JPS63209907A - Work transferring robot device - Google Patents

Abstract

PURPOSE:To reduce the number of degrees of freedom between the base of the moving part of a robot and a tool holding member by a structure wherein a moving base to be slidably guided nearly parallel to a surface to be inserted and a moving means to move a work holding means, which is provided on the side of the surface to be inserted, normal to the surface to be inserted. CONSTITUTION:First guides 3 are provided normal to the direction of opening of a mold 2 on a base 1. A flange 19 is connected to one side of a guide rod, which is slidably journaled parallel to the guides 3. A tool holding member 21, on the mold 2 side of which suction pads 22 are provided and to which shafts 24 slidingly driven normal to the guide rod 17 by means of air cylinders 23 are journaled, is fixed to the flange 19. Since the degree of freedom between the base of a moving part and the tool holding member is small, the highly accurate robotized operation can be possible.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a workpiece transfer robot device for loading a workpiece into a processing machine such as a molding machine.

(Prior Art) Conventionally, a robot shown in FIG. 6 has been widely used for taking out a molded workpiece from a processing machine such as a molding machine. This is a rectangular coordinate robot that is attached directly to the top of the horizontal injection molding machine and takes out the molded workpiece.
X, Y.

In order to make the Z linear drive shaft and the molded product (work) horizontal when they are separated from the mold and transferred to the conveyor installed near the molding machine, the work suction part a is parallel to the mold. It consists of a mold and a θ axis that rotates 90' to the opposite side from the state (FIG. 6).

(Problems to be Solved by the Invention) In the above-mentioned mechanism, the workpiece separated from the mold after molding is gripped by a gripper installed at the tip of the arm, and moved by the robot onto a conveyor etc. installed near the molding machine. There is no problem in ejecting work, but since the arm holding is a continuous cantilever beam and has a relatively long stroke, the rigidity of the arm is low, especially at the gripping part, and the rigidity of the arm is low, and the contact of the workpiece is Since it has a rotation mechanism in the direction, the rigidity is even smaller in the direction of contact with the workpiece.

In insert molding, in which the workpiece is inserted into the mold because the workpiece has low rigidity in the contact direction, the gripping part tilts due to the reaction force from the mold when the workpiece is inserted, causing the workpiece and the insertion hole to become distorted. Mistakes may occur, and even if the insertion depth is shallow, the gripping section will be large for large workpieces, so if you do not try to reduce the weight of the gripping section by sacrificing rigidity, the robot's operating characteristics will deteriorate (operational (increased time). As a result, the rigidity of the workpiece gripping section becomes even smaller, causing it to bend or deform even with a slight external force, causing it to become unstable! As a result, there is a problem in that there is a high risk of insertion errors in operations that require precision, such as insert molding by robots, in which a workpiece is inserted into a mold.

(Means for Solving the Problems) The present invention has been made in view of the above-mentioned problems, and includes a movable base that is slidably guided approximately parallel to the insertion surface, and a movable base that is pivotally supported by the movable base. a rotating member that rotates around a rotating shaft; a workpiece gripping means that rotates together with the rotating member and has an offset with respect to the rotating shaft, and is provided on an insertion surface side with respect to the rotating member; It is characterized by comprising a moving means for moving the means perpendicularly to the surface to be inserted.

Hereinafter, a detailed explanation will be given based on the illustrated embodiment. 1 to 4 show a first embodiment.

A first guide 3 is provided on the pedestal 1 at right angles to the opening direction of the mold 2. A first bearing 4 provided with a bearing 4 that fits into the guide 3
The base 5 is connected to a rod 6a of a first air cylinder 6 fixed to the frame 1. A second guide 7 is provided on the first base 5 at right angles to the sliding direction of the first base.

A second base 9 provided with a bearing 8 that fits into the guide 7 is connected to a rod 10a of a second air cylinder 10 fixed to the first base 5. A bracket 9a formed on the upper surface of the second base 9.

A rotating shaft A is supported in parallel with the first guide 3 by a bearing 11 provided on the shaft 9b. A base portion 12a of the third base 12 is fixed to the rotation axis A. Further, a binion 13 is fixed to the rotating shaft A, guided by a guide member 14 provided on the second base 9, and connected to a rack 16 connected to a rod 15a of a third air cylinder 15 provided on the second base 9. They are engaged. The third air cylinder is provided on the third base 12 on the opposite side of the mold 2. 1
Reference numeral 7 denotes a guide rod that is slidably supported parallel to the guide 3 by a bearing 18 provided at the end of the third base 12, and is connected to a flange 19 on one side thereof. 20
is a fourth air cylinder installed on the third base 12 in parallel with the guide rod 17, and its rod 20a is connected to the flange 19.
is combined with A tool holding member 2 is attached to the flange 19.
1 is fixed, and the mold 2 is fixed to the tool holding member.
A suction pad 22 is provided on the side, and an air cylinder 23
A shaft 24 that is slidably driven in a direction perpendicular to the guide rod 17 is supported by the guide rod 17 .

