KR950017116A - Driving device of Cartesian 3-axis robot - Google Patents

Driving device of Cartesian 3-axis robot Download PDF

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Publication number
KR950017116A
KR950017116A KR1019940034120A KR19940034120A KR950017116A KR 950017116 A KR950017116 A KR 950017116A KR 1019940034120 A KR1019940034120 A KR 1019940034120A KR 19940034120 A KR19940034120 A KR 19940034120A KR 950017116 A KR950017116 A KR 950017116A
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KR
South Korea
Prior art keywords
axis direction
axis
power transmission
movable
orthogonal
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Application number
KR1019940034120A
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Korean (ko)
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KR100234957B1 (en
Inventor
아키오 나카지마
Original Assignee
무라타 쥰이치
무라타키카이 카부시키가이샤
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Publication of KR950017116A publication Critical patent/KR950017116A/en
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Publication of KR100234957B1 publication Critical patent/KR100234957B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

본 발명에 의하면 직교3축로보트를 하나의 모우터로 구동할 수 있도록 해서, 프레임이나 이동체 등의 경량화, 구성의 간략화, 원가절감화를 도모한다.According to the present invention, the orthogonal triaxial robot can be driven by a single motor, thereby reducing the weight of the frame or moving body, simplifying the structure, and reducing the cost.

주행프레임(3)이 이동체(9)를 X축방향으로, 그 이동체(9)에 대하여 접동체(35)을 Z방향으로, 그 접동체(35)에 승강체(40)을 Y축방향으로 각각 이동가능하게 설치하고, 이 3축방향의 동력전달을 풀리와 벨트에 의해서 주행프레임에 설치한 구동모우터보다 아래측으로 직렬로 구동하도록 구성하고, X축방향의 소정위치에 래치(17)~(20), Y축방향, Z축방향의 동력전달부의 각각에 브레이크장치(32), (45)를 설치해서, 그 브레이크장치의 작용 혹은 비작용의 선택변환에 의해, 각 축을 따로 따로 구동가능하게 하여, 주행프레임에 설치한 하나의 모우터로 직교3축로보트(B)를 구동하도록 구성하였다.The traveling frame 3 moves the movable body 9 in the X axis direction, the sliding body 35 in the Z direction with respect to the movable body 9, and the lifting body 40 in the sliding body 35 in the Y axis direction. The three-axis power transmission is configured so as to be movable so as to be driven in series below the drive motor provided in the traveling frame by the pulley and the belt, and the latches 17 to a predetermined position in the X-axis direction are provided. Brake devices 32 and 45 are provided in the power transmission units in the Y-axis direction and the Z-axis direction, respectively, and the respective axes can be driven separately by the selective change of the action or non-action of the brake device. It was configured to drive the orthogonal three-axis robot (B) with one motor installed in the traveling frame.

Description

직교 3축로보트의 구동장치Driving device of Cartesian 3-axis robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명에 관한 직교3축로보트와 공작물공급장치와 배출컨베이어를 장비한 자동선반의 정면도.1 is a front view of an automatic lathe equipped with an orthogonal triaxial robot, a workpiece supply apparatus, and an exhaust conveyor according to the present invention;

제2도는 본 발명의 직교3축로보트의 사시도.2 is a perspective view of an orthogonal triaxial robot of the present invention.

제3도는 본 발명의 구동구성을 나타내는 모식도.3 is a schematic diagram showing a drive configuration of the present invention.

Claims (3)

