Apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products

Claim 1

An apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products, comprising: a chuck; a frame for connection to the arm; means upwardly and downwardly movably supported by the frame for supporting the chuck; drive equipment supported on the frame comprising a motor and means for upwardly and downwardly moving the chuck; a first pneumatic cylinder having a volume and including a casing attached to the frame, a piston rod connected to the means upwardly and downwardly movably supported by the frame for supporting the chuch, and a rod end side; a first surge tank having a volume larger than the first pneumatic cylinder volume and being connected to the rod end side of the first pneumatic cylinder; a compressed air source for supplying upward pressure to the pneumatic cylinder; a first reducing valve without relief means connected between the first surge tank and compressed air source; wherein the means upwardly and downwardly movably supported by the frame for supporting the chuck comprises a lift frame supporting the chuck, an intermediate frame having the piston rod of the first pneumatic cylinder connected thereto, means for transmitting relative movement between the lift frame and intermediate frame, a second pneumatic cylinder having a volume and including a housing attached to the intermediate frame, a piston rod connected to the lift frame, and a rod end side, a second surge tank having a volume larger than the second pneumatic cylinder volume and being connected to the rod end side of the second pneumatic cylinder, and a second reducing valve without relief means connecting the second surge tank and the compressed air source; and wherein the motor is nonrotatably but axially movably supported on the frame, and the means for upwardly and downwardly moving the chuck comprises a ball nut rotatably but axially unmovably supported on the frame, a first ball screw inserted axially movably but nonrotatably in the ball nut, the first ball screw having a first end connected to the output shaft of the motor and a second end rotatably but axially unmovably supported on the intermediate frame, a second ball screw rotatably and axially movably inserted in the intermediate frame, the second ball screw having a first end fixed to an end of the lift frame, and means for connecting the first and second ball screws with respect to each other in a synchronously rotatable manner.

Claim 2

An apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products, comprising: a chuck; a frame for connection to the arm; means upwardly and downwardly movably supported by the frame for supporting the chuck; drive equipment supported on the frame comprising a motor and means for upwardly and downwardly moving the chuck; a first pneumatic cylinder having a volume and including a casing attached to the frame, a piston rod connected to the means upwardly and downwardly movably supported by the frame for supporting the chuch, and a rod end side; a first surge tank having a volume larger than the first pneumatic cylinder volume and being connected to the rod end side of the first pneumatic cylinder; a compressed air source for supplying upward pressure to the pneumatic cylinder; a first reducing valve without relief means connected between the first surge tank and compressed air source; wherein the means upwardly and downwardly movably supported by the frame for supporting the chuck comprises a lift frame supporting the chuck, an intermediate frame having the piston rod of the first pneumatic cylinder connected thereto, means for transmitting relative movement between the lift frame and intermediate frame, a second pneumatic cylinder having a volume and including a housing attached to the intermediate frame, a piston rod connected to the lift frame, and a rod end side, a second surge tank having a volume larger than the second pneumatic cylinder volume and being connected to the rod end side of the second pneumatic cylinder, and a second reducing valve without relief means connecting the second surge tank and the compressed air source; and wherein the motor is nonrotatably but axially movably supported on the frame, and the means for upwardly and downwardly moving the chuck comprises a ball nut rotatably but axially unmovably supported on the frame, a first ball screw inserted axially movably but nonrotatably in the ball nut, the first ball screw having a first end connected to the output shaft of the motor and a second end rotatably but axially unmovably supported on the intermediate frame, a second ball screw rotatably and axially movably inserted in the intermediate frame, the second ball screw having a first end fixed to an end of the lift frame, and means for connecting the first and second ball screws with respect to each other in a synchronously rotatable manner.

Claim 4

An apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products, comprising: a chuck; a frame for connection to the arm; means upwardly and downwardly movably supported by the frame for supporting the chuck; drive equipment supported on the frame comprising a motor and means for upwardly and downwardly moving the chuck; a first pneumatic cylinder having a volume and including a casing attached to the frame, a piston rod connected to the means upwardly and downwardly movably supported by the frame for supporting the chuck, and a rod end side; a first surge tank having a volume larger than the first pneumatic cylinder volume and being connected to the rod end side of the first pneumatic cylinder; a compressed air source for supplying upward pressure to the pneumatic cylinder; a first reducing valve without relief means connected between the first surge tank and compressed air source; wherein the means upwardly and downwardly movably supported by the frame for supporting the chuck comprises a lift frame supporting the chuck, an intermediate frame having the piston rod of the first pneumatic cylinder connected thereto, means for transmitting relative movement between the lift frame and intermediate frame, a second pneumatic cylinder having a volume and including a housing attached to the intermediate frame, a piston rod connected to the lift frame, and a rod end side, a second surge tank having a volume larger than the second pneumatic cylinder volume and being connected to the rod end side of the second pneumatic cylinder, and a second reducing value without relief means connecting the second surge tank and the compressed air source; and wherein the motor is fixed on the frame, and the means for upwardly and downwardly moving the chuck comprises a spline shaft and a first ball screw each rotatably supported on the intermediate frame and rotatably and axially movably supported on the frame, a ball nut rotatably supported on the intermediate frame, and a second ball screw fixed to the lift frame and axially movably supported on the intermediate frame, the first and second ball screws being rotated synchronously through the spline shaft.

Claim 5

An apparatus for upward and downward movement of an arm in a robot system for taking out injection molded and die casting products, comprising: a chuck; a frame for connection to the arm; means upwardly and downwardly movably supported by the frame for supporting the chuck; drive equipment supported on the frame comprising a motor and means for upwardly and downwardly moving the chuck; a first pneumatic cylinder having a volume and including a casing attached to the frame, a piston rod connected to the means upwardly and downwardly movably supported by the frame for supporting the chuck, and a rod end side; a first surge tank having a volume larger than the first pneumatic cylinder volume and being connected to the rod end side of the first pneumatic cylinder; a compressed air source for supplying upward pressure to the pneumatic cylinder; a first reducing valve without relief means connected between the first surge tank and compressed air source; wherein the means upwardly and downwardly movably supported by the frame for supporting the chuck comprises a lift frame supporting the chuck, an intermediate frame having the piston rod of the first pneumatic cylinder connected thereto, means for transmitting relative movement between the lift frame and intermediate frame, a second pneumatic cylinder having a volume and including a housing attached to the intermediate frame, a piston rod connected to the lift frame, and a rod end side, a second surge tank having a volume larger than the second pneumatic cylinder volume and being connected to the rod end side of the second pneumatic cylinder, and a second reducing value without relief means connecting the second surge tank and the compressed air source; and wherein the motor is fixed on the frame, and the means for upwardly and downwardly moving the chuck comprises a spline shaft and a first ball screw each rotatably supported on the intermediate frame and rotatably and axially movably supported on the frame, a ball nut rotatably supported on the intermediate frame, and a second ball screw fixed to the lift frame and axially movably supported on the intermediate frame, the first and second ball screws being rotated synchronously through the spline shaft.