 트랜스퍼 로봇은 공정에 필요한 기계의 특성에 따라, 수직 이동공정, 수평 이동공정 및 회전 이동공정 등을 포함하며, 한 공정에 필요한 소재를 신속하고 정확하게 운반해야한다. Such transfer robots include a vertical movement process, a horizontal movement process, and a rotation movement process, depending on the characteristics of the machine required for the process, and must transfer materials required for one process quickly and accurately.
그러나 가공되는 제품의 하중이 큰 경우에는 소재가 운반되는 과정에서 모터의 과부하로 정확성이 떨어지거나, 1차 공정과 2차 공정을 작업하는 이격거리가 멀어질 경우 수평, 승강에 따른 트랜스퍼 로봇 역시 하중을 견디기 위해 과다하게 커지거나 모터가 커져야 하기 때문에 공간을 많이 잡게 되고 모터의 성능이 올라갈 수록 발생되는 에너지의 소모가 증가하여 작업의 경제성이 저하되는 문제점이 있다.However, if the load of the processed product is large, the accuracy of the motor may be reduced due to the overload of the motor during transportation of the material, or if the separation distance between the first and second processes is far, the transfer robot will also be loaded according to the horizontal and elevating conditions. In order to withstand the excessively large or the motor has to be large because it takes a lot of space and the performance of the motor increases as the performance of the motor increases, there is a problem that the economic efficiency of the work is lowered.
따라서, 본 발명의 목적은 수직과 수평 작업을 하는 트랜스퍼 로봇이 1차 공정 및 2차 고정의 작업거리의 이격거리가 멀더라도 과다하게 공간을 차지하지 않고, 중력보상장치를 구비하여 모터의 과부화를 줄여 트랜스퍼 로봇의 동력원의 에너지 소모를 줄여 모터가 제품 및 트랜스퍼 로봇의 크기가 커지더라도 부담이 적어지므로 동력원의 부하를 줄이며, 에너지의 소모를 감소시켜 작업의 경제성을 높여주는 트랜스퍼 로봇을 제공함에 있다.Accordingly, an object of the present invention is to provide an overload of a motor by using a gravity compensation device without having to occupy excessive space even if the transfer robots working vertically and horizontally have a long distance between the primary and secondary fixed working distances. By reducing the energy consumption of the power source of the transfer robot, the burden of the motor is reduced even if the size of the product and the transfer robot becomes smaller, thereby reducing the load on the power source and providing a transfer robot that increases the economic efficiency of the work by reducing energy consumption.
따라서, 본 발명은 상기의 문제점을 해결하기 위해 이송로봇은 수평이동장치(100), 수직이동장치(200), 지지대(300)로 구성하되, 상기 수평이동장치(100)는 지면에서 수평으로 위치하는 수평베이스플레임(110); 상기 수평베이스플레임(110)와 평행하게 대응되는 위치에 형성되는 수평이송플레임(120); 상기 수평베이스플레임(110)과 상기 수평이송플레임(120) 사이에 구비되는 수평이동플레이트(130); 상기 수평이송플레임(120) 정면부에 구비되는 클램프(140); 상기 수평베이스플레임(110) 배면부의 일측단부에 구비되는 수평이동모터(150); 상기 수평베이스플레임(110)에 지면에서 수평으로 구비되며 상기 수평이동플레이트(130)와 결합되는 수평볼스크류(111); 상기 수평베이스플레임(110)과 상기 수평이송플레임(120)에 지면에서 수평으로 상기 대응되는 위치에 한쌍 이상으로 구비되는 랙기어(112); 상기 수평이동플레이트(130)에 구비되어 상기 랙기어(112)들과 끼움결합되는 피니언기어(131); 상기 수평이송플레임(120)의 양측단부에 구비되는 벨트기어(121); 상기 벨트기어(121)에 끼움결합되는 벨트(122); 상기 클램프(140)에 형성되는 체결홈부(141); 상기 체결홈부(141)에 체결되는 이송되는 제품의 형상에 맞게 제작되는 제품이송부; 상기 수평이동모터(150)의 일측단부에 결합되는 구동기어부(151); 상기 수평볼스크류(111)의 일측단부에 구비되는 종동기어부(152); 상기 구동기어부(151)과 상기 종동기어부(152)에 끼움결합 되는 구동벨트부(153);로 구성하며, 상기 수직이동장치(200)는 상기 지지대(300)에서 수직으로 위치하며, 1개 이상의 지지플레임(210); 상기 지지플레임(210)에 수직으로 1개 이상이 결합되는 지지플레이트(220); 상기 지지플레이트(220)에 결합되는 수직이동모터(230); 상기 지지플레임(210) 사이에 구비되어 상기 수평베이스플레임(110)과 결합 되어 상하로 이송하는 수직이송플레이트(240); 상기 지지플레임(210) 사이에 평행하게 위치되고, 상기 수직이송플레이트(240)의 하단부에 실린더 로드가 결합되고, 타측으로 실린더 헤드가 고정되는 실린더(250); 일측단부가 수직이송플레이트(240)의 하단부에 결합되고, 타단부가 상기 수직이동모터(230)에 결합되는 수직볼스크류(231);로 구성하고, 상기 지지대(300)는 복수개 이상의 높이조절부(310)가 결합되어 있는 것을 특징으로 한다.Therefore, in order to solve the above problems, the transfer robot is constituted by a horizontal moving device 100, a vertical moving device 200, and a support 300, but the horizontal moving device 100 is positioned horizontally on the ground. A horizontal base frame 110; A horizontal transfer frame 120 formed at a position corresponding to the horizontal base frame 110 in parallel; A horizontal moving plate (130) provided between the horizontal base frame (110) and the horizontal conveying frame (120); A clamp 140 provided at the front portion of the horizontal transfer frame 120; A horizontal moving motor (150) provided at one end of the rear surface of the horizontal base frame (110); A horizontal ball screw 111 provided horizontally on the ground to the horizontal base frame 110 and coupled to the horizontal moving plate 130; A rack gear (112) provided in the horizontal base frame (110) and the horizontal transfer frame (120) at a corresponding position horizontally on the ground; A pinion gear 131 provided on the horizontal movable plate 130 and fitted to the rack gears 112; Belt gears 121 provided at both end portions of the horizontal transfer frame 120; A belt 122 fitted to the belt gear 121; A fastening groove 141 formed in the clamp 140; A product transfer part manufactured according to the shape of the product to be fastened to the fastening groove 141; A drive gear unit 151 coupled to one side end of the horizontal moving motor 150; A driven gear part 152 provided at one end of the horizontal ball screw 111; And a driving belt part 153 fitted to the driving gear part 151 and the driven gear