EP0620064B1 - Vorrichtung zum Manipulieren von Werkstücken - Google Patents

Vorrichtung zum Manipulieren von Werkstücken Download PDF

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Publication number
EP0620064B1
EP0620064B1 EP19940102919 EP94102919A EP0620064B1 EP 0620064 B1 EP0620064 B1 EP 0620064B1 EP 19940102919 EP19940102919 EP 19940102919 EP 94102919 A EP94102919 A EP 94102919A EP 0620064 B1 EP0620064 B1 EP 0620064B1
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EP
European Patent Office
Prior art keywords
piston
workpiece
air
manipulating
processing system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP19940102919
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English (en)
French (fr)
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EP0620064A1 (de
Inventor
Toshiiku Suzuki
Masao Sonobe
Noriyuki Naito
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yamaha Motor Co Ltd
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Yamaha Motor Co Ltd
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Publication date
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Publication of EP0620064A1 publication Critical patent/EP0620064A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D17/00—Pressure die casting or injection die casting, i.e. casting in which the metal is forced into a mould under high pressure
    • B22D17/20—Accessories: Details
    • B22D17/2076—Cutting-off equipment for sprues or ingates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D31/00—Cutting-off surplus material, e.g. gates; Cleaning and working on castings

Definitions

  • the present invention relates to a workpiece manipulating and processing system as indicated in the preamble of claim 1.
  • a shock absorbing material between the product to be subject to shocks for removing a part of it, such as a runner, and the arm could be deliberated, but this would cause shaking betweeen the product and the arm and would affect the accuracy of positioning the workpiece (molded product to be further processed) to its proper position.
  • a vibrator device driven by a pneumatic cylinder, so that air pressure is used to make the hammer means collide with the molded article in order to remove the runner, directing the hammer means to the spot where the runner connects to the molded product.
  • the hammer would be positioned at the end of a piston rod, the associated piston being moved longitudinally by means of pressurized air alternately introduced in front and behind the piston, triggering a reciprocating movement of same so that the hammer means strikes the molded product repeatedly.
  • a valve structure is employed to switch over the supply of pressurised air from the region in front of the piston to the region behind the piston and vice-versa, in order to trigger the reciprocating movement.
  • a workpiece manipulating and processing system as desired comprising a vibrator device should allow a reciprocable moving member of said vibrator device to be put in a predetermined rest position when the vibrator device is de-energised in order to assure immediate restarting of the vibrator device after newly energising same.
  • the present invention improves a workpiece manipulating and processing system as indicated above, in that a shock absorbing means is disposed between the gripping support means and the manipulating arm at least during a period of workpiece processing to prevent shock or vibrations from being transmitted from the gripping support means to the manipulating arm of the robot during a workpiece processing operation of the tool.
  • said shock absorbing means is adapted to form part of a fastening means affixing the gripping support means to the manipulating arm of the robot.
  • said shock absorbing means is disposed in parallel to a workpiece positioning means also provided within the frame work of the fastening means, said workpiece positioning means rigidely connect the gripping support means directly to the manipulating arm of the robot.
  • the manipultaing arm same comprises an arm tip at the projecting end of the manipulating arm, which is removably attached to the manipulating arm at right angles, said arm tip being adapted to rotably support a slide supporting table which is rotable, preferrably by one turn, about the centre axis of the arm tip and which supports a sliding table along that surface which faces away from the arm tip, said sliding table being movable radially with respect to the centre axis of the arm tip.
  • the sliding table supports a box-shaped bracket via projecting support arm, with a bottom plate of said box-shaped bracket extending substantially either in parallel or perpendicularly to the centre axis of the arm tip.
  • the workpiece positioning means which forms part of the fastening means, comprises a support plate which is disposed within said box-shaped bracket and which is connected to the bottom plate thereof through said shock absorbing means.
  • said shock absorbing means comprises a plurality of parallel shock absorbing members made of rubber, preferrably a plurality of columnar rubber cylinders, the axes of which substantially extends either perpendicularly or in parallel to the centre axis depending on the position of the bottom plate of the box-shaped bracket.
  • the support plates supports a work chuck comprising jaws which are operated via a toggle mechanism to be oppositely movable relative to each other to clamp a clamping area of the workpiece, preferrably the runner of a molded product, said jaws being provided with at least one pair of oppositely disposed outer chuck teeth adapted to clamp the clamping area of the workpiece.
  • the arm tip of the manipulating arm may comprise a rotatably supported sliding table which, in turn, supports a supporting table which is disposed substantially in parallel to the centre axis of the arm tip, said supporting table being provided with holding working cylinders, the piston rods thereof are movable between first and second position while the working cylinders are movable when said piston rods assume their first or second positions, said working cylinders being provided with axially protruding cylindrical projections which are slideably received in slide holes of the supporting table, said projections being engagable with engagement holes of a mounting bracket of the gripping support means, while the shock absorbing means are disposed in parallel to the slideable projections between the supporting table and the mounting bracket.
  • a vibrator in terms of the vibrator device normally supporting a hammering means for processing the workpiece, but also conceivable to support the workpiece, a vibrator is provided supported by a support pillar rising from the top of a stand.
  • said vibrator which can also be used independently of the robot having a manipulating arm as described above, comprises a working cylinder unit and a vibrating piston rod supported on a piston sliding inside said cylinder unit, the protruding tip portion of said piston rod supporting a hammer unit having a tapered tip portion.
  • said cylinder unit comprises a pneumatic cylinder connected to a pressurised air supply via an automatic switching device disposed at the rear of the cylinder unit.
  • either an air volume in front or behind the piston is vented to atmosphere when the vibrator device ceases operation dispersing the piston either in its most advanced or most retracted rest position.
  • an air passages-defining block provided and disposed between the automatic switching device and the rear end of the cylinder unit closing off the pneumatic cylinder.
  • the cylinder unit comprises both piston-advancing air holes provided in the wall of the cylinder unit, said piston-advancing air holes extending from a rear end surface of the cylinder unit axially and opening on the inner surface of the pneumatic cylinder in proximity of a rearward end portion of same, and the cylinder unit comprises piston-retracting air holes provided in the wall of the cylinder unit as well and extending from the rear end surface of the cylinder unit axially to open on the inner surface of the pneumatic cylinder in proximity to a forward end portion of the pneumatic cylinder.
