JPH078146Y2 - Take-out robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a take-out robot which is applied, for example, when taking out a press-formed molded product from a molding machine.

(Prior Art) In a conventional take-out robot of this type, as shown in FIG. 4, for example, a vertically operating cylinder c is provided in a main body a suspended from the left and right guide rails b and b so as to be movable back and forth. Is installed, and an arm holder d which is vertically guided by a pair of guides e, e is attached to the piston rod C ₁ of the cylinder c. The arm holder d is equipped with a general-purpose joint jaw f ₁ and a component, respectively. Dedicated joint jaw f ₂ and connecting member g
A pair of left and right arms f and f connected via a mounting member d
₁ , the main body a is moved back and forth, and the arm holder d is moved up and down by the cylinder c, and the vacuum cups h and h attached to the tips of both arms f are moved forward and backward and up and down. It was controlled to move to and the molded product was taken out.

(Problems to be Solved by the Invention) In the case of the take-out robot, the movable directions of both arms f are limited to two directions, ie, the front-back direction and the vertical direction.
Since the space between them is regulated, it is necessary to manufacture the arm f in accordance with the shape and size of the molded product, which causes a problem of high cost and it is necessary to replace both arms f for each molded product. There is a problem in that the work of attaching and detaching the arm f to and from the arm holder d is complicated, and a space for storing the arm f of each size is required.

The present invention aims to solve the above problems.

(Means for Solving the Problems) The take-out robot of the present invention has a pair of elevating plates attached to the main body mounted so as to be controllable in the front-back direction so as to be vertically movable on both sides of the main body. And a first drive mechanism for vertically moving the pair of arm holders, which are respectively attached to the both elevating plates, in synchronization with each other, and at least one of the elevating plates is attached to the elevating plate. A second drive mechanism for vertically adjusting the relative position of a pair of arms respectively supported by the arm holders by vertically moving the arm holders assembled to the lifting plate individually is assembled. ,
Further, at least one of the arm holders is provided for tilting the arms supported by the arm holders in a horizontal direction to adjust the relative positions of a pair of take-out members attached to the both arms in the left-right direction. The third drive mechanism is assembled.

(Operation) When taking out a product such as a molded product, the main body is controlled to move in the front-rear direction, and a pair of lifting plates are attached to both sides of the main body so as to be movable up and down. The pair of arm holders and the pair of arms respectively supported by the both arm holders are moved in the front-back direction, and at the same time, by the first drive mechanism assembled to the main body, the both arms and the both arms. A pair of take-out members respectively attached to the arms are vertically moved and controlled.

Further, when taking out products having different shapes or dimensions, at least one arm holder is vertically moved and adjusted by the second drive mechanism to adjust the relative positions of the both arms and the two taking-out members in the vertical direction. Further, at least one arm is tilted and adjusted in the horizontal direction by the third drive mechanism to adjust the relative positions of the two take-out members in the horizontal direction.

(Effects of the Invention) Since the present invention is configured as described above, even when the shapes and dimensions of the products to be taken out are different, the relative positions of the two take-out members can be adjusted in the vertical direction according to the shape and the size of the products. It is possible to adjust the expansion and contraction in the left and right directions, eliminating the waste of having the arms of each specification, and saving the cost. Also, the work to remove the arm from the arm holder and replace the arm, and the space to store the arm. There is an effect that is unnecessary.

(Embodiment) Next, an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

In a take-out robot R for taking out a press-molded molded product from a molding machine, a pair of left and right, which are juxtaposed along the front-rear direction above the main body 1 at the upper end of the main body 1 formed in a rectangular tube shape. 4 pairs of left and right guide rollers 3 and 3 that slide on the upper and lower surfaces and side edges of the lower pieces 2a of the guide rails 2
The main body 1 is suspended from both guide rails 2 via the guide rollers 3 so that the main body 1 can be controlled to move in the front-rear direction while being restricted from moving in the up-down direction and the left-right direction.

The first motor 4 is attached to the outer surface of the rear wall 1b of the main body 1,
A drive gear 5 inserted in the main body 1 is fitted to the output shaft of the first motor 4, and the drive gear 5 is attached to the drive gear 5.
The driven gear 6a, which has the same number of teeth as that of the driven gear 6a and is rotatably supported by the front and rear walls 1a and 1b of the main body 1 and is inserted into the main body 1, is meshed.