part 152. The vertical moving device 200 is vertically positioned on the support 300. More than one support frame 210; A support plate 220 coupled to at least one perpendicular to the support frame 210; A vertical moving motor 230 coupled to the support plate 220; A vertical transfer plate 240 provided between the support frames 210 and coupled to the horizontal base frame 110 to move up and down; A cylinder 250 positioned in parallel between the support frames 210 and having a cylinder rod coupled to a lower end of the vertical transfer plate 240 and having a cylinder head fixed to the other side; One end is coupled to the lower end of the vertical transfer plate 240, the other end is a vertical ball screw 231 is coupled to the vertical movement motor 230; The support 300 is a plurality of height adjustment unit It is characterized in that the 310 is coupled.
또한, 상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)에서 상기 벨트(122) 및 상기 구동벨트부(153)의 결합부위에 기어홈(123);이 형성되고 상기 벨트(122) 및 상기 구동벨트부(153)가 상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)와 결합하는 결합부위에 벨트홈(124);이 형성되는 것을 특징으로 한다.In addition, a gear groove 123 is formed at a coupling portion of the belt 122 and the driving belt part 153 in the belt gear 121, the driving gear part 151, and the driven gear part 152. A belt groove 124 formed at an engagement portion at which the belt 122 and the driving belt part 153 are coupled to the belt gear 121, the driving gear part 151, and the driven gear part 152. It is characterized by.
또한, 상기 수평베이스플레임(110)과 상기 수평이송플레임(120)에 대응되는 위치, 상기 수평이송플레임(120)과 상기 클램프(140)에 대응되는 위치 및 상기 지지플레임(210)과 상기 수직이송플레이트(240)에 대응되는 위치에 각각 복수개 이상 가이드레일부(113);가 구비되고, 상기 수평이동플레이트(130), 상기 클램프(140) 및 상기 수직이송플레이트(240)에 각각 구비되고 상기 가이드레일(113)에 끼움결합 되는 이동부(114);를 포함한다.In addition, a position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, a position corresponding to the horizontal transfer frame 120 and the clamp 140, and the support frame 210 and the vertical transfer A plurality of guide rails 113 at a position corresponding to the plate 240, respectively; is provided, respectively provided in the horizontal plate 130, the clamp 140 and the vertical transfer plate 240 and the guide It includes; the moving part 114 is fitted to the rail 113.
또한, 상기 지지플레임(210)의 하부에 수직으로 결합 되고 상기 지지대(300)에 결합 되는 베이스플레이트(221); 상기 지지플레임(210)의 상부에 수직으로 결합되는 탑플레이트(222);를 포함한다.In addition, the base plate 221 is vertically coupled to the lower portion of the support frame 210 and coupled to the support 300; And a top plate 222 vertically coupled to the upper portion of the support frame 210.
또한, 상기 실린더(250)는 에어실린더, 유압실린더 중 하나로 선택된 실린더로 되는 것을 특징으로 한다.In addition, the cylinder 250 is characterized in that the cylinder selected from one of the air cylinder, hydraulic cylinder.
바람직하게는, 상기 탑플레이트(222)의 상부에 형성되는 이동고리(223);를 포함한다.Preferably, the mobile ring 223 is formed on the top plate 222; includes.
이와 같이 본 발명은, 수평이동장치의 이동거리가 멀어지더라도 트랜스퍼 로봇의 크기가 과도하게 커지지 않으며, 이송하는 제품의 중량이 증가하여도, 중력보상장치로 인해 모터의 과부화를 줄여 모터의 성능을 유지시키며, 이로 인하여 에너지의 소모를 같이 줄여 에너지 절감으로 작업의 경제성을 증가시키는 효과를 가지게 된다.As described above, the present invention does not increase the size of the transfer robot excessively even if the moving distance of the horizontal moving device increases, and even if the weight of the product to be transported increases, the performance of the motor is reduced by reducing the overload of the motor due to the gravity compensation device. This reduces the energy consumption and increases the economics of the work.
도 1은 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 사시도.1 is a perspective view of a ball screw transfer robot having a gravity compensation device according to the present invention.
도 2는 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 배면도.Figure 2 is a rear view of the ball screw transfer robot having a gravity compensation device according to the present invention.
도 3은 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 평면도.3 is a plan view of a ball screw transfer robot having a gravity compensation device according to the present invention.
도 4는 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 사시도의 우측면 확대도.4 is an enlarged right side view of a perspective view of a ball screw transfer robot having a gravity compensation device according to the present invention;
도 5는 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 우측면도의 확대도.Figure 5 is an enlarged view of the right side view of a ball screw transfer robot with a gravity compensation device according to the present invention.
도 6은 본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 수평볼스크류 작동구조도.Figure 6 is a horizontal ball screw operation structure diagram of a ball screw transfer robot having a gravity compensation device according to the present invention.
