JPH07115356B2 - Work transfer robot device - Google Patents

Description

The present invention relates to a work transfer robot apparatus for loading a work into a processing machine such as a molding machine.

(Prior Art) Conventionally, as a robot for taking out a work after molding from a processing machine such as a molding machine, a robot shown in FIG. 6 has been widely used. This is a rectangular coordinate type robot that is directly attached to the top of the horizontal injection molding machine and takes out the work after molding.
Since the X, Y, and Z linear drive shafts and the molded product (workpiece) are separated from the mold, the workpiece suction part a is moved to a horizontal position when transferring to a conveyor provided near the molding machine. Rotate 90 ° from the state parallel to the die (Fig. 6) to the side opposite to the die.
It is composed of a shaft and.

(Problems to be solved by the invention) In the mechanism described above, the work separated from the mold after molding is gripped by the gripping tool provided at the arm tip, and the robot is moved to a conveyor or the like provided near the molding machine. Although there is no problem in the discharging work, since the arm holding is a continuous cantilever and has a relatively long stroke, the rigidity of the arm is small, especially at the gripping part, and the work contact Since there is a rotating mechanism in the direction, the rigidity was even smaller in the contact direction of the work.

Since the rigidity in the contact direction of the work is small, in insert molding where the work is inserted into the mold, when the work is inserted, the gripping part tilts due to the reaction force from the mold, and the work and the insertion hole are twisted, resulting in insertion. Even if a mistake occurs or the insertion depth is shallow, the gripping part will be large for a large workpiece, so the weight of the gripping part will be reduced. Increase in time). As a result, the rigidity of the work grip becomes even smaller, causing bending and deformation with a slight force from the outside, which deteriorates the position accuracy.Therefore, the accuracy of inserting the work into the mold, such as insert molding by a robot, is reduced. The necessary work has a problem that there is a high possibility that an insertion error will occur.

(Means for Solving Problems) The present invention has been made in view of the above problems, and includes a moving base that is slidably guided substantially parallel to a surface to be inserted, and a pivotal support for the moving base. And a swivel member that rotates about a rotation axis parallel to the moving direction of the moving base, and swivels together with the swivel member so as to have an offset with respect to the rotation axis, and the surface to be inserted side with respect to the swivel member. And a moving means for moving the workpiece gripping means at a right angle to the inserted surface.

Hereinafter, a specific description will be given based on the illustrated embodiment. 1 to 4 show the first embodiment. A first guide 3 is provided on the gantry 1 at a right angle to the opening direction of the mold 2. A first moving base 5 provided with a bearing 4 that fits into the first guide 3.
Is connected to the rod 6a of the first air cylinder 6 fixed to the frame 1. A second guide 7 is provided on the first moving base 5 at right angles to the sliding direction of the first moving base.
A second air cylinder in which a second moving base 9 provided with a bearing 8 that fits into the second guide 7 is fixed to the first moving base 5.
It is connected to 10 rods 10a.

In the present embodiment, the moving base has two configurations (the first moving base 5 and the second moving base 5 in order to increase the moving stroke.
Although the moving base 9) is used, it may be configured by one.

Brackets 9a, 9b formed on the upper surface of the second moving base 9
A rotating shaft A is supported in parallel with the first guide 3 by a bearing 11 provided in the. A base portion 12a of a turning member 12 is fixed to the rotary shaft A. Also, the rotation shaft A has a pinion 13
Is fixed, and the guide member 14 provided on the second moving base 9
16 guided by the rack and connected to the rod 15a of the third air cylinder 15 provided on the second moving base 9
Are in mesh with each other. The third air cylinder is provided on the opposite side of the turning member 12 from the mold 2. Reference numeral 17 is a guide rod slidably supported in parallel with the first guide 3 by a bearing 18 provided at the end of the turning member 12, and is connected to the flange 19 at one side thereof. 20 is a swivel member 12 and a guide rod
The fourth air cylinder provided in parallel with 17 and its rod 20
a is connected to the flange 19. A tool holding member 21 is fixed to the flange 19, the tool holding member is provided with a suction pad 22 as a work holding means on the mold 2 side, and a moving means for moving the suction pad 22. A shaft 24 slidably driven in a direction perpendicular to the guide rod 17 is supported by the air cylinder 23.

In addition, the suction pad 22 has a certain distance (= 1) from the rotation axis A.
It is only offset.

Reference numeral 25 is a support plate provided on the second moving base 9 on the opposite side of the turning member 12 from the mold 2, and the rod 27 of the shock absorber 26 fixed to the supporting plate comes into contact with the turning member 12. There is. 28 is a workpiece installed on the die 2 side of the gantry 1.
It is a work magazine containing 29, and the work 29 is always biased upward by a known method such as a spring. 30
Is a molding machine.

