Manipulators and articulated robots

Abstract

PROBLEM TO BE SOLVED: To easily change liner pitches without requiring changeover work of a facility and adjustments after changeover.SOLUTION: In a hand device 1 having a plurality of chuck units 31 capable of holding inserted cylindrical liners 5 arranged in parallel on a hand body 2 at a predetermined pitch, the hand body 2 is provided with slide mechanisms 10 capable of linearly moving the chuck units 31 in a parallel arrangement direction respectively and positioning mechanisms 15 positioning the chuck units 31 at predetermined positions. The positioning mechanisms 15 are formed by using ball screws 17 arranged in the parallel arrangement direction, the ball screw 17 having threaded parts 16 and 16 having mutually opposite directions with a center in the parallel arrangement direction as a border, and engaging the each chuck unit 31 to a pair of nut parts 18 screwed to these threaded parts 16. The chuck unit 31 and the pair of nut parts 18 are linearly moved in mutually opposite directions simultaneously by rotation of the ball screw 17, thereby changing the pitch.

Description

technical field [0001] The present invention relates to a manipulator used for insert molding of a cylinder liner in a die-casting cylinder block and an articulated robot using the manipulator. Background technique [0002] Conventionally, when the cylinder block of an engine is molded by die-casting of aluminum or the like, a plurality of cylindrical sleeves in which a plurality of cylindrical cylinder cores are placed on a variable mold are used. An insert molding method in which cylinders (cylinder liners) are molded in the state in which a robot device with jig units arranged in parallel is used in the inserting operation of the cylinder liner to each cylinder core (Patent Document 1) , the clamp unit holds cylinder liners at intervals corresponding to the respective cylinders. This manipulator device is attached to the arm of the articulated robot, and performs the outward insertion of the cylinder liner to each cylinder core. [0003] On the other hand, in the manipu...

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Problems solved by technology

[0006] However, in such a work robot manipulator, when the pitch of the jig unit (the pitch of the cylinder liner) is changed in accordance with the cylinder core in the manufacturing process, it is necessary to perform setting change work and setting of the equipment. Adjustment after change conversion takes time and labor

Since the interval adjustment method of Patent Document 2 is only used for the conveyance of the cylinder block and has a pair of holding parts, it cannot cope with the interval adjustment of more than 3 clamp units, and also requires more space and space due to the need for cylinder liner blanks. cost, this method cannot be used in the spacing change of the fixture unit

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