KR0126956Y1 - Vibrating damping device of right angle coordinate robot - Google Patents
Vibrating damping device of right angle coordinate robotInfo
- Publication number
- KR0126956Y1 KR0126956Y1 KR2019950001003U KR19950001003U KR0126956Y1 KR 0126956 Y1 KR0126956 Y1 KR 0126956Y1 KR 2019950001003 U KR2019950001003 U KR 2019950001003U KR 19950001003 U KR19950001003 U KR 19950001003U KR 0126956 Y1 KR0126956 Y1 KR 0126956Y1
- Authority
- KR
- South Korea
- Prior art keywords
- drive frame
- damping device
- vibration
- coordinate robot
- frame
- Prior art date
Links
- 238000013016 damping Methods 0.000 title claims abstract description 15
- 239000000463 material Substances 0.000 claims description 3
- 229920003002 synthetic resin Polymers 0.000 claims description 2
- 239000000057 synthetic resin Substances 0.000 claims description 2
- 230000002238 attenuated effect Effects 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
작업용 공구가 장착된 헤드의 위치결정 동작시 이 헤드가 슬라이딩되고 위치를 이동시키는 구동프레임에 발생되는 진동을 억제 및 소멸시키기 위한 직각좌표형 로보트의 진동감쇄장치에 관한 것으로서, 종래의 로보트의 동작시 구동프레임에 발생되는 진동을 감소시키기 위한 장치의 문제점을 방지하기 위한 것인 바, 구동프레임이 착설된 슬라이더의 일측에 병렬상태로 인접하여 고강성의 경량질로된 빔을 착설하고 이 빔과 상기 구동프레임의 사이에 진동을 전달 및 흡수하는 완충제를 개재시킴에 따라, 구동프레임에서 발생되는 진동수와 빔이 가지는 고유진동수의 상쇄작용에 의해 순간적이고 효율적으로 진동을 감쇄할 수 있다.A vibration damping device of a rectangular coordinate robot for suppressing and extinguishing vibration generated in a drive frame in which the head slides and moves a position during a positioning operation of a head equipped with a work tool. In order to prevent the problem of the device for reducing the vibration generated in the drive frame, a beam of high rigidity and light weight is installed adjacent to one side of the slider on which the drive frame is mounted in parallel, and the beam and the drive By interposing a buffer that transmits and absorbs vibrations between the frames, vibrations can be attenuated instantaneously and efficiently by a tradeoff between the frequencies generated in the drive frame and the natural frequencies of the beam.
Description
제1도 (a)(b)는 종래의 직각좌표형 로보트를 개략적으로 보인 평면도와 그 정면도.1 (a) and (b) are a plan view and a front view schematically showing a conventional rectangular coordinate robot.
제2도 (a)(b)는 상기 종래의 로보트의 정지시 헤드부위와 이 헤드가 장착된 프레임의 진동변위를 각각 나타낸 성능선도.2 (a) and 2 (b) are performance diagrams showing vibration displacements of a head portion and a frame on which the head is mounted when the conventional robot is stopped.
제3도 (a)(b)는 본 고안의 실시예의 진동감쇄장치가 설치된 로보트를 개략적으로 보인 평면도와 그 측면도이다.3 (a) and 3 (b) are a plan view and a side view schematically showing a robot provided with a vibration damping device according to an embodiment of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10, 10' : 지지프레임 20, 20' : 볼스크류10, 10 ': Support frame 20, 20': Ball screw
40 : 구동프레임 50, 50' : 슬라이더40: drive frame 50, 50 ': slider
60 : 헤드 100 : 빔60: head 100: beam
110 : 완충재110: cushioning material
본 고안은 직각좌표형 로보트의 진동감쇄장치, 보다 상세하게는 각종의 작업 공구가 장착된 헤드의 동작으로 인하여 이 헤드가 슬라이딩되는 프레임에 발생되는 진동을 감소시킬 수 있는 직각좌표형 로보트의 진동감쇄장치에 관한 것이다.The present invention is a vibration damping device of a rectangular coordinate robot, more specifically, vibration damping of a rectangular coordinate robot that can reduce the vibration generated in the frame sliding the head due to the operation of the head equipped with various work tools Relates to a device.
