JPH0481935B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot device for feeding a workpiece into a blow molding machine.

(Prior Art) Conventionally, as shown in FIGS. 13a and 13b, a workpiece such as a label is inserted into a mold immediately before molding into a plastic container produced by a blow molding machine, and the workpiece and container are separated during molding. Integrated in-mold labeling devices are known.

After the parison 8 melted and discharged from the die head 7 of the blow molding machine 13 is elongated to the length required for molding, the parison 8 is sandwiched between two molds 5a and 5b, and a cutter (not shown) is formed. After cutting, the closed mold moves and stops at the bottom of the driving nozzle 9, and then the driving nozzle 9 descends and fits into the opening 5c formed at the top of the molds 5a and 5b.
Then, by blowing, the resin in the mold is molded into the mold in the mold, and the robot 1 fixed to the molding machine 13 transfers the label 3 supplied from the label magazine 2 to the hand provided on the robot 1. 4
(suction pad) and drive nozzle 9.
Blow is performed to complete the molding, and the molds 5a, 5
When the labels b are opened at the lower part of the driving nozzle 9, the adsorbed labels are inserted into the molds 5a and 5b at predetermined positions and transferred into the molds 5a and 5b. It moves to the bottom and repeats the cycle.

Then, the container 1 after molding is integrated with the label.
1 is a die head 7 of the molds 5a, 5b by a pair of clamp members 10 provided on the molds 5a, 5b.
The discharge conveyor 12 is moved to the lower part, closed to hold the parison 8, moved to the lower part of the driving nozzle 9, and opened to discharge the molded product.
It is discharged to the top.

In addition, 14 is an air cylinder for driving the robot,
Reference numeral 15 indicates a hand 6 which opens and closes the label inserted into the mold.

(Problem to be solved by the invention) However, the above conventional device is disposed diagonally above the mold so that it does not get in the way during molded product ejection, mold replacement, and maintenance. This is convenient for mold replacement and maintenance, but on the other hand, the robot's operating direction is at a considerable angle with respect to the horizontal direction of the mold, so it is difficult to use a large number of molds with more than two holes that are normally lined up horizontally. Inserting a workpiece into a mold with a single cavity is quite difficult due to interference from the driving nozzle, etc., and even with a mold with a single cavity, if the workpiece insertion position must be changed when changing the mold, it is still difficult to insert the workpiece into the mold. Since the direction of movement of the robot is oblique, there was a problem in that it was difficult to adjust the position up and down and back and forth.

(Means for Solving the Problems) The present invention aims to solve the above-mentioned problems.The present invention is designed to solve the above-mentioned problems. A robot body is disposed so as to be slidable in a front-back direction perpendicular to the opening/closing direction of the installed mold, and a workpiece gripping member is attached to the tip of the robot body so as to be movable in a direction perpendicular to the front-rear sliding direction. The present invention is characterized in that a work supply device is disposed on the plate.

Hereinafter, a detailed explanation will be given based on the embodiment shown in FIGS. 1 to 12. A linear guide 3 is fixed to a guide support member 2 installed on a plate 1. The robot body 4 is moved by the linear guide 3.
is guided by sliding. This robot body 4 is connected to a rod 6 of an air cylinder 5 provided on the plate 1. One end 4 of robot body 4
A tool flange 7 is provided on the tool flange 7, and a pair of workpiece gripping plates 8 and 9 are mounted on the guides 7a and 7b so as to slide at right angles to the axis of the linear guide 3. You will be guided accordingly. A rotary actuator 10 is provided at the end 4a of the robot body 4 so that its output shaft a is perpendicular to the sliding direction of the workpiece gripping plates 8 and 9.

On the other hand, a shaft 11 is coaxially supported on the flange 7 by a bearing 12 coaxially with the output shaft 10a of the rotary actuator 10.
1 is coupled at one end to the output shaft 10a of the rotary actuator 10 via a coupling ring 13,
It is connected to the pinion 14 at the other end. The pinion 14 is screwed into racks 15 and 16 fixed to the workpiece gripping plates 8 and 9, respectively.

In addition, on the workpiece gripping plates 8 and 9, a C-shaped elastic body 1 is placed on the opposing surface to match the pitch of the two-cavity mold.
7 has a suction pad 18 on the outer side for holding the label.
is provided. The suction pad 18 is pivotally supported by a shaft 19 so as to be slid on the workpiece gripping plate in parallel to the sliding direction thereof, and is connected to the elastic body 17 at one end of the shaft 19.

In addition, 20 and 21 are molds, 22 is a die head,
23 is a parison, 24 is a label, 25 and 26 are label magazines, 27 is a frame, and 28 is a connecting plate with the molding machine.

The plate 1 is supported by a pedestal 27 horizontally and in such a manner that its height relative to the pedestal 27 can be adjusted. Further, the stroke of the robot body 4 can be stopped in the middle by a known intermediate stopper (not shown).

Next, the effect will be explained.

