KR20170052183A

KR20170052183A - Ceiling type Compact Cartesian Robot - Rack Pinion

Info

Publication number: KR20170052183A
Application number: KR1020150154324A
Authority: KR
Inventors: 이정기
Original assignee: 주식회사 한국로봇
Priority date: 2015-11-04
Filing date: 2015-11-04
Publication date: 2017-05-12

Abstract

The present invention relates to a ceiling-mounted small orthogonal robot for installing a working tool on an orthogonal robot and controlling the movement of a working tool, the ceiling-type small orthogonal robot comprising: a horizontal transfer module; a main rotary shaft installed in a transfer block of the horizontal transfer module; A rack pinion module installed so as to be capable of swinging rotation according to the rotation of the main rotation shaft and installed so as to move the rack up and down; a rack pinion module fixed to the rack of the rack pinion module, And a controller for controlling the movement of the working tool mounted on the tool fixing part by controlling the respective modules. The present invention provides a ceiling type miniature orthogonal robot comprising a rack pinion The module can speed up and lower the work tool at high speed, shortening the work time, The work tool can be controlled by the previous, the up / down and the turning movement, so that the working area can be enlarged.

Description

{Ceiling type Compact Cartesian Robot - Rack & Pinion}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an orthogonal robot, and more particularly, to a ceiling-mounted miniature orthogonal robot that is installed in a ceiling on an upper surface of a workpiece and allows the work tool to be vertically raised and lowered at a high speed by a rack and a pinion.

Generally, robots are used for automated operations such as conveying, marking, assembling, assembling, etc. of objects in an automated production line. An orthogonal robot is constituted by a linear module capable of linear motion with two axes, three axes, It is used as an industrial robot that can work by moving a work tool in two or three axes by installing a work tool in a module. As a prior art for an orthogonal robot, Korean Patent Publication No. 1992-0021264 (Dec. 18, 1992) and the like are known.

The above-described biaxial orthogonal robot can move along the orthogonal coordinate on the horizontal plane, and the three-axis orthogonal robot can move horizontally and vertically. However, the orthogonal robot having such a combination of linear modules has disadvantages that the structure for three-dimensional movement is complicated and it is difficult to move freely.

Recently, industrial SCARA robots are widely used. Korean Patent Laid-Open Publication No. 2013-0134095 (Dec. 20, 2013) discloses a scara robot as a prior art.

1, the SCARA robot includes a base 50, a first arm 52 connected to the base 50 via a first axis 51 and rotatable, a first arm 52 A third arm 54 connected to the second arm 54 and rotated by a second shaft 53 and a second arm 54 connected to the third arm 54 by a third shaft 53, A shaft 56 and a fourth shaft 57 which is the center of rotation of the end effector 55. [

The fourth axis (hereinafter, referred to as 'drive shaft') of the SCARA robot as described above is connected to the drive motor via a belt and rotates by receiving the rotational force.

However, since such a conventional SCARA robot requires a mounting space on a flat surface and a space for a swing motion is required as a structure for installing the base 50 in the form of a desk such as a workbench, a planar installation space for the SCARA robot There is a disadvantage that it is necessary.

The scalar robot further includes a third shaft 56 and a fourth shaft 57 which are provided to move up and down and rotate the end effector 55, It is difficult to move up and down in the vertical direction by using a multi-joint or multi-shaft structure. Also, even when the BNS axis is applied to the scalar robot, the up and down movement of the BNS axis is a power transmission method using a pulley. .

Korean Unexamined Patent Application Publication No. 1992-0021264 (Dec. 18, 1992) Korean Unexamined Patent Publication No. 2013-0134095 (Dec. 10, 2013)

The present invention relates to a ceiling-mounted miniature orthogonal robot which is constructed in a rack-pinion type instead of the BNS axis and is provided with a working tool at the tip of the rack to allow vertical up-and-down movement at high speed.

