KR0139939Y1 - Vertical joint robot for handling - Google Patents

Abstract

The present invention relates to a rectangular coordinate robot for handling. According to the present invention, the vertical fixing frame 31 is maintained in an upright state, the guide portion 41 is formed over a predetermined section along the longitudinal direction and the horizontal fixing is fixed to one end to the vertical fixing frame 31 The frame 32 is inserted into the guide part 41 formed in the horizontal fixed frame 32 to move in the first horizontal straight direction along the length direction of the guide part 41 and through the guide part 41 in the vertical direction. A vertical movement frame 33 capable of linear movement, and a horizontal movement frame provided below the vertical movement frame 33 and movable in a second horizontal linear direction with respect to the vertical movement frame 33 ( There is provided a rectangular coordinate robot 30 for handling, comprising 34.

Description

Cartesian robot handling

1 is a schematic perspective view of a rectangular coordinate robot for handling according to the prior art;

2 is a schematic perspective view of a rectangular coordinate robot for injection machines according to the prior art.

3 is a schematic perspective view of a rectangular coordinate robot for handling according to the present invention.

4 is a partial side view showing the arrangement relationship between the horizontal fixing member and the vertical moving member of the rectangular coordinate robot shown in FIG.

FIG. 5 is a partial cross-sectional view showing a cut along the line a-a 'in FIG.

FIG. 6 is a partial cross-sectional view showing a cut along the line b-b 'of FIG.

FIG. 7 is a partial cross-sectional view showing a cut along the line c-c 'of FIG.

* Explanation of symbols for main parts of the drawings

10, 20: conventional robot 30: robot of the present invention

31: vertical fixed frame 32: horizontal fixed frame

33: vertical moving frame 34: horizontal moving frame

36: hand mounting surface 37: receiving portion

The present invention relates to a Cartesian coordinate robot for handling, and more particularly, to a Cartesian coordinate robot for handling in which a driving unit for two coordinate axes is disposed in one receiving portion and the working space of the robot hand is maximized.

Handling robots are very widely used in automated processes using robots. They are used to move workpieces from conveyors to other conveyors, set them on conveyor machines, or transport them from conveyors to conveyors. . Here, for convenience, a general injection extraction robot will be described, but those skilled in the art will understand that various modifications are possible therefrom.

In the conventional rectangular coordinate robot for handling, a slider is installed in a frame constituting each rectangular coordinate, and a driving means, a driving force transmission means, and a motion guide means are typically built in each coordinate frame by forming a unit. As a result, various limitations are imposed on the system configuration, and devices tend to be complicated. In addition, since the space in which the robot's hand can operate is limited, the robot may not be utilized depending on the size of the work object or the work environment. That is, when the work object is held in the robot hand to move the space, it may cause interference with the coordinate frame or the work itself may be impossible for the object located behind the work space of the coordinate frame.

1 shows a Cartesian robot 10 according to the prior art. This is so arranged that the first horizontal frame 11 is fixed to the ground surface and the vertical frame 12 is movable in the first horizontal axis direction with respect to the first horizontal frame 11. The vertical frame 12 is moved along the first horizontal frame 11 in the first slider 14 installed on the first horizontal frame 11. The second horizontal frame 13 is movably disposed on the side of the vertical frame 12. The second horizontal frame 13 is held on the vertical frame 12 by the second slider 15, and the second slider 15 is movable up and down along the vertical frame 12. In addition, the second horizontal frame 13 may move horizontally on the second slider 15. The robot hand mounting surface 16 is provided on the side of the second horizontal frame 13 to mount the workpiece. The hand mounting surface 16 is capable of relative movement horizontally on the side of the second horizontal frame 13.

In the Cartesian coordinate robot 10 shown in FIG. 1, linear motion is performed in three coordinate axes. The driving means, the driving force transmitting means, and the motion guiding means which generate the respective motions are the respective frames 11, 12, 13 Each unit is built in). That is, the first horizontal movement of the hand mounting surface 16 is made by moving the vertical frame 12 by a drive unit built in the first horizontal frame 11. Similarly, the vertical movement of the hand mounting surface 16 is made by moving the second horizontal frame 13 up and down by a drive unit built in the vertical frame 12, and the second horizontal movement is performed by the second horizontal frame ( The second horizontal frame 13 is moved in the horizontal direction by the drive unit built in the 13).