  • a release valve provided as a control valve venting either the piston-advancing air holes or the air exhaust holes to atmosphere, said piston advancing air holes remain closed when the vibrator device is operating and are opened to atmosphere when the vibrator device is switched off.
  • said release valve is a three-way valve connected to both either the piston advancing air holes and the piston retracting air holes of the cylinder unit on the one hand and is connected to the exhaust air holes of the other hand, so that during vibrating operation of the vibrator device the piston advancing and retracting air holes remain closed while the exhaust air holes are opened to atmosphere while during a non operating condition of the vibrator device the piston advancing and retracting air holes are opened to atmosphere while the exhaust air holes are closed.
  • the present invention generally provides a robot having a manipulating robot arm which supports a support means for holding and disengaging either the runner or the product part of a molded product that has been ejected from a mold cavity and a means for attaching and disengaging (in terms of the transmission of shocks or vibrations) by shock absorbing members this support means to and from said manipulating robot arm, wherein means are provided for removably affixing the above mentioned support means to the manipulating arm of the robot, and a hammering means is provided for striking the above mentioned product zone or runner zone.
  • the gripping support means is attached to the manipulating arm of the robot by shock absorbing members and this affixing means allows the attachment between the gripping support means and the manipulating arm to be disengaged under other operating conditions vibrations produced by the hammer striking on the product or the runner are prevented from being transmitted to the manipulating arm.
  • the arrangement prevents an undue load from being put on the manipulating robot arm and the load is concentrated on the connection between the product and the runner whereby speedy removal of the runner is enhanced.
  • the affixing means rigidely and solidely affixes the gripping support means to the manipulating arm, so that the movement of the workpiece precisely follows the movement of the manipulating arm so that it can be accurately transported and positioned in the proper position.
  • a runner 2 is to be removed from the final product 4 regarding the molded product 1 as ejected from the mold cavity preferrably either the zone of the final product 4 or the runner zone 2 is held by a gripping support means 9.
  • a gripping support means 9 respectively the runner 2 which is held by the gripping support means 9.
  • the product area 4 which is grasped.
  • the product 1 as removed from the cavity of a mold is grasped by the gripping support means 9 which, in turn, is disposed via a fastening means 72 at a arm tip 59 of a manipulating am 53 of a robot 50.
  • a shock absorbing means 65 (see Figure 2) is positioned between the gripping support means 9 and the manipulating arm 53 of the robot. Accordingly, any shocks from striking the product 4 or runner 2 is absorbed by said shock absorbing means 65 so that shocks and vibrations are substantially prevented from being transferred to the manipulating arm 53 of the robot 50.
  • the fastening means 72 causes the gripping support means 9 and the manipulating arm 53 of the robot 50 to be affixed together rigidely and without the shock absorbing means 65 being interposed, so that the molded product 1 held by the gripping support means 9 precisely follows the movements of the manipulating arm 53.
  • the reference numeral 1 denotes an intermediate molded product made of aluminum which was taken from a metal cavity of an injection molding machine (not shown).
  • Said intermediate molded product 1 consists of a product part 4 (final product) and a runner part 2, which is connected to the product part 4 via a gate 3 which has a small cross-sectional area.
  • a runner removal arrangement comprising the robot 50 and the vibrator device 101 is provided to remove the runner 2 from the final product 4.
  • the arrow "Fr" in Figure 1 and also in any further Figures 2, 3, 5 and 9 indicates the front side direction.
  • a main part of this workpiece manipulating and processing system is defined through the robot 50.
  • Said robot 50 consists of a base 7 subtending a verticle axis 51 about which a robot unit 52 is freely rotatable.
  • a manipulating arm 53 is positioned at the top of the robot unit 52. The manipulating arm 53 is free to move up and down as well as in the horizontal direction.
  • a gripping support means 9 is attached to the tip end 59 of the manipulating arm 53.
  • afore-indicated gripping support means 9 (which is explained in greater detail hereinafter) is holding a clamping zone 14 (see Figure 2) of the workpiece 1 a runner zone 18 of the runner 2, extending from the clamping zone 14 to the afore-indicated gate area 3 is positioned to be exposed to the hammer unit 115 of the vibrator device 101.
  • These hammer unit 115 comprises a vibrator 160 composed of a cylinder unit 111 comprising a pneumatic cylinder 106 and a vibrating piston rod 110a wherein said cylinder unit 111 is attached to the top of the support pillar 103.
  • the afore-indicated pneumatically operated piston rod 110a projects and can freely slide forward from the front end of the cylinder unit 111.
  • pressurised air is supplied to the cylinder unit 111 the piston rod 110a together with the hammer unit 115 vibrates reciprocatingly back and forth.
  • conveyor belt 57 there is also a conveyor belt 57 positioned near and below the afore-mentioned hammer unit 115 and the workpiece 1, specifically the final product 4.
  • the arm tip 59 at the projecting end of the manipulating arm 53 of the robot 50 is removably attached at right angles to the manipulating arm 53.
  • the arm tip 59 supports a slide supporting table 60 which can be fixed in a desired position.
  • This slide supporting table 60 is supported rotatably so as it can rotate up to one revolution around a (vertical) centre axis 61 of the arm tip 59.
  • the centre axis 61 is also the axis of rotation of the slide supporting table 60 which, in turn, supports a sliding table 62 along a surface facing away from the arm tip 59, said sliding table 62 is thus slideable in a radial direction with respect to the centre axis 61.
  • Said sliding table 62 can slide up to a designated position with respect to the slide supporting table 60.
  • a box-shape bracket 63 having a bottom plate 64, which extends roughly in parallel to the centre axis 61 of the arm tip 59.
  • Said bottom plate 64 is attached to a support plate 66 by four rubber shock absorbing members 65 (see also Figures 4 to 6).
  • the shock absorbing members 65 are columnar and their axes extend roughly perpendicularly to the centre axis 61 of the arm tip 5.
  • a work chuck 67 is supported by the box-shaped bracket 63, more specifically by the support plate 66, said work chuck 67 being opened and closed by means of a toggle mechanism 69 operated by a chuck cylinder 68.
  • the work chuck 67 is equipped with outside chuck teeth 70 and inside chuck teeth 71 with the outside chuck teeth 70 being adapted to grasp the clamping zone 14 of the runner 2 of the "intermediate" molded product 1 when the work chuck 67 is closed.
  • Said work chuck 67 comprises jaws 67a, 67b which are operated via the toggle mechanism 69.
