JPH01301088A - Inserting device for work into metal mold by robot - Google Patents
Inserting device for work into metal mold by robotInfo
- Publication number
- JPH01301088A JPH01301088A JP18971688A JP18971688A JPH01301088A JP H01301088 A JPH01301088 A JP H01301088A JP 18971688 A JP18971688 A JP 18971688A JP 18971688 A JP18971688 A JP 18971688A JP H01301088 A JPH01301088 A JP H01301088A
- Authority
- JP
- Japan
- Prior art keywords
- mold
- tool
- robot
- workpiece
- guide pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002184 metal Substances 0.000 title abstract 8
- 238000003780 insertion Methods 0.000 claims abstract description 19
- 230000037431 insertion Effects 0.000 claims abstract description 19
- 230000008878 coupling Effects 0.000 claims abstract description 3
- 238000010168 coupling process Methods 0.000 claims abstract description 3
- 238000005859 coupling reaction Methods 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010411 cooking Methods 0.000 description 1
- 238000006713 insertion reaction Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は全型内所定位置にワークを挿入するロボットに
よる金型へのワーク挿入装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for inserting a workpiece into a mold using a robot, which inserts the workpiece into a predetermined position within the entire mold.
（従来技術）
第１５図、第１６図は従来のロボットによる金型へのワ
ーク挿入装置である。１は金型で前面にガイドピン２を
突設しである。３はロボットのマニプレータアームで先
端にワークエジェクタロッド４を有するフィンガー５を
回転自在に取り付け、該フィンガー５にボールスライド
軸受６を一体に固定しである。７はフィンガー５に装着
されたワークである。(Prior Art) FIGS. 15 and 16 show a conventional robot-based workpiece insertion device into a mold. 1 is a mold having a guide pin 2 protruding from its front surface. Reference numeral 3 denotes a manipulator arm of a robot, to which a finger 5 having a work ejector rod 4 at its tip is rotatably attached, and a ball slide bearing 6 is integrally fixed to the finger 5. 7 is a work attached to the finger 5.
次に作用について説明する。マニプレータアーム３を金
型１１’＋η面定位置に停止後、２方向に作動しボール
スライド軸受６をガイドピン２に嵌合して位ｎずれを無
くしている。吹いでエジェクタロッド４によりワーク７
を金型１にインサートする。Next, the effect will be explained. After the manipulator arm 3 is stopped at the fixed position of the mold 11'+η surface, it operates in two directions to fit the ball slide bearing 6 to the guide pin 2 to eliminate positional deviation. Work 7 by blowing and ejector rod 4
Insert into mold 1.
（発明が解決しようとする問題点）
ところで上記従来技術に於てはワークを金型に挿入した
時の反力がマニプレータアームにかかってしまう。特に
金型の取り数が多い時はワーク１個の挿入反力が小さく
ても全体としてはかなり大きな反力となる。また、成形
機が大型になるとアーム基部からツールまでの距離が長
くなりアーム剛性が小さくなる傾向にある。(Problems to be Solved by the Invention) However, in the above-mentioned prior art, a reaction force is applied to the manipulator arm when the workpiece is inserted into the mold. Particularly when the number of molds is large, even if the insertion reaction force of one workpiece is small, the reaction force as a whole becomes quite large. Furthermore, as the molding machine becomes larger, the distance from the arm base to the tool increases, and the arm rigidity tends to decrease.
これらにより第１６図の如く、アームがたわんでしまう
ため金型とツールの平行が狂ってしまい、ワークがこじ
りを起し挿入不能になったり、ワーク挿入完了のセンサ
ーがワーク挿入が完了していないにもかかわらず挿入を
検知するという問題点があった。As shown in Figure 16, this causes the arm to bend, causing the mold and tool to become out of parallel, causing the workpiece to twist and become impossible to insert, or for the workpiece insertion completion sensor to indicate that the workpiece insertion has not been completed. However, there was a problem in detecting insertion.
このため、アームの剛性を大きくするとアーム重量が増
大してロボットの動作速度が遅くなって生産性が下って
しまう。For this reason, increasing the rigidity of the arm increases the weight of the arm, slows down the operating speed of the robot, and reduces productivity.
また、スクッキングモールド等の様な金型がワーク挿入
方向に対し動いてしまう様な場合、ワークが挿入できな
いという問題点もあった。Furthermore, there is also the problem that the workpiece cannot be inserted when a mold such as a cooking mold moves with respect to the workpiece insertion direction.
