Robot transfer system

Abstract

The present invention relates to a robot transfer system. The robot transfer system according to the present invention comprises: a robot including a main arm which rotates about a first rotary shaft provided at one end thereof to access a work area, and a first driving unit that provides power for rotating the main arm about the first rotary shaft; an extension guide extending in one direction so as to guide movement of the robot; and a moving bracket to which one end of the robot is coupled such that the first rotary shaft is disposed opposite to a side surface of the extension guide, wherein the moving bracket reciprocates in a horizontal direction along the extension guide.

Description

Robot transfer system

[0001] The present invention relates to a robot transfer system, and more particularly to a robot transfer system capable of transferring an extraction robot for extracting injection molded parts, efficiently securing a workspace by reducing the working radius of the robot arm, allowing the robot arm to easily approach a workpiece, and minimizing interference with other structures.

[0002] An extraction robot for extracting an extruded product formed from an injection device is implemented as an automated system. The extraction robot is configured with multi-axis joints and performs the task of approaching the injection device, grasping the extruded product, and removing the extruded product from the injection device. At this time, when the extraction robot is transported to approach the injection device, a transfer rail is provided to move the extraction robot, and the extraction robot is movably coupled to the upper surface thereof. If the injection device is positioned below the transfer rail, there is a disadvantage in that space utilization is reduced because an excessive working radius is required for the extraction robot to approach it.

[0003] The present invention has been devised to solve the requirements described above and aims to provide a robot transfer system capable of transferring an extraction robot for extracting injection molded parts, efficiently securing workspace by reducing the working radius of the robot arm, allowing the robot arm to easily approach the work object, and minimizing interference with other structures.

[0004] In particular, the present invention aims to provide a robot transfer system that moves the robot and the movable bracket together by attaching a movable bracket to the side of an extension guide that guides the robot. Specifically, the robot may be a multi-joint robot having multiple degrees of freedom and may be an extraction robot capable of extracting objects. The extraction robot is capable of linear reciprocating motion along the extension guide, wherein one end of the extraction robot is mounted on a guide rail positioned on the side of the extension guide, and the first rotation axis of the extraction robot's main arm is positioned on the side of the extension guide. The purpose of the invention is to provide a robot transfer system that, through such a structure, allows easy access to the injection device even when the rotation radius of the extraction robot is reduced, thereby increasing space utilization and enabling effective extraction operations by being closer to the injection device.

[0005] A robot transfer system according to an embodiment of the present invention is characterized by comprising: a robot including a main arm that rotates around a first rotation axis provided at one end to approach a work area, and a first drive unit that provides power to rotate the main arm around the first rotation axis; an extension guide that extends in one direction to guide the movement of the robot; and a moving bracket to which one end of the robot is coupled so that the first rotation axis is positioned opposite the side of the extension guide, and which reciprocates in a horizontal direction along the extension guide.

[0006] In addition, the first rotation axis is provided at the lower end of the main arm, and the robot may be a multi-joint robot including an auxiliary arm that is rotatably coupled to the upper end of the main arm around a second rotation axis.

[0007] In addition, the main arm comprises a lower arm portion formed to a predetermined length by a first rotation axis, an upper arm portion formed to a predetermined length by a second rotation axis, and a middle arm portion connecting the lower arm portion and the upper arm portion, wherein the upper part of the middle arm portion is extended so as to be located rearward from the lower part of the middle arm portion when the lower arm portion is in a vertically upright position, and the upper arm portion is extended forward again from the upper part of the middle arm portion to form an S shape.

[0008] In addition, the length of the above-mentioned middle section may be longer than the lengths of the above-mentioned lower section and the above-mentioned upper section.

[0009] In addition, the device includes a support bracket in which one end is fixed to the movable bracket and the first rotation axis and the first driving unit are coupled to the other end, so that the first rotation axis can be positioned in front of the movable bracket.

[0010] Additionally, the movable bracket moves along a guide rail provided along the length of the extension guide on the side of the extension guide, and the guide rail may include an upper guide rail provided on the upper side of the side and a lower guide rail provided on the lower side of the side.

[0011] In addition, a plurality of guide blocks are provided on the upper guide rail and the lower guide rail, respectively, and one side of the guide block engages with the upper guide rail or the lower guide rail, and the other side of the guide block can be coupled with the movable bracket.

