JPS62134159A - Arm rocking device - Google Patents

Abstract

PURPOSE:To ensure the holding of a product by providing the link mechanism having the 1st link and 2nd link and by setting the movement of a piston rod so as to intersect at right angles approximately both links at both end limits of the reciprocating piston rod as well. CONSTITUTION:The 1st link 58 fixed to an arm shaft 44 is provided and the 2nd link 65 fixed to a link shaft 63 is arranged as well, and the looze end part thereof is engaged freely slidably. A piston rod 60 is advanced by sending in a pressure fluid to a driving cylinder 61 in the state of a product 27 being held to the cavity 26a of a mobile metal die 26 with a mold opening. The 1st link 58 is rotated with sliding by the rotation of the 2nd link 65 and becomes nearly in a right angles intersecting position at both end limit position of the links 58, 65. In this case, the link angular velocity is reduced around the end limit position and the impact force generation for the product is prevented. Consequently, the holding of the product is ensured.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an arm swinging device that swings an arm fixed to the shaft by rotating a shaft alternately in forward and reverse directions by a predetermined angle. be.

[Conventional technology]

For example, various machines such as product take-out devices such as die-casting machines and injection molding machines, mold spray devices, automatic water heaters, etc. are equipped with shafts that are reciprocated by a predetermined angle using reciprocating movements of fluid pressure cylinders. An arm swing device that swings a fixed arm is used.

FIG. 7 is a plan view of the main parts of a conventional die-casting machine equipped with a product take-out device as an arm swinging device of this type disclosed in Japanese Utility Model Publication No. 59-19553, and is based on this figure. To explain, a fixed platen 2 and an end platen (not shown) are erected on the machine base 1 with their four corners connected by tie rods 3, and on the tie rods 3 is a mold clamping cylinder on the end platen side. A movable platen (not shown) that moves forward and backward relative to the fixed platen 2 is provided. A fixed mold 4 and a movable mold 5 are mounted on the fixed platen 2 and the movable platen, respectively, facing each other, and the movable mold 5 is moved forward from the mold open state shown in FIG. is pressed against the fixed mold 4, and the mold is clamped. Molten metal is injected into the cavities of the clamped molds 4 and 5 by an injection device 6, and a cast product is obtained by solidifying the molten metal.

The die-casting machine configured in this manner is equipped with a product take-out device 8 that pulls out the product γ from the opened movable mold 5, grips it, conveys it to a predetermined position outside the machine, and discharges it. This product take-out device 8 is equipped with an arm shaft 10 that is supported by a drive box 9 and reciprocated in forward and reverse directions by a predetermined angle by an internal drive mechanism. It is worn. In addition, the drive box 9
A cam plate 12 having an arc-shaped cam groove 12a is fixed on the top, and a cam that engages with the cam groove 12m is attached to the other end of the bracket 13, to which the tip of the auxiliary arm 11 is pivotally attached. 7 oror 14 are pivotally mounted. Bracket 13
A linear main arm 15 is supported at both ends of the main arm 15, and a gripping mechanism 16 for gripping the product T and a reversing mechanism 1 for rotating the main arm 15 are provided at both ends of the main arm 15.
7 are provided respectively. 18 is a product take-out device 8
This is an air cylinder that moves the entire mold in a direction parallel to the mold opening direction.

With this configuration, when the non-arm 15 etc. are located at the position shown by the chain line in the figure, the product γ
is cast and the mold is opened, the product γ is placed in the movable mold 5.
is held in a cavity.

Therefore, when the arm shaft 10 is rotated counterclockwise and the auxiliary arm 11 is rotated from the chain line position to the solid line position, the bracket 13 and the main arm 15 are
is moved along the cam groove 12 to the solid line position. In this case, depending on the settings such as the length of the auxiliary arm 11, the position of the cam 7 roller 14, and the shape of the cam groove 12&,
The gripping mechanism 16 moves from the chain line position to the solid line position in a nearly linear motion. Therefore, the entire device 8 is moved to the left in the figure by the air cylinder 18 and the gripping claws of the gripping mechanism 16 are opened and closed. When the product 7 is moved to the right, the gripping mechanism 16 pulls the product 7 out of the movable mold 5 as shown in the figure. When the arm shaft 10 is rotated clockwise from this state, the gripping mechanism 16 moves approximately linearly in the opposite direction to the chain line position, so the reversing mechanism 1γ reverses the gripping mechanism 16 and opens the gripping claws. and release the product to a collection site.