（問題点を解決するための手段）
本発明は上記問題点を解決することを目的としたもので
、■ロボットアームに設けられたワーク挿入用のツール
と金型とをインサート位置で結合する手段を設けたロボ
ットによる金型へのワーク挿入装置。■金型に設けられ
たガイドピンに嵌合するコレットチャックを配設したロ
ボットによる金型へのワーク挿入装置。■ワーク挿入用
のツールに金型に設けられたガイドブツシュに嵌合する
内径コレラｊ・チャック及びコレットチャック先端部拡
σ汀用のロッドと、該ロッド駆動用の直動型アクチュエ
ータを設けたロボットによる金型へのワーク挿入装置。(Means for Solving the Problems) The present invention is aimed at solving the above-mentioned problems, and includes: a means for connecting a tool for inserting a workpiece provided on a robot arm and a mold at an insert position; A device for inserting workpieces into molds using robots equipped with ■A device for inserting work into a mold using a robot equipped with a collet chuck that fits into a guide pin provided in the mold. ■The tool for inserting the workpiece is equipped with a rod for enlarging the tip of the inner diameter chuck and collet chuck that fits into the guide bush provided in the mold, and a direct-acting actuator to drive the rod. A device for inserting workpieces into molds using robots.
■金型に設けたガイドピンに環溝を設け、ツールに固定
したチャックに前記環溝に係止するつめ及び直動型アク
チュエータを設けたロボットによる金型へのワーク挿入
装置。■金型にツールを把持するつめを設けたロボット
による金型へのワーク挿入装置。■金型に設けたガイド
ピンに径方向の溝を設け、該溝に嵌合する板及び直動型
アクチュエータをツールに設けたロボットによる金型へ
のワーク挿入装置。■金型に設けたガイドピンに径方向
の孔を形成し、該孔に嵌合するロッド及び直動型アクチ
ュエータをツールに設けたロボットによる金型へのワー
ク挿入装置。■A device for inserting a workpiece into a mold using a robot, in which a guide pin provided in a mold is provided with an annular groove, and a chuck fixed to a tool is provided with a pawl that engages in the annular groove and a direct-acting actuator. ■A device for inserting work into a mold using a robot that has claws on the mold to grip the tool. ■A device for inserting a workpiece into a mold using a robot, in which a guide pin provided in the mold is provided with a radial groove, and the tool is equipped with a plate that fits into the groove and a direct-acting actuator. ■A device for inserting a workpiece into a mold using a robot, in which a radial hole is formed in a guide pin provided in the mold, and a rod and a direct-acting actuator that fit into the hole are provided in the tool.
■金型外周面に溝を設け、該溝に係止するレバーとロー
タリーアクチュエータをツールに設けたロボットによる
金型へのワーク挿入装置。■金型にツールを嵌合するガ
イドを設けたロボットによる金型へのワーク挿入装置。■A device for inserting workpieces into a mold using a robot, which has a groove on the outer circumferential surface of the mold, and a tool equipped with a lever and rotary actuator that locks into the groove. ■A device for inserting work into a mold using a robot equipped with a guide to fit the tool into the mold.
（１０）金型に設けられたガイドピンの径より大径の穴
を形成した移動部材をツールに設け、該移動部材を穴の
軸と直角方向に恥動するアクチュエータを設けたロボッ
トによる金型へのワーク挿入装置。(10) A mold made by a robot in which a tool is provided with a movable member in which a hole is formed with a diameter larger than the diameter of a guide pin provided in the mold, and an actuator is provided to move the movable member in a direction perpendicular to the axis of the hole. Workpiece insertion device.
■金型前面にガイドピンを突設し、マニプレータアーム
先端にワークエジェクタロッドを有するフィンガーを回
転自在しこ取り付け、該フィンガーに前記ガイドピンに
嵌合する軸受部材を一体に固定したロボットのインサー
ト用フィンガー装置に於て、該軸受部材の軸受孔と同４
Ｑｈにガイドピンが嵌挿するシリンダー室を形成し、該
シリンダー室と吸引源とを選択連通し、軸受部材を金型
に吸着固定し得るようなしたロボットによる金型へのワ
ーク挿入装置としたことを特徴とするものである。■A robot insert with a guide pin protruding from the front of the mold, a rotatable finger with a work ejector rod attached to the tip of the manipulator arm, and a bearing member that fits into the guide pin fixed to the finger. In the finger device, the bearing hole of the bearing member is the same as 4.
A device for inserting a workpiece into a mold by a robot, in which a cylinder chamber into which a guide pin is inserted is formed in the Qh, selective communication is made between the cylinder chamber and a suction source, and a bearing member can be fixed to the mold by suction. It is characterized by this.
以下、図示した各実施例に基づいて具体的に説明する。Hereinafter, a detailed description will be given based on each of the illustrated embodiments.
第１図、第２図は本発明の第１実施例である。１は金型
で前面にガイドピン２を突設しである。３はロボットの
マニプレータアームで先端にワークエジェクタロッド４
を有するツール５を回転自在に取り付け、該ツール５に
ボールスライド軸受６を一体に固定しである。1 and 2 show a first embodiment of the present invention. 1 is a mold having a guide pin 2 protruding from its front surface. 3 is the manipulator arm of the robot with a work ejector rod 4 at the tip.
