KR20170081968A

KR20170081968A - Gantry loader

Info

Publication number: KR20170081968A
Application number: KR1020160001040A
Authority: KR
Inventors: 곽신규
Original assignee: 주식회사 테이아
Priority date: 2016-01-05
Filing date: 2016-01-05
Publication date: 2017-07-13

Abstract

According to an embodiment of the present invention, there is provided a gantry loader, comprising: a transfer unit for gripping and transferring an object to be processed; A guide bar supporting the conveying portion and providing a conveying path in a first horizontal direction; And a plurality of supports for horizontally supporting the guide bar, wherein the transfer unit comprises: a gripper for gripping an object to be processed; A first horizontal conveyance section slidably disposed in the first horizontal direction on the guide bar; A second horizontal conveyance section slidably disposed on the first horizontal conveyance section in a second horizontal direction orthogonal to the first horizontal direction; And a vertical transfer unit coupled to one end of the second horizontal transfer unit and connected to the grip unit at a lower end to reciprocate the grip unit in the vertical direction, and the grip unit includes a flange coupled to the vertical transfer unit, ; A servo motor attached to the inside or outside of the connecting portion; A rotating plate rotatably attached to a lower end of the connecting portion; And a pair of grippers attached to the rotating plate at positions opposite to each other with the rotation axis of the rotation plate as a center.

Description

Gantry loader

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gantry loader, and more particularly, to a gantry loader capable of precise control and improvement of a working speed and easy replacement of a grip portion.

Generally, machine parts are manufactured through many machining processes such as milling, boring, drilling, tapping, and grinding. In order to mass-produce these mechanical parts by automation, each processing step supplies the object to be machined, A gantry loader is used to collect and transport to the next process.

The gantry loader is a three-axis control system that moves a gripping object in X, Y, and Z directions to move the object to be machined. In addition, a rotary shaft that rotates the gripper itself is added 4-axis control equipment is also used. However, in general, the movement of the gantry loader in the X, Y, and Z directions is often implemented by using rack-pinion gears. In such a structure, there is a problem that there is a limitation in precision control due to backlash.

Patent Document 1: Korean Published Patent Application No. 2007-0115431 (published on December 06, 2007)

According to one embodiment of the present invention, a helical rack-pinion gear method is used for X-axis feed, a ball screw method is used for Y-axis and Z-axis feed, and an optimum control capable of improving durability and work speed Of the gantry loader.

According to an embodiment of the present invention, there is provided a gantry loader capable of selectively and removably attaching a pair of grippers of a different type in the direction of the axis of rotation to an end portion of a grip portion, thereby improving a working speed.

According to one embodiment of the present invention, it is possible to precisely control the gantry loader using the helical rack-pinion gear method for X-axis feed and the ball screw method for Y-axis and Z-axis feed, It provides an advantage that can be made.

According to an embodiment of the present invention, a pair of grippers of a different rotational axis direction can be selectively and detachably attached to the end of the grip portion, thereby speeding up the work process speed and replacing the tool It provides an advantage that can be achieved.

1 is a perspective view of a gantry loader according to an embodiment of the present invention,
2 is a perspective view of a grip portion according to the first embodiment,
3 is a front view of the grip portion according to the first embodiment,
4 is a view for explaining the operation of the gripper according to the first embodiment,
5 is a perspective view of a grip portion according to the second embodiment,
6 is a front view of the grip portion according to the second embodiment,
7 is a perspective view of a transfer part of a gantry loader according to an embodiment,
8 is a side view of a transfer part of a gantry loader according to an embodiment,
9 is a front view of a transfer part of a gantry loader according to an embodiment,
10 is a view for explaining a horizontal direction movement operation of a gantry loader according to an embodiment,
11 is a view for explaining the operation of the second horizontal transfer part of the transfer part of the gantry loader according to the embodiment,
12 and 13 are views for explaining the operation of the vertical transfer section of the gantry loader according to the embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, and advantages of the present invention will become more readily apparent from the following description of preferred embodiments with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In this specification, when an element is referred to as being on another element, it may be directly formed on another element, or a third element may be interposed therebetween. Further, in the drawings, the thickness of the components is exaggerated for an effective description of the technical content.

