| 摘要 |
A transfer robot for removing molded pieces provides a telescoping robot arm having a pneumatically activated gripping device mounted to a remote end. The robot arm comprises two tubes mounted coaxially inside a housing. The first tube is driven outwardly of the housing by a rodless cylinder drive; the second tube is mounted coaxially to the inside of the first tube and is itself driven by a rack and pinion arrangement which doubles the projecting speed of the second tube with respect to the projecting speed of the first tube. The robot arm is movably mounted to a cantilever rack which is itself rotatably mounted to a supporting stand. Thus the gripping assembly to the robot arm can be translated along the axis of the robot arm by the telescoping action of the robot arm, can be laterally translated by the lateral movement of the entire robot arm with respect to the cantilever rack, and can be translated to the side by rotating the cantilever rack with respect to the support stand, which causes rotation of the entire robot arm. The invention further comprises a plurality of position sensors feeding information into a controller which provides instruction to a plurality of solenoid valves which regulate pneumatic air to the various actuators and cylinders to control all movements of the transfer robot.
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