JPH08294800A - Device for taking out work - Google Patents

Abstract

PURPOSE: To enable a work to be taken out from a die through a simple structure and to ensure the holding and moving of the work by providing a contact member in a guide bracket, providing on an arm bracket a hole for storing freely movably a pin for abutting on the contact member, and storing an adjusting screw and a spring in that hole. CONSTITUTION: In taking out a work, a cylinder rod 25 is contracted and, with a pin pushing the contact part of a guide bracket 24 through an adjusting screw and a spring inside an arm bracket 28, the tip end of a cup arm 8 is held in a raised state. When the die opens, the cylinder rod 25 extends as the robot arm turns; guided by a guide bar 22, the guide bracket 24 advances; and the arm bracket 28, hitting a stopper 31, pressurizes the spring. Then, with the tip end of the cup arm 8 lowered, the vacuum cup 9 holds the work; and, with the stopper 31 and the arm bracket 28 separated by the contraction of the cylinder rod 25, the cup arm 8 is raised.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically picking up a work provided on a two-dimensionally operating robot arm pivotally mounted on a crown of a press machine.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG.
A two-dimensional actuated robot arm 2 which is a simple robot is rotatably attached to the crown 1 of 0, and a cup arm 8A having a vacuum cup 9 is attached to the tip of the robot arm 2. To take out the work 6, the robot arm 2 rotates and the cup arm 8A at the tip of the robot arm 2 advances, and the cup arm 8A rotates about the tip of the robot arm 2 as the center of rotation, and the work 6 is vacuumed by the vacuum cup 9 Hold and take out. However, the range in which the work 6 can be taken out by the simple robot is the range F shown in the figure, and it becomes difficult to reliably take out the work 6 if the distance D from the front surface of the press machine 50 to the die is large.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work taking-out device which can take out a work from a mold with a simple structure and which can surely hold and move the work.

[0004]

According to the present invention, there is provided an automatic work picking device provided on a two-dimensionally operating robot arm pivotally mounted on a crown of a press machine.
A cylinder is fixed to a bracket attached to a robot arm, a guide bracket is pivotally attached to a cylinder rod of the cylinder with a rod pin, an arm bracket is pivotally attached to the guide bracket, and a connecting member is provided at a rear end of the cylinder. The rear end of the guide bar extending through the bracket and the guide bracket is fixed to the connecting member,
A stopper is provided at the front end of the guide bar, and the stopper is engaged with the horizontal arm part of the arm bracket when the cylinder rod is extended, and the cup arm having the vacuum cup at the tip can be moved to the vertical arm part of the arm bracket. Fixed to the guide bracket, the guide bracket is provided with an abutting member, and the arm bracket is provided with a hole for movably storing a pin that abuts against the abutting member. The hole accommodates an adjusting screw and a spring. are doing.

The vertical portion of the arm bracket is composed of a pair of plates having a slit in the middle, and the cup arm is sandwiched between the pair of plates and a bolt for tightening the pair of plates. Is provided.

[0006]

[Function] When the work is taken out, the cylinder rod is shortened. At this time, the adjustment screw in the arm bracket,
The pin is held in a state in which the tip of the cup arm is raised by pushing the contact portion of the guide bracket via the spring. When the mold is opened, the cylinder rod extends along with the rotation of the robot arm, the guide bracket moves forward by being guided by the guide bar, and the arm bracket hits the stopper to press the spring. Then, the tip of the cup arm lowers and the vacuum cup holds the work, and the stopper and arm bracket are separated by the shortening of the cylinder rod, and the tip of the cup arm is lifted by the spring force, and the work is taken out.

[0007]

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, the crown 1 of the press machine 50 has two
The robot arm 2 for three-dimensional operation is rotatably attached,
A work take-out device 3 embodying the present invention is arranged at the tip of the robot arm 2 to take out a work 6 pressed by an upper die 4 and a lower die 5 when the die is opened.

As shown in FIG. 2, the work take-out device 3 is
A bracket 23 attached to the tip of the robot arm 2 is provided, and the cylinder 7 is fixed to the bracket 23. A guide bracket 24 is rotatably attached to the tip of a cylinder rod 25 of the cylinder 7 by a rod pin 29. An arm bracket 28 is rotatably attached to the guide bracket 24 via a bracket pin 30. A connecting member 21 is provided at a rear end of the cylinder 7, and a rear end of a guide bar 22 extending through the bracket 23 is fixed to the connecting member 21. The guide bracket 24 is a guide bar 22.
Is slidably guided. A stopper 31 is provided at the front end of the guide bar 22, and the stopper 31 is arranged so as to engage with the horizontal arm portion 28a of the arm bracket 28 when the cylinder rod 25 extends.
Vertical arm portion 28 extending below the arm bracket 28
A cup arm 8 having a vacuum cup 9 at its tip is movably fixed to b in a manner described later.

As shown in FIG. 3, the bracket 24 is provided with an abutting member 40, the arm bracket 28 is provided with a hole 28c, and the hole 28c is provided.
A pin 41 that abuts the abutting member 40 is movably accommodated therein. An adjusting screw 43 and a spring 42 are inserted into the hole 28c to press the pin 41. Therefore, the force of the spring 42 can be adjusted by adjusting the adjusting screw 43. Reference numeral 44 indicates a lock nut.

FIG. 2 shows the cylinder rod 25 in a shortened state, and FIG. 4 shows the cylinder rod 25 in an extended state. 3 shows the arm bracket 29 in the state of FIG. 2, and FIG. 5 shows the arm bracket 28 in the state of FIG.