[Problem that the invention seeks to solve]

However, in the product take-out device shown as an example of a conventional arm swinging device, the arm axis can be moved 100 times, which is generally done by converting the linear motion of the piston rod of an air cylinder into circular motion using a link or the like. In this case, as the piston rod moves at a constant velocity, the auxiliary arm 11 moves at a constant angular velocity from the start position to the stop position fff. Therefore, the gripping mechanism 16 that grips the product 7 suddenly starts moving from a stationary state.

Since the product 7 suddenly stops at the ejection position, there is a risk that the product 7 may be released from the grip due to the impact, and there is also a problem that the rotary member will be worn out and damaged more quickly.

Conventionally, this type of device uses a shock absorber, such as an air cylinder, installed in parallel with the driving air cylinder to reduce the impact, but the air cylinder and its pneumatic circuit become complicated and expensive. However, there was a problem of high equipment costs. This has become a common problem not only in product take-out devices but also in various arm swing devices.

[Means for solving problems]

In order to solve these problems, the present invention provides a link mechanism that connects a reciprocating piston rod and an arm shaft to which a swinging arm is fixed.

A first link fixed to the arm shaft, a link shaft parallel to the arm shaft, and a piston rod fixed to the link shaft that slidably engages the first link and the free end portions, and a piston rod acts on the central portion. and a second link whose ends are pivotally connected, and the line connecting both ends of the reciprocating motion of the piston rod working end crosses the line connecting the arm axis and the link axis almost orthogonally, and the reciprocating motion of the piston rod The movement of the piston rod was set so that the two links were substantially perpendicular to each other at both end limits.

[Effect]

With this configuration, when the piston rod reciprocates, the second link swings, and the second link that is slidably engaged with the second link swings, so that the arm coaxial therewith swings. However, in this case, the swing angular velocity of the arm is reduced as it approaches both swing limits.

〔Example〕

This embodiment shows an example in which the arm swinging device according to the present invention is applied to a product take-out device of a die-casting machine. AA sectional view in the figure, Figure 3 is a B observational view in Figure 1,
FIG. 4 is a plan view of the inside of the drive box, FIG. 5 is a sectional view taken along line CC in FIG. 4, and FIG. 6 is an explanatory diagram of the movement and speed of the link. In the figure, a die-casting machine 20 is supported on a fixed platen 22 erected on a machine base 21 and on tie rods 23 that connect the four corners of the fixed platen 22 to the four corners of an end platen (not shown). (not shown), the movable platen 24 is provided with a movable platen 24 that moves forward and backward relative to the fixed platen 22 by means of
A fixed mold 25 and a movable mold 26 are respectively installed. FIG. 1 shows the product being removed from the mold after being cast, with 25&, 26a representing the cavity, and 2T representing the product held on the cavity 26a side of the movable mold 26 for opening the mold.

The die-casting machine 21 whose main parts are configured in this manner is attached with a product take-out device 30 for taking out the product 27 out of the machine. This product take-out device 30 has four corners supported by metal fittings 31.
A rectangular machine base 32t supported on the floor and extending parallel to the die-casting machine 21, two rails 32m are mounted on this machine base 32.
has been installed. Reference numeral 33 denotes a rectangular box-shaped drive box in which a drive device, which will be described later, is housed, and is configured to be movable by engaging the rails 33 with wheels 34 fixed to the four corners of its lower surface. The front wheel 34 is drivingly connected to a motor 35, and when the motor 35 is started, the wheel 34 rolls on the rail 32& and is configured to move by a predetermined distance in the forward and reverse directions. A threaded shaft 38 having a handle 37 is attached to a bearing 39 on a slide rail 36 fixed to both front and rear ends of the machine base 32.
Further, a striker 40 whose rotation is regulated in the front and rear directions by the rotation of the striker 40 is screwed into each of the front and rear screw shafts 38 with rotation thereof being restricted by a slide rail 36 . On the other hand, a striker 40 is electrically connected to the motor 35 on each of the front and rear side plates of the drive box 33.
A limit switch 41 that stops the motor 35 when a contact comes into contact with the motor 35 is mounted on each of the limit switches 41 . Like this+C
Due to this structure, the drive box 33 reciprocates back and forth in order to grip and draw out the product 27, which will be described later, and also rotates the handle 37 according to the dimension changes of the mold 25 and 26. The movement is adjusted within the range indicated by the reference numerals in Figure 1.

