JPH01264784A - Moving mechanism for manipulator - Google Patents

Abstract

PURPOSE:To move the chuck member of a fitting frame in a long distance with a driving member having a short stroke by movably supporting a movable frame on the driving member in the same direction as a work and providing the fitting frame reciprocated via the rotary member of the movable frame and the first and second driven members. CONSTITUTION:A movable frame 39 is moved via a driving member 35 by the preset stroke, a rotary member 41 fitted to this movable frame is rotated. As the rotary member 41 is rotated, a fitting frame 49 fitted to the second driven member is moved via the first driven member 43 fixed to a main body frame 33 and connected to the rotary member and the second driven member supported on the movable frame movably in the same direction as a work and connected to the rotary member. A work holding chuck member 53 provided on the fitting frame 49 can be moved in a distance corresponding to the shift stroke of the movable frame 39 and the fitting frame 49.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cocoon breaker that supplies and unloads a workpiece to a predetermined position, and more particularly to a moving mechanism that moves a chuck member that holds a workpiece to a predetermined position.

[Prior art t4:3] For example, in a manipulator such as a molded product automatic take-out device, among the moving mechanisms that move the molded product in the left-right direction, the front-back direction, and the up-down direction, for example, in the vertical movement mechanism, the A vertical cylinder or a feed screw having an axis line in the vertical direction and meshed with a nut member to which a chuck member is attached is attached to the post-propagation traveling body movably supported by a frame extending in the direction, and the operation or feeding of the vertical cylinder is carried out. The chuck member is moved between a predetermined upper position and a predetermined lower position as the screw rotates.

[Problems to be Solved by the Invention] However, among the above-mentioned moving mechanisms, those employing vertical cylinders require the use of a cylinder with a long axis in order to move the chuck member in the vertical direction with a long stroke. ☆The height of the device is high. For this reason, it was not possible to place it inside a factory with low ceiling heights. In addition, in order to solve the above-mentioned drawbacks, a mechanism in which a plurality of upper and lower cylinders are connected in series has been proposed, but in this mechanism, the cylinder itself that moves up and down is ff1ff.
Due to the i-type structure, there is a problem in that the chuck member vibrates greatly when stopped. For this reason, it is not possible to shift to the workpiece holding operation using the chuck member until the imaging has converged, resulting in a problem that the working time becomes longer. On the other hand, mechanisms employing feed screws also have the same drawbacks as above.

[Object of the Invention] An object of the present invention is to provide a manipulator moving mechanism capable of moving a chuck member over a long distance using a short stroke drive member.

Another object of the present invention is to provide a manipulator moving mechanism that can reduce the size and weight of the chuck member moving mechanism. .

[Means for Solving the Problems] Therefore, the present invention provides a driving member having an axis in the same direction as the moving direction of the workpiece, and a movable member connected to the driving member and supported so as to be movable in the same direction as the workpiece. a frame; a first driven member fixed to the main body frame and connected to a rotating member supported by the movable frame; It constitutes a movement mechanism for the cocoon 1 breaker that moves the workpiece held by the chuck member to a predetermined position from the mounting frame to which the second driven member connected to the rotating member is attached.

[Operation of the Invention] Since the present invention is configured as described above, when the movable frame is moved by a predetermined stroke by the driving member, the rotating member attached to the movable frame is moved to the first driven member. Since they are connected, they can be rotated in a predetermined direction. Since the rotating member is connected to the second driven member fixed to the mounting frame, as the rotating member rotates, the mounting frame moves between the first and second driven members and the rotating member. will be moved at a distance corresponding to Thereby, the chuck member provided on the mounting frame is moved by a distance corresponding to the movement stroke of the movable frame and the mounting frame.

[Example] Hereinafter, an example in which a manipulator according to the present invention is implemented in an automatic molded product take-out device will be described with reference to the drawings.

