JP2011240358A - Apparatus for mounting robot to molding machine, and build-up welding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an apparatus for mounting a robot which can mount the robot to a molding machine.SOLUTION: The apparatus for mounting the robot 40 includes a rack unit 41 which is mounted to tie bars 13, 14 in a molding machine 10. The rack unit 41 is fixed to the tie bars 13, 14 by clamping members 45, 46, 47 and 48 attachable/detachable to/from the tie bars 13, 14. The rack unit 41 is provided with a robot mounting part 56 to be mounted with a robot. Positioning bars 60, 61 are fitted to the rack unit 41. The positioning bars 60, 61 elongate parallel to the tie bars 13, 14. The positioning bars 60, 61 are held between die plates 11, 12, thereby the distance between the die plates 11, 12 is regulated, and further, the relative position of the robot mounting part 56 with respect to the die plates 11, 12 is settled.

Description

  The present invention relates to a robot mounting device and a build-up welding method that are used when working with a robot in a molding machine such as a die-cast molding machine or an injection molding machine.

  A molding machine such as a die-cast molding machine has a die plate for mounting a mold. A mold is fixed to the mold mounting surface of the die plate. In such a molding machine, the mold mounting surface may be corroded, for example, when the influence of moisture of the release agent sprayed on the inner surface of the mold during molding is continued for a long time. When the mold mounting surface is corroded, the mold is not sufficiently supported, and this may cause a bad influence on the parting line of the mold. Therefore, build-up welding may be performed on the die plate to repair the mold mounting surface.

  Overlay welding of the die plate is common because it is easy to perform manually in the factory where the molding machine is installed. However, since manual welding is a harsh working environment and heavy labor, it is desired to automate the welding work with a robot. For example, by using an automatic overlay welding apparatus disclosed in Patent Document 1 below, it is possible to automate the overlay welding.

JP-A-11-129070

  In order to perform overlay welding using an automatic overlay welding apparatus such as the robot in a factory where a molding machine is installed, it is necessary to install a robot in the vicinity of the molding machine. A general-purpose articulated robot is generally used as the robot, and a welding torch is attached to the tip of the robot arm. For example, when performing overlay welding on the die mounting surface of the die plate, a welding robot is installed at a predetermined position in the factory. A welding operation is performed by inserting the robot arm from above the tie bar of the molding machine toward the die plate and bringing the welding torch closer to the die mounting surface of the die plate.

  Thus, when performing build-up welding of the molding machine, the robot arm must be installed at a position considerably higher than the floor of the factory in order to operate the robot arm so as to avoid the tie bar from above the tie bar of the molding machine. is there. For this reason, a platform for placing the robot is installed on the floor of the factory, and the robot is placed on the platform. In that case, a space for the platform must be secured on the floor of the factory. Don't be. However, it may be difficult to secure such a space in the vicinity of the molding machine due to layout restrictions in the factory. In addition, when a cart or the like passes through the floor surface, the platform on the floor surface may interfere with traffic. In addition, it may be difficult to keep the distance between the moving die plate and the robot constant.

  Accordingly, an object of the present invention is to provide a robot mounting device capable of providing a robot at an accurate position with respect to a molding machine, without having to secure a space for installing a gantry on a floor surface of a factory or the like, and a meat It is to provide a prime welding method.

  The present invention is a robot mounting apparatus provided in a molding machine having a fixed die plate, a movable die plate, and a plurality of tie bars for guiding the movement of the movable die plate, and one tie bar among the plurality of tie bars. The gantry unit is detachably fixed to the frame. A robot placement unit for placing the robot is provided on the gantry unit.

  In the present invention, a positioning bar may be provided on the gantry unit. The positioning bar extends in parallel with the tie bar on the one side and is disposed between the fixed die plate and the movable die plate.

  An example of the gantry unit includes a clamp member that can be attached to and detached from the pair of upper and lower tie bars on the one side, and is fixed to the pair of upper and lower tie bars via the clamp members. An example of the gantry unit has a robot placement unit for placing an articulated robot that performs overlay welding of the die plate.