In such a robot, only the one positioned on one side of the second horizontal frame 13 may be mounted in mounting a workpiece, and interference may occur in each frame even when the mounted workpiece is moved. That is, there is a disadvantage that a limitation is applied to the mounting area.

2 shows a general injection handling robot 20 according to the prior art. It comprises a first horizontal frame 22 fixedly mounted to the injection machine 21. The first slider 23 is installed on the first horizontal frame 22, and the first slider 23 may move on the first horizontal frame 22. The upper part of the first slider 23 is provided with a fixing part 24 for fixing the second horizontal frame 26. The second slider 25 is provided on the side of the fixing part 24, and the second horizontal frame 26 is provided on the side of the second slider 25. A third slider 27 is provided on the side of the second horizontal frame 26, and a vertical frame 28 is installed with respect to the third slider 27. The hand mounting surface 29 is provided at the bottom of the vertical frame 28.

In the injection robot handling robot 20 as described above, the fixed portion 24 for fixing the second horizontal frame 26 moves on the first horizontal frame 22 so that the first axial direction linear movement of the hand mounting surface 29 is performed. The second horizontal frame 26 is moved on the second slider 25 provided on the side of the fixing part 24, so that the second axial movement of the hand mounting surface 29 is made, and the vertical frame 28 ) Moves relative to the second horizontal frame 26 on the third slider 27 so that the vertical movement of the hand mounting surface 29 is achieved.

As can be seen in FIG. 2, the area in which the hand mounting surface 29 can move in the second axial direction is defined from one end to the other end of the second horizontal frame 26, and the first horizontal frame ( Work objects located in the space formed on the back of 22) has a disadvantage that can not be mounted. In addition, since the robot 20 for ejecting the ejection product of FIG.

It is an object of the present invention to provide a rectangular coordinate robot for handling in which at least two linear motion-related instruments are accommodated in one receiving portion so as to simplify and efficiency the robot system.

Another object of the present invention is to provide a rectangular coordinate robot for handling that can maximize the working space of the robot hand.

In order to achieve the above object, according to the present invention, a fixed vertical member that is maintained in an upright state, a guide portion is formed over a certain section along the longitudinal direction and a fixed horizontal member having one end fixed to the fixed vertical member, A movable vertical member which is inserted into a guide portion formed in the fixed horizontal member and is movable in the first horizontal linear direction along the longitudinal direction of the guide portion and is capable of vertically linear movement through the guide portion, and is provided below the movable vertical member. And a rectangular coordinate robot for handling comprising a moving horizontal member which can be moved in a second horizontal straight line direction with respect to the moving vertical member.

According to a feature of the present invention, the power mechanism related to the first horizontal linear motion and the vertical linear motion of the vertical moving member are concentrated in the receiving portion arranged to reciprocate in the first horizontal direction on the horizontal fixing member.

According to another feature of the present invention, the accommodation portion includes a first driving means, a first reduction means, and a first power transmission means to generate a first horizontal linear motion of the vertical member, The second driving means, the second deceleration means, and the second power transmission means are included to generate the vertical movement.

Hereinafter, the present invention will be described with reference to the accompanying drawings.

3 is a schematic perspective view of each frame of the rectangular coordinate robot 30 for handling according to the present invention. This includes a vertical fixed frame 31, a horizontal fixed frame 32, a vertical moving frame 33, and a horizontal moving frame 34. The vertical fixed frame 31 is fixed to the ground, and the horizontal fixed frame 32 has one end fixed to the upper end of the fixed vertical frame. As shown in FIG. 5, the horizontal fixing frame 32 forms a guide part 41 in the center portion over a predetermined section along the longitudinal direction of the frame. The vertical moving frame 33 may be inserted into the guide part 41 formed in the horizontal fixing frame 32 to move up and down, and may be formed along the guide part 41 in the longitudinal direction of the horizontal fixing frame 32. 1Horizontal linear motion is possible. At the end of the vertical movement frame 33 is provided a horizontal movement frame 34. The horizontal moving frame 34 may perform a linear movement in the second horizontal direction along the slider 35 provided at the end of the vertical moving frame 33.