When the robot retreats, the rotary actuator 10 is rotated to slide the workpiece gripping plates 8 and 9 outward (open), and the suction hatch 18 is brought into contact with the labels 24 in the label magazines 25 and 26.
After suction, the rotary actuator 10 is rotated in the opposite direction to the above, the workpiece gripping plates 8 and 9 are mutually slid inward (closed), and the label 24 is taken out from the label magazines 25 and 26 (sixth
figure).

Air cylinder 5 and intermediate stopper (not shown)
After operating the robot to move the robot forward, the label 24 is similarly attracted to another set of suction pads 18 (FIG. 7).

The air cylinder 5 is operated, the robot body 4 reaches the forward end, and the workpiece gripping plates 8 and 9 stand by while gripping the label 24 in a closed state. At this time, since the workpiece gripping plates 8 and 9 have a space on opposite sides, the parison 2 discharged from the die head 22
3 so as not to interfere with each other (Figure 8).

After molding is completed, the molds 20 and 21 are opened and moved to a position where the parison 23 is sandwiched, and then the work gripping plates 8 and 9 are opened and the gripped label 24 is placed in a predetermined position inside the molds 20 and 21. (Figures 9 and 10).

At this time, even if the inside of the mold is tilted, the suction pad 1
8 is supported by the elastic body 17, it can absorb deviations in the contact position with the gap mold due to inclination, and with this configuration, the workpiece gripping portion can be made thinner.

After the label 24 is transferred into the molds 20 and 21, the workpiece gripping plates 8 and 9 are closed, the robot body 4 is moved backward, and the workpiece gripping plates 8 and 9 are moved into the mold 2.
0,21 (Fig. 11).

The molds 20 and 21 sandwich the parison 23 while holding the label 24 inside, cut the parison with a cutter not shown, and then move toward the blow nozzle. On the other hand, the robot repeats the operation according to the cycle (Fig. 12).

Incidentally, when changing the workpiece insertion height, when the plate 1 itself is moved up and down, the label magazines 25 and 26 are moved up and down together with the robot, so that the height can be easily adjusted.

In addition, molds with multiple cavities of one cavity or three or more cavities can be handled by changing the number and arrangement of suction pads and intermediate stoppers, and when a short cycle time is required, the mold It is also possible to arrange as many label magazines as there are to hold all the labels at once. Furthermore, if a label is to be transferred to only one of the molds, one of the workpiece gripping plates may be omitted.

(Effects) The present invention provides a robot body in which a plate attached to a frame so as to be able to move up and down is slid in a front and rear direction perpendicular to the opening and closing direction of a mold installed in a blow molding machine using a linear drive source. A workpiece gripping member is attached to the tip of the robot body so as to be movable in a direction perpendicular to the front-back sliding direction, and a workpiece feeding device is installed on the plate, so that molded products can be ejected and The robot can be installed without hindrance to mold replacement or maintenance, and since the sliding direction of the robot is horizontal, it is easy to accommodate molds with multiple molds, and the workpiece insertion position can be easily changed.

Furthermore, since the work support plate and the parison do not interfere with each other, the robot waits with the parison in between while holding the label. Therefore, the cycle time of the system can be shortened by shortening the time it takes for the workpiece support plate to close and retreat from the mold, but since the robot overhangs, the direction in which the robot moves in the direction it retreats is faster than the direction in which the robot moves forward. Since it has higher rigidity than the one that moves automatically, it is possible to increase the speed of the robot. Therefore, the method of the present invention has the advantage that the cycle time can be shorter than that of the conventional method.

In addition, in the case of single-piece removal, the intermediate stopper may not be provided. In addition, although the rotary actuator and rack-and-pinion were used in the above-mentioned embodiments to move the workpiece gripping member toward the mold, driving by an air cylinder or a swinging arm with a gripper attached to the tip of the workpiece gripping member is also possible. A method of swinging in a right angle direction may also be used.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of the present invention, Fig. 2 is a perspective view of the workpiece gripping plate shown in Fig. 1, Fig. 3 is a side sectional view of the gripping part, and Figs. Figures 6 to 12 are explanatory plan views showing the operation of the present invention sequentially. Figure 13a is a front view illustrating the main parts of a conventional device. Figure 13b is a conventional mold. FIG. 1... Plate, 3... Straight guide, 4... Robot body, 5... Air cylinder, 6... Rod, 7... Tool flange, 8, 9... Work gripping plate, 7a, 7b... Guide, 10 ...Rotary actuator, 10a...Output shaft, 11...
...shaft, 14... pinion, 15, 16...
Rack, 18... Adsorption pad, 20, 21... Mold, 22... Die head, 23... Parison, 2
4... Label, 25, 26... Label magazine,
27... mount.

Claims (1)

[Claims] 1. A robot body is arranged on a plate that is attached to a frame so as to be able to move up and down, so that it can be slid in the front and back direction perpendicular to the opening and closing direction of a mold installed in a blow molding machine by a linear drive source, A work insert robot device for blow molding, wherein a work gripping member is attached to the tip of the robot body so as to be movable in a direction perpendicular to the front-rear sliding direction, and a work supply device is disposed on the plate.