Where the terms first, second, etc. are used herein to describe components, these components should not be limited by such terms. These terms have only been used to distinguish one component from another. The embodiments described and exemplified herein also include their complementary embodiments.

The terms 'upper', 'lower', 'left', 'right', etc. used to describe the positional relationship between components in the present specification do not mean directions as absolute references, Can be defined as the relative position of the object. It will therefore be appreciated that the expressions representing the positional relationships referred to below may represent relative positional relationships in the respective drawings when described with reference to the respective drawings.

In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms "comprise" and / or "comprising" used in the specification do not exclude the presence or addition of one or more other elements.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the drawings. Various specific details are set forth in the following description of specific embodiments in order to provide a more detailed description of the invention and to aid in understanding the invention. However, it will be appreciated by those skilled in the art that the present invention may be understood by those skilled in the art without departing from such specific details. In some cases, it should be mentioned in advance that it is common knowledge in describing an invention that parts not significantly related to the invention are not described in order to avoid confusion in explaining the present invention. For example, the gantry loader of the present invention needs a control signal line and a power supply line to supply various servo motors (for example, 240, 331, 410, etc.) A cable bail in the form of a multi-jointed chain in which such a wire is mounted inside can be provided so that the movement of the gripper 150, 300, 400 is not disturbed, and a hydraulic supply line for supplying hydraulic pressure for operation of the gripper 150 is also required Do. It should be noted, however, that the drawings of these components are omitted in order to avoid hindering the description of the features of the present invention.

It should be noted, however, that for convenience of explanation, each drawing does not show a structure that completely coincides with the other drawings. For example, FIGS. 1, 8, 12, etc. show the top plate 315 of the second horizontal feeder 300, but in FIGS. 10 and 11, for example, . Although the grip portion 100 is shown in Fig. 1, it has been omitted from Figs. 7 to 13. Fig. It will be appreciated by those skilled in the art that for convenience of description of the particular components, all components that make up the invention herein are not shown in all of the figures.

1 is a perspective view of a gantry loader according to an embodiment of the present invention.

Referring to the drawings, a gantry loader according to an embodiment includes a conveying unit for holding and conveying a work to be processed, a guide bar 500 for supporting the conveying unit and providing a conveying path in a first horizontal direction (i.e., X direction) And a plurality of supports 550 for horizontally supporting the guide bar 500.

The conveying portion of the present invention includes a grip portion 100 for gripping an object to be processed and a grip portion 100 for gripping the object to be processed in a first horizontal direction (e.g., X axis), a second horizontal direction (e.g., Y axis) A first horizontal transfer unit 200, a second horizontal transfer unit 300, and a vertical transfer unit 400, Hereinafter, unless otherwise specified, it is assumed that the first horizontal direction, the second horizontal direction, and the vertical direction mean the X axis direction, the Y axis direction, and the Z axis direction, respectively.

The gripper 100 serves to grasp a workpiece to be machined. The first horizontal transfer unit 200 is slidable in the X direction on the guide bar 500 and the second horizontal transfer unit 300 is slidably mounted on the first horizontal transfer unit 200 in the Y- (Not shown). The vertical transfer unit 400 is coupled to one end of the second horizontal transfer unit 300. The grip portion 100 may be coupled to the lower end of the vertical transfer portion 400 and may be reciprocated vertically.

Now, an exemplary configuration of the grip portion will be described with reference to Figs. 2 to 6. Fig. 2 is a perspective view of the gripper 100 according to the first embodiment, and Fig. 3 is a front view thereof.

2 and 3, the grip unit 100 according to the first embodiment includes a connecting portion 110, a driving motor 120, a rotating plate 130, and a pair of grippers 150 can do. The connecting portion 110 is a substantially cylindrical member and includes a flange 111 having an outer diameter larger than the outer diameter of the connecting portion 110 at the upper end. The flange 111 is engaged with the lower sliding plate (450 in Fig. 12) of the vertical transfer portion 400. [

The driving motor 120 generates a driving force for rotating the rotating plate 130, and is vertically disposed outside the connecting portion 110 in the illustrated embodiment. However, in an alternative embodiment, the drive motor 120 may be disposed in the inner space of the connection portion 110.

