KR101050583B1 - Smart actuator - Google Patents

Smart actuator Download PDF

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Publication number
KR101050583B1
KR101050583B1 KR1020100140517A KR20100140517A KR101050583B1 KR 101050583 B1 KR101050583 B1 KR 101050583B1 KR 1020100140517 A KR1020100140517 A KR 1020100140517A KR 20100140517 A KR20100140517 A KR 20100140517A KR 101050583 B1 KR101050583 B1 KR 101050583B1
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KR
South Korea
Prior art keywords
coupling
opening
cover
lead screw
positioning device
Prior art date
Application number
KR1020100140517A
Other languages
Korean (ko)
Inventor
안성대
Original Assignee
주식회사아이로보
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Publication date
Application filed by 주식회사아이로보 filed Critical 주식회사아이로보
Priority to KR1020100140517A priority Critical patent/KR101050583B1/en
Application granted granted Critical
Publication of KR101050583B1 publication Critical patent/KR101050583B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H29/00—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action
    • F16H29/12—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between rotary driving and driven members
    • F16H29/16—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between rotary driving and driven members in which the transmission ratio is changed by adjustment of the distance between the axes of the rotary members
    • F16H29/18—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between rotary driving and driven members in which the transmission ratio is changed by adjustment of the distance between the axes of the rotary members in which the intermittently-driving members slide along approximately radial guides while rotating with one of the rotary members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2716/00—Equipment for precise positioning of tool or work into particular locations
    • B23Q2716/08—Holders for tools or work comprising a divider or positioning devices

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

Abstract

The present invention provides a case in which the opening is formed along the longitudinal direction, a lead screw rotatably installed in the longitudinal direction inside the case, and screwed to the lead screw, so that the mounting portion for mounting the transfer object is exposed from the opening. A coupling module provided on one side of the case and a coupling member connected to the lead screw to have a gap therein, and an opening formed on one side of the coupling module to expose the coupling; The present invention relates to a multi-point positioning device including a coupling cover installed to open and close to an opening, and a rotary motor fixed to the coupling module and connected to a lead screw by a coupling.

Figure R1020100140517

Description

Electric multi-point positioning device {SMART ACTUATOR}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric multi-point positioning device, and more particularly, to an electric multi-point positioning device having a compact size and excellent positional accuracy by combining an integrated servomotor capable of precise control.

In general, various multi-point positioning devices have been developed and used to transport materials, products, and various other objects in a linear direction.

In the conventional multi-point positioning device using a rotary motor, a lead screw is connected to the rotary shaft of the rotary motor through a coupling, a ball nut is screwed to the lead screw, and a transfer object is mounted on the ball nut. Therefore, in the conventional multi-point positioning device, the ball nut is linearly reciprocated with the object to be conveyed by rotating the lead screw by the rotation of the rotary motor.

However, the conventional multi-point positioning device has a problem that it is difficult to assemble to excellent position precision by not using an integrated servo motor with a built-in controller.

In addition, there is a problem in that it has a high positional precision and at the same time difficult to configure the device size compactly.

Accordingly, it is not only easy to implement the transfer in multiple axes, but there is a problem in that the structure becomes complicated.

An object of the present invention is to provide a multi-point positioning device capable of precise control by combining an integrated servomotor capable of precise control and compact size and excellent assembly.

It is also an object of the present invention to provide a multi-point positioning device that is easy to assemble and install even in multiple axes and has high positional accuracy.

According to an aspect of the present invention for achieving the above object, in the multi-point positioning device, a case having an opening is formed along the longitudinal direction, a lead screw rotatably installed in the longitudinal direction inside the case, the lead screw A coupling member which is screwed on the coupling member, and a mounting member for mounting the transfer object is exposed from the opening portion, and a coupling provided on one side of the case and connected to the lead screw to have a gap therein, the coupling A coupling module having an opening formed at one side thereof so as to be exposed, a coupling cover installed to be opened and closed at an opening of the coupling module, and a rotary motor fixed to the coupling module and connected to a lead screw by a coupling. It may include.