A ball slide bearing 6 is integrally fixed to the tool 5.
７はツール５に装着されたワークである。以上の装置は
従来公知の装置であり、本考案はこのような公知の装置
に於てボールスライド軸受６と同軸にその後方にコレク
トチャック筐体８をツール５に固定しである。９はコレ
クトチャック、１０はエアポートであ、る。7 is a work mounted on the tool 5. The above-mentioned device is a conventionally known device, and the present invention fixes the collect chuck housing 8 to the tool 5 coaxially with the ball slide bearing 6 and behind it in such a known device. 9 is a collection chuck, and 10 is an airport.
次に作用について説明する。ツールを金型１前面定位置
に停止後、Ｘ方向に動作し、ボールスライド軸受６をガ
イドピン２に嵌合しツール５のｘ、ｙ、ｚ方向の位置決
めがなされ、その時点でエアポート１０に圧縮エアを供
給し、ガイドピン２をコレクトチャック９で固定する。Next, the effect will be explained. After the tool is stopped at a fixed position in front of the mold 1, it moves in the X direction, the ball slide bearing 6 is fitted to the guide pin 2, and the tool 5 is positioned in the x, y, and z directions, and at that point it is moved to the air port 10. Compressed air is supplied and the guide pin 2 is fixed with a collect chuck 9.
次いでエアポート１１に圧縮エアを供給してエジェクタ
ロッド４を押し出し、ワーク７を金型１定位置に挿入す
る。ワーク受けわたしが完了した後、エアポート１０．
１１へのエア供給を止めコレクトチャック９をガイドピ
ン２から放した後ツール５を元の位置に戻す。Next, compressed air is supplied to the air port 11 to push out the ejector rod 4, and the workpiece 7 is inserted into the mold 1 at a fixed position. After completing the work transfer, Airport 10.
After stopping the air supply to 11 and releasing the collect chuck 9 from the guide pin 2, the tool 5 is returned to its original position.
第３図は本発明の第２の実施例を示すもので、金型２１
に設けられた挿入孔２１ａの孔に先端を２つ割りもしく
は３つ割りにしたコレクトチャック２２の先端２２ａを
挿入するものである。コレクトチャック２２内部ではチ
ャック内のテーバ部２２ｂに当接するテーパ部２３ｂを
備えたロッド２３が摺動自在にツール２４に設けられて
おり、その後端はエアシリンダ２５のロッド２６と結合
している。コレクトチャック２２の先端部２２ａがブツ
シュ２１ａに挿入されたのち、エアシリンダ２５を作動
させるとコレクトチャック先端２２ａが開き、ブツシュ
２１ａ内径とコレクトチャック２２とはくさび効果によ
り強力に結合される。この実施例はガイドピンが設けて
ない方の金型にワークを挿入する場合有効である。FIG. 3 shows a second embodiment of the present invention, in which a mold 21
The tip 22a of the collect chuck 22, whose tip is split into two or three, is inserted into the insertion hole 21a provided in the hole. Inside the collect chuck 22, a rod 23 having a tapered portion 23b that contacts a tapered portion 22b inside the chuck is slidably provided on the tool 24, and its rear end is connected to a rod 26 of an air cylinder 25. After the tip 22a of the collect chuck 22 is inserted into the bushing 21a, when the air cylinder 25 is operated, the tip 22a of the collect chuck opens, and the inner diameter of the bush 21a and the collect chuck 22 are strongly coupled by a wedge effect. This embodiment is effective when a workpiece is inserted into a mold that is not provided with a guide pin.
第４図は本発明の第３の実施例を示すもので、金型３１
に設けられたガイドピン３２の環溝３２ａにツール３４
に設けたチャック３５のつめ３６を係止させるものであ
る。FIG. 4 shows a third embodiment of the present invention, in which a mold 31
The tool 34 is inserted into the annular groove 32a of the guide pin 32 provided in the
This is to lock the pawl 36 of the chuck 35 provided in the.
第５図は本発明の第４実施例を示すもので、金型４１に
設けられたつめ４２によりツール４３を把持するもので
ある。４４は金型４１に設けられたつめ４２開閉用のエ
アシリンダである。FIG. 5 shows a fourth embodiment of the present invention, in which a tool 43 is held by claws 42 provided on a mold 41. Reference numeral 44 denotes an air cylinder for opening and closing the pawl 42 provided in the mold 41.
第６図、第７図は本発明の第５実施例を示すもので、金
型５１に設けられたガイドピン５２に径方向の溝５２ａ
を設け、この溝にはまり込む板５３をツール５６に設け
たエアシリンダ５４のロッド５５に結合したものである
。6 and 7 show a fifth embodiment of the present invention, in which a guide pin 52 provided in a mold 51 has a radial groove 52a.