본 발명에 따른 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇을 도 1 내지 도 6을 참고하여 설명하면, 트랜스퍼 로봇은 크게는 수평이동장치(100), 수직이동장치(200), 지지대(300)로 구성하며, 먼저, 상기 수평이동장치(100)는 지면에서 수평으로 위치하는 수평베이스플레임(110), 상기 수평베이스플레임(110)과 평행하게 대응되는 위치에 구비되는 수평이송플레임(120), 상기 수평베이스플레임(110)과 상기 수평이송플레임(120)사이에 대응되는 위치에 구비되는 수평이동플레이트(130), 상기 수평이송플레임(120) 정면부에 구비되며, 제품을 이송하기 위한 제품이송부에 동력을 전달하는 역할을 하는 클램프(140), 상기 수평베이스플레임(110)배면부의 일측단부에 구비되며 상기 수평이송플레이트(130)에 동력을 전달하여 상기 수평이송플레임(120)을 수평운동시키는 수평이동모터(150)으로 작게 나눠진다.Referring to Figures 1 to 6 of the ball screw transfer robot having a gravity compensation device according to the invention, the transfer robot is largely horizontal moving device 100, vertical moving device 200, support 300 First, the horizontal moving device 100 is a horizontal base frame 110, which is positioned horizontally on the ground, a horizontal transfer frame 120 provided at a position corresponding in parallel with the horizontal base frame 110, A horizontal moving plate 130 provided at a position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, is provided in the front portion of the horizontal transfer frame 120, the product for transferring the product The clamp 140, which serves to transfer power to the sending unit, is provided at one end of the rear portion of the horizontal base frame 110, and transmits power to the horizontal conveying plate 130 to horizontally move the horizontal conveying frame 120. Letting The horizontal movement motor 150 is divided into small.
더욱 자세하게는 상기 수평베이스플레임(110)에는 수평볼스크류(111)가 평행하게 구비되어 상기 수평이송플레이트(130)를 상기 수평이동모터(150)으로부터 동력을 전달받아 수평운동 가능하게 하며, 상기 수평이동모터(150)으로부터 동력을 전달받는 과정은 후술할 구동기어부(151), 종동기어부(152) 및 구동벨트(153)에 의해 전달받는다.More specifically, the horizontal base frame 110 is provided with a horizontal ball screw 111 in parallel to the horizontal transfer plate 130 to receive the power from the horizontal moving motor 150 to enable horizontal movement, the horizontal The process of receiving power from the moving motor 150 is received by the drive gear unit 151, the driven gear unit 152, and the drive belt 153 which will be described later.
또한, 상기 수평베이스플레임(110)과 상기 수평이송플레임(120) 사이에는 수평으로 상기 대응되는 위치에 한쌍 이상으로 구비되는 랙기어(112)와 상기 랙기어(112)들 사이에 끼움결합되며, 상기 수평이승플레이트(130) 내부에 피니언기어(131)가 구비되어 상기 수평이송플레임(120)이 수평운동할 때, 효과적으로 동력을 전달할 수 있다.In addition, between the horizontal base frame 110 and the horizontal transfer frame 120 is fitted between the rack gear 112 and the rack gear 112 provided in a pair or more at the corresponding position horizontally, The pinion gear 131 is provided inside the horizontal transfer plate 130 to effectively transmit power when the horizontal transfer frame 120 moves horizontally.
상기 수평이송플레임(120)에는 최종적으로 제품을 이송하는 역할을 하는 상기 클램프(140)가 상기 수평이송플레이트(130)와는 대응되는 위치에 구비되고 상기 수평이송플레이트(130)가 전달하는 동력을 상기 클램프(140)에 전달하기 위해 상기 수평이송플레임 양 끝단에 벨트기어(121)가 구비되고 상기 벨트기어(121)에 끼움결합되는 벨트(122)가 상기 수평이송플레이트(130)와 상기 클램프(140)를 연결한다. 연결된 상기 벨트(122)로 인해 상기 수평이송플레이트(130)가 상기 수평이동모터(150)로 부터 상기 구동기어부(151), 종종기어부(152) 및 구동벨트(153)으로 동력을 상기 수평볼스크류(111)로 전달하면 상기 수평볼스크류에 연결된 상기 수평이송플레이트(130)가 수평운동을 하게되어 상기 수평이송플레임(120)과 상기 구동벨트(153)으로 연결된 상기 클램프(140)에 동력을 전달하여 수평운동을 하게 된다.In the horizontal conveying frame 120, the clamp 140, which finally serves to convey the product, is provided at a position corresponding to the horizontal conveying plate 130, and the power transmitted by the horizontal conveying plate 130 is A belt gear 121 is provided at both ends of the horizontal transfer frame to transfer to the clamp 140, and a belt 122 fitted to the belt gear 121 includes the horizontal transfer plate 130 and the clamp 140. ). The horizontal transfer plate 130 is driven by the belt 122 connected to the driving gear 151, often the gear 152 and the driving belt 153 from the horizontal movement motor 150 to the horizontal ball When the transfer to the screw 111, the horizontal transfer plate 130 connected to the horizontal ball screw is a horizontal movement to power the clamp 140 connected to the horizontal transfer frame 120 and the drive belt 153. It transmits to make horizontal movement.
상기 클램프(140)에는 체결홈부(141)가 형성되어 도시되지는 않았지만, 이송하기 위한 제품의 형태에 맞춤제작되는 제품이송부가 체결되는 것을 특징으로 하여, 수평운동을 하며 공급되는 제품을 이송하는 역할을 하게된다.Although not shown in the clamp 140 is formed with a fastening groove 141, characterized in that the product transfer part is made to be tailored to the shape of the product to be conveyed, the horizontal motion to convey the product supplied It will play a role.
상기 수평이동모터(150)는 상기 수평베이스플레임(110)의 배면부의 일측단부에 구비되는데 이는 상기 수평이송플레임(120)과 상기 수평이송플레이트(130)의 수평운동에 방해되지 않게 하기 위하여 구비되고, 배면부에 위치하므로 동력을 전달하기 위해서는 상기 수평볼스크류(111)에 동력을 전달하기 위해 상기 수평이동모터(150)의 회전운동부위에 결합되는 구동기어부(151)를 포함하게 되며, 상기 수평볼스크류(111) 역시 동력을 전달받기 위하여 일측단부에 종동기어부(152)를 포함하게 된다. 그리고 상기 구동기어부(151)의 동력을 상기 종동기어부(152)로 전달하기 위해 구동벨트(153)가 상기 구동기어부(151)와 상기 종동기어부(152)에 끼움결합하게 된다.The horizontal moving motor 150 is provided at one end of the rear portion of the horizontal base frame 110, which is provided so as not to interfere with the horizontal movement of the horizontal conveying frame 120 and the horizontal conveying plate 130. In order to transmit power to the horizontal ball screw 111 is located in the rear portion to include a drive gear unit 151 coupled to the rotational movement of the horizontal moving motor 150, the horizontal ball The screw 111 also includes a driven gear 152 at one end in order to receive power. In addition, the driving belt 153 is fitted to the driving gear 151 and the driven gear 152 to transfer the power of the driving gear 151 to the driven gear 152.