On the upper plate 33a of the drive box 33, a high bearing 42 and a low bearing 43 are erected in parallel and slightly diagonally.
Arm shafts 44 and 45 are respectively supported by the bearings 42 and 43 with their movement in the axial direction being restricted, and each arm shaft 44 and 45 has a long arm 46 and a short arm 4.
7 are each pivoted. The reference numeral 48 is a bracket that is approximately triangular in plan view and is made by bending a plate material into a U-shape and connecting it with a pair of connecting shafts 49.50. The cylindrical portions at the other ends of 46 and 47 are respectively fitted, and each shaft 44°49 and 50, arms 46 and 47, and bracket 48 form a four-bar ring. A pair of bearings 51 is supported on the bent side of the bracket 48 so as to be movable up and down by a shaft 52 that connects the upper and lower members of the bracket 48 . However, bracket 4
It is fixedly supported and pivotally supported by the lower end of a piston rod of an elevating cylinder 54 fixedly erected on the upper surface of the cylinder 8 .

Reference numeral 55 denotes a gripping mechanism that is supported at the tip of a support member that passes through the inside of the transport arm 53, and is equipped with a gripping claw 56 that opens and closes with an opening/closing mechanism on the transport arm 53 side. It is configured to be reversed by a reversing mechanism 57. Further, the entire transport arm 53 and the gripping mechanism 55 supported by the transport arm 53 are configured to be lowered by being driven by the lifting cylinder 54 when trimming the product 27.

Next, the drive device for the transport arm 53 housed in the drive box 33 will be explained. A first link 58 is fixed with a bolt to the lower end flange 44 & of the arm shaft 44 to which the arm 46 is fixed at the upper end, while a bearing 59 fixed to the inner surface of the drive box 33 has a A drive cylinder 61 equipped with a piston rod 0 that moves forward and backward by pressure is rotatably mounted. Further, a bearing 62 is fixedly protruded into the upper plate 33& of the drive box 33 toward the inside of the box 33, and a link shaft 63 is fixed to the upper plate 33a side of the collar 64 and fitted into the bearing 62. has been done. A second link 65 is rotatably supported at the lower end of the link shaft 63 with its descent restricted by a nut 66, and in the center thereof is a figure 8 metal fitting 6 which is the working end of the piston rod RO.
6 is pivotally mounted. Furthermore, a rectangular roller plate 67 is rotatably supported at the free end of the second link 65 by fitting an integral pin 68 into the shaft hole, and is pivotally connected to the roller plate 6T. The four wheels 69 and the first link 58
are slidably engaged. With this configuration, when the piston rod 60 reciprocates, the second link 65 to which the figure-eight fitting 66 at its working end is pivoted swings, and is held between the rollers 69 at its free end. These days 69
The first link 58 that is slidably engaged with the piston rod RO 0 swings, but in this case, the figure 8 metal fitting 66 that is the working end of the piston rod RO 0 swings.
A line connecting both ends of the reciprocating movement is the arm shaft 44 and link shaft 6.
Cross the line connecting 3 almost orthogonally, and the figure 8 metal fitting 66
The movement of the piston rod 60 is set so that both links 58, 65 are substantially orthogonal to each other at both ends of the reciprocating motion.

