JP3405435B2 - Hand device for work robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hand device for a work robot used for die casting work and the like.

[0002]

2. Description of the Related Art When a cylinder member of an engine is molded by die-cast molding of aluminum or the like, a plurality of cylindrical sleeves are externally attached to a plurality of cylindrical cylinder cores provided in a movable die. In many cases, the insert molding method of molding is employed, and in such an insert molding method, a work robot is exclusively used for the outer insertion work of the sleeve on each cylinder core. In such a work robot, a hand device is mounted on the tip of an arm, and a plurality of holders are provided on a main body case of the hand device and a collar that can move back and forth is provided. Then, each sleeve is gripped from the inside with each holder inserted into each of the plurality of sleeves one by one, and the hand device is moved in that state, whereby the axis of each holder and each cylinder core of the movable die are moved. The tip of each holder is pressed against the tip of each cylinder core so that the shaft center of is aligned. After that, the collar is advanced, and the sleeve held by each holder is pushed forward to be externally inserted into each cylinder core.

[0003]

However, when the movable die is heated, the relative position of the axial center of each cylinder core changes irregularly due to thermal expansion. Therefore, as described above, in a work robot equipped with a hand device in which a plurality of holders are projected at predetermined positions, when the hand device is moved to press the tip of each holder against the tip of each cylinder core of the movable die. In addition, it is not possible to completely align the axes of all the holders with the axes of all the cylinder cores.Therefore, when the collar is advanced, each sleeve can be smoothly attached to each cylinder core. I couldn't insert it.
An object of the present invention is to solve the above-mentioned problems, and even if the relative positions of a plurality of installation points of the mold change irregularly due to thermal expansion, a sleeve is very small at the plurality of installation points. An object of the present invention is to provide a work robot hand device that can be automatically and smoothly mounted unattended within a short time.

[0004]

The first of the present invention
According to the configuration of the invention described above, a plurality of holders are provided on the main body case so that each sleeve is gripped from the inside while the holders are inserted one by one in the plurality of sleeves, and the holder is moved forward and backward in the main body case. A hand collar for a work robot in which a flexible collar is provided and pushes forward the sleeve held by each holder by the forward movement of the collar, and a disc-shaped flange is provided at the base end of each holder. In addition, the holder is fixed to the main body case with the flanges on both sides of the front and back via the ball chain and with a predetermined amount of clearance along the entire circumference.
The cone centering is provided in the fixed portion and the holder is provided with the cone centering that engages with the collar, and when the collar is pushed forward, the engagement between the collar and the cone centering is released, and each holder is , It can be slid vertically and horizontally without changing the direction of up, down, left and right, and has a shape in which the left and right sides of the cylinder are cut out in parallel on the front side of the holder. A sleeve guide that is formed in a truncated cone shape is attached, and a small diameter portion that is smaller than the front and rear adjacent portions is provided on the outer periphery of the sleeve guide excluding the notched portions on the left and right sides. is there.

According to a second aspect of the invention, a plurality of holders are provided on the main body case so that each sleeve is gripped from the inside while the holders are inserted one by one into the plurality of sleeves. A body robot is provided with a collar that can move forward and backward, and a hand robot work device that pushes forward the sleeve held by each holder by the forward movement of the collar.
A clamp that has a plurality of holding wings protruding in directions orthogonal to each other, a holder main body having a small-diameter cylindrical portion in front of the holding wings, and a plurality of flanges reciprocally incorporated inside the holder main body. Rods, a plurality of connecting members pivotally attached to the holder main body, and rotating together with the reciprocating movement of the flange of the clamp rod, and each of the holder main body according to the rotation of each connecting member. simultaneously projecting from the inside of the gripping blades in the radial directions perpendicular to each other, a plurality of flops for entering and leaving
An air cylinder and a coil spring are connected to the base end of the clamp rod.The clamp rod reciprocates due to the operation of the air cylinder, and the pressure inside the air cylinder is increased by the coil spring. Accordingly, each push rod is held in a pushable state.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a work robot hand device (hereinafter, simply referred to as a hand device) of the present invention will be described in detail below with reference to the drawings.

