JP2007144530A

JP2007144530A - Robot hand

Info

Publication number: JP2007144530A
Application number: JP2005339121A
Authority: JP
Inventors: Takashi Morita; 高史盛田; Toshio Miyamoto; 敏男宮本
Original assignee: Yutaka Electronics Ind Co Ltd
Current assignee: Yutaka Electronics Ind Co Ltd
Priority date: 2005-11-24
Filing date: 2005-11-24
Publication date: 2007-06-14
Anticipated expiration: 2025-11-24
Also published as: JP4512026B2

Abstract

<P>PROBLEM TO BE SOLVED: To heighten the durability of a clamper and to improve the work efficiency by eliminating the need of changing set-up. <P>SOLUTION: In this robot hand 1, a chamfered part is obliquely formed extending from the front 13 to an inclined surface 14 on the tip of a gripping claw 12 having an acute angle plane, which is provided at the front end of each clamper 6, and an abut part 16 making an angle of plane θ between the chamfered part and the inclined surface 14 about 90 degrees is formed. On the other hand, a receiving part 19 having a V-shaped plane is formed by a pair of abut bodies 18, 18 on the front of a base 2 between the clampers 6, 6, and a positioning member 17 is provided to abut on the peripheral surface of a gate part 22 in taking out a molded article, thereby locating the gripping position of the gate part 22 by the gripping claws 12, 12. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、ダイカスト成型等において、金型の合わせ面に露出している成型品の湯口部分を把持して取り出す際に用いられるロボットハンドに関する。 The present invention relates to a robot hand used when holding and taking out a gate portion of a molded product exposed on a mating surface of a mold in die casting molding or the like.

ダイカスト成型等においては、固定金型と可動金型とが合わさってキャビティを形成し、成型後は可動金型が退避して、固定金型の合わせ面に突出した成型品の湯口部分を、ロボットアームに備えたロボットハンドで取り出す手順となる。このロボットハンドとしては、ロボットアームの先端に連結したベースに、エア駆動等で開閉作動する一対のクランパを備えたものが知られている。この場合、成型品に対するロボットハンドのクランパの位置決めを正確に行うために、本件出願人は、クランパベースに、クランパの先端よりも僅かに前方へ突出する当接部材を設けて、取り出しの際には当接部材が固定金型の合わせ面に当接してクランパによる確実な把持を可能とした考案を既に提供している（特許文献１参照）。 In die casting, etc., a fixed mold and a movable mold are combined to form a cavity. After molding, the movable mold is retracted, and the gate of the molded product protruding from the mating surface of the fixed mold is The procedure is to take out with the robot hand equipped on the arm. As this robot hand, there is known a robot hand provided with a pair of clampers that are opened and closed by air drive or the like on a base connected to the tip of a robot arm. In this case, in order to accurately position the clamper of the robot hand with respect to the molded product, the applicant of the present application is provided with a contact member protruding slightly forward from the tip of the clamper on the clamper base. Has already provided a device in which the abutting member comes into contact with the mating surface of the fixed mold and can be securely held by the clamper (see Patent Document 1).

実公平７−４１５５８号公報No. 7-41558

しかし、特許文献１では、固定金型の合わせ面を基準に位置決めを行うものであるから、湯口部分が同じでも金型の形状が変わると当接部材を交換したり、突出位置を変更したりする手間（段取り替え）が生じ、作業効率の低下を招く。
一方、湯口部分を直接把持するクランパにおいては、前端に平面鋭角状の把持爪を互いの対向側に突設し、その把持爪で湯口部分を把持させるものがあるが、この把持爪の先端が把持とその解除との繰り返しによって欠けやすく、このため把持爪やクランパの交換頻度が多くなってここでも作業効率の低下に繋がっている。 However, in Patent Document 1, since the positioning is performed based on the mating surface of the fixed mold, the contact member may be replaced or the protruding position may be changed when the mold shape changes even if the gate portion is the same. Trouble (setup change) occurs, and the work efficiency is reduced.
On the other hand, in a clamper that directly grips the gate portion, there is a clamper that has a flat acute angle gripping claw at the front end and protrudes to the opposite side and grips the gate portion with the gripping claw. Repeated gripping and release thereof tend to cause chipping, which increases the frequency of replacement of gripping claws and clampers, which again leads to a reduction in work efficiency.

そこで、本発明は、湯口部分に対してクランパの把持爪を常に正確に位置決めできると共に、クランパの耐久性も向上して、効率の良い取り出し作業に寄与できるロボットハンドを提供することを目的としたものである。 Therefore, the present invention has an object to provide a robot hand that can always accurately position a gripper claw of a clamper with respect to a gate portion and improve the durability of the clamper and contribute to an efficient take-out operation. Is.

