JPS5810478A - Robot for press - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial lot, particularly a press gutter used for supplying material to a press machine or for removing molded products from a press machine.

There are two types of conventional press Kawaguchi get: one with a rotating arm and one with a horizontally moving arm.

Figures 1 and 2 show the 0&
Indicates the point. ? Lusta! The press body frame 30 having the operation switch 2 is provided with an arm par Is that can rotate around the arm shaft 4, and the pivoting movement of the arm par 5 feeds the material to the metal lid on the rustal l. Or take out molded products from gold.

However, in such an arm-swivel type press opening, the tip of the arm #5, which rotates around the arm shaft 4 located outside the Luster 1, reaches the center of the Luster 1. As a result, the 45Fi arm became very long, the number of electric switches increased, and the inertia force was large.It was difficult to turn the arm par 5 at high speed, and the cycle time became long. Furthermore, the longer arm par 5 means that the arm par 5 must be made stronger, which increases the price and also increases the work space.

Figures 3 and 4 show a conventional CI for a press with a horizontally moving arm.
Showing the pot. The press body frame 3, which has a bolster 1 and an operation switch 2, has a horizontally movable 1k fo
A block 6 is provided, and an arm par 7 is fixed to this block 6. By moving the arm par 7 in the horizontal and lateral directions, material is supplied to the mold on the bolster 1 or a molded product is taken out from the mold.

However, with such a press loget with a horizontally moving arm, the arm par 7 moves from the outside of the bolster 1 to the center, so the moving distance is long, the cycle time becomes long, and the production efficiency is poor. .

The press opening with a horizontally movable arm eliminates the drawbacks of the
The purpose is to obtain a bracelet logette with a short cycle time and a low price.

Hereinafter, the present invention will be described in figures 5 to 14 of the attached drawings showing embodiments thereof.
This will be explained based on the diagram.

A first embodiment of the present invention is shown in FIGS. 5 to 8.
1 and an operation switch 12
Two guide bars 15 extending in the horizontal direction are attached to a bracket 14 fixed to the side surface of the bar 30. A moving block 16 is slidably guided on this guide bar 15.

The moving block 16 is mounted parallel to the guide bar 15.
")) is connected to a piston rod 17m of a cylinder 17 attached to
9 is the setting. As shown in detail in FIG. 8, the arm shaft 18 is rotatably supported by the moving block 16 through bearings 20 and 21, and the arm part 19 is fixed to the arm shaft 18. , the distal end 19 & of the arm par 19 has a leaf with a suction device 22 for gripping the material or molded product.
The lower end of the arm shaft 18 is connected to the output shaft 23a of the motor 23 attached to the movable block 16.
The input shaft 24a of the f tensimeter 24 attached to
are connected. Note that the motor 23 is not particularly limited as long as it can obtain rotational output, such as an electric motor or a rotary hydraulic actuator.

Next, the operation of the press loget according to the present invention having the above structure will be explained. Note that the description will be made regarding the case where material is supplied to the press.

Before the start of operation, the arm par 19 is on standby at position X in FIG. When a material supply signal to the press is issued, the motor 23 is operated by a control device (not shown) to rotate the arm par 19 clockwise in FIG. 5. The arm par 19 rotates by an angle 01 and stops at position &Y. Next, the suction device 22 at the arm par tip 19m operates to suction and hold a material (not shown). When the suction is completed, the motor 23 and cylinder 17 operate simultaneously to move the moving block 16 to the right in FIG. 5 and rotate the arm par 19 counterclockwise.
-19 F) Tip WA 1 Q a t? Lusta II
C) Position at position 2 on the mold in the center. That is,
The moving block 16 is connected to the piston rod 17 of the cylinder 17.
a and slides on the guide bar 15 by a distance, while the arm par 19 is moved by the motor 23 at an angle θ.
! The tip 19m reaches position 2 by rotating by +#. Therefore, in the lateral direction, the distal end portion 19m is
The horizontal movement length SS + due to the rotation angle θl + a
s Proverb: Just move.

When the adsorber 22 reaches the entire roof (not shown), it releases the adsorption and supplies the material into the mold. When the material supply is completed, the motor 23 and the cylinder 17 operate simultaneously again, and the tip 19a of the arm par 19 first Return to position X. That is, the moving block 16 moves to the left by a distance Ll+ and rotates by an angle θ dew of the arm part 19Fi. The arm par 19 waits at position gtx at 1 for the next material supply signal to be issued. Note that since the rotation angle of the arm par 19 is detected by the potentiometer 24 during operation, it is possible to always know the angular position of the arm par 19. Therefore, the voltage and potentiometer 24 that are preset in the control device that controls the operation of the motor 23 are
The output voltage of the motor 23 is compared and the deviation signal of both city pressures is
By feeding back to the arm par 19', it is possible to stop the arm par 19' at an arbitrary angular position.

The above explanation has been made regarding the case of material supply, but in the case of taking out the molded product, the operations may be performed in the reverse order.

A second embodiment of the invention is shown in FIGS. 9 and 10.