[Embodiment 1] FIGS. 1 to 3 show a work robot equipped with a hand device according to the present invention and a die-casting machine on which the work robot works. The die-casting machine 9 includes guide rods 12 and 1 provided at four positions on the upper, lower, left and right sides.
By moving the movable die 10 along 2 ..., and injecting a metal such as aluminum in a state where the movable die 10 and the fixed die 11 are matched with each other, a die cast molded product (6 cylinders, so-called V6 type The cylinder part 26 of the automobile engine is molded. At the center of the movable die 10, three pieces are arranged in a vertical row on both left and right sides.
A total of 6 cylinder cores (portions that form piston holes in cylinder parts during die casting) 14,14 ...
Are arranged. Left and right cylinder cores 14, 1
4 ... are at the same height in the upper, middle, and lower rows, and are in a state of facing each other with the axes forming an angle θ (about 60 °). Each of the cylinder cores 14, 14, ...
6 can be moved in the axial direction so that 6 can be taken out easily. The work robot 1 attached to the side of the die-casting machine 9 includes the cylinder cores 14, 14 ... of the movable die 10 of the die-casting machine 9.
Are mounted with hollow cylindrical sleeves 34, 34, ...

The work robot 1 is of a so-called vertical articulated type, in which a main body 3 is pivotally mounted above a base 2, and at the tip of the main body 3, a runner 4, an arm 5, The hand device 16a according to the present invention is pivotally attached in sequence. The main body 3 is rotatable about the vertical axis, and the runner 4, arm 5, and hand device 1 are provided.
6a is a main body part 3, a runner part 4, and an arm 5, respectively.
The hand device 16a is separated from the hand device 16a in FIG. 2, and the hand device 16a is omitted in FIG. 3.

FIG. 4 shows the hand device 16a. The hand device 16a has a V-shape when viewed from above, and the tip of the arm 5 (of the support device 6) is connected by the connecting tool 29. It is fixed to the tip). Then, from the left and right sides of the inner side surface, a total of six holders 7a, three in a vertical row,
7a ... are in a state of vertically protruding. The six holders 7a, 7a ... Are, like the cylinder cores 14, 14 ... of the movable die 10, at the same height in the upper, middle, and lower stages, and the axes have angles of θ. When done, they are facing each other. Therefore, when the die cast machine 9 is not heated, the left and right holders 7a, 7a are
The relative position of the shaft center of each of the cylinder cores 14, 14 on the left side and the right side of the movable die 10 coincides with the relative position of the shaft center of the movable die 10. The hand device 16a is
Since it has a bilaterally symmetrical structure, only the left side portion will be described below.

5 to 9 show a part of the left side portion of the hand device 16a by cutting away. In addition, FIG.
FIG. 6 is a front explanatory view of the hand device 16a as seen from the direction of arrow A in FIG. 4, FIG. 6 is an explanatory view showing a cross section taken along the line BB in FIG. 5, and FIG. 7 is an enlarged view of portion A in FIG. 8 is an explanatory view showing a cross section taken along the line CC in FIG. 5, and FIG. 9 is an explanatory view showing a portion A in FIG. 8 in an enlarged manner. FIG. 5 is also an explanatory diagram showing a cross section taken along the line AA in FIG. Hand device 1
Three holders 7a, 7a ...
The sleeve guide 4 at the tip of the centering holder 45.
4 is replaceably screwed by a bolt 71. Further, in each of the holders 7a, 7a, ..., the front part including the sleeve guide 44 is formed in a shape in which the left and right sides of the cylinder are cut out in parallel, and the rear part is formed in a cylindrical shape. There is. Then, at the base end, by the bolt 70,
A disk-shaped flange 48 is screwed on, and a wall 47 is provided upright in a circumferential shape at the periphery of the flange 48.

.. of the holders 7a, 7a, ...
5 to the holder fixing portion 49 of the main body case 75 with the ball chains 46, 46 on the outer circumference of the cylindrical portion at the rear end and the outer circumference of the wall body 47 and with a gap δ1 over the entire circumferential direction. It is fixed by external fitting (see FIG. 7). The holder fixing portion 49 is formed by the disc body 54, the tubular portion 56, and the donut-shaped outer peripheral wall 50, and is fixed to the mounting plate 24. In addition, each holder 7a, 7a
The small diameter portion 76 is provided on the outer circumference of the sleeve guide 44, which is screwed to the tip of the, except for the notched portions on the left and right sides, and has a smaller diameter by δ2 than the adjacent portion (Fig. 9). Further, each holder 7a, 7a ...
The two push rods 40, 40 are built in behind the sleeve guide 44. Those push rods 4
Normally, 0 and 40 are biased in the retracting direction by the coil springs 42 and 42, but can be projected by the air cylinders 77 that are continuously provided in the directions perpendicular to the axial direction and opposite to each other. .