A plate 53 that fits into this groove is connected to a rod 55 of an air cylinder 54 provided on a tool 56.
第８図は本発明の第６実施°例を示すもので、金型６１
に設けられたガイドピン６２に径方向の孔６２ａを形成
し、ツール６５に設けられたエアシリンダ６３のロッド
６４を嵌合させるものである。FIG. 8 shows a sixth embodiment of the present invention, in which a mold 61
A radial hole 62a is formed in a guide pin 62 provided in the tool 65, into which a rod 64 of an air cylinder 63 provided in the tool 65 is fitted.
第９図、第１０図は本発明の第７実施例を示すもので、
金型７１外周面に設けられた溝７１ａに係止されるレバ
ー７２をそのシャフト７３に結合したロータリーアクチ
ュエータ７４をツール７５に設けたものである。9 and 10 show a seventh embodiment of the present invention,
A tool 75 is provided with a rotary actuator 74 whose shaft 73 is connected to a lever 72 which is engaged with a groove 71a provided on the outer peripheral surface of the mold 71.
以上、第３乃至第７の実施例は装置が大きくなるがツー
ルと金型の確実な結合を得ることができる。As described above, in the third to seventh embodiments, although the apparatus becomes larger, a reliable connection between the tool and the mold can be obtained.
第１１図は本発明の第８実施例を示すもので、金型８１
に設けたガイド８２にツール８３を嵌合させるものであ
る。この方法によるとツール８３と金型８１との結合の
ための暉動装置が不用になる。FIG. 11 shows an eighth embodiment of the present invention, in which a mold 81
A tool 83 is fitted into a guide 82 provided in the. According to this method, a sliding device for coupling the tool 83 and the mold 81 is unnecessary.
第１２図、第１３図は本発明の第９実施例である。金型
８４に設けられたガイドピン８５の径より大径の六８６
ａを形成した移動部材８６をロボットアーム（図示省略
）の先端に設けられたツール８７に摺動自在に設ける。FIGS. 12 and 13 show a ninth embodiment of the present invention. Six 86 with a diameter larger than the diameter of the guide pin 85 provided in the mold 84
A movable member 86 having a shape formed thereon is slidably mounted on a tool 87 provided at the tip of a robot arm (not shown).
該移動部材８６はツール８７に設けられたエアシリンダ
８８のロッド８８ａと結合している。また、エアシリン
ダ８８は前記穴８６ａの軸と直角方向に駆動されるよう
になっている。８７ａは移動部材８６のガイド部、８７
ｃは移動部材８６のストッパ部である。また、８９はガ
イドブツシュである。８６は摩擦係数の大きい材料を用
いるか、穴内面に摩擦係数の大きい部材、例えばゴム等
を貼ることが望ましい。The moving member 86 is connected to a rod 88a of an air cylinder 88 provided on a tool 87. Furthermore, the air cylinder 88 is driven in a direction perpendicular to the axis of the hole 86a. 87a is a guide portion of the moving member 86;
c is a stopper portion of the moving member 86. Further, 89 is a guide bush. It is desirable to use a material with a large coefficient of friction for the hole 86, or to affix a member with a large coefficient of friction, such as rubber, to the inner surface of the hole.
次に作用について説明する。Next, the effect will be explained.
ロボットに開動されてツール８７が金型８４方向に移動
すると、ガイドピン８５は移動部材８６の六８６ａを貫
通しガイドブツシュ８９に嵌合する。次にエアシリンダ
８８を作動させる移動部材８６の六８６ａはその一部が
ガイドピン８５に押し当てられる。この時、ガイドピン
軸方向にはＦ＝ＰＸμ（Ｐはエアシリンダ８８の推力、
μはガイドピンと移動部材８６の六８６ａの摩擦係数）
という力Ｆ以下モあれば、摩擦によりツール８７は金型
８４に対して動かないので、ワーク挿入による反力をこ
のＦ以下とすれば確実にワーク挿入を行なうことができ
る。When the tool 87 is moved toward the mold 84 by being opened by the robot, the guide pin 85 passes through the six 86a of the moving member 86 and fits into the guide bush 89. Next, a portion of the six 86a of the moving member 86 that operates the air cylinder 88 is pressed against the guide pin 85. At this time, in the guide pin axial direction, F=PXμ (P is the thrust of the air cylinder 88,
μ is the coefficient of friction between the guide pin and the moving member 86 86a)
If the force is less than F, the tool 87 will not move relative to the mold 84 due to friction, so if the reaction force caused by inserting the workpiece is set to be less than this F, the workpiece can be inserted reliably.
また、この方式は描成する各部材が簡単で、かつ頑丈な
ので耐久性が高いという効果がある。In addition, this method has the effect of being highly durable because each member to be drawn is simple and sturdy.
