JPH06344351A - Suction hand for robot - Google Patents

Abstract

PURPOSE:To eliminate a synthetic resin molding from becoming hard to be sucked due to its being broken, arched or the like by pressing a suction pad against the synthetic resin molding by a method wherein the synthetic resin molding, which tightly adheres to an opened mold, is taken out of the mold without giving nearly any impact to the synthetic resin molding. CONSTITUTION:To a supporting plate 1 mounted on a robot arm, a cylinder 3 is fixed. In the cylinder 3, a piston rod 5 is inserted. Further, at the tip of the piston rod 5, a suction pad is mounted. Furthermore, the cylinder 3 and the suction pad 7 communicate with each other through a vacuum hose 9a. At the same time, a vacuum hose 9b connected to the vacuum pump is connected to the cylinder so as to suck a matter to be sucked and simultaneously pull the piston rod 5 in the cylinder 3 by actuating the vacuum pump.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot suction hand suitable for mounting on an arm of an industrial robot or the like and taking out a synthetic resin molded product which is in close contact with an opened mold.

[0002]

2. Description of the Related Art Conventionally, as a suction hand for a robot of this type, there is one shown in FIG. 8, for example. Figure 8
In the figure, 1 is a support plate which is attached to a robot arm (not shown), and a support cylinder 10 is fixed to the support plate 1 by a fixing member 2. A support rod 11 is inserted in the support cylinder 10, and further the support rod 1
A suction pad 7 is attached to the tip of 1 via a holder 6. A coil spring 12 is mounted between the support cylinder 10 and the suction pad 7 so that the support rod 11 can be retracted. Further, a vacuum hose 9 connected to a vacuum pump (not shown) is connected to the suction pad 7.

In the robot suction hand constructed as described above, when the robot arm is actuated, the suction pad 7 is pressed against the synthetic resin molded product (not shown) that is in close contact with the opened mold. The shock is absorbed by the coil spring 12, and the support rod 11 is pulled into the support cylinder 10. Then, when the vacuum pump is operated, the suction pad 7 is sucked by the vacuum hose 9.
The synthetic resin molded product is adsorbed on. In this state, when the robot suction arm is separated from the mold by re-operating the robot arm, the synthetic resin molded product is removed from the mold while being sucked by the suction pad 7, and the support rod 11 is supported by the coil spring 12. It is pushed out of the cylinder 10 and returns to its original state. Furthermore, when the robot suction arm is moved to an appropriate position by the operation of the robot arm and the vacuum pump operation is stopped, the synthetic resin molded product falls from the suction pad 7 on the spot, and an appropriate storage case (not shown) or the like. Accumulated in.

[0004]

In the conventional robot suction hand, when the suction pad 7 is pressed against the synthetic resin molded article by the operation of the robot arm as described above, the coil spring 12 absorbs the impact and supports it. The rod 11 is pulled into the support cylinder 10. However, since many synthetic resin molded products of this type that are removed from the molding die are thin, the shock absorbing action of the coil spring 12 is not sufficient, and the synthetic resin molded product may be damaged by pressing the suction pad 7, or the synthetic resin molded product may be damaged. The resin molded product has a problem that it is difficult to be adsorbed to the adsorption pad 7 by bending in a bow.

Further, in the conventional robot suction hand, whether the synthetic resin molded product that is in close contact with the mold is a shallow one or a deep one, the suction pad is attached to the synthetic resin molded product without finely operating the robot arm. To press 7,
Although it can be dealt with by lengthening the support rod 11, there is a problem that if the support rod 11 is lengthened, the coil spring 12 having a strong elasticity must be mounted, and the shock absorbing action becomes insufficient.

Therefore, the present invention has been made for the purpose of solving the problems of the conventional robot suction hand.

[0007]

Therefore, in the robot suction hand of the present invention, the cylinder 3 is fixed to the support plate 1 attached to the robot arm, and the piston rod 5 is inserted into the cylinder 3, and further A suction pad 7 is attached to the tip of the piston rod 5, and the cylinder 3 and the suction pad 7 communicate with each other by a vacuum hose 9a.
A vacuum hose 9b connected to a vacuum pump is connected to the cylinder 3, and the piston rod 5 is pulled into the cylinder 3 at the same time when the object to be adsorbed by the operation of the vacuum pump is adsorbed.

[0008]

In the robot suction hand of the present invention, when the vacuum pump and the robot arm are actuated and the suction pad 7 is pressed against the synthetic resin molded product, the synthetic resin molded product is sucked from the vacuum hose 9a. Adsorbed,
At the same time, the piston rod 5 is pulled into the cylinder 3 by suction from the vacuum hose 9b. In this state, when the robot suction arm is separated from the molding die by reactivating the robot arm, the synthetic resin molded product is removed from the molding die while being sucked by the suction pad 7.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of a robot suction hand according to the present invention will be described in detail below with reference to the drawings shown as embodiments. FIG. 1 is a partially cutaway side view showing a first embodiment of a robot suction hand of the present invention, in which 1 is a support plate which is attached to a robot arm (not shown),
A cylinder 3 is fixed to the support plate 1 by a fixing member 2. A piston rod 5 having a piston 4 at the rear end is inserted into the cylinder 3, and a suction pad 7 is attached to the tip end of the piston rod 5 via a holder 6. Further, the cylinder 3 and the suction pad 7 are communicated with each other by a vacuum hose 9a.
A vacuum hose 9 connected to a vacuum pump (not shown)
b is connected. Then, the piston rod 5 is pulled into the cylinder 3 at the same time when the object to be adsorbed is adsorbed by the operation of the vacuum pump.