上記目的を達成するために、請求項１に記載の発明は、把持爪の先端に、湯口部分への当接部の平面角が略９０度若しくはそれ以上となるように面取部を形成する一方、ベースに、湯口部分の周面に当接して把持爪による湯口部分の把持位置を位置決めする位置決め部材を設けたことを特徴とするものである。
請求項２に記載の発明は、請求項１の目的に加えて、湯口部分が横断面円形のものにあって、湯口部分に対する位置決め部材の当接位置を一定にするために、位置決め部材における湯口部分への当接部分を平面Ｖ字状としたものである。 In order to achieve the above object, according to the first aspect of the present invention, the chamfered portion is formed at the tip of the gripping claw so that the plane angle of the abutting portion to the gate portion is approximately 90 degrees or more. On the other hand, the base is provided with a positioning member that contacts the peripheral surface of the gate and positions the grip position of the gate by the gripping claw.
According to a second aspect of the present invention, in addition to the object of the first aspect, the pouring gate portion has a circular cross section, and the pouring gate of the positioning member is made constant so that the contact position of the positioning member with respect to the pouring gate portion is constant. The abutting portion to the portion is a flat V-shape.

請求項１に記載の発明によれば、面取部により把持爪の強度がアップして欠け等が効果的に防止できるため、クランパの耐久性が向上し、交換頻度が減少する。また、湯口部分が位置決めの基準となることで、金型が変わっても湯口部分の把持位置は変化しないため、段取り替えも不要となる。よって、作業効率の向上が期待できる。
請求項２に記載の発明によれば、請求項１の効果に加えて、湯口部分への位置決め部材の当接位置を常に一定にでき、当接時のがたつきも防止できる好適な位置決め作用が得られる。
According to the first aspect of the present invention, since the strength of the gripping claw is increased by the chamfered portion and chipping and the like can be effectively prevented, the durability of the clamper is improved and the replacement frequency is reduced. In addition, since the pouring gate portion serves as a positioning reference, the holding position of the pouring gate portion does not change even if the mold is changed, so that the setup change is not necessary. Therefore, improvement in work efficiency can be expected.
According to the second aspect of the present invention, in addition to the effect of the first aspect, it is possible to make the contact position of the positioning member to the gate part always constant and to prevent the rattling at the time of contact. Is obtained.

以下、本発明の実施の形態を図面に基づいて説明する。
図１は、本発明のロボットハンドの平面図、図２はその左側面図で、ロボットハンド１は、上下一対の支持板３，３からなるベース２の後方（図１，２の上側を前方として説明する。）に、エアシリンダ４を連結し、支持板３，３間に左右一対のクランパ６，６を備える。このロボットハンド１は、例えば水平旋回可能に設置されたベース部と、そのベース部に設けられた多関節の可動アームとを備える周知のロボットアームにおいて、可動アームの先端部２０に連結アーム２１を介してベース２が連結されることで一体化される。エアシリンダ４への駆動用エアの供給制御は、ロボットアームに搭載されたエアポンプ及び切換弁の動作によってなされる。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a plan view of a robot hand according to the present invention, FIG. 2 is a left side view thereof, and the robot hand 1 is located behind a base 2 consisting of a pair of upper and lower support plates 3 and 3 (the upper side of FIGS. The air cylinder 4 is connected, and a pair of left and right clampers 6 and 6 are provided between the support plates 3 and 3. This robot hand 1 is, for example, a well-known robot arm that includes a base portion installed so as to be capable of horizontal turning and a multi-joint movable arm provided on the base portion, and a connecting arm 21 is provided at the distal end portion 20 of the movable arm. The bases 2 are connected to each other through the unit. Driving air supply control to the air cylinder 4 is performed by operations of an air pump and a switching valve mounted on the robot arm.

各クランパ６は、支持板３，３間の前方外側に配置されたピン７により支持板３，３間で左右へ揺動可能に軸着され、クランパ６の後端は、エアシリンダ４のロッド５に固着した連結プレート８にピン９によって連結されるリンク１０に、同じくピン１１によって軸着されている。よって、クランパ６，６は、ロッド５が前進すると、図１の二点鎖線で示すように、リンク１０，１０を介して後端がベース２の中心側へ回転し、両クランパ６，６の前端間を広げる開作動を行い、ロッド５が後退すると、同図に実線で示すように、リンク１０，１０を介して後端がベース２の外側へ回転し、両クランパ６，６の前端間を狭める閉作動を行うことになる。 Each clamper 6 is pivotally supported by a pin 7 disposed on the front outer side between the support plates 3 and 3 so as to be swingable left and right between the support plates 3 and 3, and the rear end of the clamper 6 is a rod of the air cylinder 4. A link 10 connected to a connection plate 8 fixed to 5 by a pin 9 is also pivotally attached by a pin 11. Therefore, when the rod 5 moves forward, the clampers 6 and 6 rotate their rear ends toward the center side of the base 2 via the links 10 and 10 as shown by two-dot chain lines in FIG. When the opening operation is performed to widen the front end and the rod 5 is retracted, the rear end rotates to the outside of the base 2 via the links 10 and 10 as shown by the solid line in FIG. The closing operation is performed to narrow the angle.