A flange-shaped cone centering 52 is provided on the outer circumference of each of the holders 7a, 7a.
Are provided (see FIG. 9). On the other hand, the hand device 16
A plate-shaped collar 53 is arranged in a portion of the a adjacent to each of the holders 7a, 7a ..., And by the air cylinder 78, it is possible to reciprocate in the same direction as the axial direction of the holders 7a, 7a. (See FIG. 6). And color 5
When 3 is retracted, the cone centering 52, 52 ... Of each holder 7a, 7a ... Engages with the edge of the collar 53, and when the collar 53 is advanced, the cone centering 52 , 52 ... And the edge of the collar 53 is disengaged. In addition, each holder 7a,
A gap δ1 is also provided between the collar 53 and the left and right side surfaces of the intermediate portion of 7a ... (See FIG. 7).

In the following, the work robot 1 uses the cylinder cores 14, 14 of the movable die 10 of the die-casting machine 9.
The operation contents when the sleeves 34, 34 are attached to the (-) will be described (note that in the following description, the die-casting machine 9 is in the process of continuing the die-casting work, and the movable die 10). Shall be in a heated state).

The work robot 1 has sleeves 34, 34 ...
When the mounting operation of the hand device 16a is performed, first, the three sleeves 34, 34 ... Are provided on the left side of the hand device 16a by the lift device (not shown).
Are arranged on the conveyor 27 in the same arrangement as (see FIG. 2). Then, after the three sleeves 34, 34 are arranged, the work robot 1 moves the collar 53 of the hand device 16a backward and retracts the push rods 40, 40, and then the main body 3 and the runner portion. 4, the arm 5 and the hand device 16a are appropriately rotated and rotated to move the hand device 16
The three holders 7a, 7a, ... On the right side of a are placed vertically downward and inserted into the sleeves 34, 34. In addition, since the tip of the sleeve guide 44 is formed into a truncated cone shape and the small diameter portion 76 is provided on the outer periphery of each of the holders 7a, 7a ,.
Can be smoothly inserted into 4, 34 ... The insertion of the holders 7a, 7a, ... Into the sleeves 34, 34 .. is performed until one end edge of the sleeve 34 is joined to the surface of the collar 53. Further, as described above, the holders 7a, 7a ...
Is externally fitted, in each holder 7a, the spring guide 38 is pushed out toward the base end of the holder 7a, and the pushed spring guide 38 is contactless.
The external fitting of the sleeve 34 is confirmed by the detection by No. 5. When the holders 7a, 7a ... Are inserted into the three sleeves 34, 34, one by one, the air cylinder 77 is actuated to operate the two push rods 40, 4.
Zeros project in opposite directions. Due to the protrusion, the sleeves 34, 34 ... Are replaced by the holders 7a, 7a.
・ It is gripped on the outside.

Each sleeve 34, 34 ...
.., the work robot 1 operates the main body 3, the runner 4, the arm 5, and the hand device 16a as appropriate to move the holders 7a, 7a ,. The cores 14 and 14 are positioned so as to face each other (see FIG. 4). Then, in this state, the entire hand device 16a is moved forward so that the tip of the sleeve guide 44 is aligned with the mortar-shaped recesses 79, 79 provided in the center of the tips of the cylinder cores 14, 14 ... To move. Since the movable die 10 is heated, the relative positions of the respective axial cores of the cylinder cores 14, 14, ... Are slightly different from each other due to thermal expansion, as compared with the relative position when the movable die 10 is not heated. It has changed. Therefore, at the time when the entire hand device 16a is moved forward, the tips of the sleeve guides 44, 44, ... Are not aligned with the recesses 79 at the tips of the cylinder cores 14, 14 ,. In the hand device 16a, the tip of each sleeve guide 44, 44, ...
.. are automatically and automatically matched with the recesses 79, 79 ... At the tips of the cylinder cores 14, 14.

