JP3568272B2 - Work take-out device - Google Patents

Description

[0001]
[Industrial applications]
The present invention relates to an automatic workpiece take-out device provided on a two-dimensionally operated robot arm pivotally mounted on a crown of a press machine.
[0002]
[Prior art]
Conventionally, as shown in FIG. 11, a two-dimensionally operated robot arm 2 which is a simple robot is rotatably mounted on a crown 1 of a press machine 50, and a cup arm 8A having a vacuum cup 9 at the tip of the robot arm 2. Is installed. To take out the work 6, the robot arm 2 rotates and the cup arm 8A at the tip moves forward, and the cup arm 8A rotates about the tip of the robot arm 2 as the center of rotation. Hold and take out. However, with the simple robot, the range in which the work 6 can be taken out is the range of F shown in the figure. If the distance D from the front surface of the press machine 50 to the mold is large, it becomes difficult to take out the work 6 reliably.
[0003]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION It is an object of the present invention to provide a device for taking out a work with a simple structure, which can take out the work from a mold, and which can reliably hold and move the work.
[0004]
[Means for Solving the Problems]
According to the present invention, a workpiece is provided on a two-dimensionally actuated robot arm pivotally mounted on a crown of a press machine, and a workpiece is taken out of a mold by a vacuum cup provided at a tip end of the cylinder, which expands and contracts by operation of a cylinder. Wherein the cylinder is fixed to a bracket attached to the tip of the robot arm, and a guide bracket is rotatably attached to a tip of a cylinder rod of the cylinder with a rod pin, and the arm bracket is attached to the guide bracket by a bracket. A guide bar extending through the bracket is fixed to a connecting member provided at the rear end of the cylinder so as to be rotatable with a pin, and a stopper is provided at the front end of the guide bar when the cylinder rod is extended. Is arranged to engage with the horizontal arm of the A cup arm having a vacuum cup at the tip is movably attached to the vertical arm portion of the arm bracket, and the attachment includes a vertical portion of the arm bracket formed by a pair of plate members having a slit in the middle. The cup arm is sandwiched between the pair of plate members and tightened and fixed with bolts, and the guide bracket is provided with a contact member, and the arm bracket is provided with a hole. The pin is slidably housed, and the pin is urged by a spring whose pressing force is adjusted by an adjusting screw and is brought into contact with the abutting portion, and the pressing force causes the arm bracket to rotate around the bracket pin. When the tip of the cup arm moves up and the cylinder rod is extended, and the arm bracket hits the stopper, the spring is compressed and the tip of the cup arm is lowered.
[0006]
[Action]
When taking out the work, the cylinder rod is shortened, and at this time, the pin is held by pushing the contact part of the guide bracket through the adjustment screw and spring in the arm bracket and raising the tip of the cup arm. . When the mold is opened, the cylinder rod extends with the rotation of the robot arm, the guide bracket is guided by the guide bar, and the guide bracket advances, and the arm bracket hits the stopper and presses the spring. Then, the tip of the cup arm is lowered, the vacuum cup holds the work, the stopper is separated from the arm bracket by the shortening of the cylinder rod, the tip of the cup arm is lifted by the spring force, and the work is taken out.
[0007]
【Example】
An embodiment of the present invention will be described below with reference to the drawings.
In FIG. 1, a two-dimensionally operated robot arm 2 is rotatably mounted on a crown 1 of a press machine 50, and a workpiece take-out device 3 embodying the present invention is provided at an end of the robot arm 2 with an upper die 4 and a lower die. 5 is provided to take out the work 6 pressed by the mold 5 when the mold is opened.
[0008]
As shown in FIG. 2, the work take-out device 3 includes a bracket 23 attached to the tip of the robot arm 2, and the cylinder 7 is fixed to the bracket 23. A guide bracket 24 is rotatably attached to a tip of a cylinder rod 25 of the cylinder 7 by a rod pin 29. An arm bracket 28 is rotatably attached to the guide bracket 24 via a bracket pin 30. A connecting member 21 is provided at a rear end of the cylinder 7, a rear end of a guide bar 22 extending through the bracket 23 is fixed to the connecting member 21, and the guide bracket 24 slides on the guide bar 22. It is guided freely. A stopper 31 is provided at the front end of the guide bar 22, and the stopper 31 is arranged to engage with the horizontal arm 28 a of the arm bracket 28 when the cylinder rod 25 is extended. A cup arm 8 having a vacuum cup 9 at the tip is movably fixed to a vertical arm portion 28b extending below the arm bracket 28 in a manner described later.
[0009]
As shown in FIG. 3, the bracket 24 is provided with a contact member 40, the arm bracket 28 is provided with a hole 28c, and the hole 28c contacts the contact member 40. A pin 41 is movably stored. An adjusting screw 43 and a spring 42 are inserted into the hole 28c, and the pin 41 is pressed. Therefore, the force of the spring 42 can be adjusted by adjusting the adjustment screw 43. Reference numeral 44 indicates a lock nut.
[0010]
2 shows a state where the cylinder rod 25 is shortened, and FIG. 4 shows a state where the cylinder rod 25 is elongated. 3 shows the arm bracket 29 in the state of FIG. 2, and FIG. 5 shows the arm bracket 28 in the state of FIG.
[0011]
6, the vertical portion 28b of the arm bracket 28 is formed by a pair of plate members 28d having a slit 48 in the middle as viewed from the longitudinal direction of the cup arm 8. 28d is tightened by a bolt 45, and the cup arm 8 is held between them. Therefore, the projecting position of the vacuum cup 9 can be adjusted in advance according to the type of the work 6.
[0012]
Next, the operation of the present invention will be described.
Until the mold is opened, the cylinder rod 25 is shortened as shown in FIGS. 1 and 2, and the robot arm 2 is separated from the work 6 and stands by. At this time, as shown in FIG. 3, the arm bracket 28 is rotated by the pin 41 urged by the spring 42 inserted into the hole 28c to push the contact member 40 around the bracket pin 30 so that the cup is rotated. The tip of the arm 8 is in a raised state.
[0013]
When the mold is opened, as shown in FIG. 7, the robot arm 2 rotates, the cylinder rod 25 extends, and the work 6 is taken out by the vacuum cup 9 at the tip of the cup arm 8. At this time, as shown in FIG. 5, the arm bracket 28 hits the stopper 31 at the tip of the guide bar 22, the spring 42 in the arm bracket 28 is compressed, and the arm bracket 28 rotates about the bracket pin 30, The tip of the cup arm 8 goes down. As a result, the vacuum cup 9 can hold the work 6 reliably. Next, as shown in FIG. 8, when the cylinder rod 25 is to be shortened, the stopper 31 is disengaged from the arm bracket 28, so that the arm bracket 28 is rotated upward by the action of the spring 42, and the tip of the cup arm 8 is raised. The work 6 is lifted. At this time, the work 6 can be taken out without interfering with the lower mold 5. Then, the work 6 is taken out by the robot arm 2 as shown in FIG. 9 and placed on the belt conveyor device 60 as shown in FIG.
[0014]
As described above, in the present invention, the effective operating range of the take-out device is expanded to the range of E in FIG. 1 by the movement of the robot arm 2 and the movement of the cylinder rod 25, and the distance D from the front surface of the press machine 50 to the mold is increased. Can be taken out automatically even if is large.
[0015]
【The invention's effect】
As described above, according to the present invention, the following excellent effects can be obtained.
(1) The combination of the guide bracket and the arm bracket allows the cup arm to rotate downward when the cylinder rod is extended, so that the work is reliably held.
(2) When the work is taken out, when the stopper comes off the arm bracket, the cup arm rotates upward, so that the work can be taken out without interfering with the lower mold.
(3) The length of the cup arm can be freely adjusted, the operating range is expanded, the versatility is improved, and the work efficiency is improved.
[Brief description of the drawings]
FIG. 1 is an overall view of a press machine equipped with a work take-out device of the present invention.
FIG. 2 is a side view showing one embodiment of the present invention.
FIG. 3 is a detailed view of a portion A in FIG. 2;
FIG. 4 is a side view showing the cylinder rod of FIG. 2 in an extended state.
FIG. 5 is a detailed view of a portion B in FIG. 4;
FIG. 6 is a view as seen from a longitudinal direction of the cup arm in FIG. 5;
FIG. 7 is a diagram illustrating the operation of the present invention.
FIG. 8 is a diagram illustrating the operation of the present invention.
FIG. 9 is a diagram illustrating the operation of the present invention.
FIG. 10 is a diagram illustrating the operation of the present invention.
FIG. 11 is an overall view of a press machine showing a conventional work take-out device.
[Explanation of symbols]
1 Crown 2 Robot arm 3 Work removal device 4 Upper die 5 Lower die 6 Work 7 Cylinder 8, 8A Cup arm 9 Vacuum cup 21 Connecting member 22 Guide bar 23 Bracket 24 Guide bracket 25 Cylinder rod 28 Arm bracket 28 a Horizontal arm Portion 28b Vertical portion 28c Hole portion 28d Plate 29 Rod pin 30 Bracket pin 31 Stopper 40 Contact member 41 Pin 42 Spring 43 ... Adjustment screw 44 ... Lock nut 45 ... Bolt 48 ... Slit 50 ... Press machine 60 ... Belt conveyor device