なお、この装置を金型に設けられた１対のガイドピンに
それぞれ用いた時、２個の装置のエアシリンダの原動方
向を逆にすれば反力が打ち消されるので精度的にも安定
する。Note that when this device is used for each of a pair of guide pins provided in a mold, if the driving directions of the air cylinders of the two devices are reversed, the reaction force is canceled out, resulting in stable precision.
また、摩擦係数や耐摩耗性に問題がなければガイドピン
には穴（円筒面）でなく平面による押圧でもかまわない
。Furthermore, if there are no problems with the friction coefficient or wear resistance, the guide pin may be pressed by a flat surface instead of a hole (cylindrical surface).
なお、上記各実施例に於てツールに設けた装置を金型に
設け、金型に設けた装置をツールに設けてもよく、又他
の手段で金型とツールを結合させてもよい。In each of the above embodiments, the device provided on the tool may be provided on the mold, the device provided on the mold may be provided on the tool, or the mold and tool may be coupled by other means.
第１４図は本発明の第１０実施例を示すものである。９
１は金型で前面にガイドピン９２を突設しである。９３
はロボットのマニプレータアームで先端にワークエジェ
クタロッド９４を有するツール９５を回転自在に取り付
け、該ツール９５に軸受部材９６を一体に固定し、該軸
受部材９６の軸受孔９７と同軸にガイドピン９２が嵌挿
するシリンダー室９８を形成し、パイプ９９により図示
しない吸引源に選択連結し得るようになっている。１０
０．１０１はシリンダー室を気密にするための０リング
である。FIG. 14 shows a tenth embodiment of the present invention. 9
1 is a mold having a guide pin 92 protruding from its front surface. 93
A tool 95 having a work ejector rod 94 at the tip is rotatably attached to the manipulator arm of the robot, a bearing member 96 is integrally fixed to the tool 95, and a guide pin 92 is coaxially attached to the bearing hole 97 of the bearing member 96. A cylinder chamber 98 is formed into which the cylinder chamber 98 is inserted, and can be selectively connected to a suction source (not shown) through a pipe 99. 10
0.101 is an O-ring to make the cylinder chamber airtight.
次に作用について説明する。ツール９５をガイドピン９
２に対して位置決めし、第１２図の如く軸受孔９７にガ
イドピン９２を嵌合し、軸受部材９６を金型９１前面に
当接し、次いでシリンダー室９８と吸引源とを連通して
シリンダー室９８内に吸引力を作用させ、軸受部材９６
を金型９１に一体に吸看固定する。ワーク挿入後はシリ
ンダー室９８の吸引力を停止しツール９５をガイドピン
９２より引き１友く。Next, the effect will be explained. Tool 95 to guide pin 9
2, fit the guide pin 92 into the bearing hole 97 as shown in FIG. By applying a suction force inside the bearing member 96
are integrally fixed to the mold 91 by suction. After inserting the workpiece, the suction force of the cylinder chamber 98 is stopped and the tool 95 is pulled away from the guide pin 92.
（効 果）
以上述べたように本発明によると■ロボットアームに設
けられたワーク挿入用のツールと金型とをインサート位
置で結合する手段を設けたロボットによる金型へのワー
ク挿入装置。■金型に設けられたガイドピンに嵌合する
コレットチャックを配設したロボットによる金型へのワ
ーク挿入装置。（′Ｓ）ワーク挿入用のツールに金型に
設けられたガイドブツシュに嵌合する内径コレットチャ
ック及びコレラｊ・チャック先端部拡開用のロッドと、
該ロッド駆動用の直動型アクチュエータを設けたロボッ
トによる金型へのワーク挿入装置。■金型に設けたガイ
ドピンに環溝を設け、ツールに固定したチャックに前記
環溝に係止するつめ及び直動型アクチュエータを設けた
ロボッ！・による金型へのワーク挿入装置。(Effects) As described above, according to the present invention: (1) A device for inserting a workpiece into a mold by a robot, which is provided with a means for connecting a tool for inserting a workpiece provided on a robot arm and a mold at an insert position. ■A device for inserting work into a mold using a robot equipped with a collet chuck that fits into a guide pin provided in the mold. ('S) An inner diameter collet chuck that fits into a guide bush provided on the mold as a tool for inserting the workpiece, and a rod for expanding the tip of the Cholera J chuck;
A device for inserting a workpiece into a mold using a robot equipped with a direct-acting actuator for driving the rod. ■A robot with an annular groove on the guide pin provided on the mold, and a chuck fixed to the tool with a claw and a direct-acting actuator that engages in the annular groove! - Workpiece insertion device into the mold.