The apparatus may further include a fixing hole formed on a part or all of the bottom and side surfaces of the case, and a bracket fixed to the fixing hole by using a fastening member and mounted to a mounting portion of another multi-point positioning device. The positioning device can be combined with one or a plurality of other multi-point positioning devices so as to be arranged in a direction consisting of a combination of an X axis, a Y axis, and a Z axis.

In addition, the case is coupled to the base member slidably coupled to the guide member coupled to the transfer member, side plates are respectively coupled to both sides of the base member, the base member and one side of the side plate is coupled, the end of the lead screw bearing It includes a cap that is supported by, the coupling module is detachably coupled to the other side of the base member and the side plate by a fastening member, the other end of the lead screw can be supported by a bearing.

In addition, the coupling cover may be made of a transparent material to see the inside of the coupling module.

In addition, the coupling cover is provided with a fixing part fixed to the periphery of the opening, the folded portion having a reduced thickness to rotate to open the opening is formed on one side, the other side around the opening can be separated by a fastening member Is secured, and a protrusion may be formed on the bottom surface so as to fit in the opening.

In addition, the case is formed with an opening along the longitudinal direction, the cover made of a material attached to the magnetic force is arranged along the longitudinal direction in the opening portion is fixed at both ends, the transfer member is screwed to the lead screw A ball nut is mounted on the inside of the body, a magnet is mounted on the top of the body, a cover made of Teflon material is attached to the top of the body to cover the magnet, and the mounting portion has a clearance between the cover. It is fixed to the upper portion of the body to form, the cover may be inserted in the play so as to slide.

According to the multi-point positioning device according to the present invention, by combining the integrated servo motor capable of precise control, compact size and excellent assemblability enable precise control.

In addition, it is easy to assemble and install even in multiple axes, and to realize high positional accuracy.

1 is a perspective view showing a multi-point positioning device according to an embodiment of the present invention,
2 is an exploded perspective view showing a multi-point positioning device according to an embodiment of the present invention,
3 to 6 are perspective views showing the interior of the multi-point positioning device according to an embodiment of the present invention,
7 is an enlarged perspective view of a coupling module of a multi-point positioning device according to an embodiment of the present invention;
8 is a perspective view showing an opening state of the coupling cover of the multi-point positioning device according to an embodiment of the present invention,
9 is a bottom view showing a multi-point positioning device according to an embodiment of the present invention,
10 is a perspective view showing the installation of the multi-point positioning device according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, the embodiments of the present invention are provided to more fully explain the present invention to those skilled in the art, the following examples may be modified in various other forms, the scope of the present invention Is not limited to the following examples.

1 is a perspective view showing a multi-point positioning device according to an embodiment of the present invention, Figure 2 is an exploded perspective view showing a multi-point positioning device according to an embodiment of the present invention, Figures 3 to 6 A perspective view showing the inside of a multi-point positioning device according to an embodiment of the present invention.

1 to 3, the multi-point positioning device 100 according to an embodiment of the present invention includes a case 110 and a lead screw installed inside the case 110; 120, a coupling member 140 screwed to the lead screw 120, a coupling module 140 provided on one side of the case 110, and an opening 141 is formed, and the coupling module 140. It may include a coupling cover 150 is installed in the opening 141 of the) and a rotary motor 160 fixed to the coupling module 140.

Meanwhile, in the multi-point positioning apparatus 100 according to the present invention, the transfer object is a robot arm for chucking or clamping a material or a finished product of a semiconductor wafer, a semiconductor package, a glass substrate, or other products, or an inspection device for inspecting a product. The multi-point positioning device 200 (shown in FIG. 10) may also correspond.

The case 110 is formed with an opening 111 along the longitudinal direction. For example, the base member 112 and the base member 112 slidably coupled to the guide member 131 coupled to the conveying member 130. Cap 114 is coupled to both sides of the side plate 113, one side of the base member 112 and the side plate 113, and the end of the lead screw 120 is supported by a bearing 115 It may include.