  In a preferred embodiment of the present invention, a positioning attachment member that can be attached to the other tie bar among the plurality of tie bars is further provided. The positioning attachment member has a length corresponding to the positioning bar, is attached to the tie bar along the tie bar on the other side, and is disposed between the fixed die plate and the movable die plate. The distance between the fixed die plate and the movable die plate and the relative distance from each die plate to the robot placement portion are regulated according to the lengths of the positioning bar and the positioning attachment member.

  According to the present invention, the gantry unit having the robot placement portion is fixed to the tie bar, so that the gantry unit can be disposed above the floor surface. For this reason, it is not necessary to secure a space for installing the robot on the floor of a factory or the like. In addition, when the gantry unit is provided with a positioning bar, the relative position of the robot mounting portion with respect to the die plate can be accurately regulated.

Sectional drawing which shows an example of a molding machine typically. The side view which shows typically the robot attachment apparatus which concerns on the 1st Embodiment of this invention. The perspective view of the robot attachment apparatus shown by FIG. The front view of the robot mounting apparatus shown by FIG. The top view of the robot mounting apparatus shown by FIG. Sectional drawing of the robot attachment apparatus which follows the F6-F6 line | wire in FIG. Sectional drawing which shows the robot attachment apparatus which concerns on the 2nd Embodiment of this invention.

In the following, a first embodiment of the present invention will be described with reference to FIGS.
1 and 2 schematically show a die cast molding machine 10 which is an example of a molding machine. The die cast molding machine 10 includes a fixed die plate 11, a movable die plate 12, four tie bars 13, 14, 15, 16 extending in parallel to each other, a die plate driving mechanism 17, and the like. The die plate drive mechanism 17 has a function of moving the movable die plate 12 in the horizontal direction along the tie bars 13 to 16.

  The fixed die plate 11 and the movable die plate 12 each have a die mounting surface 20.21. A fixed mold 22 is mounted on the mold mounting surface 20 of the fixed die plate 11. A moving mold 23 is mounted on the mold mounting surface 21 of the moving die plate 12. A cavity 24 for a molded product is formed between the fixed side mold 22 and the moving side mold 23. The cavity 24 communicates with a molten metal supply mechanism (not shown) through the molten metal passage 25 so that molten metal as a material of the molded product is supplied to the cavity 24 in a pressurized state.

  When the mold mounting surfaces 20 and 21 of the die plates 11 and 12 need to be repaired due to corrosion or the like, build-up welding of the mold mounting surfaces 20 and 21 is performed by the robot 30 shown in FIG. . The robot 30 is an articulated robot, for example, and includes a welding torch 32 at the tip of the robot arm 31.

  The robot 30 includes a filler material supply device 33 for supplying a filler material made of, for example, nickel-based metal to the welding torch 32. The filler material is supplied to the welding torch 32 by the filler material supply device 33, and the filler material is melted to build up the welding target area S (shown by hatching in FIG. 2) of the mold mounting surfaces 20, 21. Teaching is done to make welding.

  The robot 30 can be attached to the die cast molding machine 10 by a robot attachment device 40 described below. An example of the robot mounting device 40 is shown in FIGS. FIG. 3 is a perspective view of the robot mounting device 40. 4 is a front view of the robot mounting apparatus 40, and FIG. 5 is a plan view.

  As shown in FIG. 3, the robot mounting device 40 includes a gantry unit 41 fixed to a pair of upper and lower tie bars 13 and 14 located on one side (the front side of the operation) of the four tie bars 13 to 16. ing. More specifically, the gantry unit 41 includes a pair of clamp members 45 and 46 fixed to the upper tie bar 13 and a pair of clamp members 47 and 48 fixed to the lower tie bar 14.

  The pair of upper clamp members 45 and 46 have a common configuration. As shown in FIG. 5, one clamp member 45 has clamp pieces 45a and 45b that can be divided in the radial direction of the tie bar 13, and these clamp pieces 45a and 45b are fastened from the radial direction of the tie bar 13 by bolts 45c. Accordingly, the clamp member 45 is detachably fixed to the tie bar 13. The other clamp member 46 also has clamp pieces 46a and 46b that can be divided in the radial direction of the tie bar 13, and these clamp pieces 46a and 46b are fastened from the radial direction of the tie bar 13 by bolts 46c, so that the clamp member 46 becomes a tie bar. 13 is detachably fixed.

