JPS62255105A - Hand device for robot - Google Patents

Abstract

PURPOSE:To effect correct and sure works and contrive to miniaturize the titled device and reduce the weight of the same by a method wherein a power transfer means, driving a pair of slide members, which slide so as to be opposed to orthogonal direction to the sliding direction of a base, to respective opposite directions synchronously, is provided while respective slide members are provided with work holding devices respectively. CONSTITUTION:When a rotary actuator J is operated, slide members 4, 4' slide inward and outward respectively. The slide members 4, 4' are slid outward respectively to abut attraction pads 10, 10' against a work, separated and supplied by the slide members 4, 4', thereafter, the work is attracted. Then the slide members 4, 4' are slid inward to reduce the total width of a hand G, thereafter, the hand G is moved so as to be inserted into the predetermined position in a mold N. After the positioning of the hand G is finished, the slide members 4, 4' are slid outward to set the work into the mold N. Subsequently, the slide members 4, 4' are slid inward to reduce the total width of the hand G, thereafter, the hand G is retreated from the inside of the mold N and the mold N is closed to effect molding.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot hand device for loading or unloading a workpiece into or out of a working machine such as a molding machine or a processing machine.

(Prior art) When putting a work into or taking out a work from a working machine such as a molding machine or a processing machine, a work holding device is provided at the tip of the wand that advances and retreats toward the work machine by driving an air cylinder or cam, and the work holding device holds the mold. It is known that a workpiece is loaded into or taken out from a jig or the like.

By the way, for example, when inserting a workpiece into both the left and right molds at the same time before molding in an insert molding machine, it is necessary to insert the workpiece into two opposing places at once. Different drive devices are provided so that the two work holding devices can be moved in opposite directions by means of the drive sources.

(Problem to be Solved by the Invention) However, in the above-mentioned conventional technology, when one of the pair of workpiece holding devices comes into contact with the input portion earlier than the other, the workpiece holding device and the drive device receive a reaction force. There is a problem in that the positioning accuracy of the workpiece that can be loaded is deteriorated due to distortion and vibration caused by the hand device.Also, since a drive device is provided separately for each workpiece holding device, the hand device itself becomes large. There are problems in that the rod does not fit into the mold (work machine) or becomes too heavy, which hinders the movement of the rod.

The present invention aims to solve the above problems.

(Means for Solving the Problems) The present invention has been made in view of the above problems, and includes a pair of sliding members that slide in a direction perpendicular to the sliding direction on a base that slides linearly. The present invention is characterized in that it is provided with power transmission means for driving the slide members in opposite directions in synchronization, and that each of the slide members is provided with a work holding device.

(Example) Hereinafter, the present invention will be specifically described based on the illustrated example. A is a robot for a molding machine and is installed on a stand Bl. In robot A, the slide base D slides on the linear guide E by the action of the first fluid cylinder C, and the hand G slides parallel to the slide base D by the action of the second fluid cylinder F fixed to the slide base D. It looks like this. H is a spline shaft that serves as a linear guide for the hand G, and its tip is fixed to the hand G so that it can rotate freely but not move in the axial direction. L is a spline bearing disposed on the slide base D in the same direction as the sliding direction of the slide base D, and rotatably supported by the slide base D, into which the spline shaft 1 is inserted. J is a rotary actuator attached to the slide base D, which rotates the spline bearing with a belt K, and rotates the spline shaft H that slides linearly within the spline bearing. M is a molding machine in which a pair of molds N are opened and closed approximately at right angles to the sliding direction of the robot A.

FIG. 2 is a perspective view of the first embodiment of the hand G.

The base 1 is fixed to the tip of the rod 2 of the second fluid cylinder F, and a spline shaft H is pivotally supported by a bearing 3 provided on the base 1. The spline shaft H is arranged parallel to the rod 2. Second fluid cylinder F of base 1
A pair of slide members 4, 4' are attached to the guide 5.5 in a direction perpendicular to the rod 2 on the side opposite to the side connected to the rod 2.
' is provided to slide. On the other hand, the tip of the spline shaft H is connected to the base 1 by the guides 4, 4'.
It protrudes to the side and is connected to the lever 6. Each of the slide members 4, 4' is provided with a pin 7°7' perpendicular to its sliding direction. Further, pins 8 and 8' are provided at both ends of the lever 6, and each pin 7
and 8.7' and 8' are rotatably connected by links 9 and 9'. 1.0.10' are the ends 11, 11.1 of the slide members 4, 4'. The suction pads are provided on the spline shaft H and are arranged so as to face outward on a straight line passing through the axis of the spline shaft H.