  • the inside chuck teeth 71 can support another insertion work chuck or a sprayer to spray mold parting agents or the like.
  • the gripping support means 9 and the box-shaped bracket 63 have been releasably affixed by a fastening means 72, so as to allow attachment and removal.
  • Said fastening means 72 comprises two or four holding working cylinders 74 attached to the outside side plates 73 of the box-shaped bracket 63. These holding working cylinders 74 are equally distantly disposed around the above mentioned support plate 66. Each of the piston rods 75 of the holding working cylinders 74 fit through corresponding engaging holes 76 in the support plate 66.
  • the gripping support means 9 is connected to the box-shaped bracket 63 and, accordingly, to the manipulating arm 53 of the robot 50 exclusively via the shock absorbing rubber cylinders 65.
  • the operation of the robot 50 positions the runner 2 opposite to the vibrating piston rod 110a and the hammer unit 115 of the vibrator 160.
  • the support plate 66, the work chuck 67 and the product 1 are supported firmly without any shaking with respect to the arm tip 59, so that the robot 50 and manipulating arm 53 can accurately transport and position the workpiece 1 in the desired operating position.
  • the runner 2 which has been separated from the final product 4 as described above drops into a return bucket (not shown) and is returned for recasting.
  • the final product 4 is then transported by the conveyor 57 to the next processing station.
  • the vibrations transmitted from the molded product 1 to arm tip 59 are absorbed by the shock absorbing means 65.
  • the transmission of vibrations to the arm tip 59 is prevented.
  • the vibrations which would otherwise have been transmitted undesirably have their load effectively concentrated on the gate area 3, so that the runner 2 can be easily removed. Since the shocks and vibrations are not transmitted to the arm tip 59 of the manipulating arm 53 and the robot 50 protected from them.
  • the shock absorbing means 65 are made of rubber and columnar and are positioned such that their axes are roughly in line with the hammer unit 115 or the vibrating piston rod 110a. Thus, they absorbe vibrations and shocks by elastic deformations substantially in their axial direction and prevent them from being transmitted from the molded product 1 to the arm tip 59.
  • the vibrations may also be applied from the left or right side.
  • vibrations may be applied by the hammer unit 115 in the left-right direction as shown by the dashed lines in said Figure.
  • the vibrations from the product would be effectively absorbed by the shock absorbing members 65 through elastic deformation in the shearing direction thereby preventing said shocks and vibrations from being transmitted to the manipulating arm 53.
  • the axes of the shock absorbing rubber cylinders 65 are roughly parallel to the centre axis 61.
  • the work chuck 67 again holds the clamping zone 14 of the "intermediate" molded product 1 and strikes from the vibrating rod 110a and the hammer unit 115 hit the runner 2 of the workpiece 1.
  • the hammer unit 115 is vibrating back and forth while the axes of the shock absorbing members 65 extend vertically so that vibrations which would have been transmitted to the arm tip 59 are effectively absorbed by elastic deformation of the shock absorbing member 65 in the shearing direction.
  • Figure 7 and 8 refer to a third embodiment of the invention.
  • outside chuck teeth 70 project outwardly from the work chuck 67 and the operation of the work chuck 67 causes the outside chuck teeth 70 to press against an inside circumferential surface of a hole 4a in the product 4, so that the product 4 is supported by the work chuck 67.
  • a return material bucket 77 for the removed runners 2.
  • a further product bucket 78 provided into which the final product 4 is placed. Accordingly, after having removed the runner 2 the robot unit 52 swivels about its vertical axis 51 to position the final product 4 above of the product bucket 78 to drop it into said bucket 78.
  • FIG. 9 A fourth embodiment is shown in Figures 9 and 10.
  • the fastening means 72 comprises a support table 80 mounted on a sliding table 62 and this support table 80 is fitted with holding working cylinders 81, which extend substantially perpendicularly to the support table 80 and, accordingly, to the centre axis 61.
  • Said holding working cylinders 81 comprise a cylinder tube 82 accommodating a slideable piston 84, which is freely slideable in the axial direction thus defining a pressure chamber 83 while at the back of the piston 84 a piston rod 85 is respectfully provided which projects backwards through the rear end of the cylinder tube 82.
  • the projecting ends of these piston rods 85 pass through holes 86 in the support table 80 and conical retainers 87 are provided at the projecting ends of the piston rods 85.
  • cylindrical projections 88 which extend rearwardly from the top and bottom as well as from the left and right rear end surfaces of the cylinder tubes 82, said cylindrical projections 88 being affixed to the respective cylinder tubes 82 by bolts 89.
  • the afore-indicated cylindrical projections 88 are of circular cross-section and they are supported such that they are free to slide back and forth in slide holes 90 front in the support table 80. This allows the support table 80 to be held in place by the holding cylinders 81. At their front and back the outside circumferential surfaces of the cylindrical projections 88 comprise a front stop 91 and a back stop 92 respectfully, projecting radially outwards to abut from both sides against the support table 80.
  • the support table 80 is attached to a mounting bracket 66 which, in turn, supports the gripping support means by shock absorbing means 65. When viewed from the front, there are four of these shock absorbing members, preferrably rubber cylinders 65 surrounding the holding working cylinders 81.
  • the mounting bracket 66 comprises engagement depressions 94 with a conical surface for the insertion of the retainers 87 and, moreover, engagement holes 95 are provided at the mounting bracket 66 opposite to the cylindrical projections, so that the projecting ends of the cylindrical projections 88 can engage or disengage the engagement holes 95.
  • the projecting end of the engagement projection 87 is inserted into the engagement hole 95 and, additionally, is in contact with the perimeter of the opening of engagement hole 95 whereby the gripping support means 9 is rigidely and directly affixed to the manipulating arm 53 by-passing the shock absorbing means 65.
  • the work chuck 67 clamps the workpiece 1 at a substantially circular clamping area therof and, accordingly the jaws 67a, 67b are pivotably supported with respective inner and outer teeth 70, 71 being designed and provided with clamping pieces 67c to grasp the workpiece 1 at four spots, two of them being substantially opposite to each other and arranged diagonally with respect to the workpiece 1.
  • the robot 50 is used for the removal of the runner 2 and there is much latitude in setting the hammering position which can be changed for each product.
  • the runner part 2 can fall into a return bucket 77 while the final product 4 can be placed into a product bucket 78 for further processing.
  • the final product 4 can be dropped onto the conveyor 57 and can be carried to the next processing station.