The roof type small orthogonal robot according to the present invention,

A horizontal conveying module in which a conveying block is horizontally conveyed to a ball screw whose rotation is controlled by a motor;

A main rotary shaft installed in the conveying block of the horizontal conveying module and rotatably installed by a motor and a speed reducer;

A rack pinion module installed on the main rotation axis portion and configured to engage and disengage a rack mounted on a pinion driven by a motor so as to be capable of swinging rotation according to rotation of the main rotation axis;

A tool rotation module which is fixed to the rack of the rack pinion module and moves together with the rack and which rotates the tool fixing portion by decelerating the rotational force of the motor through the decelerator;

And a controller for controlling the movement of the work tool mounted on the tool fixing part by controlling the horizontal transfer module, the main rotation axis part, the rack pinion module, and the tool rotation module.

The horizontal transfer module includes:

A supporting base is provided on an upper portion of the work target position, and the horizontal transfer module is fixed to the supporting base.

In the horizontal transfer module,

A flexible cable bearing for flexibly supporting a horizontal transfer module, a main rotary shaft and a rack pinion module from the connector adapter, and a power and control cable connected to the rotary module, And further comprising:

The rack pinion module includes:

An A-arm bracket fixed to the main rotation shaft;

A motor installed inside the arm bracket;

A pinion installed on a motor shaft of the motor;

And a rack which is meshed with the pinion and is supported by the arm bracket in accordance with the rotation of the motor and installed vertically so as to be able to move up and down at a high speed.

Since the ceiling type miniature orthogonal robot according to the present invention is installed in a ceiling shape at the working position, it is possible to increase the utilization of the installation space and to perform horizontal movement, swing motion, vertical up / And the vertical raising and lowering is controlled by the rack pinion module, so that the raising and lowering of the rails can be performed at a high speed, so that the work speed can be improved when the work is transported by the work tool.

1 is a diagram showing a configuration example of a conventional SCARA robot.
Fig. 2 is an outline configuration diagram of a ceiling-mounted miniature orthogonal robot according to the present invention. Fig.
3 is a perspective view showing a configuration of a roof type miniature orthogonal robot according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a configuration diagram of a ceiling-mounted miniature orthogonal robot according to the present invention, and FIG. 3 is a perspective view showing a configuration of a ceiling-mounted miniature rectangular robot according to the present invention.

A ceiling-mounted miniature orthogonal robot according to the present invention comprises:

A horizontal conveying module 100 in which a conveying block 130 is horizontally conveyed to a ball screw 110 whose rotation is controlled by a motor 120;

A main rotation axis part 200 mounted on the transport block 130 of the horizontal transport module 100 and having a main rotation axis rotatably installed by a motor and a speed reducer;

The rack 330 is coupled to the pinion 320 mounted on the main rotating shaft 200 and driven by the motor 310 to swing in accordance with the rotation of the main rotating shaft. A rack pinion module 300 for vertically moving up and down;

The rack pinion module 300 is fixed to the rack 330 and moves together with the rack 300 to rotate the tool fixing portion 430 by decelerating the rotational force of the motor 410 through the speed reducer 420 A tool rotation module 400;

The work tool 600 mounted on the tool fixing portion 430 by controlling the horizontal transfer module 100, the main rotation axis portion 200, the rack pinion module 300 and the tool rotation module 400, And a controller (500) for controlling the movement of the position.

The rack pinion module (300)

An A-arm bracket 301 fixed to the main rotation shaft;

A motor 310 installed inside the arm bracket 301;

A pinion 320 installed on the motor shaft of the motor 310;

And a rack 330 which is meshed with the pinion 330 and supported by the arm bracket 301 in accordance with the rotation of the motor 310 so as to vertically move up and down at a high speed.

The horizontal transfer module 100 is installed in a ceiling shape. The ceiling-like type means that a cradle, a support, or the like is provided on the upper part of the object to be accessed by the work tool 600, and is fixed to the cradle or the support.

Therefore, compared with a conventional scara robot or an orthogonal robot, which is installed in a plane space at a position adjacent to an object to be worked, the present invention is installed in the upper space of the object, so that the orthogonal robot .

In the horizontal transfer module 100,

A connection adapter 140 for connecting a power supply and a control cable of the controller 500 to each other and a connection adapter 140 for connecting the horizontal transfer module 100, the main rotation axis part 200, And a flexible cable bearing (150) for flexibly supporting the power and control cables.