■金型にツールを把持するつめを設けたロボットによる
金型へのワーク挿入装置。■金型に設けたガイドピンに
径方向の溝を設け、該溝に嵌合する板及び直動型アクチ
ュエータをツールに設けたロボットによる金型へのワー
ク挿入’ＷＵ。■A device for inserting work into a mold using a robot that has claws on the mold to grip the tool. ■ A radial groove is provided on the guide pin provided in the mold, and the workpiece is inserted into the mold by a robot whose tool is equipped with a plate that fits into the groove and a direct-acting actuator.
■金型に設けたガイドピンに径方向の孔を形成し、該孔
に嵌合するロッド及び直動型アクチュエータをツールに
設けたロボットによる金型へのワーク挿入装置。■金型
外周面に溝を設け、該溝に係止するレバーとロータリー
アクチュエータをツールに設けたロボットによる金型へ
のワーク挿入装置。■金型にツールを嵌合するガイドを
設けたロボットによる金型へのワーク挿入装置。（１０
）金型に設けられたガイドピンの径より大径の穴を形成
した移動部材をツールに設け、該移動部材を穴の軸と直
角方向に即動するアクチュエータを設けたロボットによ
る金型へのワ−り挿入装置。０金型前面にガイドピンを
突設し、マニプレータアーム先端にワークエジェクタロ
ッドを有するフィンガーを回転自在に取り付け、該フィ
ンガーに前記ガイドピンに嵌合する軸受部材を一体に固
定したロボットのインサート用フィンガー装置に於て、
該軸受部材の軸受孔と同軸にガイドピンが嵌挿するシリ
ンダー室を形成し、該シリンダー室と吸引源とを選択連
通し、軸受部材を金型に吸着固定し得るようなしたロボ
ットによる金型へのワーク挿入装置としたので、ワーク
挿入時の反力がロボットアーム及び金型にｆｌ’Ｊしな
いので、ロボットアームや金型がワーク挿入方向に変位
することがなく、通常の金型のほかスタッキングモール
ド等、金型が動いてしまう様な場合でも確実にワークを
挿入することができる。■A device for inserting a workpiece into a mold using a robot, in which a radial hole is formed in a guide pin provided in the mold, and a rod and a direct-acting actuator that fit into the hole are provided in the tool. ■A device for inserting workpieces into a mold using a robot, which has a groove on the outer circumferential surface of the mold, and a tool equipped with a lever and rotary actuator that locks into the groove. ■A device for inserting work into a mold using a robot equipped with a guide to fit the tool into the mold. (10
) The tool is equipped with a movable member in which a hole with a diameter larger than the diameter of the guide pin provided in the mold is formed, and the movable member is moved into the mold by a robot equipped with an actuator that immediately moves the movable member in a direction perpendicular to the axis of the hole. Work insertion device. A robot insert finger in which a guide pin is provided protruding from the front of the mold, a finger having a work ejector rod is rotatably attached to the tip of the manipulator arm, and a bearing member that fits into the guide pin is integrally fixed to the finger. In the device,
A mold formed by a robot, which forms a cylinder chamber into which a guide pin is inserted coaxially with the bearing hole of the bearing member, selectively communicates the cylinder chamber with a suction source, and is capable of adsorbing and fixing the bearing member to the mold. Since the workpiece insertion device is used as a workpiece insertion device, the reaction force at the time of workpiece insertion does not affect the robot arm and mold, so the robot arm and mold do not displace in the workpiece insertion direction, and can be used in addition to normal molds. Workpieces can be inserted reliably even when the mold moves, such as in stacking molds.
また、従来のロボットアームに比べて剛性をかなり小さ
く軽量化することもできるので、ロボット動作速度が増
大し、停止位置精度、生産性も向上する効果もある。Furthermore, since the rigidity can be considerably reduced and the weight can be reduced compared to conventional robot arms, the robot operating speed can be increased, and the stopping position accuracy and productivity can also be improved.
