JPH0256174B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an industrial robot that can efficiently load and unload workpieces into and out of various working machines such as presses and molding machines.

(Prior art and its problems) Regarding the above, a cam or an air cylinder is used as a driving means to impart linear movement to an arm having a hand for gripping a workpiece.

However, when obtaining linear motion in the arm using a cam, the arm has good mobility and can shorten takt time, but the linear stroke of the arm is limited compared to the size of the cam. It has the disadvantage that it is small and in addition, it is difficult to change this straight stroke.

In addition, when obtaining linear motion in the arm using an air cylinder, by using stoppers at both ends, the linear stroke can be easily changed and a large linear stroke can be obtained, but on the other hand,
Since vibrations occur due to collision with the stopper at the stop position, it is difficult to increase the straight-line speed and it is not possible to shorten the takt time.

In this way, loading or unloading work requires a large straight stroke of the arm with a short takt time, and positional accuracy is most required at the front end position of the straight stroke (work position). This means that there are still problems that need to be improved in the conventional methods that can be put into practical use.

(Object of the Invention) The present invention has been made in view of the above-mentioned problems, and is an industrial-use device that can have a large straight stroke of the arm and can accurately load or unload workpieces in a short takt time. The aim is to provide robots.

(Summary of the Invention) The present invention provides a slide member that is slidably moved by a first actuator on a guide rail of a base, a rod having a hand is slidably inserted into the slide member, and a tip of the rod is slidably inserted into the slide member. The gist of the industrial robot is an industrial robot in which one end of a connecting rod is pivotally connected to the other end of the crank which is rotated by a second actuator provided on the slide member, and the other end of the connecting rod is pivotally connected to the other end of a crank which is rotated by a second actuator provided on the slide member. It is something.

(Examples) Hereinafter, the present invention will be described in detail based on Examples.

In FIG. 1, reference numeral 1 is a base provided on a pedestal 2, and a guide rail 3 is provided on the base 1. Reference numeral 4 denotes a slide member, and the slide member 4 is configured to move linearly along the guide rail 3 connected to the rod 5a of the air cylinder 5 fixedly arranged on the base 1.
Reference numeral 6 denotes a rod that is slidably inserted into the slide member 4 in parallel to the sliding direction of the slide member 4 by means of a guide bush 7, and one end of a connecting rod 8 is attached to the tip of the rod 6. It is pivoted. The other end of the cooking rod 8 is connected to the slide member 4.
The rod 6 is pivotally connected to the other end of a crank 10 connected to a shaft 9a of a rotary actuator 9 provided in the guide bush 7. It is designed to be able to move in a straight line along the Reference numeral 11 denotes a hand provided at the tip of the rod 6 for inserting or removing a workpiece.

Next, the operation when loading a workpiece in the above-mentioned embodiment will be explained using FIGS. 2 to 5.

FIG. 2 shows the initial state, in which the slide member 4 and the hand 11 are located on the right side, and the workpiece 13 is supplied to the hand 11 from the workpiece supply device 12 at this position. Next, as shown in FIG. 3, the air cylinder 5 is operated to advance the slide member 4,
The hand 11 is made to stand by at a position where it does not interfere with the work machine 14. Next, as shown in FIG.
At the same time as the cycle ends, the rotary actuator 9 is operated to rotate the crank 10 and the rod 6 is rotated.
is advanced and the hand 11 is inserted into the working machine 14. At this time, if the rotational speed of the crank 10 is constant, the velocity component in the stroke direction generated by the crank 10 draws a sine curve, so if the crank is used between the two dead centers, the straight stroke part will be smooth from the initial speed of 0. It accelerates to a maximum speed when the crank is perpendicular to the direction of the linear axis, and after this point it decelerates smoothly until the speed approaches zero near the dead center. Moreover, since the acceleration (differential value of velocity) also draws a sine curve, the motion of the linear motion part is smooth, and ideal operating characteristics can be obtained with no axial vibration. Then, with the hand 11 in the leftmost position as shown in FIG. 5, the hand 11 is opened and the workpiece 13 is thrown into the working machine 14.

After the injection is completed, the air cylinder 5 and the rotary actuator 9 are each operated in the opposite direction to the above, so that the slide member 4 and the rod 6 are simultaneously retracted to return to the state shown in FIG.

In the above-mentioned operation description, the case where a workpiece is loaded has been explained, but when a workpiece is taken out, substantially the same operation may be performed except for the opening/closing operation of the hand 11.

The linear strokes of the air cylinder 5 and the rod 6 can be easily adjusted by providing stoppers within the operating range of the air cylinder 5 and crank 10, respectively. Since there is a risk of vibrations occurring in the hand 11 due to a collision when loading or unloading a workpiece, the linear stroke of the rod 6 can be adjusted by adopting a structure that allows the length of the connecting rod 8 or crank 10 to be adjusted. You may also do so. Moreover, the air cylinder 5 mentioned above
By using a ball screw instead, or using a servo motor instead of the rotary actuator 9, the forward speed and stop position can be controlled to further improve the mobility.

(Effects of the Invention) As described above, according to the present invention, the hand can move forward in two stages, so it is possible to take a large straight stroke of the hand compared to the overall length of the robot, and in addition, it is possible to move the hand forward in two stages. By operating them simultaneously, the return operation can be performed at high speed and the takt time can be shortened. In addition, since a crank mechanism is used to advance the rod, the speed deceleration when the hand stops is smooth, and vibration when the hand is stopped (at the working position) can be prevented as much as possible, resulting in good positional accuracy. Work can be done at Furthermore, this allows the hand to move forward at high speed, thereby further shortening the takt time.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is an external perspective view, and FIGS. 2 to 5 are operation explanatory views. DESCRIPTION OF SYMBOLS 1... Base, 3... Guide rail, 4... Slide member, 5... First actuator (air cylinder), 6... Rod, 8... Connecting rod,
9...Second actuator (rotary actuator), 10...Crank.

Claims (1)

[Claims] 1. A slide member that is moved by a first actuator is slidably provided on the guide rail of the base, a rod having a hand is slidably inserted into the slide member, and one end is pivotally connected to the tip of the rod. An industrial robot in which the other end of a conrod is pivotally connected to the other end of a crank rotated by a second actuator provided on the slide member.