  • the runner 2, on the other hand, can then be put in the return bucket 77.
  • Such a vibrator 160 could also be designed and used seperately of the robot 50 and the design and use of its manipulating arm.
  • the vibrator device 101 used in the framework of the workpiece manipulating and processing system according to these embodiments in its essential operating portion is shown in figure 11.
  • the vibrator device 101 comprising the vibrator 160 is supported upon the fixture support pillar 103 at the top of the stand 2 in the vicinity of the robot 50.
  • the vibrator device 101 comprises a pneumatic cylinder 106 and pressurised air supply 107 from an attached compressor etc. communicating with the rear of the pneumatic cylinder 106 so that the pressurised air is supplied via an automatic switching valve 108.
  • the pneumatic cylinder 106 which is part of a cylinder unit 111 operates a piston 110 which is free to slide inside said pneumatic cylinder 106.
  • At the rear end of the cylinder unit 111 there is a passages-defining block 112 that closes off the cylinder unit 111.
  • a pressure-sealing plug 114 which is threaded onto the front of the cylinder unit 111 with a cushion 113 between them to plug the front end of the cylinder unit 111 and, accordingly, the pneumatic cylinder 106.
  • a piston rod 110a which projects through a hole in the above mentioned plug 114 to the outside of the pneumatic cylinder 106.
  • the hammer unit 115 is attached to the outwardly projecting part of the piston rod 110a.
  • the cylinder unit 111 has a support flange 116 threaded onto it at the rear end near its outside circumference so that said support flange 116 is joined to the passages-defining block 112.
  • this junction with the passages-defining block 112 is implemented by four bolts 117. These bolts 117 also affix the automatic switching valve device 108 to the passages-defining block 112 as described hereinafter in greater detail.
  • the support flange 116 is attached to the passages-defining block 112 and the automatic switching device 108 by means of the bolts 117.
  • the respective materials have airtight seals therebetween along the adjoining surfaces and between them and the cylinder unit 111.
  • connecting rods 118 which extend toward the front end of the cylinder unit 111 from the support flange 116 and which are parallel to the cylinder unit 111.
  • these connecting rods are attached to a front-side flange 119 which is attached to the front end of the cylinder unit 111. Moreover the support flange 116 and front-side flange 119 are attached to the support pillar 103 by means of the bracket (not shown).
  • piston-advancing holes 121 provided in the wall of the cylinder unit 111 through which compressed air passes to advance the piston 110.
  • Retraction air holes 122 are similarly provided passing compressed air to retract the piston 110.
  • exhaust holes 123 positioned in axial direction of the pneumatic cylinder 106 which allow air to escape. In this embodiment advancing of the piston 110 describes a piston movement to the right in figure 11 while the piston 110 moves to the left when it retracts.
  • the afore-indicated piston advancing air holes 121 are provided at four places in the cylinder wall of the cylinder unit 111.
  • the upstream ends open to the rear end surface of the cylinder unit 111, while the downstream ends, as shown in Figure 12, open into port 121a on the rear end of the inside surface of the pneumatic cylinder 106.
  • the piston-retracting air holes 122 are provided at two spots, at the top and bottom of the cylinder unit 111 between the afore-indicated advancing air holes 121 as shown in Figure 16.
  • Their upstream ends open to the rear end surface of the cylinder unit 111 and their downstream ends, as shown in Figure 13, open into ports 122a provided on the inner surface of the pneumatic cylinder 106 at the front and side thereof.
  • the air exhaust holes 123 are located between the afore-indicated piston-advancing air holes 121 and, as shown in Figure 16, are provided at two spots on the left and right hand sides of the cylinder unit 111.
  • These ports 121a to 123c are present spaced at intervals as shown in Figure 11.
  • Port 123a which is the farthest rearward, is positioned in the area of the rear end of the cylinder unit 111.
  • the passages-defining block 112 comprises piston-advancing air holes 124, piston-retracting air holes 125 and exhaust air holes 126 placed in positions respectfully corresponding to the air holes 121, 122 and 123 in the cylinder unit 111.
  • the advancing air hole 124 and the retracting air hole 125 pass through the passages-defining block 112 in parallel to the axial direction of the pneumatic cylinder 106. As described hereinafter, they connect to the automatic switching valve 108.
  • the piston-advancing air holes 124 as shown in Figure 17, all are interlinked by a interconnecting bore arrangement 127 which, as shown in Figure 17, is "X"-shaped.
  • This interconnecting bore arrangement 127 opens on the top of the passages-defining block 112 at separate spots and nipples 128 are threaded into it.
  • the broken line B shown in Figure 11 shows the connection by an air tube with a three way valve 109 described hereinafter.
  • the exhaust holes 126 are constituted by grooves 126a which extend in the circumferential direction of the cylinder unit 111 to a position opposite to the opening of the exhaust holes 123 in the cylinder unit 111, further by axial projections 126b, which extend in the axial direction of the cylinder unit 111, and radial extensions 126c which extend in the radial direction of the cylinder unit 111. As shown in Figure 17, they open on the left and right hand sides of the tube end of the passages-defining block 112. These exhaust holes 126 are also connected to the three way valve 109 described hereinafter via nipples 129 threaded into it on the side of the passages-defining block 112 and through the air tube represented by the broken line C in Figure 11.
  • the automatic switching valve 8 is attached to the passages-defining block 112 by means of bolts 117, said automatic switching valve 108 comprising a valve case 131 and a valve body 132 accommodated in a front side recess 131a of the valve case 131 and covered by the air passage-defining block 112.
  • the upper opening of the pressurised air passage 133 is attached to an air tube represented by the broken line D in Figure 11 communicated to the pressurised air supply 107.
  • the valve body 132 consists of a stack of three sheets or sheet-like disks 132a, 132b, 132c defining air connecting passage-ways 133a, 133b, 135, 136 and a switching valve member 134 which is disposed freely movable axially in response to a pressure difference at both sides thereof.
  • the valve body 132 defines the advancing air holes 135 and retracting air holes 136 which connect respectively to the advancing air holes 124 and the retracting air holes 125 in the passages-defining block 112. Automatically switching the valve member 134 in response to the pressure difference at both sides thereof causes these air passages to be selectively connected to the pressurised air supply passage 133.