[0012] In addition, a stopper that restricts the range of movement of the movable bracket may be provided at the side end of the extension guide.

[0013] Additionally, the lower part of the main arm may include a cylinder that provides force in the opposite direction of the first direction when the first driving unit rotates the main arm in a first direction around the first rotation axis.

[0014] Additionally, the lower part of the main arm may include a cylinder that provides force to rotate the main arm in the reverse direction of the first direction when the first driving unit rotates the main arm in a first direction toward the working area side located below the extension guide, and provides force to rotate the main arm in the second direction when the first driving unit lifts the main arm and rotates it away from the working area side.

[0015] In addition, it includes a support bar, one end of which is connected to the movable bracket and the other end of which extends toward the upper surface of the extension guide, and a controller for driving the first driving unit may be mounted on the upper side of the support bar.

[0016] Additionally, the cylinder includes a first cylinder and a second cylinder spaced apart in the vertical direction, and one end of the first cylinder and the second cylinder is connected by a connecting bracket, and the connecting bracket can be rotatably connected to a cylinder bracket, one end of which is connected to the moving bracket, so as to be rotatably connected around a cylinder rotation axis.

[0017] In addition, a guide hole may be formed on the side of the main arm to which a power supply line drawn from the controller is inserted.

[0018] In addition, a horizontal movement unit is provided to move the robot in a horizontal direction along the extension guide, and the horizontal movement unit can move together with the moving bracket.

[0019] Additionally, the horizontal moving part comprises: a horizontal guide provided on the extension guide and having gear teeth formed continuously in the longitudinal direction; a rotating roller having unit rollers spaced apart in the circumferential direction that engage with the gear teeth of the horizontal guide when rotating; and a power providing part that drives the rotating roller, so that when the rotating roller rotates, the unit rollers engage with the gear teeth and the moving bracket can move.

[0020] In addition, a protective pad that reduces wear caused by friction with the gear teeth may be attached to the outer surface of the unit roller.

[0021] The extraction robot transfer system having a front bracket structure according to the present invention effectively secures the rotation radius of a multi-joint robot by arranging a bracket structure to which the robot is coupled to the front of the driving unit, thereby enabling the multi-joint robot to easily approach a target point. In particular, when the target point is located below the first rotation axis of the robot, space utilization is improved by the reduced rotation direction. Furthermore, since the main arm is formed in an approximately S-shape, the rotation radius can be further reduced, thereby providing the effect of allowing the extraction process to be performed precisely by approaching a target point, such as an injection device, in close proximity.

[0022] FIG. 1 is a perspective view of a robot transfer system according to an embodiment of the present invention.

[0023] FIG. 2 is a perspective view of FIG. 1 seen from a different angle.

[0024] FIG. 3 is a drawing showing an enlarged view of the combined state of the transfer bracket.

[0025] Fig. 4 is a front view of Fig. 3,

[0026] FIG. 5 is a drawing illustrating a transfer bracket and a guide block.

[0027] FIG. 6 is a drawing illustrating a cylinder that provides force to the main arm.

[0028] FIG. 7 is a perspective view of FIG. 6 seen from the rear side.

[0029] FIG. 8 is a side view of the main part of FIG. 1,

[0030] FIG. 9 is a perspective view illustrating a horizontal moving part.

[0031] FIG. 10 is a side view of FIG. 9,

[0032] FIG. 11 is an exploded perspective view of the horizontal movement part.

[0033] Hereinafter, various embodiments of the present invention are described in conjunction with the accompanying drawings. Since various embodiments of the present invention may be subject to various modifications and may have various forms, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the various embodiments of the present invention to specific forms, and it should be understood that they include all modifications and / or equivalents and substitutions that fall within the spirit and scope of the various embodiments of the present invention. In relation to the description of the drawings, similar reference numerals have been used for similar components.

[0034] Expressions such as "comprising" or "may comprise" that may be used in various embodiments of the present invention indicate the existence of the disclosed function, operation, or component, etc., and do not limit one or more additional functions, operations, or components, etc. Furthermore, in various embodiments of the present invention, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] When it is stated that a component is "combined" to another component, it should be understood that the component may be directly connected to the other component, or that a new component may exist between the component and the other component. On the other hand, when it is stated that a component is "directly combined" or "directly in contact" with another component, it should be understood that no new component exists between the component and the other component.

