JPH0592433A - Core grasping mechanism - Google Patents

Abstract

PURPOSE:To provide the title mechanism having a simple structure capable of simultaneously grasping a fixed core and a movable core even when there is slight shape or diameter difference between them. CONSTITUTION:A core grasping mechanism consists of the core 2 in a mold and the core grasping tools 3 provided to the hand of a robot. The core 2 is equipped with grasping parts 4a, 4b through the stepped parts at the corresponding positions on both sides thereof across a parting surface PL. Each of the core grasping tools 3 has two ridges 7a, 7b provided to the grasping surface thereof and also has the grasping part 9 provided between the ridges. The grasping parts 4a, 4b of the core 2 are grasped in the diameter direction of the core 2 by the grasping parts 9 of the core grasping parts 3 and grasped in the axial direction (d) of the core 2 by the ridges 7a, 7b to grasp the core 2 by the core grasping tools 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a core-holding mechanism when a robot automatically replaces a core in a mold clamping device that uses a mold composed of a mother mold and a core.

[0002]

2. Description of the Related Art For example, in injection molding, a core replacement method is employed when continuously producing various kinds of small quantities of molded articles. The core replacement method replaces only the core that has the molding cavity, so the cost of the mold can be reduced.Also, if the core is replaced by a robot, the core can be replaced when the molded product is changed. Can reduce the time and effort required for
Further, the core replacement is automated to enable long-term unmanned operation.

In the case of automating the core replacement using a robot, the fixed core and the movable core are handled separately,
Although it is possible to remove the core, convey it, and attach it to the mother mold for each, the fixed-side core and the movable-side core are often stored in an integrated state by abutting the parting surfaces, When exchanging cores, it is more efficient to handle them as they are.

On the other hand, most of the tools to be attached to the hands of robots are of the pinching type, and the fixed and movable cores are simultaneously pinched and gripped around the parting surface.
In this case, the fixed-side core and the movable-side core are formed to have the same shape and the same diameter at least in the vicinity of the parting surface, which is a sandwiched region. However, when the core is clamped by the tool, the other core cannot be clamped even if the diameter of one of the cores is slightly larger, and the gripping of the core by the tool becomes unstable. For this reason, at present, a tool having a complicated mechanism such as a double gripper may be required.

[0005]

SUMMARY OF THE INVENTION According to the present invention, even if there is a slight difference in shape or diameter between the fixed-side core and the movable-side core, the core can be gripped at the same time. An object is to provide a gripping mechanism.

[0006]

[Means for Solving the Problems] A core in a mold and a core pinching tool mounted on a hand of a robot. The core includes a stationary core and a movable core, which have substantially the same outer shape at least near the parting surface. A sandwiching area by the core sandwiching tool is set on the outer periphery of the core around the parting surface. Grasping portions are formed by steps at corresponding positions on both sides of the parting surface in this region. The core pinching tool includes two ridges on the pinching surface along the outer circumference of the core, the ridges having a distance corresponding to the width of the grasping portion. The space between the ridges is a sandwiching portion that contacts the outer peripheral surface of the grasping portion.

[0007]

In the core pinching tool, the gripping part formed by the step on the outer periphery of the core is sandwiched by the pinching part between the two ridges in the radial direction, and the gripping part is divided into two parts. The ridges sandwich the core in the axial direction.

[0008]

1 shows a first embodiment of a core gripping mechanism 1 according to the present invention, which comprises a core 2 and a core pinching tool 3. The core 2 includes a fixed core 2a and a movable core 2b,
They can be abutted on the parting surface PL and integrated as shown. Range where the fixed side and movable side cores 2 (a, b) are clamped by the core pinching tool 3 (clamping region)
c has substantially the same outer shape and the same diameter. In this embodiment, both are cylindrical and have the same diameter. Further, as in the conventional case, the stationary core 2a and the movable core 2 are attached to the parting surface PL.
A molding cavity is formed by b, and a sprue hole reaching the molding cavity is formed in the stationary core 2a.

The grasping portions 4 (a, a,
b) is formed by a step. That is, the groove 5 (a, b) is formed at a predetermined distance from the parting surface PL in the direction of the axis d of the core 2, so that a step is formed near the parting surface PL and the groove 5 (a, b) is formed. The grasping section 4 (a, b) of FIG. In this embodiment, the groove 5 is formed so as to go around the outer circumferences of the fixed-side and movable-side cores 2 (a, b), and therefore the grasping portion 4 (a, b) is also formed in an annular shape. The grasping portions 4a and 4b are in a mutually corresponding relationship at any position in the circumferential direction of the core.