Next, the operation will be described. Introduction Third Air Cylinder
When 15 is operated and the rod 15a is contracted, the pinion 13 engaged with the rack 16 is rotated, the revolving member 12 revolves around the axis A toward the mold 2 and the work 29 and the suction pad 22 become substantially parallel, and the molding machine Stop at position 30.

Next, the air cylinder 23 is operated to extend the shaft 24 to bring the suction pad 22 into contact with the work 29, and then the work 29 is sucked,
Hold it. After gripping, the air cylinder 23 is activated and the shaft 24
And then the third air cylinder 15 is actuated again to extend the rod 15a, the revolving member 12 rotates in the opposite direction to the above,
Rod of shock absorber 26 provided on support plate 25
It comes into contact with 27 and stops at a position where the suction pad 22 becomes parallel to the mold 2.

Next, the second air cylinder 10 is operated to operate the second moving base 9
Slide in the opposite direction to the magazine 28, and then simultaneously operate the first air cylinder 6 and the fourth air cylinder 20 to extend the rods so that the tool gripping member 21 is inserted into the molding machine 30 and gripped. The die 29 is made to face the work 29 which was made. Then, the second air cylinder 10 is operated and the second moving base 9 is slid in the direction of the mold 2, so that the gripped work 29 is inserted (contacted) into the mold 2. After the insertion is completed, the suction pad 22 and the work 29 are separated, the second air cylinder 10 is operated again, the tool holding member 21 is separated from the mold 2, and then the first air cylinder 6 and the second air cylinder 20 are separated. Is operated to retract the tool holding member 21 from the inside of the molding machine 30 to the outside. Next, the mold is closed and molding is started.

During molding, the robot restarts the above-mentioned initial operation, the molded product integrally molded with the work 29 inserted into the mold 2 is completed, the mold is opened, and the tool holding member is discharged. 21 enters the molding machine 30 again and repeats the operation.

In the above-described embodiment, the case where the second air cylinder 10 and the air cylinder 23 are used to obtain the stroke in the Y direction, which is the insertion direction of the mold, has been described, but in this case, the insertion stroke becomes large. This is advantageous when a long insertion stroke is required compared to the opening amount of the mold.

If the mold opening is large enough, the tool holding member
Since the width of 21 can be increased, the stroke of the air cylinder 23 can be lengthened, and thus the second air cylinder 10 is not always necessary.

A spring is attached to the shaft 24 provided with the suction pad 22, and the shaft 24 is biased in the direction of the suction pad 22,
Can absorb the gap at the time of contact with the work 29 and the mold 2.
In this case, when the work 29 is sucked from the magazine 28, the suction pad 22 may not necessarily contact the work 29 exactly in parallel. In this case, the air cylinder 23
Is not always necessary, and the stroke in the Y direction may be obtained only by the second air cylinder 10.

Further, the work 29 need not be held horizontally by the magazine 28. The suction pad 22 works before the magazine 28 rotates 90 ° due to the attitude of the swivel member 12 being inserted into the mold.
It is also possible to install it by tilting it from the horizontal so that it contacts the 29. In this case, since the magazine is inclined, the number of works 29 to be accommodated is increased, and the rotation angle of the A-axis is reduced, so that the working speed is increased.

In addition, the swiveling member 12 is the third air cylinder 15 when the mold is inserted.
By constantly activating, the support plate 25 is kept in contact with the support plate 25, so that the rigidity of the distal end portion of the turning member 12 at the time of insertion can be further increased. Incidentally, by appropriately adjusting the offset amount 1 between the suction pad and the rotation axis A, it is possible to follow this even if the height of the mold changes during the mold replacement. Therefore, the conventional example shown in FIG. As described above, the axis in the height direction is unnecessary and the degree of freedom is reduced, which is advantageous in terms of cost and arm rigidity.

Further, in the first embodiment, the rotary shaft A is provided parallel to the first guide 3. However, when the work 29 cannot be held horizontally in the magazine 28, the rotary shaft A and the first guide 3 are installed at a certain angle. When the suction pad 22 contacts the work 29, the suction pad 22 and the work 29 can be made substantially parallel to each other by inclining the work pad 29 with respect to the horizontal.

4 and 5 show a second embodiment of the present invention. Stand 101
A guide rod 103 is slidably supported by a bearing 102 on the upper part 101a of the. An air cylinder 104 is fixed to the upper part 101a of the mount 101 in parallel with the guide rod 103.
A moving base 105 is coupled to the rod 104a of the air cylinder 104. Further, one end of the guide rod 103 is also connected to the moving base 105. The rotary actuator 106 is attached to the bracket 105a formed at the bottom of the moving base 105.
The output rotating shaft 106a is provided so as to be parallel to the guide rod 103. On the other hand, the bracket 105a is rotatably supported so that the rotating shaft B is parallel to the guide rod 103, and one end thereof is connected to the output shaft 106a of the rotary actuator 106 by a coupling 107. At the other end of the rotary shaft B, a turning member 108 that is also a tool holding member is fixed. An air cylinder 109 is fixed to the tool holding member 108 so that its axis is perpendicular to the rotation axis B and is offset.
A suction pad 110, which is a work gripping means, is connected to the end of the rod 109a of 9 on the side opposite to the guide rod 103. Reference numeral 113 denotes a supporting portion 1 formed on the side opposite to the guide rod 103 with respect to the connecting portion of the moving base 105 with the guide rod 103.
It is a stopper provided on 05b. 111 is a work magazine and 112 is a work.