The base member 112 has both side plates 113 fixed with bolts or screws, and is manufactured by heat-treating and polishing SUS 440-based materials, thereby providing excellent rigidity, and assembling precision of bearings 115 and 143 which will be described later. Will be accompanied.

Side plate 113 is fixed to the cap 114, such as bolts or screws on one side, the upper side is spaced apart from each other to form the opening 111 on the top.

Cap 114 is a bearing 115 is fixed by a fixing ring 116, the lead 117 is mounted on the front.

The case 110 is inserted into the transfer member 130 and provided with a cover 118 for blocking the opening 111 while allowing the transfer member 130 to move. Here, the cover 118 is made of a material that is attached by a magnetic force, for example, stainless steel material, is arranged along the longitudinal direction in the opening 111, both ends of the cap 114 and the coupling module 140, such as bolts Each of the fastening members is fixed.

The lead screw 120 is rotatably installed in the longitudinal direction inside the case 110, and the screw groove is formed on the outer circumferential surface to linearly move the transfer member 130 by rotation.

The conveying member 130 is screwed to the lead screw 120, and the mounting portion 132 for mounting the conveying object is provided to be exposed from the opening 111 of the case 110, for example, the lead screw 120. The ball nut 133 is screwed to the inside is mounted on the inside of the body 134, the end ring 135 respectively inserted into the lead screw 120 is fixed to both sides of the body 134 by a bolt or screw The nut 133 is fixed to the body 134.

In addition, as shown in Figures 4 to 6, the transfer member 130 is mounted so that the magnets 137 are inclined back and forth, respectively, in the insertion grooves 136 formed on the upper both sides of the body 134, the magnet ( A cover 138 made of Teflon material is attached to the upper portion of the body 134 so as to cover the 137, and the mounting portion 132 is formed on the upper portion of the body 134 so as to form a gap between the cover 138. It is fixed and the cover 118 is slidably inserted into the play. Therefore, when the transfer member 130 moves, the cover 118 is slid from the cover 118 positioned between the cover 138 and the mounting portion 132 to maintain the cover 118 blocking the opening 111. At this time, the attraction of the magnetic force between the magnet 137 and the cover 118 to suppress the flow of the cover 118, the cover 138 by applying a lubricant such as grease cover 138 and the cover 118 Sliding can be made smooth.

The coupling module 140 is provided at one side of the case 110, and the coupling 142 connected to the lead screw 120 is positioned to have a gap therein, and the coupling 142 is exposed. The opening 141 is formed at one side thereof.

Coupling module 140 may be made of a case 110 and a single member, such as bolts or screws on the other side of the base member 112 and the side plate 113 as in this embodiment to facilitate maintenance and repair It can be detachably coupled to the fastening member, the other end of the lead screw 120 may be supported by the bearing 143 inside. Here, the coupling module 140 may include a coupling member 145 coupled to the spacer 144 and the lead screw 120 between the coupling 142 and the bearing 143.

As shown in FIG. 7, the coupling cover 150 is installed to be opened and closed at the opening 141 of the coupling module 140, and may be made of a transparent material such as a transparent synthetic resin so as to see the inside thereof.

As shown in FIG. 8, the coupling cover 150 includes, for example, a fixing part 151 fixed to the circumference of the opening 141 on one side, and rotates from the fixing part 151 to open the opening 141. Folded portion 152 having a reduced thickness to open is formed, the other side around the opening 141 is separably fixed by a fastening member 153 such as a bolt or screw, sealing the opening 141 Protruding portion 154 may be formed on a bottom surface thereof so as to be fitted into the opening 141. Here, the fixing part 151 may be fixed to the periphery of the opening 141 with a bolt or a screw.

The rotary motor 160 may be detachably fixed to the end of the coupling module 140 by a bolt or a screw, and may form a line with the case 110. The rotary shaft may be connected to the lead screw 120 by the coupling 142. 161 is connected.