[0036] The terms used in the various embodiments of the present invention are used merely to describe specific embodiments and are not intended to limit the various embodiments of the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the various embodiments of the present invention pertain.

[0038] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the various embodiments of the present invention.

[0039] Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view of a robot transfer system according to an embodiment of the present invention, FIG. 2 is a perspective view of FIG. 1 seen from a different angle. FIG. 3 is an enlarged view showing the combined state of a transfer bracket, FIG. 4 is a front view of FIG. 3. FIG. 5 is a drawing showing a transfer bracket and a guide block, FIG. 6 is a drawing showing a cylinder providing force to the main arm, FIG. 7 is a perspective view of FIG. 6 seen from the rear side. FIG. 8 is a side perspective view of a key part of FIG. 1. FIG. 9 is a perspective view showing a horizontal movement part, FIG. 10 is a side view of FIG. 9, and FIG. 11 is an exploded perspective view of the horizontal movement part.

[0040] A robot transfer system (1000) according to an embodiment of the present invention relates to a transfer system that reciprocates an automated robot for extracting an injection molded product in a horizontal direction, and in particular, to a transfer system that enables the robot to easily access a work area or a work object in an environment where the work area is below the robot, and to achieve an efficient automated process by minimizing the space required for the robot to access the work area or the work object. The robot transfer system (1000) according to an embodiment of the present invention includes a robot (100), an extension guide (10), and a moving bracket (20).

[0041] As illustrated in FIG. 1, the robot (100) includes a main arm (110) and a first drive unit (171). The main arm (110) is a robot arm that rotates around a first rotation axis (101) provided at one end to approach a work area. According to the present embodiment, the first rotation axis (101) is provided at the lower end of the main arm (110). The first drive unit (171) provides power to rotate the main arm (110) around the first rotation axis. The first drive unit (171) may include a motor (171), a motor reduction gear (160), etc.

[0042] As illustrated in FIGS. 1 and 2, according to the present embodiment, the robot (100) is a multi-joint robot comprising an auxiliary arm (108) coupled to the upper end of the main arm (110). The auxiliary arm (108) is rotatably coupled to the upper end of the main arm (110) around a second rotation axis (102). The second rotation axis (102) receives rotational power from a second drive unit (172), and the second drive unit (172) may include a configuration such as a motor or a motor reducer, similar to the first drive unit (171).

[0043] According to the present embodiment, the robot (100) is configured to move back and forth along an extension guide (10), and the robot (100) has 6 degrees of freedom. The upper and lower ends of the main arm (110) of the robot (100) can rotate around the first and second rotation axes (101, 102), respectively, and the auxiliary arm (108) of the robot (100) can rotate around the third rotation axis (103), the fourth rotation axis (104), and the fifth rotation axis (105). Since the robot (100) moves back and forth in a horizontal direction along the extension guide (10), it has a total of 6 degrees of freedom. Of course, the robot (100) is not limited to a 6-degree-of-freedom multi-joint robot, and the degrees of freedom can be implemented in various ways depending on the working environment. In addition, as shown in FIGS. 1 and 2, various structures suitable for the working environment can be adopted at the end of the fifth rotation axis (105). For example, various grippers for gripping the above-mentioned injection molded product may be combined.

[0044] According to the present embodiment, the main arm (110) includes a lower arm portion (111), a middle arm portion (112), and an upper arm portion (113). The lower arm portion (111) is a portion located at the lower end of the main arm (110) and is formed by extending to a predetermined length through a first rotation axis (101). The upper arm portion (113) is a portion formed by extending to a predetermined length through a second rotation axis (102). The middle arm portion (112) is a portion connecting the lower arm portion (111) and the upper arm portion (113). According to the present embodiment, as shown in FIG. 2, when the lower arm portion (111) is in a vertical position, the upper part of the middle arm portion (112) is extended to be located behind the lower part of the middle arm portion (112). The upper arm portion (113) extends forward again from the upper end of the middle arm portion (112).