It is installed in a ceiling shape so that it can be flexibly managed to prevent twisting of connected cables even if movement such as horizontal feed or swing rotation occurs.

The present invention is characterized in that a main rotation axis portion 200 is installed on a transport block 130 of a horizontal transport module 100 and a rack pinion module 300 is rotatably installed on a main rotation axis portion 200.

The tool rotation module 400 is fixedly installed in the rack 330 of the rack pinion module 300 and moves up and down together with the rack 330. The tool rotation module 400 is provided with a tool fixing portion 400, And a tool 430 is installed to control rotation of the tool rotation module 400, and a tool 600 is mounted on the tool rotation module 400.

In the present invention, since the conveying block 130 of the horizontal conveying module 100 can be horizontally conveyed under the control of the controller 500, the main rotating shaft 200 is horizontally conveyed by the horizontal conveying module 100 . Therefore, the work position can be enlarged by the horizontal feed distance of the horizontal feed module 100. The main rotating shaft portion 200 rotates the main rotating shaft by the motor and the speed reducer so that the rack pinion module 300 can swing.

The rack pinion module 300 includes a tool rotation module 400 fixedly installed on the fixed member 401 and a fixed member 401 mounted on the rack 330 to vertically move the rack 330 up and down, The tool fixing unit 430 is rotated.

Accordingly, the work tool 600 mounted on the tool fixing unit 430 can be controlled by horizontal transfer, swing rotation, vertical up / down movement, and rotary motion.

The rack pinion module 300 includes an aero bracket 301 fixed to a main rotating shaft of the main rotating shaft 200. A motor 310 is installed in the aero bracket 301, A pinion 320 is provided on the shaft, and the rack 330 is engaged with the pinion 320. At this time, the rack 330 is supported by the arm bracket 301 and installed so as to be able to move up and down vertically.

Therefore, when the work tool 600 is vertically moved up and down, it is moved up and down by driving the rack pinion module 300, so that it is possible to move at a higher speed than the conventional pulley type lifting structure. Therefore, the up and down speed of the work tool 600 is increased and the work speed can be improved.

100: horizontal feed module 110: ball screw
120: motor 130: transfer block
140: Cable adapter 150: Flexible cable bear
200: main rotating shaft part 300: rack pinion module
301: A-arm bracket 310: Motor
320: Pinion 330: Rack
400: Tool rotation module 401: Fixing member
410: motor 420: speed reducer
430: Tool fixing unit 500: Controller
600: Work Tool

Claims

A horizontal conveying module 100 in which a conveying block 130 is horizontally conveyed to a ball screw 110 whose rotation is controlled by a motor 120;
A main rotation axis part 200 mounted on the transport block 130 of the horizontal transport module 100 and having a main rotation axis rotatably installed by a motor and a speed reducer;
The rack 330 is coupled to the pinion 320 installed in the main rotating shaft 200 and driven by the motor 310 to swing in accordance with the rotation of the main rotating shaft. A rack pinion module 300 for vertically moving up and down;
The rack pinion module 300 is fixed to the rack 330 and moves together with the rack 300 to rotate the tool fixing portion 430 by decelerating the rotational force of the motor 410 through the speed reducer 420 A tool rotation module 400;
The work tool 600 mounted on the tool fixing portion 430 by controlling the horizontal transfer module 100, the main rotation axis portion 200, the rack pinion module 300 and the tool rotation module 400, And a controller (500) for controlling the movement of the small-sized orthogonal robot.

The rack pinion module according to claim 1, wherein the rack pinion module (300)
An A-arm bracket 301 fixed to the main rotation shaft;
A motor 310 installed inside the arm bracket 301;
A pinion 320 installed on the motor shaft of the motor 310;
And a rack (330) which is meshed with the pinion (330) and supported by the aiam bracket (301) according to the rotation of the motor (310) so as to be vertically raised and lowered at a high speed.

2. The apparatus of claim 1, wherein the horizontal transfer module (100)
Wherein a ceiling or a support is provided on an upper part of the object to be accessed by the work tool (600), and the horizontal transfer module (100) is fixed to the ceiling or the support.