The rotary plate 130 is rotatably attached to the lower end of the connection part 110 and a pair of grippers 150 are mounted on the lower surface of the rotary plate 130 at positions facing each other with respect to the rotary shaft 131 of the rotary plate 130 Respectively. Although not shown in the figure, the drive shaft of the drive motor 120 and the rotation shaft 131 are connected to each other by a drive force transmitting means such as a chain or a belt.

In one preferred embodiment, the drive motor 120 is implemented as a servo motor. When the servo motor is used for rotating the rotating shaft 131, the rotating plate 130 can be rotated in any desired direction between 0 and 360 degrees. That is, in the case of the conventional gantry loader, there are many cases that the gripper 100 or the gripper 150 does not have a function of rotating, and even if the gantry loader has the function of rotating, the gripper or the gripper is rotated using an air cylinder. However, in the case of an air cylinder, since the angle can be rotated only by a predetermined angle such as 0 degree or 180 degrees, there is a limitation in the direction and angle of rotation, and the rotational speed can not be changed freely by the user. However, according to the preferred embodiment of the present invention, there is no restriction on the rotation angle within 0 degree to 360 degree by using the servo motor to drive the rotation plate 130, and the user can arbitrarily adjust acceleration or deceleration of the rotation axis.

Referring again to FIG. 5, a pair of grippers 150 are attached to the lower surface of the rotary plate 130. According to one embodiment of the present invention, one gripper of the pair of grippers 150 can supply a work to be worked to, for example, a machining machine and at the same time the other gripper can grip a work-completed workpiece, It can speed up.

Each of the grippers 150 includes a gripper body 151 and a plurality of fingers 153 projecting downward from the body 151. Although not shown in the drawings, a supply pipe for supplying hydraulic pressure from the outside is connected to the gripper main body 151, and the finger 153 is moved by the supply of hydraulic pressure to perform gripping or gripping of the work to be machined. Since the operation of the gripper 150 is well known in the art, description thereof will be omitted herein.

According to the embodiment of the present invention, when the gripper 150 grips or releases the gripper 150, only the gripper 150 can be individually moved up and down to prevent interference between the gripper 100 and the peripheral structure. Can be configured. The hydraulic cylinder 140 is disposed on the upper surface of the rotary plate 130 on which the gripper 150 is mounted and the gripper 150 is attached to the lower end of the piston rod 141 of the hydraulic cylinder 140 . A plurality of guide rods 145 extend through the rotating plate 130 to the upper portion of the body 151 of the gripper 150.

4 shows the movement of the gripper 150 according to the operation of the cylinder 140. When the piston 140 moves down and the piston 140 moves downward, The movement is guided by the plurality of guide rods 141 at this time.

5 is a perspective view of the gripper according to the second embodiment, and Fig. 6 is a front view thereof.

5 and 6, the gripper 600 according to the second embodiment may include a connecting portion 610, a driving motor 620, a rotating plate 630, and a pair of grippers 650 . The connecting portion 610 is a substantially cylindrical member and includes a flange 611 at an upper end thereof. The flange 611 is engaged with the lower sliding plate 450 of the vertical transfer unit 400.

The driving motor 620 generates a driving force for rotating the rotary plate 130, and is arranged at an angle with respect to the vertical direction in the case of the second embodiment shown. The rotation plate 630 is rotatably attached to the lower end of the connection portion 610 so that the rotation axis 631 of the rotation plate 630 and the drive axis of the drive motor 620 are aligned or parallel to each other. Although not shown in the figure, the drive shaft of the drive motor 620 and the rotation shaft 631 are connected by a drive force transmitting means such as a chain or a belt. A pair of grippers 650 are attached to the lower surface of the rotary plate 630 at positions facing each other with the rotation axis 631 of the rotary plate 630 as a center. The gripper 650 includes a gripper body 651 and a plurality of fingers 653 and has the same or similar structure as the gripper 150 of the first embodiment shown in FIGS.