The operation of the die casting machine configured as above will be explained. After the transfer arm 53 is placed in the standby position shown by the chain line in FIG. 1 and the mold is clamped, the cavity 25a of the mold 25.
, the product 2γ is obtained by injecting the molten metal into 26a and solidifying it. Then, when the mold is opened as shown in FIG. 1, the product 27 is held in the cavity 26a of the movable mold 26, and product removal begins. That is, when pressure fluid is fed into the drive cylinder 61 to move the piston rod 0 forward, the second link 65 rotates from the position shown by the chain line 65A in FIG. 4 to the position shown by the solid line 65. 2nd link 6
The rotation of 5 causes the first to engage via 69.
The link 58 slides between the rollers 69 and rotates from the position shown by the chain line 58A in FIG. 4 to the position shown by the solid line 58.

At both rotational limits of these two links 58.65, both links 58.65 are substantially perpendicular to each other. 1st link 5
8 rotates the arm shaft 44, and the arm 46 fixed to the arm shaft 44 rotates.
Then, the arm 47 and the bracket 48 perform a four-bar link movement, and the swinging arm 53 moves from the chain line position in FIG. 1 to the solid line position. At this time, depending on the settings of the position of the arm shaft 44, 45, the length of the arm 46, 47, etc., the gripping mechanism 55 at the tip of the swinging arm 53 moves along a trajectory close to a straight line shown by a chain line S in FIG. Here, the motor 35 rotates, and the drive box 33 moves the wheel 34 onto the rail 32a.
The limit switch 41 moves forward while rolling and stops when the contact point of the limit switch 41 comes into contact with the striker 40 on the right side in FIG. As a result, the entire product retrieval device 30 moves and moves forward to the product gripping position shown by the chain line in FIG. . At the same time, motor 3
5 rotates in the opposite direction, the drive box 33 moves backward, and is stopped when the left limit switch 41 and the striker 40 come into contact with each other. Therefore, the gripping claws 56 that gripped the product 21 are
Since it returns to the position shown by the solid line in the figure, when the piston rod 0 of the drive cylinder 61 is moved backward, the transfer arm 53 moves along the same trajectory as the forward path to the position shown by the chain line in FIG. 1 and stops. The reversing mechanism 57 and the gripping mechanism 55 are then activated to discharge the product 27 to the collection location, thereby completing one casting cycle.

When the dimensions of the molds 25 and 26 are changed, the striker 40 is moved by rotating the handle 37,
The forward limit position and the backward limit position of the drive box 33 are adjusted. Further, when trimming is required, the gripping mechanism 55 is lowered as shown by the chain line in FIG. 2 in conjunction with this.

The arm swinging operation in the product take-out device that operates as described above will be explained based on FIG. 6. In the figure, as described above, when the piston rod 0 of the drive cylinder 61 reciprocates and the second link 65 rotates about the link shaft 63, the second link 65 engages with the pin 68. The first link 58 rotates around the arm shaft 44, and the arm 46 coaxial therewith rotates. The rotation of the arm 46 causes the gripping mechanism 55 to move to the gripping position indicated by P by the movement of the four-bar link (not shown) including the arm 46.

It moves on the trajectory S between the standby position indicated by the symbol J4P + . Although the arm 46 actually rotates between the position indicated by the reference numeral 46A and the position indicated by the reference numeral 46B, it is shown moved to a position corresponding to the first link 58, indicated by the reference numeral 46, for ease of viewing. As mentioned above, the line connecting the arm shaft 44 and the link shaft 63 and the line connecting both ends of the reciprocating motion of the tip of the piston rod RO are substantially perpendicular to each other, and at both ends of the reciprocating motion of the tip of the piston rod RO, The first link 58 and the second link
The links 65 are set to be substantially perpendicular to each other. For each locus, black dots indicate positions when the top and last ends of the movement are temporally divided into 12 equal parts. Now, a case will be described in which the gripping mechanism 55 moves from the gripping position P to the standby position pt when the piston rod RO 0 retreats from the forward position. At this time, since the histone rod 60 moves at a constant velocity, the second link 65 moves at a substantially constant angular velocity, but at the start of the movement, the first link 58
It is tangent to the arc locus of the arm axis 44.
Since the dimension between the .degree. bins 68 is the maximum, the angular velocity of the first link 58 between the movement start point and the next black point is extremely small, and it hardly rotates after starting from 0. Then, as the second link 65 continues to move at a constant peripheral speed, the angular velocity of the first link 58 gradually increases,
When the bin 68 is on the line connecting the arm shaft 44 and the link shaft 63, the arm shaft 44. The dimension between the bins 68 is minimized and the angular velocity is maximized. When the piston rod 60 further retreats from this position and the second link 65 moves at a constant angular velocity, the angular velocity of the first link 58 becomes extremely small at the end of the L rotation, where the angular velocity gradually decreases, and then stops. When stopped, the first link 58 is tangential to the arc locus of the bin 68. The arm 46 rotates as the first link 58 rotates, and as is clear from Figure 1, the arm 46 also starts with an angular velocity of 0, gradually increases in angular velocity, reaches a maximum in the middle, and then gradually decreases by 1. and stops at an angular velocity of O. In addition, the movement of the gripping mechanism 55 from point P to point P starts from 0 and is gradually accelerated, and then gradually decelerated from the intermediate portion and then stopped.