상기와 같이 수평이동모터(150)로부터 동력을 전달받아 상기 수평이동장치(100)가 수평운동을 실시하게 되면 상기 수평베이스플레임(110)과 상기 수평이송플레임(120)의 길이까지 수평운동이 가능하게되어, 종래의 수평 운동을 하는 트랜스퍼 로봇에 비하여 필요한 필수 공간의 소모가 적게 되는 장점이 있다.As described above, when the horizontal movement device 100 receives the power from the horizontal movement motor 150 and performs the horizontal movement, horizontal movement is possible up to the length of the horizontal base frame 110 and the horizontal transfer frame 120. Therefore, there is an advantage that the consumption of the required space is reduced as compared to the transfer robot in the conventional horizontal motion.
다음으로, 수직운동이 가능하게 하는 상기 수직이동장치(200)는 상기 지지대(300)에서 수직으로 위치하며, 1개 이상의 지지플레임(210), 상기 지지플레임(210)에 구비되는 지지플레이트(220), 상기 지지플레이트(220)에 결합되어 수직운동을 위한 동력을 발생하는 수직운동모터(230), 상기 수평베이스플레임(110)과 결합하여 상기 수평이동장치(100)를 수직으로 동력 전달하는 수직이송플레이트(240), 상기 수직이송플레이트(240)의 하단부에 실린더로드가 결합되고 타측으로 실린더 헤드가 고정되는 실린더(250)로 구성되어 있다.Next, the vertical movement device 200 that enables vertical movement is located vertically on the support 300, at least one support frame 210, the support plate 220 provided in the support frame 210 ), A vertical movement motor 230 coupled to the support plate 220 to generate power for vertical movement, and a vertical movement coupled to the horizontal base frame 110 to vertically transmit the horizontal movement device 100. Transfer plate 240, the cylinder rod is coupled to the lower end of the vertical transfer plate 240 is composed of a cylinder 250 is fixed to the cylinder head to the other side.
보다 상세하게 설명한다면, 상기 지지플레임(210)은 하나 이상으로 구비되어 지면에서 수직으로 형성되어, 상기 지지대(300)에 일측단부가 연결되어 고정된다.In more detail, the support frame 210 is provided with one or more perpendicular to the ground, one side end is connected to the support 300 is fixed.
또한, 상기 지지플레이트(220)는 상기 지지플레임(210)에 구비되어 상기 수직이동모터(230)를 지지하는 역할 및 수직운동시에 발생하는 물리적 진동등을 분산하는 역할을 하게 되고, 상기 지지플레임(210)가 복수개로 구성될 때 및 길이에 따라 복수개 이상 구비되어 상기 지지플레임(210)을 연결하여 수직운동시 발생하는 물리적영향력을 분산하는 것이 바람직하다.In addition, the support plate 220 is provided on the support frame 210 to serve to support the vertical movement motor 230 and to distribute physical vibrations generated during vertical movement, and the support frame. When the 210 is configured in plural and at least plural along the length, it is preferable to connect the support frames 210 to disperse the physical influence generated during the vertical movement.
또한, 상기 수직이동모터(230)는 수직볼스크류(231)와 결합하여 수직운동을 하기위한 동력을 전달하게 되며, 상기 수직볼스크류(231)는 상기 수직이송플레이트(240)에 연결되어, 상하로 수직운동 동력을 전달하게 된다.In addition, the vertical movement motor 230 is coupled to the vertical ball screw 231 to transmit power for vertical movement, the vertical ball screw 231 is connected to the vertical transfer plate 240, up and down To transmit vertical movement power.
또한, 상기 수직이송플레이트(240)는 상기 지지플레임(210) 내부에 구비되고, 상기 수평이동장치(100)와 정면부에서 결합하며, 상기 수직볼스크류(231)를 하단부에 결합하여, 상기 수직이동모터(230)에서 수직운동을 위한 동력이 전달되면, 상하로 슬라이딩하여 움직이게 된다.In addition, the vertical transfer plate 240 is provided in the support frame 210, coupled to the horizontal transfer device 100 and the front portion, the vertical ball screw 231 is coupled to the lower end, the vertical When the power for the vertical movement is transmitted from the moving motor 230, it is moved by sliding up and down.
또한, 상기 수직이송플레이트(240)의 하단부에 실린더 로드가 결합되고, 타측으로 실린더헤드가 고정되는 실린더(250)는 상기 수직이동모터(230)의 수직운동을 위한 동력을 전달하여 상기 수직이송플레이트(240)가 상하로 슬라이딩하여 운동을 할때, 수평이동장치(100) 및 제품의 하중과 중력으로 인한 무게를 상기 수직이동모터(230)로부터 분산시켜 과부하가 걸리지 않게 하는 역할을 하며, 제품의 중량 및 수평이동장치(100)의 중량에 비례하여 하나 이상 구비하여 중력보상장치로서의 역할을 하는 것이 바람직하고, 수직 운동 시 발생하는 물리적 진동 등의 힘으로부터 이탈하지 않게 상기 지지플레임(210)에 고정되는 것이 바람직하다.In addition, the cylinder rod is coupled to the lower end of the vertical transfer plate 240, the cylinder 250 fixed to the cylinder head to the other side transmits the power for the vertical movement of the vertical movement motor 230 to the vertical transfer plate When the 240 moves up and down, the horizontal movement device 100 and the weight due to the load and gravity of the product is distributed from the vertical movement motor 230 so as not to be overloaded, the product It is preferable to serve as a gravity compensation device by providing at least one in proportion to the weight and the weight of the horizontal moving device 100, and fixed to the support frame 210 so as not to be separated from the force such as physical vibration generated during vertical movement It is desirable to be.