The drive motor 620 of the second embodiment can also be realized as a servo motor as in the first embodiment, and thus can rotate in any desired direction between 0 and 360 degrees around the rotation plate 630. [ Further, in the case of the second embodiment, since the rotary shaft 631 is arranged to be inclined, the gripper 600 of the second embodiment can be used, for example, in supplying the workpiece to the processing machine in the horizontal direction.

As described above, according to the embodiment of the present invention, one of the grip portion 100 according to the first embodiment and the grip portion 600 according to the second embodiment is selectively adopted, so that the lower sliding plate of the vertical transfer portion 400 450, respectively. The gripper 100 of the first embodiment can be replaced with the gripper 600 of the second embodiment in accordance with the change of the machining machine or vice versa in order to attach the selected gripper part to the lower sliding plate 450 in a detachable manner Alternately, the gantry loader of the present invention can be used continuously.

Hereinafter, an exemplary configuration of the first horizontal transfer unit 200 will be described with reference to FIGS. Fig. 7 is a perspective view of a conveyance portion of a gantry loader according to an embodiment, Fig. 8 is a side view of the conveyance portion, and Fig. 9 is a front view of the conveyance portion.

7 to 9, the guide bars 500 are elongated along the X-axis direction, and include LM rails arranged on the upper surface and the LM rail, respectively. Specifically, the guide bar 500 has a first LM rail 221 disposed on an upper surface thereof and a second LM rail 231 disposed on a side surface thereof.

The first horizontal transfer unit 200 includes a transfer unit main body 210 and the transfer unit main unit 210 includes a top plate 211 and a side plate 212 which are perpendicular to each other. The upper plate 211 of the transfer unit main body 210 is provided with at least one first LM block 222 which is opposed to the upper surface of the guide bar 500 and which is engaged with the first LM rail 221 of the guide bar 500 and slides . The side plate 212 of the transfer unit main body 210 includes a second LM block 232 which is opposed to one side surface of the guide bar 500 and slidably engaged with the second LM rail 231 of the guide bar 500 do. 8 shows a partial configuration of the first horizontal transfer unit 200 and the second horizontal transfer unit 300 in which the top plate 211 and the side plate 212 are omitted. As shown in FIG. 8, The horizontal transfer unit 200 has a plurality of first LM blocks 222 and a plurality of second LM blocks 232 that slide on the first LM rail 221 and the second LM rail 231, respectively. The first horizontal transfer unit 200 is engaged with the upper surface and the side surface of the guide bar 500 so that the first horizontal transfer unit 200 can be stably moved on the guide bar 500.

A through hole is formed in the upper surface plate 211 of the first horizontal transfer unit 200 so as to pass through the upper and lower surfaces of the upper surface plate 211. A servo motor 240 is vertically installed on the upper surface of the upper surface plate 211, . If necessary, the servo motor 240 may further include a speed reducer which adjusts the speed of the motor to be reduced so as to output a force required for the composition. The rotary shaft of the servo motor 240 protrudes and extends from the lower surface of the upper surface plate 211, and the pinion gear 241 is coupled to the end of the rotary shaft.

A rack gear 245 is arranged on the upper surface of the guide bar 500 along the X-axis direction and is engaged with the pinion gear 241. Accordingly, by driving the servo motor 240, Can reciprocate in the X-axis direction.

In this preferred embodiment, the pinion gear 241 is a helical pinion gear, and the rack gear 245 has a threaded shape engaging with the helical pinion gear 241. According to this preferred embodiment, backlash can be reduced by using a helical rack-pinion gear structure in place of the conventional general rack-pinion gear, and the first horizontal transfer portion 200 can be moved between the upper surface of the guide bar 500 and the upper surface So that they can be more stably and precisely controlled.

7, 8, and 10, an exemplary configuration of the second horizontal conveyance unit 300 moving in the Y-axis direction will be described.

The second horizontal transfer unit 300 includes a slide frame 310, a top plate 3315 and a side plate 320. The housing 310 includes a housing 330, A ball screw structure is disposed.

The housing 330 is a box-shaped case having an open top, and is a member that is coupled to the upper surface plate 211 of the first horizontal transfer unit 200 and integrally moves together with the first horizontal transfer unit 200. In an alternative embodiment, the housing 330 may have a top and bottom open configuration.