[0045] In this way, the main arm (110) is formed in a roughly S shape. Since the upper arm portion (113) is bent and extended at a predetermined angle from the upper portion of the middle arm portion (112), the radius of rotation is reduced when the upper arm portion (113) rotates downward in the A direction, thereby providing the effect of easily approaching a workpiece closer to the extension guide (10). According to the present embodiment, the length of the middle arm portion (112) is longer than the lengths of the upper arm portion (113) and the lower arm portion (111). The upper arm portion (113) is bent from the upper portion of the middle arm portion (112), and the length of the upper arm portion (113) is formed to be relatively shorter than the length of the middle arm portion (112), so that the rigidity of the main arm (11) can be sufficiently maintained.

[0046] The extension guide (10) is extended in one direction to guide the movement of the robot (100). According to the present embodiment, the extension guide (10) is formed in the shape of a hollow rectangular column and is extended horizontally as shown in FIGS. 1 and 2. The length of the extension guide (10) can be appropriately selected according to the working environment, and posts (13) can be installed at both ends of the extension guide (10) so that it is installed at a height raised from the ground. According to the present embodiment, the downward area facing the ground from the side (12) of the extension guide (10) can be given as the work area that the robot (100) must access. Accordingly, the robot (100) can access the work area by rotating the end of the robot arm downward while connected to the extension guide (10). As shown in FIG. 3, a worker's footrest (14) can be installed on the rear side of the extension guide (10). And, the extension guide (10) maintains a state supported by the support (130).

[0047] The above-mentioned moving bracket (20) is provided to move the robot (100) along the extension guide (10). According to the present embodiment, one end of the robot (100) is coupled to the moving bracket (20) such that the first rotation axis (101) is positioned opposite the side (11) of the extension guide (10), and the moving bracket (20) reciprocates horizontally along the extension guide (10). Specifically, referring to FIGS. 3 and 4, a support bracket (170) is provided to connect the end of the robot (100) with the moving bracket (20). One end of the support bracket (170) is fixed to the moving bracket (20), and the first rotation axis (101) and the first driving unit (171) are coupled to the other end. The components forming the first rotation axis (101) and the first driving unit (171) are positioned to penetrate the inner side of the other end of the support bracket (170). As the support bracket (170) protrudes from the surface of the movable bracket (20), the support bracket (170) is positioned on the side (12) of the extension guide (10), so that the first rotation axis (101) is positioned in front of the movable bracket (20).

[0048] In this way, the first rotation axis (101) is not located on the upper surface side of the extension guide (10) but is positioned on the side (12) side of the extension guide (10), so that the main arm (110) can secure a rotation range up to the direct downward direction toward the ground, thereby securing a wide working area.

[0049] As illustrated in FIG. 3, according to the present embodiment, the movable bracket (20) moves along a guide rail (40) provided along the longitudinal direction of the extension guide (10) on the side (11) of the extension guide (10). The guide rail (40) includes an upper guide rail (41) provided on the upper side of the side (11) of the extension guide (10) and a lower guide rail (42) provided on the lower side of the side (11).

[0050] As illustrated in FIG. 4, the movable bracket (20) includes a first plate portion (21) having a first area and a second plate portion (22) having an area larger than the first area. As illustrated in FIG. 5, according to the present embodiment, a plurality of guide blocks (90) are provided on the upper guide rail (41) and the lower guide rail (42), respectively. One side of the guide block (90) engages with the upper guide rail (41) or the lower guide rail (42), and the other side of the guide block (90) is coupled to the movable bracket (20). The upper ends of the first plate portion (21) and the second plate portion (22) are coupled to the guide block (90) coupled to the upper guide rail (41), and the lower end of the second plate portion (22) is coupled to the guide block (90) coupled to the lower guide rail (42).

[0051] As illustrated in FIG. 5, a plurality of guide blocks (90) are provided. The guide blocks (90) are slidably coupled to the guide rail (40), and the number of guide blocks (90) can be adjusted by considering the weight of the robot (100) coupled to the movable bracket (20). If the weight of the robot (100) decreases, the number can be reduced, and conversely, if the weight of the robot increases, the number can be increased so that a Linear Motion (LM) guide suitable for the weight of the robot (100) can be implemented.

[0052] In addition, a stopper (80) is provided at the side (11) end of the extension guide (10) to restrict the range of movement of the movable bracket (20). The stopper (80) may be a limit switch. When the second plate (22) moves to the maximum left side based on FIG. 4, the first plate (21) can move further to the left than the stopper (80), so that the end of the main arm (110) can be moved to the edge of the extension guide (10) to allow for efficient use of space.