Fig. 1 is a perspective view of an automatic molded product take-out device incorporating a manipulator according to the present invention, Fig. 2 is a partial perspective view of the horizontal displacement vJ mechanism, and Fig. 3 is a central vertical sectional view taken along the line ITI-III in Fig. 2. , Fig. 4 is an exploded perspective view of the vertical movement mechanism, and Fig. 5 is an exploded perspective view of the vertical movement mechanism.
It is a cross-sectional view taken along the line v-v in FIG. The molded product held by the chuck member 53 as a workpiece is moved to a predetermined position by three-dimensional movement in the vertical direction.

The frame 3 of the automatic molded product retrieval device 1 has a length extending in the horizontal direction to the molded product retrieval position and the release position, and on its upper surface, a pair of rails 5 with a required interval are provided in the longitudinal direction (left and right directions). ) is installed. and the rail 5
A left and right running body 7 is supported so as to be slidable in the left and right direction. A rodless cylinder 9 is attached to the left and right traveling body 7. As shown in Fig. 3, the O-radless cylinder 9
A piston 11 having an axial length corresponding to the left and right travel stroke of the left and right traveling body 7 is supported slidably in the axial direction, and a rack gear 13 is disposed between the left and right ends of the piston 11.
is installed facing the axial direction. The rack gear 1
The length of the axis 3 corresponds to the gear ratio of the external teeth 15a of the drive shaft 15 and the rack gear 13, which will be described later, and is set to a length that allows the left and right traveling body 7 to be moved between the left and right ends of the frame 3. . A drive shaft 15 is rotatably supported in the axially intermediate portion of the rodless cylinder 9, and the drive shaft 15 is formed with external teeth 15a that mesh with the rack gear 13. The rack gear 13, which moves integrally with the piston 11 that slides as air is supplied to the rodless cylinder 9, rotates the drive shaft 15 through its outer teeth 15a.
and the rack gear 13 are rotated at a gear ratio according to the number of teeth of the rack gear 13.

A toothed pulley 17 is attached to the shaft end of the drive shaft 15, and a toothed belt 19, each end of which is fixed to the left and right ends of the frame 3, is meshed with the toothed pulley 17. A pair of tension rolls 21 are attached to the left and right running bodies 7 corresponding to both sides of the toothed pulley 17 so as to be in pressure contact with the toothed belt 19. Maintains tension.

A front and rear frame 23 extending in a front and rear direction perpendicular to the longitudinal direction of the frame 3 is attached to the left and right traveling body 7,
A feed screw 25 having an axis in the front-rear direction is rotatably supported by the front-rear frame 23 . An electric motor 27 attached to the left and right traveling body 7 is connected to one end of the feed screw 25. Further, a nut member 29 is engaged with the feed screw 25, and the feed screw 25
As the nut member 29 rotates, the nut member 29 reciprocates in the axial direction. Further, a pair of upper and lower rails 31 extending in the front-rear direction are attached to the side surfaces of the front and rear frames 23, and a front-rear traveling body 33 forming the main body frame is supported on the rails 31 so as to be slidable in the front-rear direction. The front and rear traveling body 33 is fixed to the nut member 29. As a result, the fore-and-aft traveling body 33 is moved in the fore-and-aft direction as the feed screw 25 rotates. A vertical cylinder 35 serving as a driving member having an axis in the vertical direction is attached to the longitudinal traveling body 33. This upper and lower cylinder 35 has an axial length that is approximately 1/2 of the movement stroke of a chuck member 53, which will be described later. Further, a vertical guide member 37 having an opening-shaped cross section is attached to the side surface of the longitudinal traveling body 33, and a movable frame 39 whose lower end is connected to the vertical cylinder 35 is slidable in the vertical direction on the vertical guide member 37. is supported by

A pair of upper and lower toothed boos 941 constituting a rotating member are rotatably supported at the upper and lower ends of the movable frame 39 at a required interval, and between each toothed pulley 41 are first and second covers. Endless toothed belt 43 constituting a driving member
is installed.

A part of the toothed belt 43 is fixed to the longitudinal running body 33 via a stay 45.