The core pinching tool 3 is a tool to be mounted on the hand of a robot and has a pair of upper and lower (in the figure) claws 6 (a, b) as shown in FIG. These claws 6 (a, b) are rotatably supported by the base portion, and the tip end portions thereof are opened and closed by an appropriate driving means such as an air actuator (not shown). Nail 6 (a,
b) two ridges 7 (a,
b) is formed along the outer peripheral surface of the core 2. Then, the interval between the ridges 7 (a, b) is set to the grasping portion 4 described above.
The width e is set to be substantially equal to (a, b), and the amount of protrusion from the bottom surface 8 is smaller than the depth of the groove 5 (a, b). Therefore, when the pinching region c of the core 2 is pinched by the core pinching tool 3, the outer peripheral surface of the grasping portion 4 (a, b) is raised by the ridge 7 (a, b).
It contacts the bottom part, that is, the sandwiching part 9 (see FIG. 4).

Reference numeral 10 (FIG. 1) is a positioning projection, which is formed on the outer peripheral surface of the grasping portion 4 (a, b) on both sides of the parting surface PL in the direction of the axis d when the core pinching tool 3 is closed. The groove 11 is fitted in the front, rear, left and right without play.

When the core 2 is pinched by the core pinching tool 3 having the above-described structure, two ridges 7 (a, a,
b) fit into the corresponding grooves 5 (a, b),
The grasping part 4 (a, b) is sandwiched in the direction of the axis d. At the same time, the sandwiching portion 9 contacts the outer peripheral surface of the grasping portion 4 (a, b), and the core 2 is radially sandwiched and grasped by this portion. At this time, if the diameter of the fixed side core 2a is smaller than the diameter of the movable side core 2b as shown in the figure, the core holding tool 3 holds the movable side core 2b, but cannot fix the fixed side core 2a. .. However, the fixed-side core 2a is connected to the movable-side core 2b to some extent by a guide or the like, and the grasping portion 4a is sandwiched between the ridges 7 (a, b) so that it does not fall off. Child 2 is the fixed side,
The movable side is securely gripped.

Then, the positioning projection 10 is provided with the positioning groove 1.
The position of the core 2 (position around the axis d) is determined by fitting the core 2 into the position 1 and the fact that the core 2 is gripped by completely closing the claws 6 (a, b) is shown to the robot side. It is confirmed. The gripped core 2 is conveyed to a core storage position by a robot and stored while the fixed side and the movable side are integrated, or conversely, is taken out from the storage location and attached to the mother core mounting hole. Or

FIG. 2 shows a second embodiment. In contrast to the first embodiment, the grasping portion 4 (a, b) is provided on each of the parting surfaces PL of the fixed core 2a and the movable core 2b. It is different in that it is constituted by a flange formed along.
In this case, the groove 5 (a, b) of the first embodiment is a surface on the outer peripheral surface of the fixed side and movable side cores 2 (a, b) on the side with a low step formed by the flange. Also in this configuration, the ridges 7 (a, b) of the core pinching tool 3 are grasped by the grasping portion 4.
(A, b) is sandwiched in the direction of the axis d, and the sandwiching portion 9 sandwiches the grasping portion 4 (a, b) in the radial direction to securely grip the core 2. Further, in the second embodiment, the positioning protrusion 10 is configured as a touch sensor, and the gripping completion signal is issued only when the positioning protrusion 10 is fitted in the positioning groove 11.

5 to 8 show other forms of the ridge 7 of the claw 6 in the core pinching tool 3 and the groove 5 in the core 2. In each of these cases, the groove 5 is a core. Although it is divided in the outer peripheral direction of 2, there is no hindrance to the clamping action, and the core 2
Can be held and transported. In the case of FIG. 5, the groove 4 of the core and the ridge 7 of the claw 6 are linearly formed, and
In the forms of FIGS. 6 and 7, the straight line is a broken line. When the sandwiched portion has a polygonal shape, the position around the axis d can be determined without providing the positioning protrusion 10 and the positioning groove 11.

9 and 10 show other examples of the cross-sectional shapes of the ridge 7 of the claw 6 and the grasping portion 4 of the core 2. In FIG. 9, both the ridges 7 and the grooves 5 have tapered surfaces on both sides, and in FIG. 10, only the surfaces in contact with each other have tapered surfaces. With this configuration, the cores 2a, 2b
Even when the core is slightly separated in the direction of the axis d, when it is clamped by the core clamping tool 3, it can be returned to a normal position and clamped. Further, since the core can be held between the grasping portion 4 and the ridge 7 without play, the core can be transported more safely.