지지대(300)는 상기 지지플레임(210)의 하부와 결합하여, 수직 및 수평운동 시 발생하는 물리적 영향을 분산시켜주는 역할을 하고, 이송하는 제품 및 공정기계의 높이에 따라 높낮이를 조절하며, 지반이 평평하지 않을때, 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 평행을 유지하기 위해, 복수 개 이상의 높이 조절부(310)를 구비하는 것이다. Support 300 is coupled to the lower portion of the support frame 210, serves to disperse the physical effects generated during vertical and horizontal movement, adjust the height according to the height of the product and the process machine to transport, the ground When not flat, in order to maintain parallelism of the ball screw transfer robot provided with a gravity compensating device, a plurality of height adjusting portions 310 are provided.
상기와 같은 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇은 상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)에 상기 벨트(122)와 상기 구동벨트부(153)에 결합되는 부위에 기어홈(123)을 형성하고, 상기 벨트(122) 및 상기 구동벨트부(153)에는 벨트홈(124)를 상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)와 결합하는 부위에 벨트홈(124)를 형성하여, 끼움결합하게 함으로 동력을 전달함에 있어 손실 없이 전달할 수 있게 하며, 이탈하지 않게 맞물리게 하는 것이 바람직하다.The ball screw transfer robot having a gravity compensation device as described above has the belt 122 and the driving belt part 153 at the belt gear 121, the driving gear part 151, and the driven gear part 152. A gear groove 123 is formed in a portion coupled to the belt groove, and a belt groove 124 is formed in the belt 122 and the driving belt part 153 by the belt gear 121, the driving gear part 151, and the bell. It is preferable to form the belt groove 124 at the portion to be combined with the synchronous gear 152, so that the coupling can be carried out without loss in transmitting power by engaging the fitting.
또한, 수평베이스플레임(110)과 상기 수평이송플레임(120)에 대응되는 위치, 상기 수평이송플레임(120)과 상기 클램프(140)에 대응되는 위치 및 상기 지지플레임(210)과 상기 수직이송플레이트(240)가 대응되는 위치에 복수 개 이상의 가이드레일부(113)를 구비하고, 상기 수평이동플레이트(130), 상기 클램프(140) 및 상기 수직이송플레이트에 복수개 이상의 이동부(114)를 구비하여 수직운동 및 수평운동 시에 발생하는 물리적 영향으로부터 안정적으로 고정되게 하므로, 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 내구성을 증대하게 함이 바람직할 것이다.In addition, the position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, the position corresponding to the horizontal transfer frame 120 and the clamp 140, and the support frame 210 and the vertical transfer plate A plurality of guide rails 113 are provided at positions 240 corresponding thereto, and a plurality of moving parts 114 are provided at the horizontal moving plate 130, the clamp 140, and the vertical transfer plate. It is desirable to increase the durability of the ball screw transfer robot having a gravity compensation device because it is stably fixed from the physical effects occurring during vertical and horizontal movements.
또한, 상기 지지플레임(210)의 하부와 상기 지지대(300)의 상부에 위치하여 연결시켜주는 베이스 플레이트(221), 상기 지지플레임(210)의 상부에 수직으로 결합되는 탑플레이트(222)를 포함하여 상기 지지플레임(210)을 안정적으로 지지하는 역할을 하며, 상기 탑플레이트(222)의 상부에는 이동고리(223)를 형성하여 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇의 이동시에 상기 이동고리(223)를 이용하는 것이 바람직할 것이다.In addition, the base plate 221 which is located in the lower portion of the support frame 210 and the upper support 300, and includes a top plate 222 vertically coupled to the upper portion of the support frame 210. It serves to stably support the support frame 210, the mobile ring 223 is formed at the top of the top plate 222 to move the ball screw transfer robot equipped with a gravity compensation device when the mobile ring It would be desirable to use 223.
또한, 상기 실린더(250)는 에어실린더, 유압실린더 중 하나로 선택된 실린더를 사용하는데, 에어실린더의 경우 폐유가 발생하지 않으나, 이송하는 제품의 중량이나, 상기 수평운동장치(100)의 크기에 따라 하중이 크게 작용 될 경우, 견딜 수 있는 힘이 한계가 있는 단점이 있고, 유압실린더의 경우 에어실린더보다 많은 하중을 견딜 수 있으나, 폐유가 발생하게 되며, 온도의 영향을 받으면 점도가 변하여 효율이 변하기도 한다는 단점이 있으므로, 제품의 중량 및 상기 수평운동장치(100)의 하중에 따라 선택하여 사용하는 것이 바람직 할 것이다.In addition, the cylinder 250 uses a cylinder selected from one of an air cylinder and a hydraulic cylinder. In the case of an air cylinder, waste oil does not occur, but a load depends on the weight of a product to be transported or the size of the horizontal motion device 100. If this is a large action, there is a disadvantage that the force to withstand the limit, the hydraulic cylinder can withstand more load than the air cylinder, but waste oil is generated, and the viscosity is changed under the influence of temperature, the efficiency is also changed Since there is a disadvantage, it is preferable to select and use according to the weight of the product and the load of the horizontal motion device (100).
본 발명은, 수평이동장치의 이동거리가 멀어지더라도 트랜스퍼 로봇의 크기가 과도하게 커지지 않으며, 이송하는 제품의 중량이 증가하여도, 중력보상장치로 인해 모터의 과부화를 줄여 모터의 성능을 유지시키며, 이로 인하여 에너지의 소모를 같이 줄여 에너지 절감으로 작업의 경제성을 증가시키는 효과를 가지게 된다.The present invention does not excessively increase the size of the transfer robot even if the moving distance of the horizontal moving device increases, and maintains the performance of the motor by reducing the overload of the motor due to the gravity compensation device even if the weight of the product to be transported increases. As a result, the energy consumption can be reduced and energy saving can be increased.