  The pair of lower clamp members 47 and 48 also has a common configuration. One clamp member 47 (shown in FIG. 6) has clamp pieces 47a and 47b that can be divided in the radial direction of the tie bar 14, and these clamp pieces 47a and 47b are fastened from the radial direction of the tie bar 14 by bolts 47c. Accordingly, the clamp member 47 is detachably fixed to the tie bar 14. The other clamp member 48 (shown in FIG. 3) also has clamp pieces 48a and 48b that can be divided in the radial direction of the tie bar 14, and is detachably fixed to the tie bar 14 by bolts.

  Vertical frame members 50 and 51 are fixed by bolts 52 across the upper clamp members 45 and 46 and the lower clamp members 47 and 48. The vertical frame members 50 and 51 extend in the vertical direction. A stand 55 is attached to the vertical frame members 50 and 51. On the upper surface of the pedestal 55, a robot placement portion 56 capable of fixing the robot 30 at a predetermined position is provided.

  Further, a pair of upper and lower positioning bars 60 and 61 are fixed to an intermediate portion in the vertical direction of the vertical frame members 50 and 51. The upper positioning bar 60 extends in parallel with the tie bar 13 along the upper tie bar 13. The lower positioning bar 61 extends in parallel with the tie bar 14 along the lower tie bar 14.

  The lengths L1 (shown in FIG. 4) of the positioning bars 60 and 61 are equal to each other. The frame 55 is fixed to a predetermined position in the length direction of the positioning bars 60 and 61 by bolts 62 (shown in FIG. 6). Each end 60a, 61a of the positioning bar 60, 61 has a flange shape, and can come into contact (surface contact) with the fixed die plate 11. The other ends 60b and 61b of the positioning bars 60 and 61 also have a flange shape and can come into contact (surface contact) with the movable die plate 12.

  Further, the robot mounting device 40 has a pair of upper and lower positioning attachment members 70 and 71. These positioning attachment members 70 and 71 are mounted on a pair of upper and lower tie bars 15 and 16 located on the other side (operation back side) of the four tie bars 13 to 16. Since the positioning attachment members 70 and 71 have the same configuration, the positioning attachment member 70 provided on the upper tie bar 15 will be described below as a representative.

  The positioning attachment member 70 has a semi-cylindrical shape so that it can be covered with a region of a half circumference of the entire circumference of the tie bar 15. That is, the cross section of the positioning attachment member 70 has a semicircular shape with a radius of curvature corresponding to the outer diameter of the tie bar 15 and can be attached to the tie bar 15. The length L2 (shown in FIG. 5) of the positioning attachment member 70 corresponds to the length L1 (shown in FIG. 4) of the positioning bars 60 and 61.

  One end 70a of the positioning attachment member 70 has a flange shape and can come into contact (surface contact) with the fixed die plate 11. The other end 70b of the positioning attachment member 70 also has a flange shape, and can come into contact (surface contact) with the movable die plate 12.

  Holding members 72 are provided in the vicinity of both ends of the positioning attachment member 70. The cross section of the holding member 72 has a semicircular shape with a radius of curvature corresponding to the outer diameter of the tie bar 15, and can be opened and closed by a hinge member 75. As shown in FIG. 6, the holding member 72 can be fixed to the positioning attachment member 70 by the screw member 76 in a state where the holding member 72 is closed with the tie bar 15 interposed therebetween. With the configuration described above, the pair of positioning attachment members 70 and 71 can be attached to the tie bars 15 and 16.

  As shown in FIG. 6, the fixed die plate 11 is formed with a mold mounting groove (T groove) 80, a hole 81 communicating with the molten metal passage 25, and the like. The movable die plate 12 is formed with a mold mounting groove (not shown), a hole (not shown) for inserting a knockout pin, and the like.

Next, the operation of the robot mounting apparatus 40 having the above configuration will be described.
When overlay welding is performed for repairing one or both of the fixed die plate 11 and the movable die plate 12, the distance between the die plates 11 and 12 is larger than the length L1 of the positioning bars 60 and 61. The moving die plate 12 is moved in the mold opening direction by the die plate driving mechanism 17 (shown in FIG. 1).