  • the space occupied by the valve member 134 is configured such that even when the position of the valve member 134 is either left or right of that shown in Figure 12, the air passage 133 remains connected through the connecting paths 133a or 133b and the upstream opening of the advancing air holes 135 on the cylinder-sided wall of this space (sheet 132c) as well as the upstream openings of the retracting air holes 136 on the opposite wall of the cylinder (sheet 132a) are open.
  • the air supply 107 for supplying pressurised provides compressed air through air path 133 to the piston advancing air holes 135, 124, 121 to the rear side of the piston 110 inside of the cylinder unit 111.
  • the compressed air at the rear end of the piston 110 propels the piston 110 forward.
  • the hammer unit 115 advances and, if the workpiece 1 is in place, it strikes the workpiece 1.
  • the piston 110 when in course of advancing the piston 110 it reaches the end of its advancing course, the piston 110 causes the pressure inside the front end of the cylinder unit 111 to rise. Since this pressure it transmitted via the piston retracting air holes 122, 125 and 136 to the space occupied by the valve body 132 and the valve member 134, when the advancing of the piston 110 has been completed, the afore-mentioned pressure causes the valve member 134 to move to the opposite side, ie. to right side in Figure 12.
  • the piston-retracting air holes 136 are connected to the air path 133 via a connecting path 133b and the compressed air supplied through the air path 133 passes through the piston retracting air holes 136, 125 and 122 to the area in front of the piston 110.
  • the compressed air inside the pneumatic cylinder 106 passes through the piston advancing air holes 121, 124 and 135 and is applied to the space occupied by the valve member 134 driving the valve member 134 to the left side.
  • valve member 134 moves left and right as shown in Figure 13 and pressurised air from the air supply path 133 is alternately supplied to the piston advancing air holes 121, 124, 135 and the piston retracting air holes 122, 125 and 136.
  • pressurised air is continuously supplied to the air path 133, the piston 110 and the hammer unit 115 continue to move in a reciprocating motion.
  • Said three way valve 109 is a manual valve which selectively connects the air tube B or the air tube C to atmosphere and there is also a muffler 109a attached at the opening to the outside atmosphere.
  • a muffler 109a attached at the opening to the outside atmosphere.
  • FIG. 19 the piston-advancing air path comprising the piston-advancing air holes 135, 124 and 121 is indicated by the reference numeral 141.
  • the workpiece 1 is positioned in front of the vibrator device 101 as shown in Figures 107 and the workpiece is positioned such as to set it into a strike position at gate area 3.
  • This strike position is slightly short of a full stroke position of the pneumatic cylinder 106, corresponding to the full forward position of the hammer unit 115.
  • the hammer unit 115 is shown in its retracted position.
  • the three way valve 109 has been set to vent the air tube C to the atmosphere and close the air tube B. In this condition pressurised air is supplied to the automatic switching valve 108.
  • pressurised air flows through the piston advancing air path 141 due to the operation of the automatic switching valve 108 and piston 110 advances from the position shown in Figure 19a.
  • the hammer unit 115 strikes the workpiece.
  • Part of the pressurised air supply to the cylinder unit 111 namely, that portion corresponding to the increase in the volume of the cylinder, moves through the exhaust passage 143 and the air tube C to the three way valve 109 and muffler 109a where it is vented to atmosphere.
  • the automatic switching valve 108 changes the flow path of the pressurised air so that after the striking of the hammer unit 115 the air flows through the piston-retracting air path 142.
  • the post hammer strike condition is shown in Figure 19b.
  • the pressure of the pressurised air begins to drive the piston 110 rearward. It retracts until it reaches the fully retracted position and, then the automatic switching valve 108 once again causes the pressurised air to flow through the piston-advancing air path 141. Piston 110 advances again and hammer 115 once again strikes the workpiece 1. This repeated striking of the workpiece 1 causes the final product 4 just below the gate part 3 to vibrate and to separate the product 4 from the runner 2. After the runner 2 has been separated, the product is dropped onto the conveyor belt (in the example of Figure 1) and is taken to a next processing station, for example, a finishing station.
  • the operation of the three way valve 109 causes the vibrator device 101 to stop further operation.
  • further operation is stopped, with the pressurised air supply 107 supplying pressurised air to the automatic switching valve 108, then, by switching the three-way valve 109, as shown in Figure 19c, the air tube B is vented to the atmosphere while the air tube C is closed.
  • the three valve 109 in this manner the piston-advancing air path 141 is vented to atmosphere while the exhaust air path is closed.
  • piston 110 decelerates while moving to the front of the cylinder unit 111. Since the position of the valve member 134 of the automatic switching valve 108 switches from the position shown in Figure 19a to that shown in Figure 19b, the piston-retracting air path 142 is connected to the source of pressurised air and the piston 110 retracts. At this time the compressed air inside the pneumatic cylinder 106 is vented from the piston-advanced air path 141 through the air tube B to atmosphere.
  • the pressure in front of the piston 110 causes the piston 110 to retract bringing the hammer unit 115 to its fully rearward position and it will not stop midway in a neutral position.
  • the weight of the pneumatic cylinder 106 can be decreased over conventional arrangements there is no need to have an auxiliary cylinder to retract the hammer unit 115. Consequently, the supporting stand 102 and the pillar 103 for the pneumatic cylinder 106 can be made smaller and lighter and need not to be engineered as extremely strong.
  • the weight of the cylinder became a problem, so that it was necessary to have a massive support for the hammering pneumatic cylinder in order to allow hammering in the horizontal direction.
  • the vibrator device 101 is structured such that when either the piston-advancing air path, which supplies air to behind the piston driving the hammer, or the piston-retracting path which supplies air to the front of the piston, are vented to atmosphere in a manner such that the venting valve is closed during vibrating operations and is open when the operations are stopped, then the piston and the hammer unit can be set either in the fully forward or fully rearward position by the action of the pressurised air either to the back or the front of the piston when the operation of the vibrator device is stopped.
  • the hammering unit when hammering is completed, the hammering unit will not remain in a neutral position between the fully forward or fully backward position. This assures stability in the resumption of operations. Hence, stopping the hammering operation takes place smoothly and with a high degree of efficiency.
  • this structure including the automatic switching control valve, which controls the flow of pressurised air, renders unnecessary the auxiliary pneumatic cylinder required in the conventional systems to retract the hammer to its fully rearward position or to advance it completely forwardly.