주행프레임(3)에 이동체(9)를 X축방향으로, 그 이동체(9)에 접동체(35)를 Z축방향으로, 그 접동체(35)에 승강체(40)를 Y축방향으로 이동가능하게 설치한 직교3축로보트에 있어서, 이 3축방향의 동력전달계를 직렬로 설치하여, 각 동력 전달부에 브레이크장치(32), (45)를 설치해서, 그 브레이크장치의 작용 혹은 비작용의 선택변환에 의해, 하나의 모우터로 각 축을 따로 따로 구동가능하게 구성한 직교3축로보트의 구동장치.The moving body 9 in the traveling frame 3 in the X-axis direction, the sliding body 35 in the moving body 9 in the Z-axis direction, and the lifting body 40 in the sliding body 35 in the Y-axis direction. In the orthogonal three-axis robot provided to be movable, the three-axis power transmission system is provided in series, and brake devices 32 and 45 are provided in each power transmission unit, and the operation or non-operation of the brake device is provided. A drive device for an orthogonal triaxial robot configured to be driven separately from each axis by a single motor by a selective conversion of the action. 제1항에 있어서, 상기한 동력전달계를 상기한 X축, Y축, Z축에 대응하는 각각의 이동체(9)에 설치한 벨트기구와, 이 벨트에 걸어맞춤하여, 벨트기구를 지지하는 상기한 이동체에 대면하는 이동체측에서 지지한 회동륜으로 구성한 것이고, 상기한 브레이크장치(32),(45)가 상기한 회동륜의 회전을 제어하는 것인 직교3축로보트의 구동장치.2. The belt mechanism according to claim 1, wherein the power transmission system is provided on each of the movable bodies 9 corresponding to the X, Y, and Z axes, and the belt mechanism is engaged with the belt to support the belt mechanism. A drive device for an orthogonal triaxial robot, comprising: a rotation wheel supported by a side of a moving body facing one moving body, wherein the brake devices (32) and (45) control rotation of the rotating wheel. 제1항 또는 제2항에 있어서, 상기한 브레이크장치(32), (45)를 이동체(9)의 정지위치에 설치한 (17),(18),(19),(20) 래치와, 이 래치(17),(18),(19),(20)의 걸어맞춤을 해제하는 구동장치로 구성한 직교3축로보트의 구동장치.The latch (17), (18), (19) and (20) according to claim 1 or 2, wherein the brake devices (32) and (45) are installed at a stop position of the movable body (9). An orthogonal triaxial robot drive device comprising a drive device for releasing engagement of the latches (17), (18), (19), and (20). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019940034120A 1993-12-24 1994-12-14 Driving device for a right angled three shaft robot KR100234957B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5326406A JPH07178683A (en) 1993-12-24 1993-12-24 Driving device for orthogonal three-axis robot
JP93-326406 1993-12-24

Publications (2)

Publication Number Publication Date
KR950017116A true KR950017116A (en) 1995-07-20
KR100234957B1 KR100234957B1 (en) 2000-04-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019940034120A KR100234957B1 (en) 1993-12-24 1994-12-14 Driving device for a right angled three shaft robot

Country Status (4)

Country Link
JP (1) JPH07178683A (en)
KR (1) KR100234957B1 (en)
CN (1) CN1044691C (en)
TW (1) TW269660B (en)

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KR101667303B1 (en) * 2016-07-29 2016-10-18 주식회사 로보스타 Robot

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US6657449B2 (en) * 2000-12-21 2003-12-02 Hansaem Digitec Co., Ltd. Test pin unit for PCB test device and feeding device of the same
JP4898178B2 (en) * 2005-09-30 2012-03-14 Ｎｋｅ株式会社 Multi-axis movable transfer device
JP4793186B2 (en) 2006-09-07 2011-10-12 日本精工株式会社 3-axis drive
CN103659413B (en) * 2012-09-14 2016-03-23 珠海格力电器股份有限公司 Translation mechanism and have its mechanical hand of transplanting
CN102909600B (en) * 2012-10-31 2015-05-06 苏州凯蒂亚半导体制造设备有限公司 Cantilever servo manipulator
CN104670850B (en) * 2013-11-27 2017-08-25 深圳职业技术学院 Feedway and its loader robot, system of processing for transmitting blank
JP6411910B2 (en) * 2015-02-13 2018-10-24 高松機械工業株式会社 Drive mechanism
CN106743577B (en) * 2017-01-17 2018-11-30 浙江优通自动化技术有限公司 A kind of three-freedom mechanical arm device and manipulator plateform system
CN107139006A (en) * 2017-06-21 2017-09-08 北京精雕科技集团有限公司 A kind of automatic loading/unloading lathe of machine outside fix
CN114309240B (en) * 2022-01-23 2024-06-11 东莞六淳智能科技股份有限公司 Automatic punching equipment
KR20230154642A (en) 2022-05-02 2023-11-09 한국표준과학연구원 Drive module and multi-axis orthogonal robot using same

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JPH05104462A (en) * 1991-10-14 1993-04-27 Canon Inc Two rectangular shaft type moving device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101667303B1 (en) * 2016-07-29 2016-10-18 주식회사 로보스타 Robot

Also Published As

Publication number Publication date
KR100234957B1 (en) 2000-04-01
CN1129623A (en) 1996-08-28
JPH07178683A (en) 1995-07-18
TW269660B (en) 1996-02-01
CN1044691C (en) 1999-08-18

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