FIG. 4 is a partially cutaway side view showing a second embodiment of the robot suction hand according to the present invention. In the first embodiment, a return spring 8a is provided between the cylinder 3 and the suction pad 7.
Is mounted, and the piston rod 5 is pushed back to return to the original state, except that the configuration is similar to that of the first embodiment. FIG. 6 is a partially cutaway side view showing a third embodiment of the robot suction hand according to the present invention. Unlike the first embodiment, a return spring 8b is mounted in the cylinder 3 and the piston rod 5 is pushed back. The structure is the same as that of the first embodiment except that the original state is restored.

The robot suction hand constructed as described above operates in the following manner to take out the synthetic resin molded product that is in close contact with the opened mold. First, the robot suction hand shown in the first embodiment operates the vacuum pump and the robot arm to attach the suction pad 7 to the synthetic resin molded product (not shown) that is in close contact with the opened mold. Press against. Then, the synthetic resin molded product is adsorbed by suction from the vacuum hose 9a. At the same time, the piston rod 5 is pulled into the cylinder 3 by suction from the vacuum hose 9b. In this state, when the robot suction arm is separated from the molding die by reactivating the robot arm, the synthetic resin molded product is removed from the molding die while being sucked by the suction pad 7. Further, by operating the robot arm, the robot suction hand is moved to an appropriate position, and the suction surface of the suction pad 7 faces downward. Then, when the operation of the vacuum pump is stopped, the suction pad 7 is pulled down by gravity, the piston rod 5 is pulled out from the inside of the cylinder 3 and returns to the original state (see FIG. 3), and the synthetic resin molded product is put on the spot. It falls from the suction pad 7 and is appropriately accumulated in a storage case (not shown) or the like.

The robot suction hand shown in the second and third embodiments operates in substantially the same manner as the robot suction hand shown in the first embodiment, but the robot shown in the first embodiment. Even if the suction surface of the suction pad 7 is not directed downward like a suction hand for use, when the operation of the vacuum pump is stopped, the piston rod 5 is pushed out of the cylinder 3 by the return springs 8a and 8b and returns to the original state. .

[0013]

The robot suction hand of the present invention is constructed as described above, and when a synthetic resin molded product that is in close contact with the opened mold is taken out, the synthetic resin molded product Since it can be taken out without giving a shock, the synthetic resin molded product may be damaged by the pressing of the suction pad 7, or the synthetic resin molded product may be bent in a bow and the like, so that it is difficult to adsorb to the suction pad 7. Disappear.

Further, in the robot suction hand according to the present invention, the robot arm is finely actuated by simply lengthening the piston rod 5 regardless of whether the synthetic resin molding adhered to the molding die is shallow or deep. Since the suction pad 7 can be pressed against the synthetic resin molded product by dealing with the stroke difference without performing the shock absorbing action, the impact absorbing action does not change. Therefore, even in such a case, the synthetic resin molded product will not be damaged, and the synthetic resin molded product will not bend and stick to the suction pad 7 easily.

[Brief description of drawings]

FIG. 1 is a partially cutaway side view of a first embodiment of a robot suction hand according to the present invention.

FIG. 2 is a partially cutaway side view showing an operating state of the robot suction hand of the present invention shown in FIG.

FIG. 3 is a partially cutaway side view showing an operating state of the robot suction hand of the present invention shown in FIG.

FIG. 4 is a partially cutaway side view of a second embodiment of the robot suction hand according to the present invention.

5 is a partially cutaway side view showing an operating state of the robot suction hand of the present invention shown in FIG. 4. FIG.

FIG. 6 is a partially cutaway side view of a third embodiment of the robot suction hand according to the present invention.

7 is a partially cutaway side view showing an operating state of the robot suction hand of the present invention shown in FIG.

FIG. 8 is a side view of a conventional robot suction hand.

[Explanation of symbols]

 1 Support Plate 3 Cylinder 5 Piston Rod 7 Adsorption Pad 9a Vacuum Hose 9b Vacuum Hose

Claims (1)

[Claims] 1. A cylinder (3) is fixed to a support plate (1) attached to a robot arm, a piston rod (5) is inserted into the cylinder (3), and the tip of the piston rod (5) is further inserted. A suction pad (7) is attached to the cylinder (3) and the suction pad (7) is connected to the cylinder (3) by a vacuum hose (9a), and a vacuum hose (9b) connected to a vacuum pump is connected to the cylinder (3). A suction hand for a robot, characterized in that the piston rod (5) is pulled into the cylinder (3) at the same time as the suction target is sucked by the operation of the vacuum pump.