A pair of longitudinally elongated slide guides 7 to 7 are attached in parallel over the entire length to the outer surfaces of the left and right side walls 1c and 1d of the main body 1.

On the left side of the main body 1, a rectangular plate-shaped upright portion 8a and this upright portion 8a
A left elevating plate 8 having a laterally projecting portion 8b that is continuously provided at the lower end of the main body 1 is additionally provided, while a rectangular plate-shaped right elevating plate 9 is additionally provided to the right of the main body 1. The front and rear end portions of the inner surface of the upright portion 8a of the left lift plate 8 and the front and rear end portions of the inner surface of the right lift plate 9 include the front side surface of the front slide guide 7 or the rear side surface of the rear slide guide 7. Two pairs of front and rear guide pieces 10 for vertically guiding the both elevating plates 8 and 9 by sliding on each side are formed so as to project inward, and both elevating plates 8 and 9 are formed on the left and right side walls 1c and 1d of the main body 1. On the other hand, they are movably supported in the vertical direction via the slide guides 7 and the guide pieces 10, respectively.

A pair of left and right rack gears 11 and 11 are vertically attached near the center of the inner surface of both lift plates 8 and 9, respectively, and the right rack gear 11 is meshed with the driven gear 5, while the left rack gear 11 is When the first motor 4 is driven to rotate by being engaged with the driven gear 6, the drive gear 5 and the driven gear 6 rotate at constant speed in opposite directions, the rack gears 11 move up and down together, and the lift plates 8 and 9 move up and down. Tune to.

In the vicinity of the central portion of the outer surface of the right elevating plate 9, a block 12 having screw holes 12a vertically extending through the outer end is integrally projected sideways, and a square plate is formed on the outer surface of the right elevating plate 9. Adjustment plate 1 having a vertical upright portion 13a and a laterally extending portion 13b that is continuously provided at the lower end of the upright portion 13a and is laterally extended laterally.
3 is attached so that it can slide up and down, and this adjustment plate 13
A vertically long through hole 14 is formed in the vicinity of the center of the upright portion 13a for inserting the block 12, and the outer surface of the upright portion 13a of the adjusting plate 13 has upper and lower end portions respectively. A pair of upper and lower bearing members 15 and 15 arranged and a support bracket 16 arranged slightly below the upper bearing member 15 are attached.

The upper and lower ends of a screw shaft 17 which is screwed into the screw hole 12a of the block 12 and is erected on the side of the adjusting plate 13 are rotatably supported by the two bearing members 15, respectively.
A large-diameter gear 18 fitted on the upper part of the splash shaft 17 so as to be rotatable about the upper end of the splash shaft 17, and a small-diameter gear 19 meshed with the large-diameter gear 18.
And a second motor 20 for rotationally driving the small diameter gear 19 in the forward and reverse directions. When the second motor 20 is rotationally driven, the screw shaft 17 rotates together with the large diameter gear 18 in the vertical direction. By screwing, the adjustment plate 13 moves up and down together with the bearing members 15 and the support bracket 16.

A left arm holder 21 for supporting the left arm 25 extending forward in a cantilevered manner so as to be horizontally rotatable is attached to the lower surface of the lateral projecting piece 8b of the left lifting plate 8, while the slide plate 13 is mounted. A right arm holder 21 for supporting the right arm 25 extending forward in a cantilevered manner so as to be horizontally rotatable is attached to the lower surface of the lateral projection piece 13b. The left and right arm holders 21 have a rectangular tubular block body 22 and a box-shaped case body 23.
Are connected to the front and rear, respectively, and substantially cylindrical mounting members 24 are attached to the lower sides of the block bodies 22 of both arm holders 21, respectively. A fastening portion 24a for inserting the base end portion of the arm 25 to releasably fasten it is formed at the tips of both mounting members 24, while the mounting member 24 is blocked on the upper surface near the rear end of both mounting members 24. In order to support the body 22 so as to be capable of tilting in the horizontal direction, support shafts 26 that are inserted near the center of the block body 22 are erected integrally with each other. 27 are fitted in each.

Worm wheels in the case body 23 of both arm holders 21
Worm gears 28 meshed with the respective 27 are rotatably supported, and a third motor 29 for rotating the worm gear 28 in the forward and reverse directions via the gears 32, 32 is provided on the outer surface of both case bodies 23. Each is attached. Third motor 29
When rotationally driven, the support shaft 26 rotates via the worm gear 28 and the worm wheel 27, the mounting member 24 tilts in the horizontal direction, and the shaft center m of the mounting member 24 and the proximal end portion of the arm 25 becomes the support shaft 26. By tilting about the axis n, the tilt angle of the arm 25 can be increased or decreased.