第１図は本発明の第１実施例のワーク挿入前の一部切断
正面図、第２図は同ワーク挿入時の一部切断正面図、第
３図は本発明の第２実施例要部正断面図、第４図は本発
明の第３実施碗要部正断面図、第５図は本発明の第４実
施例要部斜視図、第６図は本発明の第５実施例要部正断
面図、第７図は同右側面図、第８図は本発明の第６実施
例要部正ＩＧ面図、第９図は本発明の第７実施例要部正
面図、第１０図は第９図のＡ−Ａ側面図、第１１図は本
発明の第８実施例要部斜視図、第１２図は本発明の第９
実施例要部正断面図、第１３図は第１２図のＡ−Ａ側面
図。
第１４図は本発明の第１０実施例のワーク挿入時の一部
切断正面図、第１５図は従来装置のワーク挿入前の一部
切断正面図、第１６図は同ワーク挿入時の一部切断正面
図である。
１．２１．３１．４１．５１．６１．７１．８１．８４
．９１・・・金型２、３２．５２．６２．８５．９２・
・・ガイドピン３．９３・・・マニプレータアーム
４．９４・・・エジェクタロッド
５．２４，３４．４３．５６．６５．７５．８３．８７
．９５・・・ツール６・・・ボールスライド軸受
７・・・ワーク
８．９，２２，３６・・・チャック
１０．１１・・・エアポー１〜
２５．４４，５４．６３・・・エアシリンダ７４・・・
ロータリーアクチュエータ
８６・・・移動部材
８６ａ・・・穴
８８・・・エアシリンダ
８８ａ・・・ロッド
９６・・・軸受部材
′９７・・・軸受孔
９８・・・シリンダー室FIG. 1 is a partially cutaway front view of the first embodiment of the present invention before inserting the workpiece, FIG. 2 is a partially cutaway front view of the same workpiece being inserted, and FIG. 3 is a main part of the second embodiment of the present invention. 4 is a front sectional view of a main part of a third embodiment of the present invention, FIG. 5 is a perspective view of a main part of a fourth embodiment of the present invention, and FIG. 6 is a main part of a fifth embodiment of the present invention. 7 is a right side view of the same, FIG. 8 is a front IG view of the main part of the sixth embodiment of the present invention, FIG. 9 is a front view of the main part of the seventh embodiment of the present invention, and FIG. 10 is a side view taken along the line A-A in FIG. 9, FIG. 11 is a perspective view of essential parts of the eighth embodiment of the present invention, and FIG. 12 is a view of the ninth embodiment of the present invention.
FIG. 13 is a front sectional view of the main part of the embodiment, and FIG. 13 is a side view taken along line AA in FIG. 12. Fig. 14 is a partially cutaway front view of the 10th embodiment of the present invention when the workpiece is inserted, Fig. 15 is a partially cutaway front view of the conventional device before the workpiece is inserted, and Fig. 16 is a partially cutaway front view of the conventional device when the workpiece is inserted. FIG. 1.21.31.41.51.61.71.81.84
．． 91... Mold 2, 32.52.62.85.92.
... Guide pin 3.93 ... Manipulator arm 4.94 ... Ejector rod 5.24, 34.43.56.65.75.83.87
．． 95...Tool 6...Ball slide bearing 7...Workpiece 8.9, 22, 36...Chuck 10.11...Air port 1~25.44,54.63...Air cylinder 74 ...
Rotary actuator 86... Moving member 86a... Hole 88... Air cylinder 88a... Rod 96... Bearing member '97... Bearing hole 98... Cylinder chamber
Claims (11)
ルと金型とをインサート位置で結合する手段を設けたロ
ボットによる金型へのワーク挿入装置。(1) A device for inserting a workpiece into a mold using a robot, which is provided with a means for coupling a workpiece insertion tool provided on a robot arm and a mold at an insert position.
チャックを配設したロボットによる金型へのワーク挿入
装置。(2) A workpiece insertion device into a mold using a robot equipped with a collet chuck that fits into a guide pin provided in the mold.
ブッシュに嵌合する内径コレットチャック及びコレット
チャック先端部拡開用のロッドと、該ロッド駆動用の直
動型アクチュエータを設けたロボットによる金型へのワ
ーク挿入装置。(3) A robot equipped with a workpiece insertion tool equipped with an inner diameter collet chuck that fits into a guide bush provided in the mold, a rod for expanding the tip of the collet chuck, and a direct-acting actuator for driving the rod. Workpiece insertion device into the mold.
固定したチャックに前記環溝に係止するつめ及び直動型
アクチュエータを設けたロボットによる金型へのワーク
挿入装置。(4) A device for inserting a workpiece into a mold using a robot, in which a guide pin provided in a mold is provided with an annular groove, and a chuck fixed to a tool is provided with a pawl that engages in the annular groove and a direct-acting actuator.
よる金型へのワーク挿入装置。(5) A device for inserting a workpiece into a mold using a robot, the mold having claws for gripping the tool.
溝に嵌合する板及び直動型アクチュエータをツールに設
けたロボットによる金型へのワーク挿入装置。(6) A device for inserting a workpiece into a mold using a robot, in which a guide pin provided in a mold is provided with a radial groove, and a tool is provided with a plate that fits into the groove and a direct-acting actuator.
該孔に嵌合するロッド及び直動型アクチュエータをツー
ルに設けたロボットによる金型へのワーク挿入装置。(7) Forming a radial hole in the guide pin provided in the mold,
A device for inserting a workpiece into a mold using a robot, which has a tool equipped with a rod that fits into the hole and a direct-acting actuator.
ロータリーアクチュエータをツールに設けたロボットに
よる金型へのワーク挿入装置。(8) A device for inserting a workpiece into a mold using a robot, in which a groove is provided on the outer peripheral surface of the mold, and a tool is provided with a lever and a rotary actuator that engage in the groove.