[0053] According to the present embodiment, a controller (120) for driving a multi-joint robot is included. The controller (120) controls a first drive unit (171) and a second drive unit (172), and also controls rotation by each rotation axis of the auxiliary arm (108) and gripping motion of a gripper, etc., coupled to the end of the auxiliary arm (108). The controller (120) includes a motor drive, a controller, etc. As shown in FIGS. 3 and 5, the controller (120) is mounted on a support bar (23). One end of the support bar (23) is connected to the movable bracket (20), and the other end extends toward the upper surface (12) of the extension guide (10). The support bar (23) is spaced apart from the upper surface (12) of the extension guide (10) and is positioned parallel to the upper surface (12). Since it moves together with the movable bracket (20), the controller (120) moves together with the movable bracket (20).

[0054] According to the present embodiment, as illustrated in FIG. 3, a grease injection device (121) is provided on the side of the controller (120) to provide grease to the rotating roller (180) when the robot (100) moves in the horizontal direction. Specifically, the grease injected into the rotating roller (180) allows the rotating roller (180) to rotate smoothly while reducing friction when it comes into rolling contact with the horizontal guide (190). A transfer chain (123) is coupled to the rear end of the controller (120) to support and guide the rear end of the controller (120).

[0055] As illustrated in FIG. 2, a reinforcing plate (30) for maintaining rigidity is attached to the end of the main arm (110). One end of the reinforcing plate (30) is attached to the main arm (110), and the other end is attached to the cylinder bracket (152). The reinforcing plate (30) provides the effect of preventing shaking and reinforcing rigidity during rotational movement of the main arm (110). In addition, a guide hole (50) is formed on the side of the main arm (110) to insert and wire a power supply line drawn from the controller (120) into the interior of the main arm (110). As illustrated in FIG. 9, the power supply line is drawn out through a drawing hole (122) formed on one side of the controller (120), passes through a guide hole (31) provided on one side of the reinforcing plate (30), and flows into the guide hole (50), allowing it to be wired inside the main arm (110). When the power supply line is drawn out from the control unit (120) and fed into the main arm (110), the power supply line is extended between the cylinder bracket (152) and the horizontal moving part (200), so that interference between the power supply line and surrounding structures can be prevented.

[0056] According to the present embodiment, as illustrated in FIGS. 6 and 7, the lower part of the main arm (110) includes a cylinder that provides force to rotate the main arm (110) in the reverse direction of the first direction when the first driving unit (171) rotates the main arm (110) in a first direction toward the working area side located below the extension guide (10), and provides force to rotate the main arm (110) in the second direction when the first driving unit (171) lifts the main arm (110) and rotates it away from the working area side. That is, when the main arm (110) rotates in the first direction and falls downward, the cylinder provides a force to rotate the main arm (110) in the opposite direction of the first direction to compensate for gravity and prevent the main arm (110) from falling rapidly, and when the main arm (110) rotates in the second direction, the cylinder operates to provide a force to rotate the main arm (110) in the same direction as the first driving unit (171) to supplement the force of the first driving unit (171).

[0057] According to the present embodiment, the cylinders (60, 70) include a first cylinder (60) and a second cylinder (70) that are spaced apart in the vertical direction. The first and second cylinders (60, 70) operate simultaneously. As described above, for example, when the main arm (110) rotates downward on the side (11) of the extension guide (10), the motor operates to apply torque in the reverse direction to prevent rapid rotation and over-rotation caused by gravity of the main bar (110). At this time, the rods of the first and second cylinders (60, 70) are tensioned, providing a force that rotates the main arm (110) upward to compensate for gravity. Conversely, when the main arm (110) rotates upward, the first and second cylinders (60, 60) provide force in the same direction (second direction) as the first driving unit (171) rotates the main arm (110) to supplement the driving force of the first driving unit (171).

[0058] As illustrated in FIG. 6, the rod ends of the first and second cylinders (60, 70) are connected in the vertical direction to a connecting bracket (140), and the central axis (141) of the connecting bracket (140) is connected eccentrically from the center of the motor reducer (160). When the motor reducer (160) rotates, the first and second cylinders (60, 70) operate to reduce the load of the motor reducer, and the rear ends of the first and second cylinders (60, 70) are connected to each other by a coupling bracket (150).