The housing 330 includes a first screw shaft 332 disposed therein in a second horizontal direction (i.e., Y-axis direction), and one end of the first screw shaft 332 is connected to the drive shaft 332 of the drive motor 331, Lt; / RTI > Both ends of the first screw shaft 332 are rotatably mounted on two opposing surfaces of the housing 330 (i.e., two surfaces perpendicular to the Y axis direction among the four surfaces constituting the housing 330) . The drive motor 331 may be implemented, for example, as a servo motor, and may be fixedly disposed on the outer surface of the housing 330 as shown in the figure.

For the construction of the ball screw, a slide block 335 is fitted in the first screw shaft 332. That is, the slide block 335 is fitted in the housing 330 by being sandwiched by the first screw shaft 332 with a plurality of steel balls interposed therebetween. By rotating the first screw shaft 332, The first screw shaft can reciprocate.

A frame or a plate material surrounding the housing 330 may be attached to the outside of the housing 330. In the illustrated embodiment, a pair of slide frames 310 are disposed on both sides of the housing 330 to surround the left and right sides of the housing 330, respectively. The slide frame 310 is integrally coupled to the slide block 335 and supported. One ends of the pair of slide frames 310 are connected to each other by a side plate 320.

7 and 10, the slide frame 310 includes a third LM rail 341 arranged along a second horizontal direction on an inner surface, that is, a surface facing the housing 330. As shown in FIG. A third LM block 342 which is engaged with and slides on the third LM rail 341 is attached to the outer surface of the housing 330, that is, the surface facing the slide frame 310. [

The second horizontal transfer part 300 may further include a pair of guide rods 337 for guiding the movement of the slide block 335. The guide rod 337 passes through the housing 330 and the slide block 335 and extends from one end of the second horizontal transfer part 300 to the other end opposite thereto and the slide block 335 reciprocates And serves to guide the movement of the slide convex 335 when the slide convex 335 is moved. The guide rod 337 may be constructed of, for example, a hollow shaft of steel, and thus includes a pair of third LM rails 341, a plurality of LM blocks 342 engaged therewith, The structure of the guide rod 337 of the shaft can suppress the long stroke of the conveying portion and the vibration generated when the loader is moved, and it is possible to ensure high precision and high reliability.

11 shows the movement of the second horizontal conveyance part 300. Fig. When the first screw shaft 332 is rotated by the driving motor 331, the slide block 335 and the slide frame 310, the upper plate 315, and the side plate 320, which are integrally coupled to the slide block 335, And reciprocates in the Y-axis direction as a whole. 7 and 11, the housing 330 attached to the upper surface plate 211 of the first horizontal transfer unit 200 and the driving motor 331 coupled thereto do not change position, It can be seen that the block 335 and the slide frame 310 and the side plate 320 coupled thereto and the vertical transfer part 400 coupled to the end of the slide frame 310 move integrally in the direction of the arrow in FIG. have.

As described above, the ball screw structure is used for the Y-axis direction feed in the present embodiment of the present invention. Since the ball screw is a fixed type in which both end faces are fixed, the Y-axis parallelism is ensured and the ball nut pre- Can be removed. Accordingly, the Y-axis control using the ball screw structure according to the present invention can deliver more precise, faster speeds and increase the service life of the Y-axis control than the conventional rack-and-pinion structure.

Now, an exemplary configuration of the vertical transfer unit 400 moving in the Z-axis direction will be described with reference to FIGS. 12 and 13. FIG.

12 and 13, the vertical transfer unit 400 according to an embodiment of the present invention includes an upper frame 420 and a lower frame 440 coupled to and fixed to a second horizontal transfer unit 300, A driving motor 410 for driving up and down movement of the upper and lower sliding plates 430 and 450 and a ball screw structure.

The upper frame 420 and the lower frame 440 are vertically spaced apart from each other by a predetermined distance and the upper frame 420 and the lower frame 440 are integrally connected by the plurality of vertical frames 421. In the illustrated embodiment, the lower frame 440 is coupled to one end of the second horizontal transfer unit 300, so that the vertical transfer unit 400 can move along with the Y-axis movement of the second horizontal transfer unit 300 have.

