JPH0318112Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Field of Industrial Application) The present invention relates to a stroke adjustment device for a manipulator that handles a workpiece in a press or the like.

(Prior Art) Conventionally, in a manipulator, a tong stand is provided so as to be movable up and down by a lift cylinder, the tongs are provided on the tong stand to be movable back and forth by an advance cylinder, and the stroke ends of both cylinders are set by stoppers. , positioning the material clipped to the nail.

(Problem that the invention aims to solve) However, each time the shape of the material changes during lot production, it is necessary to reset the stroke end of the cylinder by adjusting the stopper shim or adjusting the bolt. It takes a long time, and furthermore, it is necessary to carry out press work after adjustment, check the adjustment condition from the molded product, and readjust it, making it difficult to position the material easily, quickly, and with high precision. Unable to adjust material posture. Further, as a result of material loss due to adjustment of the stroke end, there was an inconvenience that the yield rate deteriorated.

(Means for solving the problem) The manipulator stroke adjustment device of the present invention has the following features:
One end of the tong mount including tongs and an advance cylinder capable of moving the tongs back and forth is pivotally connected to a common base, and the other end of the tong mount is movable up and down on the common base via a lift cylinder and is movable in the longitudinal direction of the tongs. In the manipulator, one end of the tong pedestal is pivotally mounted on an elevating platform, the elevating platform is vertically movably supported by a lift adjusting pedestal via a vertical screw mechanism, and the tong pedestal is movably supported by a vertical screw mechanism. are supported on a common base so as to be movable in the longitudinal direction of the tongs via a horizontal screw mechanism, each of the two mechanisms is equipped with a drive motor, and each of these drive motors is equipped with a detector for detecting the motor rotation speed. With this configuration, the tongs can be operated quickly using a cylinder that operates only a fixed stroke amount, but each drive motor is controlled by feedback to control each cylinder stroke (original stroke). This makes it possible to obtain the necessary adjustment amount for the position) with high accuracy.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

In the figure, reference numeral 1 denotes tongs, and a product gripping claw 2 is provided at the tip of the tongs 1 so as to be movable in opening and closing by means of a clamp cylinder 3. The tongs 1 are supported within a tong mount 4 via a roller guide mechanism 5.
Advance cylinder 6 installed on tong stand 4
It is now possible to move forward and backward.

Reference numeral 7 denotes a lift adjustment frame, which is placed on a common base 8 via a slide roller 9 and is connected to an advance adjustment motor 10 installed on the common base 8 via a horizontal screw mechanism 11.
The tongue can be moved in the longitudinal direction by the operation of the horizontal screw mechanism 11 by the screw mechanism 11.

Reference numeral 12 denotes a lifting platform, which is connected to a lift adjustment motor 13 installed on the lift adjustment pedestal 7 via a gear mechanism 14 and a vertical screw mechanism 15, and when the screw mechanism 15 is operated by the motor 13, the upper part of the lift adjustment pedestal is moved. It is possible to go up and down while being guided by the side walls. This elevating table 12 is provided with brackets 17 that extend upward through a window hole 16 provided in the top wall of the lift adjustment frame 7 and are opposed to each other.

One end of the tong frame 4 has a lifting platform 12 at the bottom.
It is pivoted to the upper bracket 17, and the other end of the pedestal 4 is supported via a lift cylinder 18 whose both ends are pivoted to the lower part of the pedestal 4 and the common base 8.
Moreover, it is arranged between two side guides 19 installed on the common base 8.

20 is a detector (encoder in the embodiment) connected to the advance adjustment motor 10, and 21 is a detector (encoder in the embodiment) connected to the lift adjustment motor 13, both of which are connected to a motor control device (not shown).

(Function) When the advance cylinder 6 is shortened by a certain stroke amount (X in the drawing), the tongs 1 move forward in the tong mount 4, so the product gripping claws 2 move forward by that cylinder stroke. Prior to this, when the lift cylinder 18 is extended by a certain stroke amount, the tongs frame 4 is tilted upward about the shaft 22 which is pivoted to the lift adjustment frame 7, so that the tongs frame 4 is gripped by the product gripping claws 2. material held W
is lifted from the mold 23 and placed at a position above the mold 23' (original position before adjustment) without hitting the mold 23'.

