JPH01141706A - Robot for insert - Google Patents

Abstract

PURPOSE:To improve working speed by making the intercenter pitch between a finger-driven flexor hinge splint for taking out product and a finger-driven flexor hinge splint for insert-work equal to the pitch of a pair of locating pins provided on a die, and making the stroke for die inserting direction short. CONSTITUTION:Through the operation of a robot for an axis X2, a tool 15' grasps the insert-work separated from a escape 27. When an axis Y2 is advanced, as the stroke of an air-cylinder is equal to the pitch P between two positioning pins 32, 32' provided on a die 30, the centers of the die 30 and the tool 15 coincide and the axial cores of the pins 32, 32' and the fitting holes 18, 18' also coincide. Through the operation of a rotary actuator after inserting the insert-work into a cavity, the product is taken out and further taken out by a hand 24.

Description

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

(Prior technology) Conventionally, the take-out robot that takes out products from the molding machine and the insert robot that inserts the insert work into the mold were installed on the top of the molding machine, so the robot itself had to be light, so the arm was relatively rigid. A small structure had to be adopted. However, since the weight of the tool section increases in order to perform the inserting operation and the ejecting operation at the same time, the robot itself must be designed with greater rigidity.

Therefore, a method has been put into practical use in which a robot is placed on the side of a molding machine and its arm passes through a tie bar and enters the inside from the side.

(Problem to be Solved by the Invention) In the above-mentioned conventional technology, in order to avoid interference with the positioning pin provided on the front side of the mold, the stroke for inserting the workpiece into the mold or taking out the product from the molding machine is This not only increases the weight of the tool part, but also increases the dimensions of the tool part and interferes with the mold opening direction.To avoid interference, the ejecting tool and the work insert Since the distance between the tool and the tool must be long, the weight increases and the work speed cannot be increased.

(Means for Solving the Problems) The present invention aims to solve the problems described in item 2 and includes a gripping device for taking out a molded product from a mold, and a gripping device for gripping an insert work inserted into the mold. In a robot equipped with a gripping device at the tip of the arm, the pitch between the centers of the gripping device for taking out the product and the gripping device for gripping the insert work is made equal to the pitch of a pair of positioning bins provided in the mold, and both Among the gripping devices, the gripping device provided on the arm base side is shaped so as not to interfere with the positioning bin at a pitch position of the positioning bin with its center as the center.

A detailed explanation will be given below based on the embodiments shown in the five figures. A guide 2 is installed on the top of the pedestal 1 in a direction perpendicular to the mold opening direction of the molding machine.
A Yi-axis base 3 is fixed. The guide 2 is slidably provided with an X shaft base 4, and the X1
A guide 5 is provided on the shaft base 4 at right angles to the guide 2. A Z-axis base 7 is slidably provided on the guide 5 via a spacer 6, and a guide 8 is provided on the Z-axis base 7 at right angles to the guides 2 and 5. A slide base 10 is slidably provided on the guide 8. An arm 11.11' is fixed to the side of the molding machine of the slide base 10 in parallel with the guide 2, and a block 12 is fixed to the tip of the arm 11.11'. The arm 11.11' is hollow, and a guide rod 14.14' is slidably supported inside the arm 11.11' by a sliding bearing 13.13' in parallel with the arm 11,1.1'. A tool base 15 is fixed to the tips 14a, 14a' of the guide rods 14, 14'. The tool base 15 is also connected to a rod 16a of an air cylinder 16 provided on the block 12 parallel to the arm 11.11'.

The Y2 axis is the sliding axis of the air cylinder 16. A tool 15' having an insert work holding part 17 is fixed to the tool base 15. Holes 18° and 18' are fitted with positioning pins provided in the mold.

The guide rod 14' projects forward from the tool base 15, and a rotary plate 20 is rotatably supported on the projecting portion 19 of the guide rod 14' about the axis of the guide rod 14'. A rotary actuator 21 is provided on the rotating plate 20.

A gear 22 is fixed to the output shaft of the rotary actuator, and meshes with a gear 23 fixed to the protrusion.

On the other hand, a take-out hand 2 is placed on the rotary plate 20 so that the center of the hand is located at a distance from the fitting hole 18' to a pitch c=%, which is half the pitch P of the two fitting holes 18, 18'.
4 is provided so as to slide in a direction perpendicular to the arm 11.11' by means of an air cylinder 25 also provided on the rotary plate 20. The x8 axis is the sliding axis of the air cylinder 25.

The spacer 6 has a shape in which the upper and lower mounting surfaces are offset so that the spacer 6 overhangs the Z-axis base 7 in the right-hand direction when viewed from the direction of FIG.

A conveyor 26 is disposed such that one end thereof is located below the slide base 10 and the Z-axis base 7. 27
28 is an escape device, and 28 is a parts feeder for supplying insert work.

Furthermore, even if the spacer 6 is installed on the left side of the robot from the right side of the robot, the conveyor 26 can be placed on the left side of the robot.
It can be assembled in the opposite direction so that it can be positioned below the slide base 10 and the Z-axis base 7 (FIG. 5).