In the illustrated embodiment, each of the upper frame 420 and the lower frame 440 may be in the form of a substantially rectangular plate, and the shape is not particularly limited. The plurality of vertical frames 421 may be composed of, for example, four hollow steel bars connecting the opposing edges of the upper and lower frames 420 and 440 of the rectangular plate as shown. The vertical frame 421 is made of a hollow steel bar, which makes it lightweight and at the same time has improved rigidity and can withstand loads in all directions. Even when excessive force is applied, the vertical frame 421 does not break and has excellent resilience against twisting.

A second screw shaft 411 arranged in the vertical direction is disposed between the upper frame 420 and the lower frame 440 and a servo motor 411 for rotationally driving the screw shaft 411 on the upper surface of the upper frame 420, (410). For the construction of the ball screw, a slide block 415 is inserted in the second screw shaft 411. The slide block 415 is fitted in the space between the upper frame 420 and the lower frame 440 by being sandwiched by the second screw shaft 415 with a plurality of steel balls interposed therebetween. And can vertically reciprocate along the second screw shaft 411 between the upper frame 420 and the lower frame 440. [

The upper sliding plate 430 is a member having a plate shape substantially similar to that of the upper frame 420, and is integrally coupled to the slide block 415. The lower sliding plate 450 is disposed below the lower frame 440 and is connected to the upper sliding plate 430 by a plurality of connecting bars 431. In one embodiment, each of the plurality of connecting rods 431 may be embodied as a hollow steel bar.

The upper sliding plate 430 includes a plurality of through holes 435 through which the plurality of vertical frames 421 pass. The vertical frame 421 extends vertically through the respective through holes 435 to connect the upper frame 420 and the lower frame 440 to each other so that the vertical frame 421 is connected to the upper sliding plate 430 ) Acts as a guide when moving up and down. That is, the plurality of vertical frames 421 serve as a support for supporting the upper frame 420 and the driving motor 410. In addition, the upper and lower sliding plates 430, And serves as a guide to prevent twisting.

In one preferred embodiment, each of the plurality of through-holes 435 is implemented with a stroke rotary bushing. The stroke rotary bushing member has a substantially cylindrical shape and has a structure in which a plurality of balls are projected on the inner surface so as to make a plurality of point contacts with the outer surface of the vertical frame 421, Lt; / RTI > Accordingly, since the preload is applied by the point contact with the moving surface, rigidity is increased in all directions, high precision and reliability are ensured, and friction coefficient is extremely small, so that the upper and lower sliding plates 430 and 450 can be moved up and down at a high speed with a small driving force .

13 is a view showing the operation of the vertical transfer unit 400 by driving the driving motor 410. As compared with FIG. 8, when the second screw shaft 411 rotates, the upper sliding plate 430 is connected to It can be seen that the connecting rod 431 and the lower sliding plate 450 move integrally downward a predetermined distance.

As described above, according to the preferred embodiment of the present invention, since the vertical frame 421 and the connecting rod 431 are each formed of a hollow steel bar structure, the overall weight and weight of the vertical conveyance unit 400 can be reduced, . Particularly, in the case of a conventional gantry loader using a rack-pinion gear structure in the vertical conveying part, when the vertical conveying part is moved downward a lot, the fixed structure connected to the Y-axis conveying part and the moving structure moving away from each other are extended in the vertical direction There is a problem that the conveying portion is shaken due to the weight of the conveying portion and vibration occurs. However, as in the present invention, the vertical conveying portion 400 is fixed to the Y-axis conveying portion 300 with a plurality of hollow steel bars, This problem can be solved. Also, since the ball screw structure is used for the Z-axis direction transfer, it is possible to transfer more precise and faster speeds and to extend the life of the apparatus.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention as defined in the appended claims. The scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and similar structures.