The work robot 1 moves the entire hand unit 16a forward so that the tip ends of the sleeve guides 44, 44 ... Of the holders 7a, 7a.
When pressed near the concave portions 79, 79 ... At the tip of 14 ... Color 53
Are pushed forward, the engagement between the edge of the collar 53 and the cone centering 52, 52, ... Provided on the outer circumference of each holder 7a, 7a. Each holder 7a,
7a ... is a holder fixed to the mounting plate 24 of the main body case 80 with the flange 48 having the gaps δ1 over the entire circumferential direction via the ball chains 46, 46 at the edges of the front and back surfaces. Since it is fitted onto the fixed portion 49, when the cone centering 52 and the end edge of the collar 53 are released from each other, the gap δ is maintained without changing the vertical and horizontal directions.
You can slide up, down, left and right within the range. In this way, the holders 7a, 7a ... Can be slid vertically and horizontally so that the sleeve guides 44, 4 having a truncated cone shape can be formed within a very short time.
The tip of each of the cylinder cores 14, 14 ... Aligns with the mortar-shaped recess 79, 79.
Each holder 7a, 7a, ... has an axial center of each cylinder core 1
It is set to the correct position which matches the axis of 4, 14 ...

On the other hand, the forward movement of the collar 53 causes the tips of the sleeve guides 44, 44 ... of the holders 7a, 7a ..
79, ... and holders 7a, 7a ...
The sleeves 34, 34 ,. Since the cylinder cores 14, 14, ... Are chamfered around the tips, the tip portions of the sleeves 34, 34 .. are smoothly guided to the cylinder cores 14, 14 ,. . Further, since the small diameter portion 76 is provided on the outer circumference of each of the sleeve guides 44, 44 ,.
.. can be slightly tilted during the extrapolation, and can be smoothly extrapolated to the cylinder cores 14, 14, ... Without being caught during the extrapolation.

As described above, the work robot 1 uses the three sleeves 34, 34 ... Held by the holders 7a, 7a on the right side of the inner surface of the hand device 16a, the cylinder core 14 on the left side of the movable die 10, After extrapolating to 14 ... In the same manner, the holders 7a, 7 on the left side of the inner surface of the hand device 16a are
By externally inserting the three sleeves 34, 34, ..., which are gripped by a .., Into the right cylinder core 14, 14, .. After the sleeves 34, 34, ... Are mounted, the die cast machine 9 moves the movable die 10 to the fixed die 11 side to execute the die cast work.

As described above, the hand device 16a according to the first embodiment.
When the collar 53 advances and the engagement between the cone centering 52 and the end of the collar 53 is released, each holder 7
.. can be slid up, down, left and right within the range of the gap .delta.1 without changing the direction of up, down, left and right. Therefore, the cylinder cores 14, 14 of the movable die 10 are thermally expanded. .. Even if the relative position of the shaft center of each cylinder changes, the holders 7a, 7a .. ..Can be set in the correct position that matches the axis of.

In the hand device 16a of the first embodiment, the small diameter portion 76 is provided on the sleeve guide 44 at the tip of each holder 7a, 7a. The holders 7a, 7a ... Can be easily inserted. Furthermore, each holder 7a, 7a
・ Smoothly grips the sleeves 34, 34 ・ ・ held by each cylinder core 14, 14 ・
・ Can be extrapolated to. Therefore, according to the hand device 16a of the first embodiment, the movable die 1 is heated by thermal expansion.
Even if the relative positions of the shaft centers of the cylinder cores 14, 14, ... Of 0 are changed, the sleeves 34, 34 ,.
Can be automatically attached to each cylinder core 14, 14, ...

[Embodiment 2] In the hand device 16b of the second embodiment, the structure of the six holders projecting on the left and right sides of the inner side surface is different from that of the holders 7a, 7a of the hand device 16a of the first embodiment. The structure is different.
The structure of the other parts of the hand device 16b of the second embodiment is substantially the same as that of the hand device 16a of the first embodiment.

FIGS. 10 to 15 show one of the holders 7b and 7b projectingly provided on the hand device 16b according to the second embodiment (note that FIG. 11 shows the holder 7b as an axis center). FIG. 13 is a side view showing a state in which it is rotated around 45 °, and FIG.
FIG. 13 is a cross-sectional view taken along the line AA in FIG. 12, and FIG. 14 is a partial plan view of the holder 7b seen from the direction of arrow A in FIG. The holder 7b includes a clamp rod 82, eight connecting members 83, 83, ...
The push rods 84, 84, ... Have a built-in structure. The holder main body 81 has a base end portion formed in a substantially cylindrical shape, and four gripping blades 85, 85 are provided at a front intermediate portion thereof in a radial direction along an axis. . A small-diameter cylindrical portion 86 is continuously provided in front of the four gripping wings 85, 85. Further, a substantially cylindrical hollow portion 87 is provided in the axial center portion of the holder main body 81, and two gripping blades 85, 85 are each provided with a cylindrical portion so as to communicate with the hollow portion 87. Insertion hole 8
8, 88 are drilled. The eight insertion holes 88,
The shaft center of 88 ... Is orthogonal to the shaft center of the hollow portion 87 (that is, the shaft center of the holder 7b).

