JPS63132012A - Robot apparatus for putting-in and taking-out of work - Google Patents

Abstract

PURPOSE:To make it easier to put a work in a mold and to make it simple to adjust a position, by setting work-holding plates sliding in an opposite direction to each other on a tool flange of a robot sliding linearly, an insert-holding part on its outside and a molding-holding part on its inside. CONSTITUTION:When a robot is retreated, a rotary actuator 7 is rotated and work-holding plates 15 and 16 are opened to take out a label 26 from a label magazine 27 by means of an adsorbing pad 21, another pair of adsorbing pads 21 are also worked in the same way after an air cylinder is worked and the robot is forwarded. When molds 24 and 25 are opened, an air cylinder 10 is worked and the work-holding plates 15 and 16 are inserted in the molds. Then, the rotary actuator is worked and the work-holding plates 15 and 16 are opened to bring a label 26 into contact with molds 24 and 25. Then, the work-holding plates are closed and a molding 30 is held by means of a molding-holding part 20. The air cylinder 10 is worked to retreat the holding part and the work- holding plates 15 and 16 are opened to drop the molding 30 in a shoot 29.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a robot that inputs and takes out a workpiece into a processing machine such as a molding machine.

(Prior technology) Conventionally, when molding plastics, etc., which is called insert molding, in-mold labeling, etc., the workpiece is inserted into a predetermined position in the mold by a robot immediately before molding, and after molding is completed, it is integrated with the molded product. There is a method shown in Fig. 913 as a method for taking out the workpiece from the mold.

This is a plastic molding method called blow molding, and before container molding, labels 53 supplied by a label magazine 52 are placed in a hand 5 provided on a robot 51.
4 (suction pad), and the adsorbed label is inserted into a predetermined position in the mold 55. In blow molding, the open molds 55a and 55b are closed by sandwiching the parison 58 (hollow raw material) eluted from the die 57 under the die 57. Next, the mold moves and stops under the nozzle 59, after which the nozzle 59 descends and fits into the upper opening of the mold, and the parison 58 is inflated in the mold by blowing from the nozzle 59. The label is welded to the container at the same time as the container is formed. At this time, a pair of clamp members 60 are attached to the ends of the mold 55, and the mold 55 is moved to open the product 6.
1 by the clamp 60 and transferred to the discharge table 62.

Note that 63 is a molding machine, 64 is an air cylinder for driving the robot, and 65 is a hand for opening and closing.

(Problem to be solved by the invention) By the way, the above-mentioned conventional robot device is installed diagonally above the mold so that the robot itself does not get in the way during mold replacement, which is frequently performed. However, since the straight direction of the robot is diagonal to the mold, it is difficult to load a workpiece into a mold with multiple cavities of two or more that are lined up horizontally. It is quite difficult to insert the workpiece due to interference with surrounding equipment, and even if the mold has a single cavity, if the workpiece loading position has to be changed when changing the mold, it is still necessary to change the workpiece loading position in the straight direction of the robot. There was a problem in that it was difficult to adjust the position up and down and back and forth because it was slanted.

(Means for Solving the Problems) The present invention is aimed at solving the above problems, and includes disposing a robot on a pedestal so that it can slide in a straight line, and protruding from the tip of the robot. A tool flange is fixed to a sliding rod, and the tool flange is provided with a workpiece gripping plate that slides in a direction perpendicular to the sliding direction of the rod and in opposite directions, and an insert is gripped on the outer surface of the workpiece gripping plate. The molded product gripping portion is provided on the inner surface of the molded article.

Hereinafter, a detailed explanation will be given based on the illustrated embodiment. The robot body 3 is moved by the guide 2 installed on the pedestal 1.
is slidably provided. This body 3 is connected to a rod 5 of an air cylinder 4 provided on the pedestal 1.

A spline bearing 6 is rotatably supported on one end 3a of the body 3 by a bearing (not shown), and a pulley 68 fixed to the spline shaft is rotated by a pulley 8 fixed to the output shaft of the rotary actuator 7 and a belt 9. It is connected. Reference numeral 10 denotes an air cylinder provided in the body 3, and its rod 11 is connected to a tool flange 12 at its tip. The spline shaft 13 fitted into the spline bearing 6 is pivotally supported by a bearing 14 at the tool flange 12. Sliding direction of body 3 and spline shaft 13. The sliding directions of the rods 11 of the air cylinder 1o are parallel. A pair of workpiece gripping plates 15 are provided on the tool flange 12.
, 16 are guided by guides 12a and 12b so as to slide at right angles to the axial direction of the spline shaft 13. The spline shaft 13 protrudes from the shaft support and is connected to a pinion 17.