On the other hand, the multi-point positioning device 100 according to an embodiment of the present invention is a fixing hole 171 provided in the case 110 and the mounting portion of the other multi-point positioning device 200 is mounted to the fixing hole 171 It may further include a bracket 172 mounted to the (232).

1 and 9, a plurality of fixing holes 171 may be formed on some or all of the bottom and side surfaces of the case 110.

The bracket 172 is fixed to the fixing hole 171 by using a fastening member (not shown) such as a bolt or a screw, and is mounted on the mounting portion 232 of the other multi-point positioning device 200.

As shown in FIG. 10, another multi-point positioning device 200 is fixed to the fixing hole 171 (shown in FIGS. 1 and 9) by the bracket 172 in the multi-point positioning device 100. Furthermore, the fixing hole (not shown) side of another linear feed member (not shown) is fixed to the mounting portion 132 (shown in FIGS. 1 and 2) of the multi-point positioning device 100 via another bracket. It can be combined to be arranged in a direction consisting of a combination of the X-axis, Y-axis, Z-axis, thereby enabling two-axis feed, three-axis feed and the like.

The operation of the multi-point positioning device according to the present invention will be described.

As shown in FIG. 3, when rotational force is transmitted to the lead screw 120 through the coupling 142 by driving the rotary motor 160, the transfer member 130 moves linearly along the lead screw 120. This transfers the transfer object fixed to the mounting portion 132 of the transfer member 130.

As shown in FIG. 6, when the transfer member 130 moves, the cover 118 is opened by sliding from the cover 118 positioned between the cover 138 (shown in FIGS. 4 and 5) and the mounting portion 132. Maintaining a state in which the 111 is blocked, the magnetic force acts between the magnet 137 (shown in FIG. 4) and the cover 118 to suppress the flow of the cover 118, and the grease is provided on the cover 138. Lubricant, such as is applied to facilitate the sliding between the cover 138 and the cover 118.

As shown in FIG. 7, it is possible to determine whether the power is transmitted, the state of the coupling 142 or the state of the peripheral components without separating the components through the transparent coupling cover 150, as shown in FIG. 8. As described above, only the opening of the coupling cover 150 without disassembling the case 110 may facilitate the maintenance and repair of the rotary motor 160 through the disassembly and installation of the coupling 142. .

As shown in FIG. 10, another multi-point positioning device 200 is fixed to the fixing hole 171 (shown in FIGS. 1 and 9) by the bracket 172 in the multi-point positioning device 100. Furthermore, the fixing hole (not shown) side of another multi-point positioning device (not shown) is fixed to the mounting portion 132 (shown in FIGS. 1 and 2) of the multi-point positioning device 100 via another bracket. By doing so, it can be combined to be arranged in a direction consisting of a combination of the X-axis, Y-axis, Z-axis, which can be implemented to enable multi-axis transfer in various directions.

In addition, according to the multi-point positioning device 100 according to the present invention is implemented so that the structure is simple and excellent position accuracy.

As described above, although the multi-point positioning apparatus according to the present invention has been described with reference to the accompanying drawings, various modifications and changes can be made without departing from the technical spirit of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the following claims.

110 case 111 opening part
112: base member 113: side plate
114: cap 115: bearing
116: retaining ring 117: lead
118 cover 120 lead screw
130: conveying member 131: guide member
132,232: mounting portion 133: ball nut
134: body 135: end ring
137: magnet 138: cover
140: coupling module 141: opening
142: coupling 143: bearing
144: spacer 145: coupling member
150: coupling cover 151: fixing part
152: folded portion 153: fastening member
154: protrusion 160: rotary motor
161: rotating shaft 171: fixing hole
172: Bracket

Claims (6)