11 to 13 show the forms of the positioning protrusion 10 and the positioning groove 11, and in FIG. 11, the positioning protrusion 10 is a pin type having a cylindrical cross section, and the positioning groove 11 is formed in this. The positioning protrusion 10 has a corresponding cylindrical shape so that the positioning protrusion 10 fits snugly. In the configuration of FIG. 12, the positioning projection 10 is cylindrical as in the above case, but the positioning groove 11 has the front, rear, left, and right sides whose lengths are equal to the positioning projection 10.
The square shape is made according to the diameter of the front, back, left and right. Even in this case, the posture of the core 2 (a, b) around the axis d and the position in the axis d direction are accurately determined. FIG.
1 is similar to FIG. 1, but the positioning projection 10 has the shape of a cube, which fits tightly into the positioning groove 11 of the cubic shape for positioning. As described above, various forms of the positioning protrusion 10 and the positioning groove 11 can be adopted, and the positioning protrusion 10 and the positioning groove 11 can be properly used depending on the carrying form or the storing form of the core 2.

The above is an embodiment. The cross-sectional shape of the core 2 is not limited to a circle but may be a polygon or the like. The grasping portion 4 (a, b) formed along the parting surface PL may be divided and arranged around the transverse cross section of the core 2 as in the case of the groove 5. The positioning protrusion 10 and the positioning groove 11 are
It is not necessary when the position is automatically determined by pinching by the core pinching tool 3.

[0019]

The core having the fixed side and the movable side butted against each other can be securely gripped by the core pinching tool having a simple structure.

[Brief description of drawings]

FIG. 1 is a front view showing a part in section.

FIG. 2 is a front view of another embodiment of which a part is shown in section.

FIG. 3 is a side view showing a part in section.

FIG. 4 is a front view showing a main part (partial cross section).

FIG. 5 is a front view showing a part in section.

FIG. 6 is a front view showing a part in section.

FIG. 7 is a front view showing a part in section.

FIG. 8 is a front view showing a part in section.

FIG. 9 is a front view (partially sectional view) showing a main part.

FIG. 10 is a front view (partial cross section) showing a main part.

FIG. 11 is a perspective view of a main part.

FIG. 12 is a perspective view of a main part.

FIG. 13 is a perspective view of a main part.

[Explanation of reference numerals] 1 core gripping mechanism 2 core 3 core clamping tool 4 grasping part 5 groove 6 claw 7 ridge 8 bottom 9 clamping part 10 positioning protrusion 11 positioning groove

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Susumu Ito 3580 Koshinoba, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture Inside the Product Development Laboratory, Fuanatsu Co., Ltd. (72) Takayuki Taira, Oshinomura, Oshinomura, Minamitsuru-gun, Yamanashi Prefecture Baba 3580 Fuanatsuku Co., Ltd. Product Development Laboratory (72) Inventor Kikuo Watanabe Yamanashi Prefecture Minamitsuru-gun Oshinomura Shinobu character Kobaba 3580 Fuanatsuku Co., Ltd. Product Development Research Laboratory (72) Inventor Akira Yamanashi Minamitsuru-gun Shinobu Nomura Shinobu Koji 3580 Kobanba Product Development Laboratory (72) Inventor Toshio Matsukura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Kaoru Maeda Shibuya, Tokyo 2-43-2, Hatagaya-ku, Olympus Optical Co., Ltd. (72) Inventor Hiroshi Yonekubo 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Kenji Haga 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Invention Tokuda Kazushige Tokuda Shibuya-ku, Tokyo 2-43-2 Hatagaya Olympus Optical Industry Co., Ltd.

Claims (2)

[Claims] 1. A core in a mold and a core pinching tool to be attached to a robot hand, the core having a fixed core and a movable core whose outer shapes are substantially the same in the vicinity of a parting surface. , A clamping area is set by the core clamping tool on the outer periphery of the core centering on the parting surface, and grasping parts are formed by steps at corresponding positions on both sides along the parting surface in this area. The sandwiching surface is provided with two ridges having an interval corresponding to the width of the grasping portion along the outer circumference of the core, and the space between the ridges serves as a sandwiching portion in contact with the outer peripheral surface of the grasping portion. The core gripping mechanism. 2. A positioning groove is formed in a holding region of the core, and a positioning protrusion having a shape corresponding to the positioning groove is provided in the core holding portion of the core holding tool. The core gripping mechanism according to claim 1.