A vacuum cup communicated with the intake device via an intake pipe 31 that is piped along the arms 25 at the tips of both arms 25.
30 are mounted downwards to adsorb molded articles.

When taking out the molded product, the main body 1 is guided by the guide rails 2 and moved in the front-rear direction so that both arms are moved.
25 is moved together in the front-back direction, and the first motor 4 is rotationally driven in the forward and reverse directions to move both the elevating plates 8 and 9 in the vertical direction in synchronization with each other, so that both arms 25 and both vacuum cups 30 are synchronized in the vertical direction. It can be moved.

Further, when a molded product having a different shape or size is taken out, the second motor 20 is controlled to rotate in the forward and reverse directions to rotate the screw shaft 17 in the forward and reverse directions, and the right arm holder 2 and the right arm 25 are moved together with the adjustment plate 13. By vertically adjusting the relative positions of both arms 25 and both vacuum cups 30 according to the shape and size of the molded product, it is possible to adjust the expansion and contraction in the vertical direction.
One of the third motors 29 or both the third motors 29 is controlled to rotate in the forward and reverse directions to tilt the one arm 25 in the horizontal direction about the support shaft 26, so that the relative positions of the two vacuum cups 30 are changed to the shape of the molded product. The size can be adjusted to the left and right according to the dimensions.

Next, the operation and effect of the embodiment having the above-mentioned configuration will be described.

In this example, when the molded product is taken out, the main body 1 is controlled to move in the front-rear direction, the arms 25 and the vacuum cups 30 jointly move in the front-rear direction, and the first motor 4 is controlled to rotate to move both the elevating plates 8, 9 moves up and down in synchronization, and both arms 25 and both vacuum cups 30 move up and down in synchronization.

Further, when the shape and size of the molded product are different, if the second motor 20 is controlled to rotate in the forward and reverse directions, the screw shaft 17 rotates in the forward and reverse directions, and the right arm holder 21 and the right arm 25 move the adjustment plate.
It is vertically adjusted together with 13, and the relative positions of both arms 25 and both vacuum cups 30 can be expanded / contracted in the vertical direction according to the shape of the molded product. Furthermore, the third motor 29 is rotationally driven in the forward and reverse directions. Then, the arm 25 is tilted and adjusted about the support shaft 26 in the horizontal direction, and both vacuum cups 30 are moved.
The relative position of can be adjusted in the left-right direction according to the shape and size of the molded product.

Therefore, even if the shape and size of the product to be taken out are different, the relative positions of both vacuum cups 30 can be expanded and contracted vertically and horizontally according to the shape and size of the product. It is possible to reduce the cost by eliminating the waste of always having the
There is an effect that a work for detaching the arm 25 and replacing the arm 25 and a space for storing the arm 25 are unnecessary.

[Brief description of drawings]

1 to 3 show an embodiment of the present invention.
Figure is a perspective view of the whole, Figure 2 is a sectional view taken along line X1-X1 of Figure 1,
FIG. 3 is a view taken along the line X2-X2 in FIG. 2, and FIG. 4 is a perspective view of a conventional take-out robot. 1 …… Main body 8,9 …… Elevating plate 21 …… Arm holder 25 …… Arm 30 …… Vacuum cup (extracting member) R …… Extracting robot

Claims (1)

[Scope of utility model registration request] 1. A pair of lifting plates, which are attached to both sides of the main body so as to be vertically movable on both sides of the main body mounted so as to be controllable in the front-rear direction, are synchronously moved in the vertical direction. The first drive mechanism for vertically moving the pair of arm holders respectively mounted on the lifting plates is synchronized, and the arm holders mounted on the lifting plates are mounted on at least one of the lifting plates. And a second drive mechanism for vertically adjusting the relative positions of the pair of arms respectively supported by the both arm holders in the vertical direction, and further, at least on one side of the arm holders. The arm supported by the arm holder is tilted in the horizontal direction, and the relative positions of the pair of take-out members attached to the both arms are expanded / contracted in the left / right direction. Unloading robot, characterized in that assembling the third driving mechanism for settling.