As a result, when the three movable frames are moved up and down with the operation of the up and down cylinders 35, the toothed pulley 41
By rotating the toothed belt 43, the toothed belt 43 is moved in the vertical direction. A guide member 47 having an opening-shaped cross section is attached to the movable frame 39 between the toothed pulleys 41 in the vertical direction. On the other hand, the guide member 47
A mounting frame 49 having a substantially U-shaped cross section is supported so as to be slidable in the vertical direction, and a portion of the mounting frame 49 is fixed to the toothed belt 43. Note that 51 in the figure is attached to the mounting frame 49, and is attached to the guide member 4.
It is a rail member that is slidably supported with respect to 7.

A chuck mounting plate 55, which constitutes a part of the chuck member 53, is attached to the lower end of the mounting frame 49 via an attitude control member 57, and an air cylinder and a link mechanism (not shown) built in the attitude control member 57 are attached to the lower end of the attachment frame 49. ), the chuck mounting plate 55 is rotated approximately 90 degrees. A plurality of suction members 59 connected to a suction device (not shown) are attached to the chuck removal plate 55, and the molded product is suctioned and held by the suction members 59.

Next, the operation of the automatic molded product removal device @1 constructed as described above will be explained with reference to FIGS. 1 and 6.

As shown in FIG. 1, when the upper and lower cylinders 35 are operated downward on the axis with the chuck member 53 positioned above the molding part, the movable frame 3 connected to the upper and lower cylinders 35
9 is moved downward. At this time, since a part of the toothed belt 43 is fixed to the front and rear traveling body 33, the toothed pulley 41 is rotated in the required direction as the movable frame 39 moves, and the toothed belt 43 is moved downward. will be moved towards. When the toothed belt 43 is moved in the direction of the solid arrow shown in FIG. 6, the mounting frame 49 fixed to the toothed belt 43 is moved downward and the chuck member 53 is opened. It is opposed to the mold that has been molded. As a result, the chuck member 53 is moved downward with a stroke corresponding to the stroke of the upper and lower cylinders 35 and the moving distance of the toothed belt 43 as the upper and lower cylinders 35 move upward.

When the chuck member 53 is opposed to the mold by the above operation, the feed screw 25 rotates as the electric motor 27 is driven.
As a result, the front and rear traveling body 33 is moved until the suction member 59 of the chuck member 53 and the molded product in the mold come into contact with each other. The molded product is sucked and held by the suction member 59 that comes into contact with the molded product. After the above operation, when the front and rear traveling body 33 is moved and returned to the original position by the feed screw 25 which is rotated in the opposite direction by the electric motor 27 which is driven in reverse, the suction member 0 is held at 1 suction I. The finished product is taken out from inside the gold knife.

When the upper and lower cylinders 35 are returned to their original positions after taking out the molded product, the movable frames 39 are moved upward, and the toothed belt 43 is moved upward as the three movable frames move upward.
is moved in eight directions indicated by broken line arrows in FIG. As a result, the chuck member 53 holds the molded product by the mounting frame 49 which moves upward as the toothed belt 43 moves.
is moved to the upper position.

When the rodless cylinder 9 is operated after the above operation, the drive shaft 15 moves as the piston 11 moves toward the left side of the axis.
is rotated clockwise. At this time, since the ends of the toothed belt 19 meshed with the toothed pulley 17 attached to the drive shaft 15 are fixed to both ends of the frame 3,
As the piston 11 slides, the traveling body 7 is moved horizontally to the right, and the chuck member 53 is moved to the release position. After the above operation, the vertical cylinder 35 is moved upward as necessary and the electric motor 27 is driven.
Ma Tsuku part t45.3 @ solution h 9th place head (, - near 18 s U
The chuck member 53 is reversely rotated by the attitude control member 57 operated in the above state, and the molded product suctioned and held by the suction member 59 is brought to face the take-out surface at the release position.

Next, in the above state, the suction state by the suction member 59 is released, thereby releasing the molded product and completing the removal operation.

In this way, in this embodiment, the axis is approximately 1/2 of the moving distance of the chuck member 53 in the vertical direction! ! The chuck member 53 can be moved between a predetermined upper position and a lower position using a vertical cylinder 35 consisting of a length,
It is possible to reduce the height of the device. Furthermore, the entire device can be made smaller and lighter.