일반적으로, 직각좌표형 로보트는 회로기판에 각종의 전자부품을 자삽하거나 취출하는 등의 고속·고정도의 위치결정 작업을 수행하는 분야에 통용되고 있다.BACKGROUND ART In general, rectangular coordinate robots are commonly used in the field of performing high-speed and high-precision positioning operations such as inserting or taking out various electronic components on a circuit board.
상기 동작을 수행하는 로보트의 일예가 제1도 (a)(b)에 개략적으로 도시되어 있다.An example of a robot that performs the above operation is schematically illustrated in Figures 1 (a) and (b).
즉, 평행하게 설치된 한쌍의 지지프레임(1)(1')에 각각의 모터(3)(3')에 의해 구동되는 볼스크류(2)(2')를 장착하고, 이 볼스크류는 상기 지지프레임(1)(1')의 상부에 설치된 구동프레임(4)의 슬라이더(5)(5')에 결합되어 회전운동을 왕복운동으로 변환시킨다.That is, the ball screws 2 and 2 'driven by the respective motors 3 and 3' are mounted on a pair of support frames 1 and 1 'installed in parallel, and the ball screws are supported by the support screws. It is coupled to the sliders 5, 5 'of the drive frame 4 installed on the upper part of the frame 1, 1' to convert the rotational motion into a reciprocating motion.
또한, 상기 구동프레임(4)에는 모터(6)와 볼스크류(7)에 의해 슬라이딩되는 작업공구가 장착된 헤드(8)가 설치되어, 입력된 신호에 따라 위치결정을 하고 각종의 작업을 수행한다.In addition, the drive frame (4) is provided with a head (8) equipped with a work tool sliding by the motor (6) and the ball screw (7), positioning and performing a variety of operations in accordance with the input signal do.
그러나, 상기 로보트는 일련의 작업을 하기 위해 구동과 순간적인 정지를 반복하는 과정에서 구동프레임(4)의 자중 및 헤드(8)의 중량에 의해 충격하중이 발생되고, 이러한 충격은 구동프레임(4)과 헤드(8)에 구비된 공구의 선단부에 진동을 유발시킨다.However, the robot generates a shock load due to the weight of the head 8 and the weight of the head 8 of the drive frame 4 in the process of repeating driving and momentary stop to perform a series of operations, and such a shock is generated by the drive frame 4. And the tip of the tool provided in the head (8).
이때 헤드(8)의 공구에 가해지는 진동변위는 제2도 (a)에서와 같이 비교적 긴 감쇄시간을 요구하였으며, 구동프레임(4)에도 (b)와 같은 유형의 진동변위가 나타나게 됨으로써, 진동이 소멸된 상태에서 다음 작업이 가능하기 때문에 이 대기 시간만큼 작업이 지연되었다.At this time, the vibration displacement applied to the tool of the head 8 required a relatively long attenuation time as shown in FIG. 2 (a), and the vibration type of the vibration type as shown in (b) also appeared in the drive frame 4, thereby causing vibration. The task was delayed by this waiting time because the next task could be done in this destroyed state.
한편, 위와 같은 진동을 억제하기 위해서는 구동프레임의 강성을 크게 설계하거나 그 운동속도를 감속시켜 사용해야 됨으로써, 이 경우 구동프레임의 자중이 증대되어 모터의 용량을 높여야 됨은 물론 감속으로 인하여 작업성능이 저하되는 문제점이 있었다.On the other hand, in order to suppress the vibration as described above, the rigidity of the drive frame is designed to be large or the motion speed is used to be reduced. There was a problem.