による金型へのワーク挿入装置。(9) A device for inserting a workpiece into a mold using a robot provided with a guide for fitting a tool into the mold.
を形成した移動部材をツールに設け、該移動部材を穴の
軸と直角方向に駆動するアクチュエータを設けたロボッ
トによる金型へのワーク挿入装置。(10) A tool is equipped with a movable member in which a hole with a diameter larger than the diameter of a guide pin provided in the mold is formed, and a robot is equipped with an actuator that drives the movable member in a direction perpendicular to the axis of the hole. workpiece insertion device.
アーム先端にワークエジェクタロッドを有するフィンガ
ーを回転自在に取り付け、該フィンガーに前記ガイドピ
ンに嵌合する軸受部材を一体に固定したロボットのイン
サート用フィンガー装置に於て、該軸受部材の軸受孔と
同軸にガイドピンが嵌挿するシリンダー室を形成し、該
シリンダー室と吸引源とを選択連通し、軸受部材を金型
に吸着固定し得るようなしたロボットによる金型へのワ
ーク挿入装置。(11) A robot insert in which a guide pin is provided protruding from the front of the mold, a finger with a work ejector rod is rotatably attached to the tip of the manipulator arm, and a bearing member that fits into the guide pin is integrally fixed to the finger. In the finger device, a cylinder chamber into which a guide pin is inserted coaxially with the bearing hole of the bearing member is formed, the cylinder chamber and the suction source are selectively communicated, and the bearing member is fixed to the mold by suction. A device for inserting work into a mold using a robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18971688A JPH01301088A (en) | 1987-12-24 | 1988-07-29 | Inserting device for work into metal mold by robot |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62-194935 | 1987-12-24 | ||
| JP19493587 | 1987-12-24 | ||
| JP63-18727 | 1988-01-29 | ||
| JP18971688A JPH01301088A (en) | 1987-12-24 | 1988-07-29 | Inserting device for work into metal mold by robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01301088A true JPH01301088A (en) | 1989-12-05 |
Family
ID=26505643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18971688A Pending JPH01301088A (en) | 1987-12-24 | 1988-07-29 | Inserting device for work into metal mold by robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01301088A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0417375U (en) * | 1990-05-30 | 1992-02-13 | ||
| EP1142667A2 (en) * | 2000-04-03 | 2001-10-10 | Alzmetall Werkzeugmaschinenfabrik Und Giesserei Friedrich Gmbh & Co. | Unit for machining metallic workpieces arranged on a workpiece carrier |
-
1988
- 1988-07-29 JP JP18971688A patent/JPH01301088A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0417375U (en) * | 1990-05-30 | 1992-02-13 | ||
| EP1142667A2 (en) * | 2000-04-03 | 2001-10-10 | Alzmetall Werkzeugmaschinenfabrik Und Giesserei Friedrich Gmbh & Co. | Unit for machining metallic workpieces arranged on a workpiece carrier |
| EP1142667A3 (en) * | 2000-04-03 | 2002-05-08 | Alzmetall Werkzeugmaschinenfabrik Und Giesserei Friedrich Gmbh & Co. | Unit for machining metallic workpieces arranged on a workpiece carrier |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4439751B2 (en) | Grasping / insertion device for inserted object, grasping / inserting method for inserted object and assembly unit | |
| US4697838A (en) | Robot gripping jaw operator | |
| JPS59500462A (en) | Machine Tools | |
| US6902159B2 (en) | Sealed pin locating and clamping apparatus | |
| JP3699193B2 (en) | 4-jaw chuck | |
| US20180057278A1 (en) | Pallet device, machine tool and machining system which clamp workpiece | |
| US4550922A (en) | Workholder | |
| JPH01301088A (en) | Inserting device for work into metal mold by robot | |
| JP2023166347A (en) | Seal material application station and assembly system for component connection | |
| CN108015137B (en) | Feeding main shaft device, pipe bending machine and material clamp mechanism | |
| US4685687A (en) | Workholder | |
| JPH03178794A (en) | Robot hand for holding circular body | |
| JP2574028Y2 (en) | Seating and gripping confirmation device | |
| JPH09267287A (en) | Four-claw chuck | |
| US20230356289A1 (en) | Assembly Tool And Assembly System For Connecting Components | |
| JPH0413069Y2 (en) | ||
| CN213970123U (en) | Automatic frock of four-axis rotation machining center | |
| JPH0641768Y2 (en) | Chuck for lathe | |
| JP2533680Y2 (en) | Work pressing device | |
| JP4475392B2 (en) | Work holder | |
| JP2517463Y2 (en) | Finger chuck for wheel processing | |
| JPS6342969Y2 (en) | ||
| EP0218756A1 (en) | Improved workholder | |
| JPS62130109A (en) | Automatically replaceable collet chuck | |
| JPH0347794Y2 (en) |