  • a three-way valve was added to the vibrator device 101 of the first embodiment, which closes either the piston advancing air path or the piston retracting air path when the vibrator is operating while the exhaust path is vented to atmosphere but which vents the afore-indicated piston advancing or piston retracting air paths to atmosphere when the vibrator operations are stopped closing the exhaust path so that the hammer can be brought to rest in either fully retracted or fully advanced positions and be held there by pressurised air acting from one side upon the piston.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)
  • Percussive Tools And Related Accessories (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)

Claims (27)

  1. Werkstückmanipulations- und -verarbeitungssystem, insbesondere Vorrichtung zur Entfernung von Angußverteilern ausgeformter Produkte, mit einem Roboter (50), der einen bewegbaren Manipulierarm (53) aufweist, welcher bei einer Greifwerkzeughalteeinrichtung (9) endet zum Halten eines Werkstückes oder eines Verarbeitungswerkzeuges, einer Stoßdämpfereinrichtung (65), die zwischen der Greifwerkzeughalteeinrichtung (9) und dem Manipulierarm (53) angeordnet ist, um zu verhindern, daß Stöße oder Vibrationen von der Greifwerkzeughalteeinrichtung (9) während einer Werkstückbearbeitungsoperation mit einem Werkzeug auf den Manipulierarm (53) übertragen wird, gekennzeichnet durch eine Vibrationseinrichtung zum Halten des Werkzeugs bzw. des Werkstückes, wobei diese Stoßdämpfereinrichtung (65) zumindest während einer ersten Periode der Werkstückverarbeitung indirekt die Greifwerkzeughalteeinrichtung (9) mit dem Manipulierarm (53) des Roboters (50) verbindet und diese Stoßdämpfereinrichtung (65) angrenzend an einer Werkstückpositioniereinrichtung (74, 75, 76) der Befestigungseinrichtung (62) angeordnet ist, wobei die Werkstückpositioniereinrichtung (74, 75, 76) während einer zweiten Periode der Werkstückverarbeitung diese Stoßdämpfereinrichtung umgeht und dazu ausgelegt ist, die Greifwerkzeughalteeinrichtung (9) direkt an den Manipulierarm (53) des Roboters (50) fest anzuschließen.
  2. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 1, dadurch gekennzeichnet, daß die Stoßdämpfereinrichtung (65) einen Teil einer Befestigungseinrichtung (72) bildet und die Greifwerkzeughalteeinrichtung (9) an den Manipulierarm (53) des Roboters (50) befestigt.
  3. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 1 bis 2, dadurch gekennzeichnet, daß der Manipulierarm (53) des Roboters (50) eine Armspitze (59) an dem vorspringenden Ende des Manipulierarmes (53) enthält, die entfernbar an dem Manipulierarm (53) in rechten Winkeln angeschlossen ist, wobei diese Armspitze (59) drehbar einen Schlittenhaltetisch (60) abstützt, der drehbar um die Mittelachse (61) der Armspitze (59) ist und einen Gleittisch (62) entlang seiner Oberfläche abstützt, die von der Armspitze (59) wegweist, wobei dieser Gleittisch (62) bezüglich der Mittelachse (61) radial bewegbar ist.
  4. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 3, dadurch gekennzeichnet, daß der Gleittisch (62) über einen vorspringen Haltearm (62a) einen kastenförmigen Träger (63) hält, wobei eine Bodenplatte (64) davon sich im wesentlichen parallel oder senkrecht zu der Mittelachse (61) der Armspitze (59) erstreckt.
  5. Werkstückmanipulations- und -verarbeitungssystem nach einem der vorstehenden Ansprüche 2 bis 4, dadurch gekennzeichnet, daß die Werkstückpositioniereinrichtung (74, 75, 76) einen Teil der Befestigungseinrichtung (72) bildet, die eine Halteplatte (66) enthält, welche innerhalb dieses kastenförmigen Trägers (63) angeordnet ist und welche an der Bodenplatte (64) über diese Stoßdämpfereinrichtung (65) angeschlossen ist.
  6. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 1 bis 5, dadurch gekennzeichnet, daß diese Stoßdämpfereinrichtung eine Vielzahl von parallel ausgerichterer Stoßdämpferelemente (65) aufweist, die aus Gummi hergestellt sind, bevorzugt aus säulenförmigen Gummizylindern (65), deren Achsen sich im wesentlichen senkrecht oder parallel zu der Mittelachse (61) erstrecken.
  7. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 5, dadurch gekennzeichnet, daß die Werkstückpositioniereinrichtung (74, 75, 76), die die Halteplatte (66) an den kastenförmigen Träger (63) fest anschließt, eine Vielzahl von Arbeitszylindern (74) zum Halten aufweist, die an Seitenplatten (73) des kastenförmigen Trägers (63) angeschlossen sind, wobei diese Arbeitszylinder (74) Kolbenstangen (75) aufweisen, die hin- und herbewegbar sind zwischen einer vorgeschobenen Eingreifposition unter Werkstückausrichtung mittels Eingreifen in Eingreiflöcher (76), die in der Halteplatte (66) vorhanden sind, und einer zurückgezogenen Position unter Werkstückverarbeitung, in welcher die Kolbenstangen (75) in ihrer nicht eingreifenden Ruheposition verbleiben.
  8. Werkstückmanipulations- und -verarbeitungssystem nach mindestens einem der vorstehenden Ansprüche 3 bis 7, dadurch gekennzeichnet, daß die Halteplatte (66) eine Spannvorrichtung (67) abstützt, die Klemmbacken (67a, 67b) aufweist, welche betätigbar sind über einen Kniehebelmechanismus, um bezüglich zueinander entgegengesetzt bewegbar zu sein zum Festklemmen eines Klemmbereiches des Werkstückes, bevorzugt den Angußverteiler des ausgeformten Produktes, wobei diese Klemmbacken (67a, 67b) mit zumindest einem Paar entgegengesetzt angeordneter äußerer Spannzähne (70) versehen sind, die dazu ausgelegt sind, den Klemmbereich des Werkstückes festzuklemmen.
  9. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 8, dadurch gekennzeichhnet, daß die Klemmbacken (67a, 67b) beide linear bzw. um eine Schwenkachse verschwenkbar beweglich sind.
  10. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 8, dadurch gekennzeichnet, daß die äußeren Spannzähne (70) an der Außenseite der Klemmbacken (67a, 67b) angeordnet sind, um eine innere Umfangsoberfläche eines Loches (4a) des Produkts (4) zu ergreifen.