The clamp rod 82 has a substantially rod shape and is provided with a plurality of flanges 96, 96, .... Then, behind the base end portion 94, the air cylinder 89
And the coil spring 90 are continuously provided, and the air cylinder 8
The operation of 9 reciprocates within the hollow portion 87 of the holder body 81 along the axis.

On the other hand, the gripping wings 85, 8 of the holder body 81
Two connecting members 83, 83 are incorporated in each of the five. Each of the connecting members 83, 83, ... Has a substantially doglegged shape in which an engagement long piece 91 and an engagement short piece 92 are integrally connected, and each gripping wing 8 is formed by a shaft member 93.
It is rotatably and pivotally mounted in 5,85. In addition,
Engaging long piece 91 and engaging short piece 92 of the connecting members 83, 83
The surface of the tip portion of is ground smoothly by a wire cutting method. Further, the engaging short pieces 92 of the total of four connecting members 83, 83 located at the front are the two flanges 96, 96 provided on the clamp rod 82.
, And the engaging short pieces 92 of a total of four connecting members 83, 83 located at the rear are locked between the flange 96 and the base end portion 94. There is.

Further, each gripping wing 85 of the holder main body 81,
Cylindrical push rods 84, 84 ... Are inserted into the insertion holes 88, 88 ...
Each of the connecting members 83, 83 ... Is provided in the notch portion 95, 95 ..
Engagement long piece 91 is locked slidably (Fig. 1
5).

In the holder 7b, when the pressure in the air cylinder 89 rises, the clamp rod 82 moves forward, and as the clamp rod 82 moves, the connecting members 83, 83 ,. It rotates (rotates in the A direction in FIG. 15). Then, the connecting members 83, 8
8 push rods 84 with the simultaneous rotation of 3 ...
.. from the inside of the holder main body 81
.., all at once (see FIGS. 13 and 15). On the contrary, when the pressure in the air cylinder 89 decreases, the clamp rod 82 moves rearward, and the eight connecting members 83, 83 ... Rotate (in the opposite direction to the forward movement of the clamp rod 82 ( Rotation in B direction in FIG. 15))
Then, the eight push rods 84, 84 ... Retreat into the holder main body 81 all at once. Since the coil springs 90 are continuously provided, the eight push rods 84, 84, ... Are held in a pushable state in accordance with the pressure in the air cylinder. Further, since the distal end portions of the engagement long pieces 91 and the engagement long pieces 92 of each of the connecting members 83, 83, ... Are ground by the wire cutting method, the flange 96, the base and the base when the clamp rod 82 reciprocates. End 94,
And the sliding with the notch 95 is very smooth.

In the following, the work robot 1 equipped with the hand device 16b according to the second embodiment uses the sleeve 3 on the cylinder cores 14, 14 ... of the movable die 10 of the die casting machine 9.
The operation contents when the 4, 34, ... Are mounted will be described (note that the structures of the work robot 1, the die-casting machine 9, etc. are the same as those described in the first embodiment).

When the work robot 1 having the hand device 16b according to the second embodiment grips the sleeves 34, 34, ..., the collar 53 of the hand device 16 is moved backward to reduce the pressure in the air cylinder 89. Push rod 84,8
In the state where all 4 ... Are retracted into the holder main body 81, the main body part 3, the runner part 4, the arm 5, and the hand device 16b are appropriately rotated and rotated, and the three holders 7b, 7b on the right side.
.. with the sleeves facing vertically downward, the three sleeves 34, 34
.. Insert one by one inside. Each holder 7b, 7b ...
Since the outer circumference of the holder main body 81 is formed to have a very small diameter, it can be smoothly inserted into the sleeves 34, 34 ,. In addition, each sleeve 34,
The holders 7b, 7b, ... Are inserted into the sleeves 34, ... As in the case of the hand device 16a of the first embodiment.
It is carried out until one end edge of 4, 34 ... Is joined to the surface of the collar 53. When the holders 7b, 7b ... Are inserted into the three sleeves 34, 34, one by one, the air cylinder 89 is actuated, and the eight push rods 84, 8
.. simultaneously project, and the sleeves 34, 34 .. are gripped by the holders 7b, 7b.