In this embodiment, the arm shaft 18 is rotated by a cylinder. That is, the rotation cylinder 31 is mounted on the moving block 16, the rack 32 is mounted on the piston rod 31 of the rotation cylinder 31, and the pinion gear 33 that engages with the rear rack 32 is fixed to the upper end of the arm shaft 180. It is. The other configurations are basically the same as the first embodiment. With such a configuration, the arm shaft 18 is rotated by the operation of the rotation cylinder 31.
It is clear that the force S is rotated and the same effect as in the first embodiment is obtained.

A third embodiment of the invention is shown in FIGS. 11 and 12. This embodiment uses a link instead of the rack and pinion gear of the second embodiment.

That is, the rotation cylinder 41 is attached to the moving block 16 by the pin 42, and the shaft 43I is attached to the arm shaft 18.
Attach the lever 44 via P, and connect the VI+-44 and the piston rod 41m of the rotating cylinder 41
It is connected by 5.

The other configurations are basically the same as the first embodiment. With such a configuration, the operation of the rotating cylinder 41 is transmitted to the arm shaft 18 via the piston rod 41a, the cylinder 4-44, and the shaft 43, and the same effect as in the first embodiment can be obtained. is clear.

In the first to third embodiments described above, the moving block 16 was moved in the lateral direction by the cylinder 17, but as shown in FIGS. 13 and 14, for example, the moving block 16 may be moved by a motor. There is no problem with stuttering. That is, a connecting shaft 52 that is guided by a guide 51 and movable only in the axial direction is attached to the moving block 16, and a member 53 having a length of 53 m is fixed to the tip of the connecting shaft 52. A pin 56 driven by the feed motor 54 via a clutch and brake device 55 and provided eccentrically with respect to the axis of the feed motor 54 is engaged. According to this force structure, when the bin 56 is rotated by the feed motor 54, the bin 56
slides through the elongated hole 53aPg and connects the member 53 to the connecting shaft 5.
2, the moving block 16 moves together with the member 53 via the connecting shaft 52.

As explained above, according to the present invention, the press I
A linear motion drive IT (in this embodiment, the cylinder 17 or the feed motor 54 and the eccentric cam) moves linearly between a position close to the mold and a position away from the mold on the Luster. A moving block is provided, and the arm par is rotatably supported on the moving block, and a swing drive device attached to the moving block (in this embodiment, a motor 23, or a rotating cylinder 31, and a rack and pinion, or a rotating cylinder) is provided. 41 and link) K, so that the arm par is rotationally driven, and a gripper (in this embodiment, a suction device 22) capable of gripping a material or a molded product is provided at the tip of the arm par, so that rotational movement and lateral movement can be achieved at the same time. This allows the cycle time to be significantly shortened compared to conventional press slots with rotating arms or with horizontally moving arms. In addition, since the overall length of the arm part is short, the inertia force is small and the turning speed of the arm part can be increased, which shortens the cycle time from the perspective of rotation. The structure is simplified and the price is reduced.

Additionally, less space is required for the logget, improving safety and operability. If a 4-tensiometer is attached to the arm shaft, the rotational angular position of the arm can be detected, and it is also possible to control the armper to stop at the desired position.

[Brief explanation of drawings]

Figure 1 is a plan view of a conventional arm rotation type robot, Figure 2 is a front view of the mouth stop shown in Figure 1, Figure 3 is a plan view of a conventional arm lateral movement type robot, and Figure 4 is a top view of a conventional arm rotation type robot. FIG. 3 is a front view of the robot shown in FIG. 3, FIG. 5 is a plan view of a press robot according to an embodiment of the present invention, FIG. Fig. 5 is an enlarged plan view of the movable block portion of the mouth cut, Fig. 8 is a cross-sectional view taken along the vm-vm line in Fig. 7, and Fig. 9 is the second embodiment of the present invention for a press. A plan view of the robot, FIG. 1O is a sectional view of the robot shown in FIG. 9 taken along the line X-X, FIG. A cross-sectional view of the robot shown in FIG. 11 taken along the line X■-X■, and the thirteenth figure is a front view of the moving block drive device shown in FIG. 13 of another embodiment. 11...-Rusta, 13... Press body 7 frames,
16...Moving block, 17...Cylinder, 18.
...Arm axis sle...Arm par, 22...Adsorption device, 23...Motor, 24...4 tensiometer, 31...Rotation cylinder, 32...Rack, 33
... Pinion gear, 41 ... Rotating cylinder, 44
... Lever, 52 ... Connection shaft, 54 ... Motor,
56...Bin. Patent Applicant Japan Steel Works Co., Ltd. Representative Patent Attorney Toshiyuki Miyauchi Figure 9 "1 Figure 10 Figure 12 Figure 8

Claims (1)

[Claims] 1. What is the position of the mold on the Lusta of the press? In the press Kawaguchi get, which moves between a position outside the mold and supplies material to the mold and takes out the molded product from the molding device, there is a position close to the mold and a position away from the mold. A moving block is provided which is driven by a linear motion drive device to move linearly between the two, and the arm par is rotatably supported on the moving block, and the arm par is rotationally driven by a rotation drive device attached to the moving block. A press loget characterized in that the tip of the arm is equipped with a gripper capable of gripping a material or a molded product. 2. The armper has an I-tensile connected to its rotating shaft.
The press spout according to claim 1, wherein the rotational angular position can be detected by a meter.