The hand mounting surface 36 is provided below the horizontal moving frame 34. The hand mounting surface 36 may also perform relative horizontal movement along the horizontal moving frame 34.

4 is an enlarged view of a part of the horizontal fixed frame 32 and the vertical moving frame 33 of the robot shown in FIG. As described above, the first horizontal linear motion and the vertical motion of the robot hand mounting surface consist of the vertical movement frame 33 moving in two directions in the guide portion 41 of the horizontal fixed frame 32. . That is, when the accommodating portion 37 reciprocates and slides in the first horizontal direction from the upper portion of the horizontal fixed frame 32, the vertical moving frame 33 also performs the first horizontal movement accordingly, and the vertical moving frame 33 ) Moves vertically with respect to the receiving portion 37 by vertical movement. The means for generating and transmitting the driving force of the two-way motion is contained in the receiving portion 37 shown in FIG. 4, and in FIG. 4 the receiving portion 37, the vertical moving frame 33 and the horizontal fixed frame. The arrangement state of 32 is shown. It is a feature of the present invention that the mechanisms related to the linear motion in two directions are aggregated in one receiving portion 37, and the whole apparatus compared to the prior art in which the mechanism related to each linear motion is individually embedded in each frame. There is an advantage that can be simplified.

FIG. 5 is a plan view including a section to be cut along a line a-a 'in FIG. Here, the shape of the guide part 41 formed on the horizontal fixed frame 32 as mentioned above is shown, and the 1st driving means 38 and the deceleration means 39 which are related to a 1st horizontal linear motion are shown. That is, the rotational force generated by the first driving means 38 such as a servo motor is decelerated by the first deceleration means 39.

6 is a cross-sectional view taken along the line b-b 'of FIG. Here

A first power transmission means 43 is shown which is associated with the first driving means 38 and the first reduction means 39. The driving force generated from the first driving means 38 passes through the power transmission system, and may be moved in the first horizontal direction by the first guide means 44 disposed on the horizontal fixed frame 32. . FIG. 6 also shows the second drive means 45 and the second speed reduction means 46 related to the vertical movement of the vertical movement frame 33.

FIG. 7 is a cross-sectional view taken along the line c-c 'of FIG. The driving force generated by the second driving means 45 shown in FIG. 7 can be moved up and down with respect to the horizontal fixed frame 32 by way of the second power transmitting means 47. To be. The receiving portion 37 is provided with second guide means 48 for guiding the vertical movement of the vertical movement frame 33.

The cartesian coordinate robot for handling according to the present invention is composed of two fixed frames and two moving frames, thereby maximizing the space in which the mounting surface of the robot hand can operate. In addition, since the mechanism related to the linear motion in two directions is concentrated in one accommodation portion, there is an effect of simplifying the whole apparatus and widening the choice of system configuration.

Although the present invention has been described with respect to the embodiments shown in the drawings, those skilled in the art will understand that various embodiments are possible within the scope of equivalents. Therefore, the true scope of protection herein should be defined based on the appended claims.

Claims (3)

The vertical fixed frame 31 to be maintained in an upright state, the guide portion 41 is formed over a predetermined section along the longitudinal direction and the horizontal fixed frame 32, one end of which is fixed to the vertical fixed frame 31, Is inserted into the guide portion 41 formed in the horizontal fixed frame 32 can move in the first horizontal linear direction along the longitudinal direction of the guide portion 41 and can perform a vertical linear movement through the guide portion 41 Handling includes a vertical movement frame 33 and a horizontal movement frame 34 provided below the resin movement frame 33 and movable in a second horizontal linear direction with respect to the vertical movement frame 33. Cartesian coordinate robot (30). The power mechanism related to the first horizontal linear motion and the vertical linear motion of the vertical moving frame 33 is arranged to reciprocate in the first horizontal direction on the horizontal fixed frame 32. Cartesian coordinate robot 30 for handling, characterized in that concentrated in the receiving portion 37. The first driving means (38), the first reduction means (39), and the first driving means (38) for generating a first horizontal linear motion of the vertical moving frame (33) in the receiving portion (37). The first power transmission means 43 is included, and the second driving means 45, the second reduction means 46, and the second power transmission means 47 so as to generate the vertical motion of the vertical movement frame 33 are included. Cartesian coordinate robot 30 for handling, characterized in that it is included.