In the above explanation, the moving mechanism is used as the vertical moving mechanism, but it can be used for any or all of the left/right moving machine configuration or the front/back moving mechanism.Also, the above explanation uses the vertical cylinder 35 as the driving member. The system used here consists of a feed screw having an axis in the vertical direction, an electric motor connected to the feed screw, and a nut member that meshes with the feed screw and is connected to a movable frame, and as the feed screw rotates, the chuck The member may be moved between arbitrary positions.

Furthermore, in the above description, the first and second driven members are constituted by an endless toothed belt 43, the rotating member is constituted by a pair of upper and lower toothed pulleys 41, and the material is constituted by a rack gear 71, and the rack gear 71 is The chuck member 53 is attached to the traveling body 33 in the moving direction. Further, the rotating member is constituted by a pinion gear 73, and the pinion gear 1773 is connected to an approximately intermediate portion of the movable frame 39.
is rotatably mounted so as to mesh with the rack gear 71. Further, the second driven member is constituted by a rack gear 75, and the rack gear 75 is attached to the mounting frame 49 movably supported by the movable frame 39 so as to mesh with the pinion gear 73. When the movable frame 39 is moved in a desired direction by an upper and lower cylinder or a feed screw, the mounting frame 49 may be moved in the desired direction by a pinion gear 73 that meshes with the rack gear 71 and rotates.

Furthermore, the outer diameter of the toothed pulley 41 or the rack gear 7
1.75 and the number of teeth of the pinion gear 73, the moving speed of the mounting frame 49 may be increased or decreased as appropriate with respect to the moving speed of the upper and lower cylinders 35, and thus the movable frame 39. .

[Effects of the Invention] Therefore, the present invention makes it possible to move the chuck member over a long distance using a short stroke driving member, and also to make the chuck member moving mechanism smaller and lighter. It is possible to provide a movement mechanism for the manipulator.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an automatic molded product take-out device incorporating a manipulator according to the present invention, FIG. 2 is a partial perspective view of a horizontal movement mechanism, and FIG. 3 is a central vertical sectional view taken along line III-III in FIG. FIG. 4 is an explanatory diagram showing an example of an exploded perspective view of the vertical movement e mechanism. 1 in the figure is a molded product automatic take-out device as a manipulator;
Reference numeral 33 indicates a front and rear running body as a main body frame, 35 indicates an upper and lower cylinder as a driving member, 39 indicates a movable frame, 41 indicates a toothed pulley as a rotating member, and 43 indicates a toothed member constituting the first and second driven members. The belt, 49 is a mounting frame, and 53 is a chuck member. Patent applicant Star Seiki Co., Ltd. Agent Patent attorney Ken Ito −

Claims (1)

[Claims] (1) A manipulator that holds a workpiece by a chuck member and moves it to a predetermined position, comprising: a drive member having an axis in the same direction as the moving direction of the workpiece; a movable frame supported to be movable in the same direction as the movable frame; a first driven member fixed to the main body frame and connected to a rotating member supported by the movable frame; A manipulator moving mechanism comprising: a mounting frame to which a second driven member is attached, which is supported so as to be movable in the same direction and is connected to the rotating member. (2) The manipulator moving mechanism according to claim 1, wherein the driving member comprises a cylinder. (3) The manipulator according to claim 1, wherein the driving member comprises a cylinder comprising a feed screw, a nut member that meshes with the feed screw and is connected to the movable frame, and an electric motor that rotates the feed screw. Moving mechanism. (4) The rotating member includes a pair of pulleys that are rotatably supported by the movable frame, and the first and second driven members are stretched around the pulleys, and a portion is fixed to the main body frame. 4. The manipulator moving mechanism according to claim 1, 2 or 3, comprising an endless toothed belt partially fixed to the mounting frame. (5) Claim 1, 2 or 3, wherein the first and second driven members are rack gears, and the rotating member is a gear supported by a movable frame and meshed with the first and second rack gears. The moving mechanism of the described manipulator.