The pair of guides 5 and 5' are arranged opposite to the spline shaft H so that a portion of the stroke of the slide member 4°4' overlaps in the center.

Next, we will discuss the effect. Due to the action of the second fluid cylinder F fixed to the slide base D, the spline shaft H of the hand G slides within the spline bearing L-4, and the hand G slides parallel to the slide base D. Since the spline shaft H is rotationally connected to the rotary actuator J, the rotary actuator J
By actuating the lever 6, the lever 6 rotates, and the slide members 4, 4' slide inwardly or outwardly in opposite directions depending on the direction of rotation of the lever.

Now, when the hand G is in a standby state outside the mold N with its original center aligned with the center between the workpiece set positions of the mold N, a supply device (not shown) is used to insert the work (insert member into the mold). etc.) are separated and supplied to respective opposing locations of the suction pads 10 and 10'.

Next, the rotary actuator J is operated, and the slide members 4 and 4' are respectively slid outward to bring the suction pads 10 and 10' into contact with the separated and supplied workpieces, and then a means such as a vacuum is used to to pick up the workpiece. Then, the rotary actuator J is rotated in the opposite direction to the above, and the slide members 4 and 4' are slid inward to reduce the total width of the hand G by tJ\, and then the fluid cylinders C and F are operated, and the hand G is Move it so that it fits into the predetermined position inside the mold N.

After the positioning of the hand G is completed, the rotary actuator J is operated to slide the slide member 4.4' outward to set the workpiece in the mold N. Next, the rotary actuator J is operated again to slide the slide members 4 and 4' inward to reduce the overall width of the hand G, and then the fluid cylinders C and F are operated to retract the hand G from inside the mold N. After that, the mold N is closed and molding is performed.

Furthermore, when taking out a workpiece or a molded product from inside the mold N, the purpose can be achieved by performing the opposite action as described above.

FIG. 3 is a perspective view of the second embodiment of the hand G.

The base 21 is fixed to the tip of the rod 22 of the second fluid cylinder F, and the spline shaft H is pivotally supported by a bearing 23 provided on the base 21. The spline shaft H is disposed parallel to the rod 22. 2nd base 21
On the opposite side of the fluid cylinder F from the side where it is connected to the rod 22, there is a
A pair of guide rods 24, 24' are supported by bearings 25, 25' in the base 21. A sliding member 26. is attached to the outer end of the guide rod 24.24'.
26' are connected. This slide member 26.26
Racks 27 and 27' are respectively fixed in parallel to the guide rods 24 and 24', and mesh with a pinion 28 rotatably connected to the spline shaft H at the center of the base 21.

Numerals 29 and 29' are suction pads provided facing outward on the slide members 26 and 26', respectively, and are arranged on a straight line passing through the axis of the spline shaft H.

In this embodiment as well, the pinion 28 rotates by rotationally connecting the spline shaft H with the rotary actuator J and operating the rotary actuator J.
The sliding members 26 and 26' can be slid inwardly or outwardly in opposite directions by the direction of rotation of the pinion 28, respectively.

Incidentally, the suction pads 10, 10 in the second embodiment described above
' and 29 and 29' may be gripping tools equipped with opening/closing claws, which can be changed in various ways depending on the workpiece used.Also, a rotary actuator J for rotating the lever 6 and pinion 28 is mounted on the slide base D. Instead, the spline shaft H, the belt K, and the spline bearing may be eliminated by providing them on the bases 1 and 21 of the hand G. In addition, the present invention can be modified in various ways without departing from its gist.

(Effects) According to the present invention, a pair of sliding members that slide in a direction perpendicular to the sliding direction are provided on a base that slides linearly, and power transmission that drives the sliding members synchronously in opposite directions. Since the workpiece holding device is provided on each of the slide members, even when the workpieces are loaded into or taken out from two opposing locations at once, one workpiece holding device is faster than the other with respect to the work machine. This makes it possible to prevent contact between the parts and to perform accurate and reliable work. Further, since only one drive source is required to drive the two workpiece holding devices, and the structure is simple, the device can be made smaller and lighter.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a robot for a molding machine to which an embodiment of the present invention is applied; FIG. 2 is a perspective view of a first embodiment of the hand shown in FIG. 1;
FIG. 3 is a perspective view of a second embodiment of the hand. A...Robot G...Hand 1.21.
··base

Claims (1)

[Claims] A pair of sliding members sliding in a direction perpendicular to the sliding direction is provided on a linearly sliding base, and power transmission means for driving the sliding members in opposite directions in synchronization is provided, and each of the sliding members A robot hand device equipped with a workpiece holding device.