The arm bracket 28, as viewed in the longitudinal direction of the cup arm 8, has a vertical portion 28b having a slit 48 in the middle, as shown in FIG.
8d, and the pair of plate members 28d are fastened with bolts 45, and the cup arm 8 is sandwiched between them. Therefore, the protruding position of the vacuum cup 9 can be adjusted in advance according to the type of the work 6.

Next, the operation of the present invention will be described. Until the mold is opened, as shown in FIGS. 1 and 2, the cylinder rod 2
5 is shortened, and the robot arm 2 is standing by while separating from the work 6. At this time, as shown in FIG. 3, in the arm bracket 28, the pin 41 urged by the spring 42 inserted into the hole 28c of the arm bracket 28 pushes the abutting member 40 and rotates about the bracket pin 30 to rotate the cup. The tip of the arm 8 is raised.

When the mold is opened, as shown in FIG. 7, the robot arm 2 rotates, the cylinder rod 25 extends, and the work 6 is taken out by the vacuum cup 9 at the tip of the cup arm 8. At this time, as shown in FIG. 5, the arm bracket 28 hits the stopper 31 at the tip of the guide bar 22, the spring 42 in the arm bracket 28 is compressed, and the arm bracket 28 rotates about the bracket pin 30. The tip of the cup arm 8 is lowered. As a result, the vacuum cup 9 can securely hold the work 6. Next, as shown in FIG. 8, when the cylinder rod 25 is about to be shortened, the stopper 31 is disengaged from the arm bracket 28, so that the arm bracket 28 is rotated upward by the action of the spring 42 and the tip of the cup arm 8 is raised. The work 6 is lifted. At this time, the work 6 can be taken out without interfering with the lower die 5. Then, the work 6 is taken out by the robot arm 2 as shown in FIG. 9 and placed on the belt conveyor device 60 as shown in FIG.

As described above, according to the present invention, the effective operation range of the take-out device is expanded to the range of E in FIG. 1 by the movement of the robot arm 2 and the movement of the cylinder rod 25, and the front side of the press machine 50 to the die. Even if the distance D is large, it can be automatically taken out.

[0015]

As described above, according to the present invention, the following excellent effects can be obtained. (1) With the combination of the guide bracket and the arm bracket, the cup arm rotates downward when the cylinder rod extends, so that the work is securely held. (2) When the work is taken out, if the stopper is disengaged from the arm bracket, the cup arm turns upward, so that the work can be taken out without interfering with the lower die. (3) The length of the cup arm can be freely adjusted, the operating range is expanded, the versatility is improved, and the work efficiency is improved.

[Brief description of drawings]

FIG. 1 is an overall view of a press machine to which a work picking device of the present invention is attached.

FIG. 2 is a side view showing an embodiment of the present invention.

FIG. 3 is a detailed view of a part A in FIG. 2;

FIG. 4 is a side view showing when the cylinder rod of FIG. 2 is extended.

5 is a detailed view of a portion B of FIG.

FIG. 6 is a view seen from the longitudinal direction of the cup arm of FIG.

FIG. 7 is an explanatory view of the operation of the present invention.

FIG. 8 is an operation explanatory view of the present invention.

FIG. 9 is an explanatory view of the operation of the present invention.

FIG. 10 is an explanatory view of the operation of the present invention.

FIG. 11 is an overall view of a press machine showing a conventional work take-out device.

[Explanation of symbols]

 1 ... Crown 2 Robot arm 3 Work picking device 4 Upper mold 5 Lower mold 6 Work 7 Cylinder 8 and 8A・ Cup arm 9 ・ ・ ・ Vacuum cup 21 ・ ・ ・ Connecting member 22 ・ ・ ・ Guide bar 23 ・ ・ ・ Bracket 24 ・ ・ ・ Guide bracket 25 ・ ・ ・ Cylinder rod 28 ・ ・ ・ Arm bracket 28a ・ ・ Horizontal arm Part 28b ... Vertical part 28c ... Hole part 28d ... Plate 29 ... Rod pin 30 ... Bracket pin 31 ... Stopper 40 ... Abutment member 41 ... Pin 42 ... Spring 43・ ・ ・ Adjusting screw 44 ・ ・ ・ Lock nut 45 ・ ・ ・ Bolt 48 ・ ・ ・ Slit 50 ・ ・ ・ Press machine 60 ・ ・ ・ Belt conveyor device

Claims (2)

[Claims] 1. An automatic workpiece picking device provided on a two-dimensionally operating robot arm pivotally attached to a crown of a press machine, wherein a cylinder is fixed to a bracket attached to the robot arm, and a cylinder rod of the cylinder is attached. A guide bracket is pivotally attached to the rod bracket by means of a rod pin, an arm bracket is pivotally attached to the guide bracket, a connecting member is provided at the rear end of the cylinder, and a guide bar extending through the bracket and the guide bracket is attached to the connecting member. The rear end is fixed, and a stopper is provided at the front end of the guide bar.The stopper engages with the horizontal arm part of the arm bracket when the cylinder rod extends, and the vacuum cup is attached to the vertical arm part of the arm bracket. Fix the cup arm that it has movably, and contact it with the guide bracket. A device for picking up a workpiece, characterized in that a material is provided, a hole for movably accommodating a pin that abuts against the abutting member is provided in the arm bracket, and an adjusting screw and a spring are accommodated in the hole. . 2. The vertical portion of the arm bracket is composed of a pair of plates having a slit in the middle, and the cup arm is sandwiched between the pair of plates and a bolt for tightening the pair of plates is provided. The workpiece take-out device according to claim 1, which is provided.