In addition, the suction pad 22 is placed at a certain distance (=Q
).

Reference numeral 25 denotes a support plate provided on the second base 9 on the opposite side of the third base 12 from the mold 2, so that the rod 27 of the shock absorber 26 fixed to the support plate comes into contact with the third base 12. It has become. A work magazine 28 stores a work 29 installed on the side of the mold 2 of the gantry 1, and is designed to constantly urge the work 29 upward using a known method such as a spring. 30 is a molding machine.

Next, the effect will be explained. First, when the third air cylinder 15 is actuated and the rod 15a is retracted, the pinion 13 engaged with the rack 16 rotates, and the third base 12 moves toward the shaft A.
The workpiece 29 rotates toward the mold 2 side with the center at , and the workpiece 29 and suction pad 22 become approximately parallel to each other and stop at the position of the molding machine 30 .

Next, the air cylinder 23 is operated to extend the shaft 24 to bring the suction pad 22 into contact with the workpiece 29.
After the suction and gripping is completed, the air cylinder 23 is activated to retract the shaft 24, and then the third air cylinder 1 is activated again.
5 and extends the rod 15a, the third base 1
2 rotates in the opposite direction to that described above, and comes into contact with the rod 27 of the shock absorber 26 provided on the support plate 25, and stops at a position where the suction pad 22 is parallel to the mold 2.

Next, the second air cylinder 1o is operated to slide the second base 9 in the opposite direction to the magazine 28, and then the first air cylinder 6 and the fourth air cylinder 20 are simultaneously operated to extend each rod. Tool gripping member 21
is inserted into the molding machine 30, and the gripped workpiece 29 is directly opposed to the mold 2. Then, by operating the second air cylinder 10 and sliding the second base 9 in the direction of the mold 2, the gripped workpiece 29 is inserted into (contacted with) the mold 2. After the insertion is completed, the suction pad 22 After removing the workpiece 29, the second air cylinder 10 is operated again, and after separating the tool holding member 21 from the mold 2, the first air cylinder 6 and the second air cylinder 20 are operated again, and the tool holding member 21 is removed. 21 is retracted 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, and after molding is completed, the mold is opened, and the molded product integrally molded with the workpiece 29 inserted into the mold 2 is ejected, the tool holding member is ejected. 21 reenters the molding machine 30 and repeats the operation.

In the above embodiment, the second air cylinder 10 and the air cylinder 23 were used to obtain the stroke in the Y direction, which is the insertion direction of the mold, 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.

Furthermore, if the opening amount of the mold is sufficiently large, the width of the tool holding member 21 can be increased, thereby making it possible to lengthen the stroke of the air cylinder 23, so that the second air cylinder 1o is not necessarily required.

Incidentally, by attaching a spring to the shaft 24 provided with the suction pad 22 and biasing the shaft 24 in the direction of the suction pad 22, a gap at the time of contact with the workpiece 29 or the mold 2 can be absorbed. in this case.

When suctioning the workpiece 29 from the magazine 28, it is conceivable that the suction pad 22 does not necessarily need to contact the workpiece 29 accurately in parallel. In this case, air cylinder 23
is not necessarily necessary, and the stroke in the Y direction may be obtained only by the second air cylinder 10.

Further, the workpiece 29 does not necessarily need to be held horizontally within the magazine 28; the suction pad 22 may come into contact with the workpiece 29 before the magazine 28 has rotated 90'' depending on the posture of the third base 12 when the magazine 28 is inserted into the mold. A method of installing the magazine at an angle with respect to the horizontal can also be considered.In this case, there are advantages that since the magazine is oblique, the number of works 29 that can be accommodated can be increased, and that the rotation angle of the A axis is reduced, so that the work speed can be increased.

Note that the third base 12 is constructed by constantly operating the third air cylinder 15 when inserting the mold.

The third base 12 remains in contact with the support plate 25 during insertion.
The rigidity of the tip can be further increased. Note that by adjusting the offset 1ika between the suction pad and the rotation axis A as appropriate.

Even if the height of the mold changes when replacing the mold, it can be followed, so the height axis is not needed as in the conventional example shown in Figure 6, and the degree of freedom is reduced, which reduces costs and arm rigidity. It's advantageous.

Further, in the first embodiment, the rotation axis A was set parallel to the first guide 3, but if the workpiece 29 cannot be held horizontally within the magazine 28, the first rotation axis A and the first guide 3 may be set at a certain angle. When the suction pad 22 makes contact with the workpiece 29, the suction pad 22 and the workpiece 29 can be made substantially parallel by making the suction pad 22 oblique to the horizontal.

4 and 5 show a second embodiment of the present invention.