Claims (6)

  1. 제품을 수직, 수평 방향으로 운송 및 복귀하는 트랜스퍼 로봇에 있어서, In the transfer robot for transporting and returning the product in the vertical and horizontal directions,
    이송로봇은 수평이동장치(100), 수직이동장치(200), 지지대(300)로 구성하되,The transfer robot is composed of a horizontal moving device 100, a vertical moving device 200, the support 300,
    상기 수평이동장치(100)는 지면에서 수평으로 위치하는 수평베이스플레임(110); 상기 수평베이스플레임(110)와 평행하게 대응되는 위치에 형성되는 수평이송플레임(120); 상기 수평베이스플레임(110)과 상기 수평이송플레임(120) 사이에 구비되는 수평이동플레이트(130); 상기 수평이송플레임(120) 정면부에 구비되는 클램프(140); 상기 수평베이스플레임(110) 배면부의 일측단부에 구비되는 수평이동모터(150); 상기 수평베이스플레임(110)에 지면에서 수평으로 구비되며 상기 수평이동플레이트(130)와 결합되는 수평볼스크류(111); 상기 수평베이스플레임(110)과 상기 수평이송플레임(120)에 지면에서 수평으로 상기 대응되는 위치에 한쌍 이상으로 구비되는 랙기어(112); 상기 수평이동플레이트(130)에 구비되어 상기 랙기어(112)들과 끼움결합되는 피니언기어(131); 상기 수평이송플레임(120)의 양측단부에 구비되는 벨트기어(121); 상기 벨트기어(121)에 끼움결합되는 벨트(122); 상기 클램프(140)에 형성되는 체결홈부(141); 상기 체결홈부(141)에 체결되는 이송되는 제품의 형상에 맞게 제작되는 제품이송부; 상기 수평이동모터(150)의 일측단부에 결합되는 구동기어부(151); 상기 수평볼스크류(111)의 일측단부에 구비되는 종동기어부(152); 상기 구동기어부(151)과 상기 종동기어부(152)에 끼움결합 되는 구동벨트부(153);로 구성하며,The horizontal moving apparatus 100 includes a horizontal base frame 110 positioned horizontally on the ground; A horizontal transfer frame 120 formed at a position corresponding to the horizontal base frame 110 in parallel; A horizontal moving plate (130) provided between the horizontal base frame (110) and the horizontal conveying frame (120); A clamp 140 provided at the front portion of the horizontal transfer frame 120; A horizontal moving motor (150) provided at one end of the rear surface of the horizontal base frame (110); A horizontal ball screw 111 provided horizontally on the ground to the horizontal base frame 110 and coupled to the horizontal moving plate 130; A rack gear (112) provided in the horizontal base frame (110) and the horizontal transfer frame (120) at a corresponding position horizontally on the ground; A pinion gear 131 provided on the horizontal movable plate 130 and fitted to the rack gears 112; Belt gears 121 provided at both end portions of the horizontal transfer frame 120; A belt 122 fitted to the belt gear 121; A fastening groove 141 formed in the clamp 140; A product transfer part manufactured according to the shape of the product to be fastened to the fastening groove 141; A drive gear unit 151 coupled to one side end of the horizontal moving motor 150; A driven gear part 152 provided at one end of the horizontal ball screw 111; And a driving belt part 153 fitted to the driving gear part 151 and the driven gear part 152.
    상기 수직이동장치(200)는 상기 지지대(300)에서 수직으로 위치하며, 1개 이상의 지지플레임(210); 상기 지지플레임(210)에 수직으로 1개 이상이 결합되는 지지플레이트(220); 상기 지지플레이트(220)에 결합되는 수직이동모터(230); 상기 지지플레임(210) 사이에 구비되어 상기 수평베이스플레임(110)과 결합 되어 상하로 이송하는 수직이송플레이트(240); 상기 지지플레임(210) 사이에 평행하게 위치되고, 상기 수직이송플레이트(240)의 하단부에 실린더 로드가 결합되고, 타측으로 실린더 헤드가 고정되는 실린더(250); 일측단부가 수직이송플레이트(240)의 하단부에 결합되고, 타단부가 상기 수직이동모터(230)에 결합되는 수직볼스크류(231);로 구성하고,The vertical moving device 200 is located vertically on the support 300, at least one support frame 210; A support plate 220 coupled to at least one perpendicular to the support frame 210; A vertical moving motor 230 coupled to the support plate 220; A vertical transfer plate 240 provided between the support frames 210 and coupled to the horizontal base frame 110 to move up and down; A cylinder 250 positioned in parallel between the support frames 210 and having a cylinder rod coupled to a lower end of the vertical transfer plate 240 and having a cylinder head fixed to the other side; One end is coupled to the lower end of the vertical transfer plate 240, the other end is a vertical ball screw 231 is coupled to the vertical movement motor 230;