Although the movement from the product gripping position to the standby position has been described above, the same movement is performed when moving from the standby position to the product gripping position. By starting the movement slowly and stopping the movement gently in this way, the impact of each moving member at both the start and stop positions is alleviated.

Although this embodiment shows an example in which the arm swinging device according to the present invention is implemented in a product take-out device of a die-casting machine, it can also be applied to an automatic hot water supply device of a die-casting machine, a mold spray device of various injection molding machines, etc. The present invention can be similarly implemented as an arm swinging device for various types of machinery.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, an arm swinging device includes a link mechanism that connects a histone rod that reciprocates at a constant velocity and an arm shaft to which a swinging arm is fixed; A first link fixed to the shaft, a link shaft parallel to the arm shaft, and a first link fixed to the link shaft and slidably engaged with each other, with the working end of the piston rod in the center. A line connecting both ends of the reciprocating motion of the working end of the piston rod crosses the line connecting the arm axis and the link shaft almost perpendicularly, and both ends of the reciprocating motion of the piston rod By setting the motion of the piston rod so that both links are substantially perpendicular to each other, the angular velocity of the first link is decelerated at both ends of the reciprocating motion even if the piston rod moves at a constant velocity. Therefore, since the swinging arm coaxial with this swinging arm is decelerated at both ends of swinging, the impact at the start and stop of movement is alleviated, improving the durability of the moving member, and reducing the movement of the swinging arm. There is no fear that the object held by the swing arm will be released from the grip.

[Brief explanation of drawings]

1 to 6 show an embodiment of the arm swinging device according to the present invention. Figure 2 is a sectional view along line AA in Figure 1, Figure 3 is line B in Figure 1.
A visual survey view, Figure 4 is a plan view of the inside of the drive box, and Figure 5 is a plan view of the inside of the drive box.
The figure is a CC sectional view of Fig. 4, Fig. 6 is an explanatory diagram of the movement and speed of the link, and Fig. 7 is a plan view of the main parts of a die-casting machine equipped with a product take-out device as a conventional arm swing device. It is. 44...Arm axis, 46...Arm. 47... Arm, 48... Bracket, 53...
...Transportation arm, 55...Gripping mechanism, 58...
・1st link, 60... Piston rod, self 1...
...Drive cylinder, 63...Link shaft, 65...
-Second link, 66...U-shaped fitting, 67...roller plate, 68...bin, 69...roller.

Claims (1)

[Claims] The piston rod of the fluid pressure cylinder and the arm shaft are connected by a link, and the reciprocating motion of the piston rod is converted to the reciprocating rotational motion of the arm shaft via the link mechanism, thereby swinging the arm on the arm shaft. In the moving device, the link mechanism includes a first link fixed to the arm shaft;
a link shaft parallel to the arm shaft; and a second link fixed to the link shaft, the first link and the free end portions of which are slidably engaged with each other, and the working end of the piston rod is pivotally connected to the central portion. a link, and a line connecting both ends of the reciprocating motion of the piston rod active end crosses the line connecting the arm axis and the link axis almost perpendicularly, and at both ends of the reciprocating motion of the piston rod, An arm swinging device characterized in that the movement of the piston rod is set so that the links are substantially perpendicular to each other.