  11. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 3, dadurch gekennzeichnet, daß ein Haltetisch (80), der im wesentlichen parallel zur Mittelachse (61) angeordnet ist, an dem Gleittisch (62) montiert ist, wobei dieser Haltetisch (80) mit Arbeitszylindern (81) zumHalten versehen ist, wobei deren Kolbenstangen (85) zwischen ersten und zweiten Positionen bewegbar sind und die Arbeitszylinder (81) zwischen ihren ersten und zweiten Positionen bewegbar sind, wobei diese Arbeitszylinder (81) mit axial vorspringenden zylinderförmigen Vorsprüngen (88) versehen sind, welche gleitend in Gleitlöchern (90) des Haltetisches (80) aufgenommen sind, wobei diese Vorsprünge (88) mit Eingriffslöchern (95) eines Montierträgers (66) der Greifwerkzeughaltereinrichtung (9) in Eingriff bringbar sind, während die Stoßdämpfereinrichtungen (65) parallel zu den gleitenden Vorsprüngen (88) zwischen dem Haltetisch (80) und dem Montageträger (66) angeordnet sind.
  12. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 1 bis 11, dadurch gekennzeichnet, daß die Vibrationseinrichtung (101) einen Vibrator (160) aufweist, der von einem Stützstab (103) gehalten wird, der sich von dem oberen Bereich eines Ständers (102) nach oben erstreckt.
  13. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 12, dadurch gekennzeichnet, daß der Vibrator (160) eine Arbeitszylindereinheit (111) und eine vibrierende Kobenstange (110a) aufweist, die von einem Kolben (110) gehalten wird, der innerhalb dieser Zylindereinheit (111) gleitet, wobei der vorspringende Spitzenabschnitt der Kolbenstange (110a) eine Hammereinheit (115) hält, die einen konisch zulaufenden spitzen Abschnitt aufweist.
  14. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 12 oder 13, dadurch gekennzeichnet, daß die Zylindereinheit (111) einen Pneumatikzylinder (106) enthält, der an einer Druckquelle (107) über eine automatische Schalteinrichtung (108) angeschlossen ist, die im rückwärtigen Bereich der Zylindereinheit (111) angeordnet ist.
  15. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 14, dadurch gekennzeichnet, daß ein Block (112), der einen Durchlaß für druckbeaufschlagte Luft festlegt, zwischen der automatischen Schalteinrichtung (108) und dem rückwärtigen Ende der Zylindereinheit (111) angeordnet ist und den pneumatischen Zylinder (106) abschaltet.
  16. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 12 bis 15, dadurch gekennzeichnet, daß die Zylindereinheit (111) sowohl Luftlöcher (121) für die Kolbenannäherung, die in der Wandung der Zylindereinheit (111) vorgesehen sind und sich von einer rückwärtigen Endoberfläche der Zylindereinheit (111) axial erstrecken und sich in einer inneren Oberfläche des pneumatischen Zylinders (106) in der Nähe eines rückwärtigen Endabschnittes des pneumatischen Zylinders (106) öffnen, als auch den Kolben zurückführende Luftlöcher (112) aufweist, die in der Wandung der Zylindereinheit (111) sich von der rückwärtigen Endoberfläche der Zylindereinheit (111) axial erstrecken und in der inneren Oberfläche des pneumatischen Zylinders (106) in der Nähe eines vorderen Endabschnittes des pneumatischen Zylinders (106) öffnen.
  17. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 12 bis 16, dadurch gekennzeichnet, daß sich Auslaßlöcher (123) in axialer Richtung des pneumatischen Zylinders (106) erstrecken, die sich bei axial weit voneinander entfernten Punkten auf der inneren Oberfläche des pneumatischen Zylinders (106) öffnen und es ermöglichen, daß Luft durch das rückwärtige Ende des pneumatischen Zylinders (106) entweichen kann.
  18. Werkstückmanipulations- und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 12 bis 17, dadurch gekennzeichnet, daß ein Freigabeventil (109) vorhanden ist, das entweder die Luftlöcher (121) für die Kolbenannäherung oder die Luftauslaßlöcher (123) in die Atmosphäre entlüftet, wobei dieses geschlossen bleibt, wenn die Vibrationseinrichtung sich im Betrieb befindet, und welches sich zur Atmosphäre hin öffnet, wenn die Vibrationseinrichtung ausgeschaltet ist.
  19. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 18, dadurch gekennzeichnet, daß das Freigabeventil ein Dreiwegeventil (109) ist, das sowohl entweder mit den Luftlöchern (121) für die Kolbenannäherung oder mit den Löchern (122) für die Kolbenrückführung der Zylindereinheit (111) einerseits verbunden ist, und sowohl andererseits an den Auslaßluftlöchern (123) angeschlossen ist, so daß während der Vibrations-Operation der Vibrationseinrichtung die Luftlöcher (121, 122) für die Kolbenannäherung und -rückführung geschlossen sind, während die Auslaßluftlöcher (123) zur Atmosphäre hin geöffnet sind, während bei dem Ruhezustand der Vibrationseinrichtung die Luftlöcher (121, 122) für die Kolbenannäherung und -rückführung zur Atmosphäre geöffnet sind, während die Auslaßluftlöcher (123) geschlossen sind, so daß dieses Freigabeventil dazu ausgelegt ist, entweder ein Luftvolumen vor oder hinter dem Kolben (110) zur Atmosphäre zu entlüften und dieser Kolben (110) in seiner am weitesten angenäherten oder in seiner weitestens zurückgezogenen Position ruht.
  20. Werkstückmanipulations- und -verarbeitungssystem nach mindestens einem der vorstehenden Ansprüche 15 bis 19, dadurch gekennzeichnet, daß der Block (112) zur Festlegung eines Luftdurchlasses Luftlöcher (124) für die Kolbenannäherung, Luftlöcher (125) für die Kolbenrückführung und Auslaßluftlöcher (126) enthält, die alle mit zugeordneten Luftlöchern (121, 122, 123) passend ausgerichtet sind und in den Block (112) zur Festlegung eines Luftdurchlasses bei dem rückwärtigen Bereich der Zylindereinheit (111) hinein öffnen, in welcher der Kolben, die Luftlöcher (124) für die Kolbenannäherung und die Luftlöcher (125) für die Kolbenrückführung durch diesen Block (112) für die Festlegung eines Luftflusses parallel zur axialen Richtung der Zylindereinheit (111) hindurchtreten, wodurch das automatische Schaltventil (108) angeschlossen wird.