100:
200: first horizontal conveyance part
300: second horizontal conveying part
400: Vertical transfer part
500: Support
550: Support

Claims

In a gantry loader,
A transfer unit for gripping and transferring the object to be processed;
A guide bar (500) supporting the conveying part and providing a conveying path in a first horizontal direction; And
And a plurality of supports 550 horizontally supporting the guide bar 500,
The transfer unit
A grasping portion for grasping an object to be processed;
A first horizontal conveyance part (200) slidably disposed in the first horizontal direction on the guide bar (500);
A second horizontal conveyance part 300 slidably disposed on the first horizontal conveyance part 200 in a second horizontal direction orthogonal to the first horizontal direction; And
And a vertical transfer unit 400 coupled to one end of the second horizontal transfer unit 300 and connected to the grip unit at a lower end to reciprocate the grip unit in a vertical direction,
The gripping portion includes:
A connection part 110 having a flange 111 coupled to the vertical transfer part 400 at an upper end thereof;
A servomotor 120 attached to the inside or outside of the connection part 110;
A rotating plate 130 rotatably attached to a lower end of the connection unit 110; And
And a pair of grippers attached to the rotating plate (130) at positions facing each other with respect to the rotating shaft (131) of the rotating plate (130).

The method according to claim 1,
The gripping part is one of a first gripping part 100 in which the rotation shaft 131 is arranged in a vertical direction and a second gripping part 600 in which the rotation shaft 131 is inclined at a predetermined angle from a vertical direction,
Wherein one of the first grip portion (100) and the second grip portion (600) is selectively detachably coupled to a lower portion of the vertical transfer portion (400).

3. The apparatus of claim 2, wherein the vertical transfer unit (400)
An upper frame 420 and a lower frame 440 disposed at a predetermined distance from each other in the vertical direction;
A plurality of vertical frames (421) connecting and supporting the upper frame and the lower frame;
A second screw shaft 411 arranged in a vertical direction between the upper frame and the lower frame;
A servo motor 410 fixed to the upper frame 420 and rotating the second screw shaft 411;
A second slide block 415 sandwiched by the second screw shaft 411 with a plurality of balls interposed therebetween and disposed between the upper frame and the lower frame;
An upper sliding plate 430 integrally coupled to the second slide block 415; And
And a lower sliding plate 450 disposed below the lower frame 440 and connected to the upper sliding plate 430 by a plurality of connecting bars 431,
The lower frame 440 is coupled to one end of the second horizontal transfer unit 300,
Wherein the upper sliding plate (430) and the lower sliding plate (450) are integrally reciprocatable upward and downward as the second screw shaft (411) rotates.

The method of claim 3,
Wherein the upper frame and the lower frame are connected by four vertical frames (421), and each vertical frame (421) is a hollow shaft of steel.

The method of claim 3,
The first horizontal transfer unit 200 includes a helical pinion gear 241 and a servo motor 240 for rotating the gear. The guide bar 500 is arranged along a first horizontal direction, And a rack gear (245) having threads engaged with the rack gear (245).

The method of claim 3,
The guide bar 500 includes a first LM rail 221 and a second LM rail 231 arranged on the upper surface and the side surface of the guide bar along the first horizontal direction,
The first horizontal transfer unit 200 includes a top plate 211 and a side plate 212 that are orthogonal to each other and the top plate 211 includes a first LM block 221 that is engaged with the first LM rail 221, And the side plate (212) includes a second LM block (232) that engages and slides with the second LM rail (231).

4. The apparatus of claim 3, wherein the second horizontal transfer unit (300)
A housing 330 coupled to the upper surface plate 211 of the first horizontal transfer unit 200;
A first screw shaft (332) disposed in the housing in a second horizontal direction;
A drive motor (331) fixed to one side of the housing and rotating the first screw shaft;
A slide block 335 which is disposed in the housing 330 and is fitted to the first screw shaft 332 with a plurality of balls interposed therebetween and moves along the first screw shaft by rotation of the first screw shaft 332; ); And
And a slide frame (310) surrounding both outer sides of the housing (330) and integrally coupled to the slide block (335).

8. The method of claim 7,
And a pair of third LM rails (341) arranged on both inner sides of the slide frame (310) along the second horizontal direction,
Wherein the housing (330) includes a third LM block (342) arranged on both outer sides of the housing and slidably engaged with the pair of LM rails (341).