[0059] As illustrated in FIG. 7, the coupling bracket (150) has one end of the first cylinder (60) and the second cylinder (70) connected to each other, and the coupling bracket (150) is rotatable around a cylinder rotation axis (151). Both ends of the cylinder rotation axis (151) are each connected to an axis support bracket (153). That is, the coupling bracket (150) is rotatable around the cylinder rotation axis (151) to a cylinder bracket (152), one end of which is connected to the movable bracket (20). The cylinder rotation axis (151) is positioned horizontally on the coupling bracket (150), and the first and second cylinders (60, 70) are connected so as to be rotatable in the vertical direction (based on FIG. 6 and FIG. 7).

[0060] According to the present embodiment, as illustrated in FIG. 9, a horizontal movement unit (200) is provided to move the robot (100) in a horizontal direction along the extension guide (10). As illustrated in FIG. 10, according to the present embodiment, the horizontal movement unit (200) is coupled to the moving bracket (20) and moves together with the moving bracket (20). Accordingly, according to the embodiment of the present invention, the controller (120), the robot (100), and the horizontal movement unit (200) move integrally with the moving bracket (20).

[0061] Specifically, the horizontal moving unit (200) includes a horizontal guide (190), a rotating roller (180), and a power providing unit (201). The horizontal guide (190) is coupled to the upper surface of the extension guide (10). The horizontal guide (190) has gear teeth (192) formed continuously in the longitudinal direction. The rotating roller (180) has unit rollers (181) spaced apart in the circumferential direction that engage with the gear teeth (192) of the horizontal guide (190) when rotated. The rotating roller (180) is circular, and the unit rollers (180) are arranged in the circumferential direction. The power providing unit (201) provides power to drive the rotating roller (180). As shown in FIG. 10, the power providing unit (201) is fixed to the moving bracket (20) by a fixed bracket (210). The above-mentioned fixed bracket (210) includes a seating portion (211) that supports the lower side of the power supply portion (201), a first fixing portion (212) that is coupled to the seating portion (211), and a second fixing portion (213) that connects the seating portion (211) and the first fixing portion (212).

[0062] As illustrated in FIG. 11, according to the present embodiment, when the rotating roller (180) rotates, the unit roller (181) engages with the gear tooth (192), and the power providing part (201) and the moving bracket (20) move together. A protective pad (182) is attached to the outer surface of the unit roller (181) to reduce friction with the gear tooth (192) when the unit roller (181) is inserted into the gear groove (193) and rotates, thereby reducing wear caused by friction. For example, the protective pad (182) may be made of a wear-resistant material such as rubber or silicone. The above horizontal moving part (200) is fixed to the moving bracket (20) by a fixed bracket (210), and when the rotating roller (180) is rotated, the rotating roller (180) moves in one direction while engaging with the gear groove (193) provided in the horizontal guide (190).

[0063] According to the present embodiment, the rotating roller (180) is formed in a circular shape, and unit rollers (181) that engage with the grooves of the horizontal guide (190) are arranged at regular intervals in the circumferential direction. The structure for moving the movable bracket (20) by the rotating roller (180) and the horizontal guide (190) is similar to a structure using a rack and pinion. Meanwhile, to ensure smooth rotation of the unit roller (181), the grease injection device (121) can supply grease to each rotation axis of the unit roller (181). Also, as shown in FIG. 10, a ring (300) used when lifting the extension guide (10) is provided on the upper surface (12) of the extension guide (10).

[0064]

[0065] Although the present invention has been described in detail with respect to preferred embodiments, the present invention is not limited to the above embodiments, and many variations may be provided within the scope of the present invention.

Claims

1. A robot (100) comprising a main arm (110) that rotates around a first rotation axis (101) provided at one end to approach a work area, and a first drive unit (171) that provides power to rotate the main arm (110) around the first rotation axis; An extension guide (10) that extends in one direction to guide the movement of the above robot (100); and A robot transfer system characterized by including a moving bracket (20) that reciprocates horizontally along the extension guide (10), wherein one end of the robot (100) is coupled so that the first rotation axis (101) is positioned opposite to the side (11) of the extension guide (10).