A guide rod 103 is slidably supported by a bearing 102 on an upper portion 101 a of the pedestal 101 . An air cylinder 104 is connected to the pedestal 10 in parallel with the guide rod 103.
It is fixed to the upper part 101a of 1. The air cylinder 1
A moving base 105 is coupled to the rod 104a of 04. Further, one end of the guide rod 103 is also coupled to the movable base 105. The output shaft 106a of the rotary actuator 106 is attached to the guide rod 103 on a bracket 105a formed at the bottom of the moving base 105.
It is placed parallel to the On the other hand, bracket 1
A rotating shaft B is rotatably supported on the rotary actuator 106 so as to be 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. The rotation axis B
A tool holding member 108 is fixed at the other end. An air cylinder 109 is fixed to the tool holding member 108 with its axis perpendicular to and offset from the rotation axis B, and a suction pad 110 is attached to the tip of a rod 109a of the air cylinder 109, which is opposite to the guide rod 103. connected to the side.

Reference numeral 113 denotes a stopper provided on a support portion ios b formed on the opposite side of the guide rod 103 with respect to the connection portion of the movable base 105 with the guide rod 103 . 11
1 is a work magazine, and 112 is a work.

Next, the effect will be explained. The tool holding member 108 is rotated by the operation of the rotary actuator 106, and the suction pad 110 is brought into contact with the workpiece 112. At this time, if the air cylinder 109 is used, the suction pad 110 and the workpiece 112 can be brought into contact in parallel. Work 1
12 After suction, the air cylinder 109 is retreated, the rotary actuator 106 is reversed, and the tool holding member 1
08 is brought into contact with the stopper 113 and pressed, the air cylinder 104 is operated to move the tool holding member 108 into the molding machine (
(not shown) and directly face the mold (not shown).

Next, the air cylinder 109 is operated back and forth to bring the attracted work 112 into contact with the mold, and after delivering the work 112 to the mold, the air cylinder 109 is moved back, and then the air cylinder 104 is moved back and the tool holding member 10g is retracted by the molding machine to complete one cycle.

Note that the rotary actuator 106, the tool holding member 108. By providing the air cylinder 109 and the work magazine 111 in pairs symmetrically with respect to the vertical plane passing through the robot sliding axis, it is also possible to transfer the work to the molds on both sides.

(Effects) The present invention includes a movable base that is slidably guided approximately parallel to the surface to be inserted, a rotating member that pivots around a rotating shaft that is pivotally supported by the movable base, and a rotating member that is offset with respect to the rotating shaft. The work gripping means rotates together with the rotating member and is provided on the side of the inserted surface with respect to the rotating member, and the moving means moves the work gripping means perpendicularly to the inserted surface. Therefore, the degree of freedom from the base of the moving part of the robot to the tool holding member can be reduced compared to the conventional example. Therefore, since the tool holding member has high rigidity, it is possible to provide an inexpensive and highly reliable work transfer robot device that is effective for operations such as insert molding that are subjected to insertion reaction force and that require high precision.

In addition to the method using an air cylinder and a rack and pinion in the first embodiment, the third base may be rotated by a method using a rotary actuator or a clevis-type or trunnion-type air cylinder. Furthermore, the flexibility of the robot can be increased by using a programmable actuator such as a servo motor instead of an air cylinder. If it is acceptable for the molding cycle to be a little longer, the robot of the present invention may be used to take out the work after molding and then perform the insert work.

In the second embodiment, the size of the workpiece is limited to a case smaller than that in the first embodiment, but since the constituent elements can be simplified,
In addition to the same effects as the embodiment, the entire device can be provided at low cost.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the first embodiment of the present invention, FIG. 2 is a front view of the third base portion of FIG. 1, FIG. 3 is a right side view of FIG. 2, and FIG. FIG. 5 is a perspective view of the movable base portion of FIG. 4, and FIG. 6 is a perspective view of the drive portion of the conventional device. 1... Frame 2... Mold 5... First base 6... First air cylinder 9... Second base 10... Second air cylinder A... Rotating shaft 12... -Third base 15...Third air cylinder 20...Fourth air cylinder 21...Tool holding member 22...Suction pad 23...Air cylinder 28
... Work magazine 29 ... Work 101 ... Frame 104
...Air cylinder 105...Moving base 106...
- Rotary actuator 108... Tool holding member B... Rotating shaft 110... Suction pad 11
1... Work magazine 112... Work

Claims (1)

[Claims] a movable base slidably guided substantially parallel to the insertion surface, a rotating member pivoted by a rotating shaft pivotally supported by the movable base, and having an offset with respect to the rotating shaft,
and a workpiece transfer means that rotates together with the rotating member and is provided on the side of the inserted surface with respect to the rotating member, and a moving means that moves the workpiece grasping means at right angles to the inserted surface. robotic equipment.