Next, the operation will be described. The tool holding member 108 is swung by the operation of the rotary actuator 106 to bring the suction pad 110 into contact with the work 112. At this time, if the air cylinder 109 is used, the suction pad 110 and the work 112 can be brought into contact with each other in parallel. After adsorbing the work 112, the air cylinder 109 is retracted to reverse the rotary actuator 106, and the tool holding member 108 is brought into contact with and pressed against the stopper 113, and then the air cylinder 104 is operated to operate the tool holding member 108.
Is moved into a molding machine (not shown) so as to face the mold (not shown).

Next, the air cylinder 109 is moved before and after the operation, and the work 1
After 12 is brought into contact with the mold and the work 112 is transferred to the mold, the air cylinder 109 is retracted, the air cylinder 104 is retracted, and the tool holding member 108 is retracted by the molding machine.
End the cycle.

By providing the rotary actuator 106, the tool holding member 108, the air cylinder 109, and the work magazine 111 in a pair symmetrical with the vertical plane passing through the robot sliding axis, the work can be transferred to the dies on both sides.

(Effect) The present invention relates to a moving base that is slidably guided substantially parallel to a surface to be inserted, and a swivel that is pivotally supported by the moving base and rotates about a rotation axis that is parallel to the moving direction of the moving base. A member, a work gripping means provided on the inserted surface side with respect to the swivel member so as to have an offset with respect to the rotation axis and swiveling together with the swivel member, and the work gripping means on the inserted surface. Since the moving means is configured to move at a right angle with respect to the robot, the cantilevered portion from the base of the moving portion of the robot to the tool holding member and the degree of freedom can be reduced as compared with the conventional example. Therefore, the rigidity of the tool holding member is large, so that it is effective for work such as insert molding that receives insertion reaction force or work that requires high precision, and therefore insert work can be inserted with high precision and is inexpensive. A highly reliable work transfer robot device can be provided.

Further, by rotating the swivel member about an axis parallel to the moving direction of the moving base, the swivel range of the swivel member is narrowed, and therefore a small area is required, and therefore, a dangerous area is narrowed. is there.

Further, in addition to the method using the air cylinder and the rack and pinion, the method of using the rotary actuator or the clevis type or trunnion type air cylinder may be used for the rotation of the turning member of the first embodiment. The flexibility of the robot can be increased by using a programmable actuator such as a servo motor instead of the air cylinder. If the molding cycle may be a little longer, the robot of the present invention may take out the work after the molding and then perform the insert operation.

In the second embodiment, the size of the work is limited to the case where it is smaller than that in the first embodiment.
In addition to the same effect as the embodiment, the entire device can be provided at low cost.

[Brief description of drawings]

1 is a perspective view of a first embodiment of the present invention, FIG. 2 is a front view of the turning member of FIG. 1, FIG. 3 is a right side view of FIG. 2, and FIG. 4 is a second embodiment of the present invention. An example perspective view, FIG. 5 is a perspective view of the moving base portion of FIG. 4, and FIG. 6 is a perspective view of a drive portion of a conventional device. 1 ... Stand, 2 ... Mold, 5 ... First moving base, 6 ...
... 1st air cylinder, 9 ... 2nd moving base, 10 ... 2nd air cylinder, A ... rotating shaft, 12 ... turning member, 15 ...
… 3rd air cylinder, 20 …… 4th air cylinder, 21 ……
Tool holding member, 22 ... suction pad, 23 ... air cylinder, 28 ... work magazine, 29 ... work, 101 ... stand, 104 ... air cylinder, 105 ... moving base, 106 ...
… Rotary actuator, 108 …… Tool holding member, B …… Rotary axis, 110 …… Suction pad, 111 …… Work magazine, 112 …… Work

Claims (1)

[Claims] 1. A moving base which is slidably guided substantially parallel to a surface to be inserted, and a swiveling member which is rotatably supported by the moving base and rotates about a rotation axis parallel to the moving direction of the moving base.
Work gripping means provided on the inserted surface side with respect to the swiveling member and having an offset with respect to the rotation axis and swiveling together with the swiveling member, and the work gripping means at a right angle to the inserted surface. A work transfer robot device comprising a moving means for moving the work.