Claims (1)

A vacuum cup (9) provided on a two-dimensionally operated robot arm (2) pivotally mounted on a crown (1) of a press machine (50) and extended and contracted by the operation of a cylinder (7). The cylinder (7) is fixed to a bracket (23) attached to the end of the robot arm (2) in the work take-out device (3) for taking out the work from the mold by the above method. The cylinder rod (25) of the cylinder A guide bracket (24) is rotatably attached to a tip of the cylinder by a rod pin (29). An arm bracket (28) is rotatably attached to the guide bracket (24) by a bracket pin (30). 7) A guide bar (22) extending through the bracket (23) is fixed to a connecting member (21) provided at the rear end. A stopper (31) is provided at the front end of the guide bar (22) so as to engage with the horizontal arm (28a) of the arm bracket when the cylinder rod (25) is extended, and the vertical arm ( A cup arm (8) having a vacuum cup (9) at its tip is movably attached to 28b), and the attachment has a slit (48) in the middle of the vertical portion (28b) of the arm bracket. A cup arm (8) is formed between a pair of plate bodies (28d, 28d), and the cup arm (8) is sandwiched between the pair of plate bodies (28d, 28d) and tightened and fixed with bolts (45). The guide bracket (24) is provided with a contact member (40), the arm bracket (28) is provided with a hole (28c), and a pin (41) is slidably housed therein. (4 ) Is urged by a spring (42) whose pressing force is adjusted by an adjusting screw (43) and is brought into contact with the contact portion (40). 30), the tip of the cup arm (8) rises, the cylinder rod (25) is extended, and the arm bracket (28) hits the stopper (31). 8) A device for taking out a workpiece, wherein the tip of the workpiece is lowered.

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