そして、各クランパ６の前端には、把持爪１２が固定されている。この把持爪１２は、クランパ６，６の互いの対向側へ向けて突設され、クランパ６，６の閉作動状態で前方へ正対する前面１３と、その前面１３の内側端から後方へ行くに従って徐々に中心側から離れる傾斜面１４とを含む平面鋭角状を呈している。但し、把持爪１２の先端には、図３にも示すように、前面１３から傾斜面１４にかけて斜めに微少な面取部１５が形成されて、面取部１５と傾斜面１４とがなす平面角θが略９０度となる当接部１６を形成している。 A gripping claw 12 is fixed to the front end of each clamper 6. The gripping claws 12 project toward the opposing sides of the clampers 6, 6, face the front 13 facing forward in the closed operation state of the clampers 6, 6, and go backward from the inner end of the front face 13. It has an acute planar shape including an inclined surface 14 that gradually moves away from the center side. However, as shown in FIG. 3, a small chamfer 15 is formed obliquely from the front surface 13 to the inclined surface 14 at the tip of the gripping claw 12, and the plane formed by the chamfered portion 15 and the inclined surface 14. A contact portion 16 having an angle θ of approximately 90 degrees is formed.

一方、クランパ６，６の間でベース２の前面には、位置決め部材１７が設けられている。この位置決め部材１７は、前面がベース２の中心側へ行くに従って徐々に後退する傾斜面となる一対の当接体１８，１８を突設することで、両当接体１８，１８により、断面円形の成型品の湯口部分２２の周面にがたつきなく当接できる平面Ｖ字状の受部１９を形成している。この受部１９の湯口部分２２への当接状態で、クランパ６，６の把持爪１２による湯口部分２２の把持位置が決定されることになる。 On the other hand, a positioning member 17 is provided on the front surface of the base 2 between the clampers 6 and 6. The positioning member 17 is provided with a pair of contact bodies 18 and 18 which are inclined surfaces which gradually recede toward the center side of the base 2 so that the contact members 18 and 18 have a circular cross section. A flat V-shaped receiving portion 19 is formed which can abut on the peripheral surface of the gate portion 22 of the molded product without rattling. With the receiving portion 19 in contact with the gate portion 22, the gripping position of the gate portion 22 by the gripping claws 12 of the clampers 6 and 6 is determined.

以上の如く構成されたロボットハンド１においては、成型後にダイカスト成型装置の可動金型が開いて退避したら、ロボットアームの動作によってロボットハンド１を、エアシリンダ４のロッド５を前進させてクランパ６，６を開作動させた状態で、固定金型の合わせ面２３に半分が露出している成型品の湯口部分２２に合わせて固定金型側へ前進させる。すると、位置決め部材１７の受部１９が湯口部分２２の周面に当接してロボットハンド１の前進が停止する。このとき、Ｖ字状の受部１９の案内によって湯口部分２２の中心とロボットハンド１の中心とが正確に合わされる。この状態でエアシリンダ４のロッド５を後退させてクランパ６，６を閉作動させると、図１の実線に示す如く、把持爪１２，１２の当接部１６，１６が湯口部分２２における合わせ面２３近くの周面に当接して湯口部分２２を把持する。
その後、固定金型に設けた図示しない押し出しピンを突出させて成型品を押し出すと共に、ロボットアームを後退させることで、成型品を取り出すことができる。 In the robot hand 1 configured as described above, when the movable mold of the die casting apparatus is opened and retracted after molding, the robot hand 1 is moved forward by the rod 5 of the air cylinder 4 by the operation of the robot arm. In a state where 6 is opened, it is advanced to the fixed mold side in accordance with the spout portion 22 of the molded product in which half is exposed on the mating surface 23 of the fixed mold. Then, the receiving portion 19 of the positioning member 17 comes into contact with the peripheral surface of the gate portion 22 and the advance of the robot hand 1 stops. At this time, the center of the gate portion 22 and the center of the robot hand 1 are accurately aligned by the guidance of the V-shaped receiving portion 19. In this state, when the rod 5 of the air cylinder 4 is retracted and the clampers 6 and 6 are closed, the contact portions 16 and 16 of the gripping claws 12 and 12 become mating surfaces at the gate portion 22 as shown by the solid line in FIG. The gate 22 is held in contact with the peripheral surface near 23.
Thereafter, an extruded pin (not shown) provided on the fixed mold is protruded to extrude the molded product, and the robot arm is retracted to take out the molded product.