본 고안은 상기 종래의 진동감쇄장치의 문제점을 감안하여 안출한 것으로서, 그 목적은 구동프레임의 진동변위와 진동의 감쇄시간을 최소화 할 수 있는 직각좌표형 로보트의 진동감쇄장치를 제공하는 것이다.The present invention has been made in view of the problems of the conventional vibration damping device, and its object is to provide a vibration damping device of a rectangular coordinate robot that can minimize the vibration displacement and the damping time of the drive frame.
이러한 본 고안의 목적은, 구동프레임과 독립하여 높은 고유 진동수를 갖는 고강성의 경량빔을 설치하고, 이 경량빔과 상기 구동프레임의 사이에 각자의 독립된 진동을 구속하는 완충제를 착설함에 따라, 고하중화를 방지하고 고속·고정도의 위치결정 작업을 수행할 수 있게 됨을 특징으로 한다.The purpose of this invention is to install a high rigidity light beam having a high natural frequency independent of the drive frame, and install a buffer that restrains each independent vibration between the light beam and the drive frame. It is possible to prevent neutralization and to perform high-speed and high-precision positioning.
이하, 본 고안의 직각좌표형 로보트의 진동감쇄장치를 첨부도면을 참조하여 상세히 설명한다.Hereinafter, the vibration damping device of the rectangular coordinate robot of the present invention will be described in detail with reference to the accompanying drawings.
제1도와 제2도는 종래의 직각좌표형 로보트 및 그 진동변위를 나타낸 것으로서, 구동과정에서 발생되는 충격으로 인하여 진동이 유발되고, 이 진동의 소멸시간 만큼 작업속도가 저하되었음은 위에서 설명한 바 있다1 and 2 illustrate a conventional rectangular coordinate robot and its vibration displacement, as described above, the vibration is caused by the impact generated during the driving process, and the work speed is reduced by the time of the vibration.
제3도는 본 고안의 실시예의 진동감쇄장치를 나타낸 것으로서, 평행한 한쌍의 지지프레임(10)(10')에 모터(30)(30')에 의해 회동되는 볼스크류(20)(20')가 각각 장착되고, 이 볼스크류에는 회전운동을 직선운동으로 변환하여 상부에 착설된 구동프레임(40)을 Y축 방향으로 이동시키는 슬라이더(50)(50')가 결합되어 있다.Figure 3 shows a vibration damping device of an embodiment of the present invention, the ball screw 20, 20 'is rotated by a motor 30, 30' to a pair of parallel support frame (10, 10 '). Are respectively mounted, and sliders 50 and 50 'are coupled to the ball screw to convert the rotational motion into linear motion to move the drive frame 40 mounted on the upper side in the Y-axis direction.
상기 구동프레임(40)에는 각종 작업용 공구가 취부되는 헤드(60)가 설치되어 모터(70)의 구동에 의해 X축 상에서 슬라이딩된다.The drive frame 40 is provided with a head 60 to which various work tools are mounted, and slides on the X axis by the driving of the motor 70.
한편, 구동프레임(40)이 착설된 슬라이더(50)(50')의 일측에 상기 구동프레임과 약간의 간격을 두고 빔(100)이 병렬로 착설되며, 이 빔과 구동프레임(40)의 사이에는 완충제(110)가 개재되어 있다.On the other hand, on one side of the slider 50, 50 'on which the drive frame 40 is mounted, the beam 100 is installed in parallel with a slight distance from the drive frame, and between the beam and the drive frame 40. The buffer 110 is interposed.
상기 빔(100)은 고강성을 가진 경량의 금속재로 되고, 완충재(110)는 충격 및 진동의 흡수가 용이한 고무 또는 연질합성수지가 바람직하다.The beam 100 is made of a lightweight metal material having high rigidity, and the buffer material 110 is preferably a rubber or soft synthetic resin that is easy to absorb shock and vibration.