  21. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 20, dadurch gekennzeichnet, daß die Luftlöcher (124) für die Kolbenannäherung des Blockes (112) für die Festlegung des Luftdurchlasses alle miteinander verbunden sind mittels einer X-förmigen Verbindungsrohrungsanordnung (127), welche in Umfangsrichtung voneinander beabstandet auf der Spitze des Blockes (112) für die Festlegung des Luftdurchlasses in Nippel (120) hinein öffnet, die dazu ausgelegt sind, mit einer Luftdruckquelle verbunden zu werden, insbesondere Luftsteuereinrichtungen, wie z.B. ein Dreiwegeventil (109).
  22. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 20 bis 21, dadurch gekennzeichnet, daß die entlüftenden Luftauslaßlöcher (126), die in dem Block (112) zur Festlegung eines Luftdurchflusses vorhanden sind, Rinnen (126a) enthalten, die sich in der Umfangsrichtung des pneumatischen Zylinders (106) zu Positionen hin erstrecken, die der rückwärtigen Öffnung der Luftauslaßlöcher (123) der Zylindereinheit (111) entgegengesetzt sind, um daran angeschlossen zu werden, sowie mit einer radialen Verlängerung (126c) versehen ist, die in radialer Richtung auf den linken und rechten Seitenoberflächen des Blockes (112) zur Festlegung eines Luftdurchflusses sich öffnen.
  23. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 22, dadurch gekennzeichnet, daß die Luftauslaßlöcher (126) in Nippel (129) hinein öffnen, die dazu ausgelegt sind, um mit einer Luftflußsteuereinrichtung, insbesondere dem Dreiwegeventil (109), verbunden zu werden.
  24. Werkstückmanipulations und -verarbeitungssystem nach zumindest einem der vorstehenden Ansprüche 14 bis 23, dadurch gekennzeichnet, daß die automatische Schalteinrichtung ein automatisches Schaltventil (108) enthält, das mittels Bolzen (117) an dem Block (112) zur Festlegung eines Luftdurchflusses befestigt ist, wobei dieses automatische Schaltventil (108) ein Ventilgehäuse (131) und einen Ventilkörper (132) aufweist, der in einer an der Vorderseite des Ventilgehäuses (131) vorhandene Aussparung (131a) aufgenommen ist, und daß es von dem Block (112) zur Festlegung eines Luftdurchlasses abgedeckt ist.
  25. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 24, dadurch gekennzeichnet, daß das Ventilgehäuse (131) einen Luftkanal (133) aufweist, der in einem Spitzenabschnitt des Ventilgehäuses (131) sich öffnet und sich zu einem Bodenbereich des Ventilkörpers erstreckt, der die Aussparung (131) aufnimmt, um eine Vielzahl von Luftverbindungskanälen (133a, 133b) anzuschließen, die in dem Ventilkörper (132) angeordnet sind, wobei dieses Öffnen an dem Spitzenabschnitt des Ventilgehäuses (131) dazu ausgelegt ist, um an eine Quelle mit druckbeaufschlagter Luft (107) angeschlossen zu werden.
  26. Werkstückmanipulations- und -verarbeitungssystem nach Anspruch 25, dadurch gekennzeichnet, daß der Ventilkörper (132) einen Stapel von drei Plattenscheiben (132a, 132b, 132c) aufweist, die Luftverbindungskanäle (133a, 133b, 135, 136) festlegen, und ein Schaltventilelement (134) enthält, das von diesen verbindenden Kanälen umgeben ist, die diese Scheiben (132a, 132b, 132c) festlegen, wobei dieses Schaltventilelement (134) axial frei bewegbar ist in Abhängigkeit von einer Druckdifferenz des Luftdruckes, der auf die in axialer Richtung weisenden Endflächen des Schaltventilelements (134) wirkt.
  27. Werkstückmanipulations und -verarbeitungssystem nach Anspruch 26, dadurch gekennzeichnet, daß dieser Ventilkörper (132) ein Luftloch (135) für die Kolbenannäherung und ein Luftloch (136) für die Kolbenrückführung aufweist, welche jeweils an die entsprechenden Luftlöcher (124) für die Kolbenannäherung und Luftlöcher (125) für die Kolbenrückführung angeschlossen sind, die in dem Block (112) für die Festlegung des Luftdurchlasses vorhanden sind, und daß das automatisch schaltende Ventilelement (134) bewirkt, daß diese Luftlöcher (124, 125) selektiv an die druckbeaufschlagte Luft führenden Luftzuführungskanäle (133) anschließbar sind.
EP19940102919 1993-03-25 1994-02-25 Vorrichtung zum Manipulieren von Werkstücken Expired - Lifetime EP0620064B1 (de)

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TW200609060A (en) * 2004-07-02 2006-03-16 Sintokogio Ltd Method and facility for after-treatment of aluminum casting coarse material
JP4885478B2 (ja) * 2005-05-20 2012-02-29 油圧機工業有限会社 アルミ廃材の製品化方法と、その装置
JP3181098U (ja) * 2012-11-08 2013-01-24 ロボテック株式会社 金型鋳造製品における余剰物の打撃式分離装置
CN105921713B (zh) * 2016-06-17 2018-02-06 丰汉电子(上海)有限公司 一种压铸件进浇口共振破断分离装置
JP2018008283A (ja) * 2016-07-12 2018-01-18 ロボテック株式会社 鋳造製品からの不要部分の打撃式分離切断装置
CN108127682B (zh) * 2018-01-16 2024-04-30 歌尔股份有限公司 一种自动夹紧通讯装置
CN108582699B (zh) * 2018-06-13 2024-04-12 广州市鑫富塑胶有限公司 一种胶针排钉转运简易机械臂
CN110711853B (zh) * 2019-10-30 2021-06-22 肇庆谊龙科技有限公司 一种去渣包气动锤
CN111940693A (zh) * 2020-07-06 2020-11-17 深圳市深汕特别合作区力劲科技有限公司 压铸方法与压铸装置
CN114535546A (zh) * 2022-02-25 2022-05-27 江苏汇德机器人自动化有限公司 一种高速敲击装置
CN114713794B (zh) * 2022-04-07 2024-05-07 宁波保税区海天智胜金属成型设备有限公司 一种压铸机回锤自调整控制方法

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