The pinion 17 and racks 18 and 19 fixed to the workpiece gripping plates 15 and 16 are screwed together.

On the other hand, the workpiece gripping plates 15 and 16 have a molded product gripping part 2o made of an elastic material on the opposing surface in accordance with the pitch of the two-cavity mold, and a suction pad 21 for label gripping on the outer surface.
is provided.

The suction pad is supported by a shaft 23 so as to be slid on the workpiece gripping plate in parallel to the sliding direction thereof, and is connected to the molded product gripping portion 20 at one end of the shaft 23. 24. 25 is a mold, 26 is a label magazine, 28 is a blow nozzle,
29 is a chute for dropping molded products, 3o is a molded product, and 31 is a discharge conveyor.

Next, the effect will be explained.

■ When the robot retreats, the rotary actuator 7 is rotated, the workpiece gripping plates 15 and 16 are slid outward (opened), the suction pad 21 is brought into contact with the label 26 in the label magazine 27, and after suction, the rotary actuator is activated. The work gripping plates 15 and 16 are rotated in the opposite direction to the above, and the workpiece gripping plates 15 and 16 are mutually slid inward (closed), and the label 26 is taken out from the label magazine 27 (FIG. 6).

■ After activating the air cylinder 4 and moving the robot forward, label 2 is also applied to the other set of suction pads 21 in the same way.
6 is adsorbed (Fig. 7).

■ Wait at the forward end of the air cylinder 4 until the mold opens (Fig. 8).

(2) After the molds 24 and 25 are opened, the air cylinder 10 is operated and the workpiece gripping plates 15 and 16 are inserted into the molds 24 and 25. At this time, the workpiece gripping plates 15 and 16 are in a position to sandwich the molded product 30 held by the nozzle 28 inside (FIG. 9).

■ Activate the rotary actuator.

The workpiece gripping plates 15 and 16 are slid outward to bring the label 26 into contact with the inside of the molds 24 and 25 (FIG. 10).

At this time, even if the inside of the mold is tilted, the suction pad 21 is supported by the molded product gripping part 20 made of an elastic body, so it can absorb gaps caused by the tilt and deviations in the contact position with the mold. , the width can be made thinner (Figs. 4 and 5).

■ After inserting the label 26 into the molds 24 and 25, the rotary actuator 7 is operated again, and the workpiece gripping plate IE is
5.16 is closed and the molded product 3° is gripped by the molded product gripping portion 20 (FIG. 11).

■ After lifting the nozzle 28 and separating it from the molded product 3o, operate the air cylinder 10 to move the gripping part back (Fig. 12).
.

■ Open the workpiece gripping plates 15 and 16 and drop the molded product 30 into the chute 29.

■ Activate the air cylinder 4 to move the robot backwards and repeat the series of operations from ■ again.

(Effects) In the present invention, a robot is disposed on a stand so that it can slide linearly, a tool flange is fixed to a sliding rond that protrudes from the tip of the robot, and a tool flange is fixed to a sliding rond that protrudes from the tip of the robot. A workpiece gripping plate that slides in a direction perpendicular to the direction and in opposite directions to each other is provided, and an insert gripping portion is provided on the outer surface of the workpiece gripping plate, and a molded product gripping portion is provided on the inner surface of the workpiece gripping plate, so that the workpiece can be held with a simple device. Allows for loading and unloading of molded products.

In addition, since the robot slides in a straight direction, it is easy to load a workpiece into a multi-cavity mold with two or more molds, and the position AM can also be easily adjusted.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of the present invention, Fig. 2 is a perspective view of the workpiece gripping plate shown in Fig. 1, Fig. 3 is a side sectional view of the gripping part, and Figs. Figures 6 to 12 are explanatory plan views showing the operation of the present invention sequentially, and Figure 13 shows the relationship with the mold.
Figure (a) is a front view explaining the main parts of the conventional device, and Figure 13 (b)
is an open side view of a conventional mold. 1... Frame 3... Robot body 5.11... Ron door... Rotary actuator 12... Tool flange 15.16... Work gripping plate 17... Pinion 18. 19... Rack 20... Molded product gripping part 21... Suction pad agent Sadao Ito, "
・、・、、、、／ Figure 3 Figure 4 Figure 5 Figure 6 Ward 7 Ward 8 Ward 1j Figure 12

Claims (1)

[Claims] The robot is placed on a stand so that it can slide in a straight line,
A tool flange is fixed to a sliding rod that protrudes from the tip of the robot, and a workpiece gripping plate that slides in a direction perpendicular to the sliding direction of the rod and in opposite directions is provided on the tool flange. A workpiece loading/unloading robot device characterized by having an insert gripping part on the outside surface and a molded product gripping part on the inside surface.