Each sleeve 34, 34 ...
When the work robot 1 is gripped by the holders 7b, 7b, ..., which hold the sleeves 34, 34, ..., The work robot 1 appropriately operates the main body 3, the runner 4, the arm 5, and the hand device 16b. Are positioned so as to face the cylinder cores 14, 14 ... Protrudingly provided on the left side of the movable die 10 (see FIG. 4). Then, in that state, each holder 7
The whole hand device 16b is moved forward so that the tips of the b, 7b ... Align with the recesses 79, 79 .. At this point, the thermal expansion of the movable die 10 causes each holder 7
The tips of b, 7b ... Are the cores of each cylinder 14, 14 ...
Does not match the tip of.

The work robot 1 moves the entire hand device 16b forward so that the tips of the holders 7b, 7b ,.
Press in the vicinity of the tip of each cylinder core 14, 14 ... Then, in this state, the pressure in the air cylinder 89 is lowered to make it possible to push the push rods 84, 84, ... And the collar 53 is pushed forward. When the collar 53 is pushed forward, each holder 7
sleeves 34, 34 ...
Are pushed forward and guided to the cylinder cores 14, 14 ... The cylinder cores 14, 14, ...
Since the periphery of the tip is chamfered, each sleeve 3
The tips of 4, 34 ...
It is extrapolated to the tip of 4,14 ... Further, since the push rods 84, 84 ... Can be pushed in, the sleeves 34, 34 to be pushed in can be tilted, and the tips of the holders 7b, 7b ..
Despite being not aligned with the tips of 4 ..., the sleeves 34, 34 .. are smoothly attached to the cylinder cores 14, 14, ..

The subsequent operation contents of the work robot 1 are the same as when the hand device 16a of the first embodiment is mounted,
The work robot 1 includes three sleeves 34, 3 held by the holders 7b, 7b on the right side of the inner surface of the hand device 16b.
4 ... is the cylinder core 14, 1 on the left side of the movable die 10.
After attaching to 4 ..., in the same manner, the hand device 16b
A series of sleeve mounting operations by externally inserting the three sleeves 34, 34 ... Held by the holders 7b, 7b, ... on the left side of the inner surface onto the cylinder cores 14, 14, ... on the right side of the movable die 10. To complete.

In the hand device 16b of the second embodiment, the holders 7b, 7b ... Rotate the connecting members 83, 83 .. .. 84 .. has a structure in which the holders 81 a, 7 a, 7 a, ... Are easily installed in the installed sleeves 34, 34 .. Can be inserted. Further, each holder 7b, 7b ...
.. can be held so that they can be pushed in. Therefore, even if the relative positions of the axial centers of the cylinder cores 14, 14, .. .. and the sleeves 34, 34 ...
It is possible to smoothly extrapolate the cylinder cores 14, 14, ... Without holding them in the middle.

Further, in the hand device 16b of the second embodiment, the substantially dog-legged connecting members 83, 83 pivotally mounted in the holder main body 81 (inside the respective gripping wings 85, 85, ...)・ ・
The linear movement along the axial direction of the clamp rod 82 is converted into the linear movement of the bush rods 84, 84, ... Even if the pressure in the air cylinder 89 is not increased so much, the sleeves 34, 34 ...
Can be securely held. Further, since it has such a mechanism, there are few failures.

Further, the hand device 16b of the second embodiment is
The outer circumference of the holder body 81 of each of the holders 7b, 7b ... Is formed to have an extremely small diameter, and each push rod 8
Since the number of 4,84 ... Can be greatly projected, the type of product to be die-cast is changed, and the movable die 10
Even if the inner diameter of the sleeve to be mounted on the movable die is changed, it is possible to sufficiently cope with the change (that is, the hand device 16a according to the first embodiment can be used when the inner diameter of the sleeve to be mounted on the movable die 10 is changed. , The sleeve guides 44, 44, which are screwed to the holders 7a, 7a, ... Must be replaced according to the inner diameter of the sleeve, but this is not necessary in the hand device 16b of the second embodiment.) .