Next, the lift adjustment frame 7 is moved by the operation of the horizontal screw mechanism 11 by the advance adjustment motor 10.
When the tongs 1 move forward and backward, the lift cylinder 18 swings back and forth around a shaft 24 that is attached to the common base 8, and the tongs mount 4 moves back and forth, and the tongs 1 move the advance cylinder 6 onto this tongs mount 4. It moves forward and backward together with the pedestal 4 as one unit.
Further, when the lifting platform 12 is raised by the operation of the vertical screw mechanism 15 by the lift adjustment motor 13, the tong mount 4 moves in a scale-like manner around the shaft 25 which is pivoted to the lift cylinder 18 as shown in FIG. Since the tongs 1 are rotated clockwise, the tongs 1 also rotate together with the pedestal 4.

Therefore, the material W gripped by the product gripping claws 2 is moved back and forth from the original position and lowered so as to be placed on the mold 23'.

However, the advance amount and lift amount are
The relative positions of the molds 23 and 23' are constant and determined by the dimensions of the material W, and the amount of movement of the lift adjustment frame 7 and the lifting table 12, that is, the advance adjustment motor 1
0 and the rotation speed of the lift adjustment motor 13. Therefore, if both motors 10 and 13 are controlled in feedback manner while detecting the motor rotation speed with the detectors 20 and 21, the advance amount and lift amount of the tongs 1 can be accurately controlled. Well obtained, the material W is accurately placed on the mold 23'.

Although an example has been described in which one end of the tong mount 4 is supported by a lift cylinder 18 that can swing back and forth so as to be movable up and down and movable in the longitudinal direction of the tongs, for example, the upper end of a vertical lift cylinder that does not swing can be used. One end of the tong mount 4 may be movably supported via a slide guide which is pivotally attached to this so as to be able to swing back and forth.

(Effects of the invention) As described above, the invention first moves the product gripping claw to a certain position while controlling its posture using the advance stroke and lift stroke, and then uses this position as the original position to move the product by an advance amount corresponding to the dimensions of the workpiece. The configuration allows fine adjustment of the amount of lift by moving the pivot point of one end of the tongs mount relative to the common base, making it possible to easily, quickly and accurately set the material at the setting position. It is possible to improve the transfer rate and yield.

[Brief explanation of drawings]

FIG. 1 is a partially sectional front view of an embodiment of the present invention, and FIG. 2 is a sectional view taken along the line .about. in FIG. DESCRIPTION OF SYMBOLS 1...Tongs, 2...Product grasping claws, 4...Tong stand, 5...Roller guide mechanism, 6...Advance cylinder, 7...Lift adjustment stand, 8...Common base, 9...Slide roller, 10 ...Advanced adjustment motor, 11...Sideways screw mechanism, 12
...Lifting platform, 13...Lift adjustment motor, 14...
...Gear mechanism, 15...Vertical screw mechanism, 18...
Lift cylinder, 19...Side guide, 20,
21...Detector, 22, 24, 25...Axis, 2
3,23′...Mold.

Claims (1)

[Scope of utility model registration request] One end of the tong mount including tongs and an advance cylinder capable of moving the tongs back and forth is pivotally connected to a common base, and the other end of the tong mount is movable up and down on the common base via a lift cylinder and is movable in the longitudinal direction of the tongs. In the manipulator, one end of the tong pedestal is pivotally mounted on an elevating platform, the elevating platform is vertically movably supported by a lift adjusting pedestal via a vertical screw mechanism, and the tong pedestal is movably supported by a vertical screw mechanism. are supported on a common base so as to be movable in the longitudinal direction of the tongs via a transverse screw mechanism,
A manipulator stroke adjusting device characterized in that both screw mechanisms are each equipped with a drive motor, and each of these drive motors is provided with a detector for detecting the number of rotations of the motor.