Further, the stroke of the air cylinder 16 is set to be equal to the distance between the centers of the take-out hand 24 and the tool 15'.

Note that for driving the X8 axis, Y1 axis, and Z axis, known linear drive means, such as an air cylinder, a combination of a motor and a ball screw, or a rack and pinion, can be used. Someuchi: Although the air cylinder type has difficulty in multi-point positioning, it is superior in terms of cost and operating speed, so it is effective for simple and small workpieces, so at least the X1 axis will be used to explain the action. will be explained using an air cylinder.

Next, the effect will be explained.

In Figures 6 to 11, 29 is a horizontal injection molding machine, 3o is a mold on the insert work insertion and product removal side, 30
' is the other mold opposite to 3o, 31.31' is a tie bar of the molding machine, and 32.32' is a positioning pin provided on the mold 30, the pitch of which is P.

First, by driving the X1 axis, the robot grasps the insert work (not shown) separated from the escape 27 from the tool 15'. Also, at this time Y1
It is assumed that the axis and the Y8 axis are respectively located at the rearward end as shown in FIG.

Next, when the Yi axis is operated and the forward end is reached, the take-out hand 24 coincides with the center of the mold 30. Then, when the X-axis and the
8', and the take-out hand 24 is fitted into the mold 30.
Move forward to a position where you can grasp the sprue 33 protruding from the front.

Next, after gripping the sprue 33 with the take-out hand 24, the X0 axis and the Xt axis are moved backward as shown in FIG. 34 is a product of a molding machine.

Next, the air cylinder 16 is operated to move the Y8 axis forward. The stroke of the air cylinder 16 is the 2nd stroke provided in the mold.
Since the pitch P of the two positioning pins 32.32' is equal to the pitch P of the two positioning pins 32.32', the centers of the mold 30 and the tool 15' coincide at the forward end of the Y2 axis, and the pins 32.32' and the fitting holes 18, 18
The axes of ' coincide as shown in Fig. 9.

Next, the X0 axis is advanced and the fitting hole 18 provided in the tool 15' is
, 18' are provided on the mold 3o with positioning pins 32 and 32'.
Fit them together as shown in Figure 10. At this time, tool 15'
The insert work is inserted into a cavity in the mold 30 using a device not shown.

After inserting the insert work into the cavity, the X2 axis retreats, and then the Y1 and Y2 axes also retreat.

After reaching the retreat end, the rotary actuator 21 is activated to rotate the product 34 gripped by the take-out hand 24 by 9° along with the rotary plate 20, and the take-out hand 24
After placing the product 34 directly in front of the conveyor 26 placed downward as shown in FIG. 26.

(Effects) The present invention provides a robot equipped with a gripping device for taking out a molded product from a mold and a gripping device for gripping an insert work to be inserted into the mold at the tip of an arm. The center-to-center pitch of the gripping device that grips the insert workpiece is made equal to the pitch of a pair of positioning pins provided on the mold, and the gripping device provided on the arm base side of both gripping devices is centered at the center of the gripping device that grips the insert work. Since the pitch of the locating pin is shaped so that it does not interfere with the locating pin, there is no interference between the tool and the locating pin, the stroke in the mold insertion direction can be reduced, and the distance between the product ejecting tool and the work insert tool can be reduced. It is also possible to reduce the weight and size of the tip of the arm significantly, which has a great effect on increasing the robot work speed.

In this embodiment, a fitting hole is provided in the tool 15' in order to avoid interference with the positioning pin provided on the mold, but in addition to the method of fitting with the pin, other shapes 1, such as A method such as making the contact portion concave may also be used.

It goes without saying that the order of the ejecting tool and the inserting tool may be reversed.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of one embodiment of the present invention, Fig. 2 is a partially cutaway front view of the tip of the arm in Fig. 1, Fig. 3 is a right side view of the rotating plate shown in Fig. 2, and Fig. 4 is Fig. 1 FIG. 5 is a modified perspective view of FIG. 4, and FIGS. 6 to 11 are plan explanatory views sequentially showing the operation of the present invention. 1... Frame 2.5.8... Guide 3... Y1 axis base 4... X, axis base 7... Z axis base 10... Slide base 11. 11'... Arm 14.14'...Guide rod 15...Tool base 15'...Tool 16...Air cylinder 17...Insert work holding part 18.18'...Fitting hole 30 with positioning bottle .30
'···Mold

Claims (1)

[Claims] a gripping device for taking out the molded product from the mold;
In a robot equipped with a gripping device at the tip of the arm that grips the insert workpiece to be inserted into the mold, a pair of positioning devices installed in the mold are used to determine the pitch between the centers of the gripping device for taking out the product and the gripping device that grips the insert workpiece. An insert characterized in that the pitch is equal to the pitch of the pins, and the gripping device provided on the arm base side of both gripping devices is shaped so that it does not interfere with the positioning pin at a position of the pitch of the positioning pin with its center as the center. robot.