The configuration of the hand device of the present invention is not limited to the mode of the above-described embodiment, and the shape, structure, etc. can be appropriately changed as necessary. Further, the configuration of the work robot equipped with the hand device of the present invention is not limited to the aspect of the above-described embodiment, and can be appropriately changed as necessary.

For example, the number of gripping wings in the holder of the second embodiment is not limited to four and may be three.
The number of push rods may be five or more, and if the built-in push rod has a structure protruding and retracting in the radial direction from the axial center,
There are no restrictions. Further, the types of connecting members and push rods incorporated in one holder are not limited to eight, and can be appropriately changed as necessary.

Further, in the above embodiment, the hand device mounted on the work robot for mounting the sleeve on the movable die provided with the six cylinder cores has been described, but the work on which the hand device of the present invention is mounted is explained. Robots
The work is not limited to this, and the sleeve may be attached to a movable die provided with four or eight cylinder cores, and in some cases, a place other than the movable die. The sleeve may be attached to the. When the hand device of the present invention is mounted on a work robot in which a sleeve is mounted on a movable die having four or eight cylinder cores, the shape of the main body case, the shape of the holder, the number, and the arrangement. It goes without saying that, etc. are appropriately changed.

[0038]

According to the hand device of the first aspect of the present invention, a disc-shaped flange is provided at the base end of each holder, and the flange is provided on both sides of the front and back sides through the ball chain and over the entire circumference. It is installed in the holder fixing part that is fixed to the main body case with a certain amount of gap along the direction.
And the holder is provided with a cone centering that engages with the collar.When the collar is pushed forward, the engagement between the collar and the cone centering is released, and Since it can slide up and down and left and right within the range of the predetermined amount without changing the position, the work robot simply transports each holder so that it is located near the predetermined position of the movable die, and each holder moves up and down. It can be set in the correct position by sliding vertically and horizontally within a predetermined gap without changing the left or right direction. Therefore, according to the hand device of the first invention,
Even if the relative positions of multiple installation points of the mold change irregularly due to thermal expansion, sleeves are automatically attached to these multiple installation points in an unattended manner within a very short time. Can be attached to.

In the hand device of the second invention, each holder is
A holder main body having four holding wings projecting in a direction orthogonal to each other along the axis and having a small-diameter cylindrical portion in front of the holding wings, and a reciprocatingly built-in holder body. A clamp rod having a plurality of flanges, a plurality of connecting members pivotally attached to the holder body, and rotating with the reciprocating movement of the flanges of the clamp rod, and a rotation of each of the connecting members. , Because it has a plurality of push rods that simultaneously project and retract from the inside of each gripping wing of the holder body in the radial directions orthogonal to each other,
Each holder can be easily inserted into each sleeve, and the sleeve held by each holder can be smoothly inserted into a predetermined position of the movable die without being held in the middle. Further, even when changing the inner diameter of the sleeve attached to the movable die, the change can be sufficiently dealt with, and the operator does not need to make any changes.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a work robot and a die cast machine.

FIG. 2 is an explanatory diagram showing a work robot and a die cast machine.

FIG. 3 is an explanatory diagram showing a work robot and a die cast machine.

FIG. 4 is a plan view showing a hand device with a part cut away.

FIG. 5 is an explanatory view showing a left side portion of the hand device with a part cut away.

FIG. 6 is an explanatory view showing a left portion of the hand device with a part cut away.

FIG. 7 is an explanatory view showing a left side portion of the hand device with a part cut away.

FIG. 8 is an explanatory view showing a left portion of the hand device with a part cut away.

FIG. 9 is an explanatory diagram showing a left side portion of the hand device by cutting out a part thereof.

FIG. 10 is an explanatory diagram showing a right side surface of a holder.

FIG. 11 is an explanatory diagram showing a side surface of a state in which the holder is rotated by 45 ° around the axis.

FIG. 12 is an explanatory view showing the front surface of the holder with a part thereof cut away.

FIG. 13 is an explanatory view showing a side cross section of the holder.

FIG. 14 is an explanatory diagram showing a part of a plane of a holder.

FIG. 15 is an explanatory view showing an enlarged part of the side cross section of the holder.

