SU704717A1

SU704717A1 - Manipulator for removing castings from injection moulding machine

Info

Publication number: SU704717A1
Application number: SU782621382A
Authority: SU
Inventors: Вильям Ефимович Лавентман; Михаил Леонидович Думай; Павел Тимофеевич Кепин; Яков Михайлович Рывкис; Владимир Александрович Антонов; Николай Викторович Навроцкий
Original assignee: Научно-Исследовательский Институт Специальных Способов Литья; Завод Литейных Машин Им.С.М.Кирова
Priority date: 1978-06-01
Filing date: 1978-06-01
Publication date: 1979-12-25

Description

(54) МАНИПУЛЯТОР ДЛЯ ИЗВЛЕЧЕНИЯ ОТЛИВОК ИЗ ПРЕСС-ФОРМЫ МАШИНЫ ЛИТЬЯ ПОД ДАВЛЕНИЕМ(54) MANIPULATOR FOR EXTRACTING CASTINGS FROM THE PRESS FORM OF THE CASTING MACHINE UNDER PRESSURE

1one

Изобретение относитс к литейному производству , в частности к литью под давлением .The invention relates to foundry, in particular to injection molding.

Известен манипул тор дл извлечени отливок из пресс-формы машины лить под давлением, содержащий механическую руку с захватом, установленную в поворотном корпусе , механизм перемещени руки в направлении , перпендикул рном ее оси. Это движение используетс дл сопровождени отливки при ее выталкивании. На случай рассогласовани движений выталкивателей и манипул тора в нем предусмотрено специальное предохранительное устройство 1.A manipulator is known for extracting castings from a machine mold under pressure, comprising a mechanical arm with a grab, installed in a swiveling housing, a mechanism for moving the arm in a direction perpendicular to its axis. This movement is used to accompany the casting when it is pushed out. In case of mismatch of the movements of the pushers and the manipulator, a special safety device 1 is provided in it.

Наличие такого дополнительного движени значительно усложн ет конструкцию манипул тора . В результате частичной рассогласованности движений манипул тора и выталкивателей мащины, усили последних частично нагружают элементы манипул тора, в частности направл ющие, снижа их долговечность .The presence of such an additional movement significantly complicates the design of the manipulator. As a result of partial misalignment of the movements of the manipulator and pushers of the machine, the efforts of the latter partially load the elements of the manipulator, in particular the guides, reducing their durability.

Известен также манипул тор, содержащий механическую руку, установленную в корпусе с возможностью перемещени вдоль своей оси и поворота относительно вертикальной оси, механизм захвата, корпус которого установлен на механической руке с возможностью поворота вокруг оси, параллельной оси поворота руки, механизм фикса ции захвата 2.Also known is a manipulator containing a mechanical arm mounted in the housing with the possibility of movement along its axis and rotation relative to the vertical axis, a gripping mechanism, the housing of which is mounted on the mechanical arm rotatably around an axis parallel to the axis of rotation of the arm, the gripper locking mechanism 2.

При наличии такой кинематической схемы , синхронный с выталкивател ми мащины съем отливки может быть осуществлен путем совмещени трех движений манипул тора. Дл этого манипул тор снабжаетс достаточно сложной контурной системой управлени , что значительно удорожает манипул тор и усложн ет его эксплуатацию.In the presence of such a kinematic scheme, a casting removal synchronous with the masking pushers can be carried out by combining the three movements of the manipulator. For this, the manipulator is supplied with a rather complex contour control system, which considerably increases the cost of the manipulator and complicates its operation.

Цель изобретени - упрощение конструкции и повыщение надежности извлечени отливок.The purpose of the invention is to simplify the construction and increase the reliability of casting extraction.

Это достигаетс тем, что манипул тор This is achieved by the fact that the manipulator is

Claims

5 is equipped with a two-arm lever, hinged on a mechanical arm and one arm connected hinged to the body of the locking mechanism, and the locking mechanism is made in the form of a hydraulic cylinder mounted on a mechanical arm and interacting with its other arm of the two shoulders, and two stops, one of which installed between the mechanical arm and the body of the locking mechanism, and the other between the two-arm and the said body. In this case, the stop mounted between the mechanical arm and the body of the gripping mechanism is adjustable. The drawing schematically shows a manipulator. It has a housing 1 mounted on axis 2 and equipped. The drive 3 rotates around the axis 2. Movingly relative to the housing 1, the arm 4 is mounted with the drive 5 of translational movement along the axis of the arm. A double-arm lever 7 is hinged to the flange 6 of the arm 4, on one arm of which the body 8 of the locking mechanism is articulated, and the other interacts with the rod of the hydraulic cylinder 9 mounted on the flange 6. The body 8 is also designed as a two-armed lever, one arm of which interacts with an adjustable stop 10 mounted on the flange 6, and the other carries a stop 11 interacting with the lever 7. On the case 8, two clamping jaws are mounted: fixed 12 and movable 13 connected to the driven hydraulic cylinder 14. The manipulator works as follows at once. The initial position of the links of the manipulator: the body I is turned by a grip to the machine to be cast under pressure, the body 8 is fixed by means of a hydraulic cylinder 9 between two stops 10 and II, the jaws 12 and 13 are opened. After the signal about the disclosure of the shape arrives from the machine, arm 4 is driven by actuator 5 into the mold connector next to the casting, and then by some rotation of the housing 1 around the axis 2 of the jaw 12 and 13. Turning to the casting engagement position. Then, using the hydraulic cylinder 14, the sponges 12 and 13 clamp the casting, the hydraulic cylinder 9 releases the housing 8, and the actuator 3 is switched to compensation mode, which does not prevent the rotation of the housing 1 under the action of external forces. A signal is ejected to the ejection molding machine. When ejecting the casting, changing its position relative to the fixed parts of the manipulator is compensated by turning its links around axis 2 and in the hinges of the lever 7. The invention significantly simplifies the control system and increases the operational reliability of the manipulator. Claim 1. Manipulator for extracting molds from a mold under pressure molding containing a mechanical arm installed in the housing with the possibility of movement along its axis and rotation around a vertical axis, a gripping mechanism whose body is fixed on the mechanical arm with the possibility of rotation around an axis parallel to the axis of rotation of the mechanical arm, a fixation mechanism, characterized in that, in order to simplify the construction and increase the reliability of extracting the castings from the mold, it is equipped with a double arm, pivotally mounted on a mechanical arm and one shoulder connected pivotally to the body of the gripping mechanism, and the locking mechanism is designed as a hydraulic cylinder mounted on the mechanical arm and interacting with its stem with the other shoulder of the two shoulders lever, and two stops, one of which is installed between the mechanical arm and the body the gripping mechanism, and the other between the two shoulders and the said housing. 2. The manipulator according to claim 1, characterized in that the stop, which is installed between the mechanical hand and the grip mechanism body, is made adjustable. Sources of information taken into account in the examination 1. US patent number 366894, cl. 214 / ICM, publ. 1972.

2. Japanese Patent No. 51-7900, cl. 11 In, pub. 1976 (prototype).