따라서, 상기와 같은 본 고안은 한쌍의 지지프레임(10)(10')에 착설된 구동프레임(40)이 모터(30)(30')의 회전을 직선운동으로 변화하는 볼스크류(20)(20')와 슬라이더(50)(50')의 작용에 의해 Y축상에서 이동하고, 상기 구동프레임(40)에 설치된 헤드(60)도 위와 동일한 작용에 의해 X축 상에서 이동됨으로써, 결국 헤드(60)에 장착된 작업용 공구를 X축 또는 Y축 방향으로 이동시켜 자유로이 위치결절정을 하면서 소정의 작업을 수행한다.Therefore, the present invention as described above, the ball screw 20 (driving the rotation of the motor 30, 30 'of the drive frame 40 mounted on a pair of support frames 10, 10' in linear motion ( 20 ') and the sliders 50, 50' are moved on the Y axis, and the head 60 installed on the drive frame 40 is also moved on the X axis by the same action as above, so that the head 60 Move the work tool mounted on the X-axis in the X-axis or Y-axis direction to freely position and perform a predetermined work.
이러한 작업을 수행하는 과정에서, 구동프레임(10)과 헤드(60)가 동작과 정지 및 방향전환을 반복함에 따라 구동프레임(40)에 충격이 가해지면서 진동이 발생하면, 이 진동이 구동프레임이 착설된 양측의 슬라이더(50)(50')와 완충제(110)를 통하여 빔(100)에 전도된다.In the process of performing this operation, when the driving frame 10 and the head 60 vibrates while the shock is applied to the drive frame 40 as the operation, stop, and direction change, the vibration is the drive frame It is conducted to the beam 100 through the sliders 50, 50 'and the buffer 110 on both sides of the installation.
즉, 구동프레임(40)에 발생된 초기의 진동수는 빔(100)이 가지는 고유의 진동수와 상호 교차됨으로써, 진동의 발생과 동시에 그 진동을 감쇄 및 억제하여 진동으로 인한 작업의 부정확도를 개선하게 된다.That is, the initial frequency generated in the drive frame 40 intersects with the inherent frequency of the beam 100, thereby attenuating and suppressing the vibration at the same time as the generation of the vibration, thereby improving the inaccuracy of the operation due to the vibration. do.
또한, 진동의 감쇄 및 억제동작이 순간적으로 이루어짐으로써, 종래에 진동변위로부터 정지순간까지 시간을 대폭적으로 감소할 수 있게 되어 위치결정에 따른 작업속도를 증가하게 된다.In addition, since the damping and suppressing operations of the vibration are made instantaneously, the time can be drastically reduced from the vibration displacement to the stopping moment in the related art, thereby increasing the working speed according to the positioning.
이와 같은 본 고안은 기존의 직각좌표형 로보트에 간편하게 설치함은 물로 제작방법이 간단한 효과가 있으며, 진동의 감쇄를 순간적이고 효율적으로 함에 따라 작업성능을 높일 수 있는 장점이 있다.Such a design of the present invention has a simple effect that the installation method in the existing rectangular coordinate robot has a simple effect of water, and can increase the work performance as the damping of the vibration is instantaneously and efficiently.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019950001003U KR0126956Y1 (en) | 1995-01-24 | 1995-01-24 | Vibrating damping device of right angle coordinate robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019950001003U KR0126956Y1 (en) | 1995-01-24 | 1995-01-24 | Vibrating damping device of right angle coordinate robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR960026837U KR960026837U (en) | 1996-08-17 |
| KR0126956Y1 true KR0126956Y1 (en) | 1998-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019950001003U KR0126956Y1 (en) | 1995-01-24 | 1995-01-24 | Vibrating damping device of right angle coordinate robot |
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| Country | Link |
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| KR (1) | KR0126956Y1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100515967B1 (en) * | 1998-07-20 | 2005-11-08 | 삼성테크윈 주식회사 | Component Mounting Device |
-
1995
- 1995-01-24 KR KR2019950001003U patent/KR0126956Y1/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100515967B1 (en) * | 1998-07-20 | 2005-11-08 | 삼성테크윈 주식회사 | Component Mounting Device |
Also Published As
| Publication number | Publication date |
|---|---|
| KR960026837U (en) | 1996-08-17 |
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