JPH06409Y2 - Handling equipment - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a handling device, and in particular, it is attached to an arm of an articulated robot so that a blowing rod can be freely rotated and air can be supplied freely through the blowing rod. Handling device.

[Prior Art] Generally, a molten glass material is artificially taken out from a melting furnace into a primary mold, and is automatically taken out to the tip of a blowing rod, which is secondarily molded by a secondary molding machine, and then glass molded. There are known automatic blow molding machines designed to manufacture products (for example,
Japanese Patent Publication No. 47-39202).

In this type of conventional automatic blow molding device, the blowing rod is fixed to the tip of the arm of the multi-joint robot, and the arm of the multi-joint robot is arbitrarily moved to change from the primary molding die to the secondary molding machine. The molten glass material is moved and molded.

By the way, in the case where the blowing rod is fixed to the tip of the arm of the articulated robot, the molding process performed by moving the molten glass material from the primary molding die to the secondary molding machine is completed until the series of molding processes is completed. Until then, the next molten glass dough cannot be taken out from the melting furnace, which causes a problem of low production efficiency and high production cost of the glass molded product.

In order to solve this problem, this inventor detachably handles the blowing rod at the end of the arm of the articulated robot, and when the molten glass material is transferred to the secondary molding machine, the molten glass together with the blowing rod is put there. After delivering the dough, immediately after that, the arm of the articulated robot is returned to the suction feeder in the previous process, and the next molten glass dough is taken out during the secondary molding to perform the primary molding, thus improving the production efficiency of the glass molded product. We are devising an automatic blow molding device that is designed to be enhanced.

[Problems to be solved by the invention] However, in this case, the blowing rod must be detachably handled at the tip of the arm of the articulated robot. This handling allows the blowing rod to rotate and to blow. There is a problem that air must be freely handled through the rod.

Therefore, an object of the present invention is to solve the above-mentioned problems of the conventional technique and to enable the blowing rod to be freely rotated at the end of the arm of an articulated robot and to supply air through the blowing rod freely. It is to provide a handling device.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a handling method for detachably handling a blowing rod for taking out a molten glass material collected from a melting furnace to the tip of an arm of an articulated robot. In the apparatus, an outer cylinder fixed to the arm of the multi-joint robot, a rotary shaft having a communication hole axially penetrating in the outer cylinder, rotatably driven by a drive device, and having blow air passing therethrough, A cylinder device having a piston rod fixed on the axis of the rotating shaft and sliding on the axis;
A clamp claw that is connected to the tip of the piston rod and is opened / closed in conjunction with the sliding of the piston rod to handle the blow rod is provided.

[Operation] According to the present invention, when the clamp claw is opened,
Insert the blowing rod into the open part, then supply the working air to the cylinder device on the axis of the rotary shaft and slide the piston rod on the shaft of the rotary shaft. The clamp claws are closed, and the blowing rod inserted into the opening is automatically clamped.

In addition, blow air flows into the rear end of the blown rod after it is clamped through the communication hole of the rotary shaft, so blown air can be blown into the molten glass material taken out at the tip of the blow rod. it can.

Further, since the blow rod after being clamped is integrated with the rotary shaft, the wind rod can be rotated by rotating the rotary shaft by the drive device.

Embodiment An embodiment of the handling device according to the present invention will be described below with reference to the accompanying drawings.

First, the outline of the automatic blowing process of a glass molded product will be briefly described. In FIG. 1, reference numeral 1 denotes a melting furnace, and from this melting furnace 1, a molten glass material is drawn by a suction feeder 2 which is a molten glass sampling device. Are collected.

This molten glass dough is in the pot 3 of the suction feeder 2.
Collected in the recess of the.

The molten glass material collected in the concave portion of the pot 3 is taken out by a blowing rod (not shown here) attached to the arm 6 of the articulated robot 5, and the molten glass material taken out by the blowing rod is articulated. Transferred by the robot 5, and the transfer path a
After going through the order of to e, they are transferred to the tempering furnace 7, the primary molding die 8 and the secondary molding machine 9.

As a result, a glass molded product is manufactured.

In such an automatic blowing process, after the arm 6 of the articulated robot 5 is moved along the transfer paths a to d, the blowing rod is removed from the arm 6 at the position of the secondary molding machine 9 and the secondary rod is removed. In order to improve the production efficiency of the glass molded product, it is preferable that the arm 6 is delivered to the molding machine 9 and the arm 6 is returned to the original suction feeder 2 along the transport path e and the next molten glass material is taken out.

According to the present embodiment, the above-mentioned articulated robot 5 is movable in the direction of 7 axes and has an arm 6 as shown in FIG. Device 10 is installed. The handling device 10 includes a joint portion 12 (Fig. 3) and a clamp portion 13 (Fig. 4). The joint portion 12 is, as shown in FIG.
It has an outer cylinder 15, and this outer cylinder 15 is fixed to the tip of the arm 6 of the articulated robot 5 via a flange 16.

A rotary shaft 20 is rotatably accommodated in the outer cylinder 15 via a bearing 17, an oil seal 18, an O-ring 19, and the like, and a rotary drive servomotor 21 is fixed to an end portion of the rotary shaft 20. ing.

The servomotor 21 is fixed to the arm 6 of the articulated robot 5 via a flange 31.