    상기 지지대(300)는 복수개 이상의 높이조절부(310)가 결합되어 있는 것을 특징으로 하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.The support 300 is a ball screw transfer robot having a gravity compensation device, characterized in that the plurality of height adjustment unit 310 is coupled.
  2. 제 1항에 있어서,The method of claim 1,
    상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)에서 상기 벨트(122) 및 상기 구동벨트부(153)의 결합부위에 기어홈(123);이 형성되고 상기 벨트(122) 및 상기 구동벨트부(153)가 상기 벨트기어(121), 상기 구동기어부(151) 및 상기 종동기어부(152)와 결합하는 결합부위에 벨트홈(124);이 형성되는 것을 특징으로 하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.A gear groove 123 formed at a coupling portion of the belt 122 and the driving belt part 153 in the belt gear 121, the driving gear part 151, and the driven gear part 152. A belt groove 124 formed at a coupling portion at which the belt 122 and the driving belt unit 153 are coupled to the belt gear 121, the driving gear unit 151, and the driven gear unit 152. Ball screw transfer robot with a gravity compensation device.
  3. 제 1항에 있어서,The method of claim 1,
    상기 수평베이스플레임(110)과 상기 수평이송플레임(120)에 대응되는 위치, 상기 수평이송플레임(120)과 상기 클램프(140)에 대응되는 위치 및 상기 지지플레임(210)과 상기 수직이송플레이트(240)에 대응되는 위치에 각각 복수개 이상 가이드레일부(113);가 구비되고, 상기 수평이동플레이트(130), 상기 클램프(140) 및 상기 수직이송플레이트(240)에 각각 구비되고 상기 가이드레일(113)에 끼움결합 되는 이동부(114);를 포함하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.A position corresponding to the horizontal base frame 110 and the horizontal transfer frame 120, a position corresponding to the horizontal transfer frame 120 and the clamp 140, the support frame 210 and the vertical transfer plate ( A plurality of guide rails 113 at a position corresponding to 240, respectively; is provided, and provided in the horizontal moving plate 130, the clamp 140 and the vertical transfer plate 240, respectively, the guide rail ( Ball screw-type transfer robot having a gravity compensation device comprising a;
  4. 제 1항에 있어서,The method of claim 1,
    상기 지지플레임(210)의 하부에 수직으로 결합 되고 상기 지지대(300)에 결합 되는 베이스플레이트(221); 상기 지지플레임(210)의 상부에 수직으로 결합되는 탑플레이트(222);를 포함하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.A base plate 221 vertically coupled to a lower portion of the support frame 210 and coupled to the support 300; Ball screw-type transfer robot having a gravity compensation device comprising; a top plate 222 vertically coupled to the upper portion of the support frame (210).
  5. 제 1항에 있어서,The method of claim 1,
    상기 실린더(250)는 에어실린더, 유압실린더 중 하나로 선택된 실린더로 되는 것을 특징으로 하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.The cylinder 250 is a ball screw transfer robot having a gravity compensation device, characterized in that the cylinder selected from one of the air cylinder, hydraulic cylinder.
  6. 제 4항에 있어서,The method of claim 4, wherein
    상기 탑플레이트(222)의 상부에 형성되는 이동고리(223);를 포함하는 중력보상장치를 구비한 볼스크류식 트랜스퍼 로봇.Ball screw-type transfer robot having a gravity compensation device comprising a; the moving ring 223 formed on the top plate 222.
PCT/KR2015/005550 2015-05-08 2015-06-03 Ball-screw type transfer robot having gravity compensation device WO2016182113A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020150064881A KR101576871B1 (en) 2015-05-08 2015-05-08 Ball screw-type transfer robot equipped with a gravity compensation device
KR10-2015-0064881 2015-05-08