In the multi-point positioning device,
A case in which an opening is formed along the longitudinal direction,
A lead screw rotatably installed in the longitudinal direction inside the case;
A transfer member screwed to the lead screw and provided with a mounting portion for mounting a transfer object to be exposed from the opening portion;
A coupling module provided at one side of the case, the coupling connected to the lead screw having a gap therein, and having an opening formed at one side to expose the coupling;
A coupling cover installed to be opened and closed at an opening of the coupling module;
A rotary motor fixed to the coupling module and connected to the lead screw by the coupling;
The case has an opening formed along a longitudinal direction, and a cover made of a material attached by magnetic force is arranged along the longitudinal direction of the opening to fix both ends thereof.
The transfer member is a ball nut screwed to the lead screw is mounted on the inside of the body, a magnet is mounted on the upper portion of the body, a cover made of Teflon material is attached to the upper portion of the body to cover the magnet, The mounting portion is fixed to the upper portion of the body to form a clearance between the cover, the multi-point positioning device, characterized in that the cover is slidably inserted into the clearance.
delete delete The method of claim 1, wherein the coupling cover,
Multi-point positioning device, characterized in that made of a transparent material so that the inside of the coupling module can be seen.
The method of claim 1 or 4, wherein the coupling cover,
A fixing part fixed to the periphery of the opening is provided on one side, and a folding part having a reduced thickness is formed to rotate from the fixing part to open the opening. A multi-point positioning device, characterized in that the projection is formed on the bottom surface to be fixed and fitted in the opening.
delete
KR1020100140517A 2010-12-31 2010-12-31 Smart actuator KR101050583B1 (en)

Priority Applications (1)

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Application Number Priority Date Filing Date Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101334530B1 (en) 2013-05-03 2013-11-28 주승갑 Cartesian robot having magnetic holder and elastic member
KR101334480B1 (en) * 2013-05-03 2013-11-29 주승갑 Cartesian robot having rolling magnet
KR101334497B1 (en) * 2013-05-03 2013-11-29 주승갑 Cartesian robot having rubber plate magnet
KR101411532B1 (en) * 2013-02-01 2014-06-25 삼성중공업 주식회사 Helideck device for offshore wind turbine
KR101440259B1 (en) 2014-03-14 2014-09-17 안성대 actuator connected cover plate for protecting
WO2020179955A1 (en) * 2019-03-07 2020-09-10 (주)코리아테크 Clean-type linear guide
KR20200107878A (en) * 2020-07-03 2020-09-16 (주)코리아테크 Closed and Clean Type Linear Guide

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1163143A (en) 1997-08-26 1999-03-05 Smc Corp Actuator
KR100190595B1 (en) 1994-04-05 1999-06-01 다카다 요시유키 Guide rail for an electric actuator
US20040198541A1 (en) 2003-04-07 2004-10-07 Smc Corporation Actuator

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100190595B1 (en) 1994-04-05 1999-06-01 다카다 요시유키 Guide rail for an electric actuator
JPH1163143A (en) 1997-08-26 1999-03-05 Smc Corp Actuator
US20040198541A1 (en) 2003-04-07 2004-10-07 Smc Corporation Actuator

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101411532B1 (en) * 2013-02-01 2014-06-25 삼성중공업 주식회사 Helideck device for offshore wind turbine
KR101334530B1 (en) 2013-05-03 2013-11-28 주승갑 Cartesian robot having magnetic holder and elastic member
KR101334480B1 (en) * 2013-05-03 2013-11-29 주승갑 Cartesian robot having rolling magnet
KR101334497B1 (en) * 2013-05-03 2013-11-29 주승갑 Cartesian robot having rubber plate magnet
KR101440259B1 (en) 2014-03-14 2014-09-17 안성대 actuator connected cover plate for protecting
WO2020179955A1 (en) * 2019-03-07 2020-09-10 (주)코리아테크 Clean-type linear guide
KR20200107278A (en) * 2019-03-07 2020-09-16 (주)코리아테크 Clean Type Linear Guide Using Roller
KR102205079B1 (en) * 2019-03-07 2021-01-20 (주)코리아테크 Clean Type Linear Guide Using Roller
KR20200107878A (en) * 2020-07-03 2020-09-16 (주)코리아테크 Closed and Clean Type Linear Guide
KR102239442B1 (en) * 2020-07-03 2021-04-13 (주)코리아테크 Closed and Clean Type Linear Guide

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