Also, inside the rotary shaft 20, there are three communication holes 22 in the longitudinal direction,
23, 24 are bored, and the end portions of the communication holes 22, 23, 24 are annular grooves formed on the inner circumference of the outer cylinder 15 through the holes 25, 26, 27.
It communicates with 28, 29, 30.

High pressure working air is supplied from the ports 32 and 33 to the annular grooves 28 and 29, and low pressure blow air is supplied to the annular groove 30 from the port 35.

As shown in FIG. 4, the clamp portion 13 has a cylinder device 37.
have.

The cylinder 38 of the cylinder device 37 is fixed to the outer circumference of the rotary shaft 20 via a flange 39, and the cylinder device 37
The piston rod 40 slides axially on the outer circumference of the rotary shaft 20 via a stroke bearing 41.

A flange 43 is integrally provided on the outer end of the piston rod 40, and a V-shaped clamp claw 46 is pin-connected to the flange 43 via a link 45.

The clamp claw 46 is pivotally supported by a pin 48 on a flange 47 at the outer end of the rotary shaft 20.

A hollow portion 49 is bored at the outer end of the rotary shaft 20, and a rubber supported by a spring 50 is provided at the inner end of the hollow portion 49.
51 is provided.

Further, as shown in FIG. 5, the blowing rod 52 has a grip portion 53,
The grip portion 53 is inserted into the hollow portion 49 of the rotary shaft 20 described above.

The blowing rod 52 has a ponte 55 at the tip, and the ponte 55 is always heated, and the molten glass material is taken out there.

In the handling device configured as described above, when the grip portion 53 of the blowing rod 52 is inserted into the hollow portion 49 of the rotary shaft 20 until it abuts on the rubber 51 and the working air is supplied to the port 32, the working air is communicated with the communication hole 22. Through to the chamber A of the cylinder device 37, whereby the piston rod 40 advances and the link 45
The clamp claw 46 is closed via, and the grip portion 53 of the blowing rod 52 is clamped. To release the clamp, when working air is supplied to the port 33, the working air flows into the chamber B of the cylinder device 37 through the communication hole 23, whereby the piston rod 40 retracts and the clamp claw 46 opens via the link 45. The clamp of the grip portion 53 of the blowing rod 52 is released.

Further, when blow air is supplied to the port 35 while being clamped, this air flows into the hollow portion 49 through the communication hole 24, and from the tip of the Ponte 55 through the central hole of the blowing rod 52 connected here. leak. Ponte
If the molten glass material is taken out at the tip of 55, blow air is supplied into the molten glass material, and so-called blow molding is performed. Further, when the servo motor 21 is rotated while being clamped, the rotary shaft 20 is rotated inside the outer cylinder 15 fixed to the articulated robot 5, and the entire clamp portion 13 is rotated integrally with this. To do.

That is, if the blowing rod 52 is clamped by the clamp claw 46, this also rotates integrally.

According to this embodiment, since the clamp portion 13 having the clamp claw 46 is connected to the joint portion 12 fixed to the arm 6 of the multi-joint robot 5, the blowing rod 52 can be freely attached and detached, When the blowing rod 52 is fixed, blow air can be blown into the molten glass material through the blowing rod 52, and the blowing rod 52 can be always rotated.

[Effects of the Invention] As is apparent from the above description, according to the present invention, with the clamp claws open, the blowing rod is inserted into the open part of the clamp claw to supply the working air to the cylinder device, If the rod is slid on the axis of the rotating shaft, the clamp claw is closed in conjunction with the sliding of the piston rod, so that the blowing rod inserted into the opening can be automatically clamped. .

Also, blow air flows into the rear end of the blown rod after it is clamped through the communication hole of the rotary shaft, so blown air is blown into the molten glass material taken out by the blow rod in the clamped state. Can be crowded.

Further, since the blow rod after being clamped is integrated with the rotary shaft, the wind rod can be rotated in a clamped state by rotating the rotary shaft by the drive device.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of an automatic blow molding device, FIG. 2 is a side view showing the same articulated robot, and FIGS.
FIG. 3 shows an embodiment of a handling device according to the present invention. FIG. 3 is a sectional view showing a joint portion of the handling device, FIG. 4 is a sectional view showing the same clamp portion, and FIG. 5 is also a blowing rod. It is a side view which shows. 1 ... Melting furnace 2 ... Suction feeder 5 ... Articulated robot 6 ... Arm 7 ... Tempering furnace 8 ... Primary molding die 9 ... Secondary molding machine 12 ... Joint Part 13 ... Clamping part 15 ... Outer cylinder 20 ... Rotating shaft 21 ... Servo motor (driving device) 22-24 ... Communication hole 37 ... Cylinder device 40 ... Piston rod 46 ... Clamping claw 52 ... Blowing pole 55 ... Ponte

Claims (1)

[Scope of utility model registration request] Claim: What is claimed is: 1. A handling device for detachably handling a blowing rod for taking out a molten glass material collected from a melting furnace to an end of an arm of an articulated robot, wherein an outer cylinder fixed to the arm of the articulated robot is used. A rotary shaft having a communication hole that is axially penetrated in the outer cylinder and is rotatably driven by a drive device and allows blow air to pass through; and a piston that is fixed on the rotary shaft and slides on the shaft. A handling device comprising: a cylinder device having a rod; and a clamp claw that is connected to a tip of the piston rod and is opened / closed in association with sliding of the piston rod to handle the blow rod.