Publications (1)

Publication Number Publication Date
WO2016182113A1 true WO2016182113A1 (en) 2016-11-17

Family

ID=55081053

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2015/005550 WO2016182113A1 (en) 2015-05-08 2015-06-03 Ball-screw type transfer robot having gravity compensation device

Country Status (2)

Country Link
KR (1) KR101576871B1 (en)
WO (1) WO2016182113A1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107052757A (en) * 2017-06-07 2017-08-18 许昌虹榕节能电器设备有限公司 A kind of LED lamp bead feeding mechanism
CN107521943A (en) * 2017-09-30 2017-12-29 北京经纬纺机新技术有限公司 A kind of equipment transported for tulle pouch transfer
CN109132307A (en) * 2018-08-02 2019-01-04 苏州康鸿智能装备股份有限公司 A kind of high-precision transmission transfer machine
CN112139434A (en) * 2020-09-17 2020-12-29 四川劲德兴汽车配件有限公司 Hard disk support intramode rivet feeding machine
CN113359772A (en) * 2021-07-06 2021-09-07 山东华宇工学院 Robot is patrolled and examined to electrical automation control cabinet state

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105417127A (en) * 2015-12-21 2016-03-23 安徽德力日用玻璃股份有限公司 Ball screw bottle pushing machine
KR101860195B1 (en) * 2016-03-31 2018-05-21 권현근 the transfer robot and the transfer system therewith
KR101929399B1 (en) * 2017-05-30 2018-12-14 (주)티보텍 Transfer robot
CN109202875A (en) * 2018-10-30 2019-01-15 国网江苏省电力有限公司镇江供电分公司 The loading and unloading mechanical arm of strain insulator mechanism for assembling-disassembling
KR102640853B1 (en) 2021-11-15 2024-02-27 주식회사 드림로봇 Actuator with dual ball screw
KR102522779B1 (en) 2021-11-15 2023-04-18 주식회사 드림로봇 System to prevent resonance for the long shaft for the ball screw using spring structure

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200207969Y1 (en) * 1995-05-31 2001-01-15 권상문 Gravity Compensation and Safety Device for Vertical Frames
KR101446576B1 (en) * 2013-12-27 2014-10-06 에이앤피산업(주) Single arm transfer robot
KR101490977B1 (en) * 2014-02-18 2015-02-23 (주) 러스 the lift apparatus for transfer and the transfer robot theirwith

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200207969Y1 (en) * 1995-05-31 2001-01-15 권상문 Gravity Compensation and Safety Device for Vertical Frames
KR101446576B1 (en) * 2013-12-27 2014-10-06 에이앤피산업(주) Single arm transfer robot
KR101490977B1 (en) * 2014-02-18 2015-02-23 (주) 러스 the lift apparatus for transfer and the transfer robot theirwith

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107052757A (en) * 2017-06-07 2017-08-18 许昌虹榕节能电器设备有限公司 A kind of LED lamp bead feeding mechanism
CN107052757B (en) * 2017-06-07 2023-04-28 许昌虹榕节能电器设备有限公司 LED lamp pearl feed mechanism
CN107521943A (en) * 2017-09-30 2017-12-29 北京经纬纺机新技术有限公司 A kind of equipment transported for tulle pouch transfer
CN109132307A (en) * 2018-08-02 2019-01-04 苏州康鸿智能装备股份有限公司 A kind of high-precision transmission transfer machine
CN112139434A (en) * 2020-09-17 2020-12-29 四川劲德兴汽车配件有限公司 Hard disk support intramode rivet feeding machine
CN113359772A (en) * 2021-07-06 2021-09-07 山东华宇工学院 Robot is patrolled and examined to electrical automation control cabinet state
CN113359772B (en) * 2021-07-06 2022-11-11 山东华宇工学院 Robot is patrolled and examined to electrical automation control cabinet state

Also Published As

Publication number Publication date
KR101576871B1 (en) 2015-12-17

Similar Documents

Publication Publication Date Title
WO2016182113A1 (en) Ball-screw type transfer robot having gravity compensation device
CN201092480Y (en) Appliance transporting device
CN203529439U (en) Automatic sheet grabbing system for glass panel printing discharging
CN109573525A (en) A kind of assembly line for carrier circulation
CN105217276B (en) A kind of cement feeding barrel clamps carrying mechanism
CN103785766A (en) Carrying and stacking mechanical hand
CN108807250B (en) Beam type automatic typesetting machine
CN106081560B (en) A kind of flat tube automatic charging device
CN109795887A (en) A kind of double-station battery loading equipment
CN205271698U (en) Axle type part material loading machine
CN105398765A (en) Wafer mounting and lifting conveying device of graphite boat
CN107640522A (en) A kind of automatic telescopic conveyer
CN202369150U (en) Automatic feeding equipment in corrugated paper buffering cushion production line
CN205972645U (en) Multistage formula assembly line
CN104175108A (en) Product transportation assembly line mechanism
CN207390410U (en) A kind of automatic feed mechanism
CN109437539A (en) Cover-plate glass cutting equipment
CN206615776U (en) A kind of glass pieces locator and handling equipment
CN205802978U (en) Conveyer device
CN109250482B (en) Midway transfer conveying mechanism for circuit board substrate
CN205294028U (en) Mounting lift conveyer of graphite boat
CN210122328U (en) Silicon wafer caching machine
CN110282427B (en) Positioning and conveying device for flexible solar film assembly
CN206939666U (en) A kind of pallet accumulative and travel type circumversion chain conveys tripper
CN110255161A (en) A kind of can body of aerosol can and the escalator-type separator of Universal base

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15891929

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 16.01.2018)

122 Ep: pct application non-entry in european phase

Ref document number: 15891929

Country of ref document: EP

Kind code of ref document: A1