[Explanation of symbols]

1 ... Work robot, 2 ... Base, 3 ... Main body, 4 ...
.Runners, 5 ... Arms, 6 ... Supports, 7a, b
..Holders, 9 ... Die cast machines, 10 ... Movable dies, 11 ... Fixed dies, 12 ... Guide bars, 13 ...
・ Core push, 14 ・ ・ Cylinder core, 16a, b ・ ・
Hand device 21, 22 ... Shaft member, 24 ... Mounting plate,
25..Installation plate, 26..die cast product (engine cylinder part), 27..conveyor, 29..connector, 30..connecting joint plate, 31..knock pin, 32 ..
.Bolts, 33 .. screws, 34 .., sleeves, 35 ..
Proximity switch, 36 ... Seal, 37 ... Pin, 38 ...
・ Spring guide, 39 ・ ・ Rod, 40 ・ ・ Bush rod, 41 ・ ・ Oil seal, 42 ・ ・ Coil spring, 43
..O-rings, 44..sleeve guides, 45..centering holders, 46..ball chains, 47..walls, 48..flange, 49..holder fixing parts, 50 ..
・ Outer peripheral wall, 51 ・ ・ Nut, 52 ・ ・ Cone centering, 53 ・ ・ Collar, 54 ・ ・ Disk body, 55 ・ ・ Sleeve knock guide, 56 ・ ・ Cylindrical part, 57 to 59 ・ ・ Ball bush, 61 ~ 64 ··· Plate, 66 to 71 ·· Bolt, 72, 73 · · Screw, 75 · · Main body case, 76 ·
・ Small diameter part, 77,78 ・ ・ Air cylinder, 79 ・ ・
Recess, 81 ... Holder body, 82 ... Clamp rod,
83..Connecting member, 84..Push rod, 85..Grip blade, 86..Small diameter cylindrical part, 87..hollow part, 88 ..
Insertion hole, 89 ... Air cylinder, 90 ... Coil spring,
91 .. Engagement long piece, 92 .. Engagement short piece, 93 .. Shaft member, 94 .. Base end portion, 95 .. Notch portion, 96 .. flange, 97, 98 .. bolt, 99 .. oil sticker.

Continuation of the front page (56) Reference JP-A-4-348827 (JP, A) JP-A-1-104574 (JP, A) Actually opened 62-106786 (JP, U) Actually opened 55-125711 (JP , U) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 15/00-15/08 B25J 17/00-17/02 B23P 19/00-19/02

Claims (2)

(57) [Claims] 1. A plurality of holders are provided on the main body case so that the sleeves are gripped from the inside while the holders are inserted into the plurality of sleeves one by one, and the holders can move back and forth in the main body case. Is a work robot hand device that pushes forward the sleeve held by each holder by the forward movement of the collar, and a disk-shaped flange is provided at the base end of each holder. together, the flange, in a state where both sides through the ball chain in the periphery of, and having a predetermined amount of clearance over the entire circumferential direction, the holder fixing portion which is fixed to the main body case
The holder is provided with a cone centering that engages with the collar, and when the collar is pushed forward, the engagement between the collar and the cone centering is released, and each holder is It can be slid vertically and horizontally without changing the direction of up, down, left and right, and can be slid vertically and horizontally on the front side of the holder. A sleeve guide formed in the shape of a circular truncated cone is attached, and a small diameter portion smaller than the front and rear adjacent portions is provided on the outer circumference of the sleeve guide excluding the cutout portions on the left and right sides. A work robot hand device. 2. A plurality of holders are provided so as to project from the main body case, and each sleeve is gripped from the inside while the holders are inserted one by one into the plurality of sleeves, and the holders can move back and forth in the main body case. Is a work robot hand device that pushes forward the sleeve held by each holder by the forward movement of the collar, wherein each holder holds the four gripping wings along the axis. A holder main body provided in a direction orthogonal to each other and having a small-diameter cylindrical portion in front of the gripping wings, a clamp rod having a plurality of flanges reciprocally incorporated inside the holder main body, and the holder main body A plurality of connecting members that are pivotally attached to each other and that rotate with the reciprocating movement of the flange of the clamp rod; and with the rotation of each of the connecting members, each of the holder main body. Simultaneously projecting in the radial directions perpendicular to each other from the interior of the lifting blades, with those having a plurality of push rod for room access, an air cylinder and spring are continuously provided on the proximal end of the clamp rod, the air cylinder The work robot hand device is characterized in that the clamp rod reciprocates by the action of and the coil spring holds each push rod in a pushable state according to the pressure in the air cylinder.