このように、上記形態のロボットハンド１によれば、把持爪１２の先端に、湯口部分２２への当接部１６の平面角が略９０度となるように面取部１５を形成する一方、ベース２に、湯口部分２２の周面に当接して把持爪１２による湯口部分２２の把持位置を位置決めする位置決め部材１７を設けたことで、面取部１５により把持爪１２の強度がアップして欠け等が効果的に防止でき、クランパ６の耐久性が向上して交換頻度が減少する。また、湯口部分２２が位置決めの基準となることで、金型が変わっても湯口部分２２の把持位置は変化しないため、段取り替えも不要となる。よって、作業効率の向上が期待できる。
特に、位置決め部材１７における湯口部分２２への当接部分（受部１９）を平面Ｖ字状としたことで、湯口部分２２への位置決め部材１７の当接位置を常に一定にでき、当接時のがたつきも防止できる好適な位置決め作用が得られる。 Thus, according to the robot hand 1 of the above-described form, the chamfered portion 15 is formed at the tip of the gripping claw 12 so that the plane angle of the abutting portion 16 to the gate portion 22 is approximately 90 degrees, Since the base 2 is provided with the positioning member 17 that contacts the peripheral surface of the gate portion 22 and positions the holding position of the gate portion 22 by the holding claw 12, the strength of the holding claw 12 is increased by the chamfered portion 15. Chipping and the like can be effectively prevented, the durability of the clamper 6 is improved, and the replacement frequency is reduced. In addition, since the pouring gate portion 22 serves as a positioning reference, the gripping position of the pouring gate portion 22 does not change even if the mold is changed, so that the setup change is not necessary. Therefore, improvement in work efficiency can be expected.
In particular, by making the contact portion (receiving portion 19) of the positioning member 17 to the gate portion 22 into a flat V shape, the contact position of the positioning member 17 to the gate portion 22 can be made constant at all times. A suitable positioning action that can prevent backlash is obtained.

なお、把持爪の当接部の角度は９０度に限らず、９０度を超えた鈍角で設定しても良い。また、把持爪はクランパと一体に形成することも可能である。
一方、位置決め部材は、先端を平面Ｖ字状に形成した一つの当接体を設けたものとしても差し支えない。さらに、Ｖ字状以外に湾曲状等も採用可能である。
その他、クランパの開閉作動はエアシリンダに限らず、油圧シリンダやソレノイド、モータとラックギヤ等の他のアクチュエータや駆動手段を採用しても良い。
Note that the angle of the contact portion of the gripping claw is not limited to 90 degrees, and may be set to an obtuse angle exceeding 90 degrees. The gripping claws can be formed integrally with the clamper.
On the other hand, the positioning member may be provided with a single abutting body whose tip is formed in a flat V shape. Further, a curved shape or the like can be employed in addition to the V shape.
In addition, the opening / closing operation of the clamper is not limited to the air cylinder, and other actuators and driving means such as a hydraulic cylinder, solenoid, motor and rack gear may be employed.

ロボットハンドの平面図である。It is a top view of a robot hand. ロボットハンドの左側面図である。It is a left view of a robot hand. 右側の把持爪の先端部分の拡大図である。It is an enlarged view of the front-end | tip part of the right holding nail | claw.

Explanation of symbols

１・・ロボットハンド、２・・ベース、３・・支持板、４・・エアシリンダ、６・・クランパ、１０・・リンク、１２・・把持爪、１３・・前面、１４・・傾斜面、１５・・面取部、１６・・当接部、１７・・位置決め部材、１８・・当接体、１９・・受部、２２・・湯口部分。
1 .... Robot hand, 2 .... Base, 3 .... Support plate, 4 .... Air cylinder, 6 .... Clamper, 10 .... Link, 12 .... Grip claw, 13 .... Front, 14 .... Inclined surface, 15 .. Chamfered portion, 16 .. Contact portion, 17 .. Positioning member, 18 .. Contact body, 19 .. Receiving portion, 22.

Claims

A base connected to the tip of the robot arm, and a pair of clampers capable of opening and closing in front of the base and gripping the pouring gate portion of the molded product by a plane acute-angled gripping claw protruding on the opposite side at the front end A robot hand equipped with
A chamfered portion is formed at the tip of the gripping claw so that the plane angle of the abutting portion to the gate portion is approximately 90 degrees or more, while the base contacts the peripheral surface of the gate portion. A robot hand comprising a positioning member for positioning a grip position of the gate by the grip claw.

2. The robot hand according to claim 1, wherein when the gate portion has a circular cross section, a contact portion of the positioning member with respect to the gate portion has a flat V shape.