JP2581887Y2 - Finger device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a finger device mounted on a tool shaft of a robot or an automatic machine.

[0002]

2. Description of the Related Art Conventionally, an insert work such as a metal part is inserted into a mold by a robot finger, then molded by an injection molding machine, the molded product is taken out by another robot finger, and the molded product is palletized or removed. There is a so-called insert molding system for packing in a box or the like.

In this insert molding system, a robot finger holds a workpiece one by one from a parts feeder in which an insert workpiece is on standby, and inserts the workpiece into a workpiece mounting position of a mold. Usually, the mold is formed in multiple pieces in order to improve mass productivity, so the robot repeats the above operation a plurality of times.

After inserting the insert work into the mold, the injection molding machine is operated to perform molding. After the completion of the molding, the mold is opened, and the insert-molded product and the runner are exposed. At this point, the robot starts the work of removing the molded product, but the finger of the robot first grasps the spool attached to the runner to remove the runner and discharges it from the mold to a predetermined position .

[0005] Next, the molded articles arranged in the mold are taken out one by one and placed on a predetermined position such as a pallet.

[0006]

However, in the above-mentioned prior art, since the fingers of the robot are operated and removed one by one to remove the runner and each molded product from the mold, the tact time is long. Productivity was poor.

Therefore, it is conceivable that the robot has a plurality of fingers. However, the pitch between the molded products in the mold differs from the pitch between the molded products at the position where the molded product is taken out and placed. There is a problem that it becomes impossible to cope with it.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and to dispose a plurality of fingers for gripping a plurality of molded products in two rows, and a plurality of fingers arranged in the two rows. A plurality of air cylinders are mounted to move the fingers up and down in each row , and the width of the air cylinder is moved by a sliding mechanism that slides two fingers on one side horizontally with respect to two fingers on the other side. Is mounted to be variable,
Further, it is characterized by having fingers for gripping the runner.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A base plate 2 is fixed via a bracket 1 to the tip of a tool axis (not shown) of a robot. The first cylinder 3 and the second cylinder 4 are fixed, the first plate 5 is fixed to the tip of the cylinder rod of the first cylinder 3, and the second plate 6 is fixed to the tip of the cylinder rod of the second cylinder 4. Thus, the first cylinder 3 and the second cylinder 4 can move up and down for each row .

A finger B is attached to the lower surface of the first plate 5 via a finger A and a sliding mechanism 7 such as a ball slide fixed to the first plate 5 so as to be movable in the horizontal direction.

Similarly, a finger C is movably attached to the lower surface of the second plate 6 via a finger C and a sliding mechanism 8 such as a ball slide fixed to the second plate 6. Reference numeral 9 denotes a guide rod whose tip is fixed to the first plate 5, and the guide rod 9 is inserted into a guide bush 10 fixed to the base plate 2.

Similarly, reference numeral 11 denotes a guide rod, the tip of which is fixed to the second plate 6, which is inserted through a guide bush 12 fixed to the base plate 2.

At the upper ends of the fingers B and C, guide rods 13 and 14 project upward.
Guide bushes 15 and 16 are slidably disposed on the guide rods 13 and 14, respectively, and the guide bushes 15 and 16 are connected to each other by a bracket 17 above. A cylinder rod 18 is fixed to the bracket 17 and is attached by a third cylinder 19 so as to be able to move back and forth. That is, the third cylinder 1
The fingers B and C are operated by the operation of the cylinder rod 18 of FIG.
Are linked at the same time.

At the lower end of each finger A, B, C, D, a chuck 2 which is opened and closed by cylinders 20, 21, 22, 23
4, 25, 26 and 27 are arranged. Reference numerals 28 and 29 denote variable stoppers for varying the movement amounts of the fingers B and C, and the variable stoppers 28 and 29 come into contact with each other. The locking portions 30 and 31 are fixed to the side surfaces of the first plate 5 and the second plate 6. Reference numeral 32 denotes a spool chuck for discharging a runner generated during molding from a mold.

Next, the operation will be described. The first cylinder 3 moves the fingers A and B up and down, and the second cylinder 4
This causes the fingers C and D to move up and down. In addition, the fingers B and C are moved in the opening and closing directions with respect to the fingers A and D by the third cylinder 19.

The fingers B and C are opened (the third cylinder 19
Extend) into the mold. At this time, the first and second cylinders 3 and 4 are both on the ascending side (however, the descent to the mold is performed by fingers A, B, C, and D by the robot hand.
Perform at the same time. ). The molded product is aligned with the finger position, the molded product is gripped by the chucks 24, 25, 26 and 27, and the spool is gripped by the spool chuck 32. The finger portion is taken out of the mold, only the spool chuck 32 is opened, and the spool is discharged to a predetermined position. The finger portion is brought onto the mounting pallet, and the third cylinder 19 is moved to match the mounting pitch, and the distance between the fingers B and C and A and D is reduced. Then, in order to place the molded product, the first cylinder 3 on A and B is lowered and the chucks 24 and 25 are opened to place the molded product. Subsequently, the first cylinder 3 is raised to rotate the entire finger by 180 °. Similarly to the fingers A and B, first, the second cylinder 4 is lowered, the fingers C and D are opened, and a molded product is placed. The second cylinder 4 is raised to complete one operation.

[0017]

According to the present invention, there are provided a plurality of air cylinders in which a plurality of fingers for gripping a plurality of molded products are arranged in two rows, and the plurality of fingers arranged in the two rows are moved up and down for each row. Is attached so that the width thereof is variable by a sliding mechanism that slides the two fingers on one side horizontally with respect to the two fingers on the other side, and further grips the runner. Because of the fingers, it is possible to efficiently carry and load the work with different pitches, prevent the molded product from being damaged when discharging the molded product, and operate each finger with a separate cylinder By doing so, the entire configuration can be simplified.

[Brief description of the drawings]

FIG. 1 is a front view of one embodiment of the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a bottom view of FIG. 1;

FIG. 4 is an AA plane sectional view of FIG. 1;

FIG. 5 is a BB plan sectional view of FIG. 1;

[Explanation of symbols]

 A finger B finger C finger D finger 1 bracket 2 base plate 3 first cylinder 4 second cylinder 5 first plate 6 second plate 7 ball slide 8 ball slide 18 cylinder rod 19 third cylinder 24 chuck 25 chuck 26 chuck 27 chuck 27 chuck 32 Spool chuck

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B25J 15/00 B29C 45/40

Claims (1)

(57) [Scope of request for utility model registration] A plurality of fingers for gripping a plurality of molded articles are arranged in two rows, and a plurality of air cylinders are mounted to move the plurality of fingers arranged in the two rows up and down for each row. The two fingers on one side are attached to the two fingers on the other side in such a manner that the width thereof is variable by a sliding mechanism that slides the fingers in the horizontal direction. A finger device.