2. In Paragraph 1, The first rotation axis (101) is provided at the lower end of the main arm (110), and A robot transfer system characterized in that the above robot (100) is a multi-joint robot including an auxiliary arm (108) that is rotatably coupled to the upper part of the main arm around a second rotation axis (102).

3. In Paragraph 1, The above main arm (110) includes a lower arm portion (111) formed to a predetermined length by a first rotation axis (101), an upper arm portion (113) formed to a predetermined length by a second rotation axis (102), and a middle arm portion (112) connecting the lower arm portion (111) and the upper arm portion (113). A robot transfer system characterized by the fact that, with the lower arm portion (111) standing vertically, the upper part of the middle arm portion (112) is extended so as to be located further back than the lower part of the middle arm portion (112), and the upper arm portion (113) is extended forward again from the upper part of the middle arm portion (112) to form an S shape.

4. In Paragraph 3, A robot transfer system characterized in that the length of the arm middle section (112) is longer than the length of the arm lower section (111) and the arm upper section (113).

5. In Paragraph 1, A robot transfer system characterized by including a support bracket (170) in which one end is fixed to the moving bracket (20) and the first rotation axis (101) and the first driving unit (171) are coupled to the other end, such that the first rotation axis (101) is positioned in front of the moving bracket (20).

6. In Paragraph 1, The above-mentioned moving bracket (20) moves along a guide rail (40) provided along the length direction of the extension guide (10) on the side (11) of the extension guide (10), and A robot transfer system characterized in that the guide rail (40) includes an upper guide rail (41) provided on the upper side of the side (11) and a lower guide rail (42) provided on the lower side of the side.

7. In Paragraph 6, A plurality of guide blocks (90) are provided on each of the upper guide rail (41) and the lower guide rail (42), and A robot transfer system characterized in that one side of the guide block (90) engages with the upper guide rail (41) or the lower guide rail (42), and the other side of the guide block (90) is coupled with the movable bracket (20).

8. In Paragraph 1, A robot transfer system characterized by having a stopper (80) that restricts the movement range of the movable bracket (20) provided at the side (11) end of the extension guide (10).

9. In Paragraph 1, A robot transfer system characterized by including a cylinder at the lower part of the main arm (110) that provides force to rotate the main arm (110) in the reverse direction of the first direction when the first driving unit (171) rotates the main arm (110) in a first direction toward the working area side located below the extension guide (10), and provides force to rotate the main arm (110) in the second direction when the first driving unit (171) lifts the main arm (110) and rotates it away from the working area side.

10. In Paragraph 1, It includes a support bar (23) having one end connected to the above-mentioned movable bracket (20) and the other end extending toward the upper surface (12) of the above-mentioned extension guide (10). A robot transfer system characterized by having a controller (120) for driving the first driving unit (171) mounted on the upper side of the support bar (23).

11. In Paragraph 9, The above cylinder includes a first cylinder (60) and a second cylinder (70) that are spaced apart in the vertical direction, and A robot transfer system characterized in that one end of the first cylinder (60) and the second cylinder (70) is connected by a connecting bracket (150), and the connecting bracket (150) is connected to a cylinder bracket (152), one end of which is connected to the moving bracket (20), so as to be rotatable around a cylinder rotation axis (151).

12. Regarding Paragraph 10, A robot transfer system characterized by having a guide hole (50) formed on the side of the main arm (110) into which a power supply line drawn from the controller (120) is inserted.

13. In Paragraph 1, A robot transfer system characterized by having a horizontal moving part (200) that moves the robot (100) in a horizontal direction along the extension guide (10), wherein the horizontal moving part (200) moves together with the moving bracket (20).

14. In Paragraph 13, The above horizontal moving part (200) is, A horizontal guide (190) provided on the above extension guide (10), having gear teeth (192) formed continuously in the longitudinal direction; A rotating roller (180) having unit rollers (181) that engage with the gear teeth (192) of the horizontal guide (190) when rotating, spaced apart in the circumferential direction; A power supply unit (201) for driving the above-mentioned rotating roller (180); including A robot transfer system characterized by the unit roller (181) engaging with the gear tooth (192) and the moving bracket (20) moving when the rotating roller (180) rotates.

15. In Paragraph 14, A robot transfer system characterized by having a protective pad (182) attached to the outer surface of the unit roller (181) to reduce wear caused by friction with the gear teeth (192).

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