  In this state, the gantry unit 41 is placed on the tie bars 13 and 14 on one side. Then, after adjusting the horizontal position of the gantry unit 41 so that the one ends 60a, 61a of the positioning bars 60, 61 are in contact with the fixed die plate 11, the clamp members 45, 46, 47, 48 are bolts 45a, 46c, 47c. It fixes to the tie bars 13 and 14 by etc. Positioning attachment members 70 and 71 are put on the tie bars 15 and 16 on the other side, and the holding member 72 is closed. The positioning attachment members 70 and 71 are attached to the tie bars 15 and 16 by fixing the holding member 72 with the screw members 76.

  The robot 30 is placed on the robot placement unit 56 of the gantry unit 41, and the robot 30 is fixed to a predetermined position of the robot placement unit 56 by a fixing member such as a bolt. Then, the moving die plate 12 is moved by the die plate driving mechanism 17 in the direction approaching the fixed die plate 11 (the mold closing direction), so that the moving die plate 12 moves the other ends 60b and 61b of the positioning bars 60 and 61 and the positioning attachment member 70 and The movable die plate 12 is stopped at a position where it comes into contact with the other ends 70b, 71b of 71.

  Since the length L1 of the positioning bars 60 and 61 and the length L2 of the positioning attachment members 70 and 71 are equal to each other, the positioning bars 60 and 61 and the positioning attachment members 70 and 71 are formed between the fixed die plate 11 and the movable die plate 12. When sandwiched therebetween, the movable die plate 12 is supported by the positioning bars 60 and 61 and the positioning attachment members 70 and 71 with an equal force. For this reason, it is possible to prevent a counter reaction force acting on the movable die plate 12 from acting or to tilt the movable die plate 12.

  Since the movable die plate 12 can be stopped at a predetermined position in this way, the distance between the die plates 11 and 12 is maintained at a predetermined value (a distance corresponding to the length L1 of the positioning bars 60 and 61), and the die plate. The distance from 11 and 12 to the robot placement unit 56 is maintained at a predetermined value. For this reason, the relative position of the robot placement unit 56 with respect to the fixed die plate 11 can be accurately regulated, and the relative position of the movable die plate 12 with respect to the robot placement unit 56 can also be accurately regulated.

  After teaching for specifying a welding location using the robot 30, build-up welding of the fixed die plate 11 and the movable die plate 12 is performed by the robot 30. It goes without saying that the overlay welding is performed while avoiding the groove portion 80 (shown in FIG. 6) for mold attachment and the hole 81 for pouring in the welding target region S shown in FIG.

As described above, the overlay welding method of the present embodiment includes the following steps.
(1) The movable die plate 12 is moved in the mold opening direction by the die plate driving mechanism 17;
(2) After the movable die plate 12 is moved in the mold opening direction, the gantry unit 41 is attached to the tie bars 13 and 14 on one side of the plurality of tie bars 13 to 16 between the fixed die plate 11 and the movable die plate 12. Fixing,
(3) mounting the robot 30 having the welding torch 32 on the robot placement portion 56 of the gantry unit 41;
(4) Overlay welding of the die mounting surfaces 20 and 21 of the die plates 11 and 12 by the welding torch 32 of the robot 30 mounted on the gantry unit 41 fixed to the tie bars 13 and 14;
(5) lowering the robot 30 from the gantry unit 41 after the overlay welding,
(6) The gantry unit 41 is removed from the tie bars 13 and 14 after the overlay welding.

  As described above, according to the present embodiment, the robot mounting device 40 can be fixed at a predetermined position of the molding machine 10 using the tie bars 13 and 14, and therefore the relative position of the robot 30 with respect to the die plates 11 and 12. Is also determined accurately. Moreover, since the gantry unit 41 can be provided above the floor GL (shown in FIG. 2) of a factory or the like, it is not necessary to secure a space for installing the gantry unit 41 on the floor GL.

  In the above-described embodiment, the robot attachment device 40 is disposed outside the tie bars 13 and 14. However, the robot attachment device 40 may be disposed inside the tie bars 13 and 14 in some cases. Further, the robot attachment device 40 may be attached to the other tie bars 15 and 16.

  FIG. 7 shows a robot mounting apparatus 40 ′ according to the second embodiment of the present invention. The gantry unit 41 ′ of the robot attachment device 40 ′ is attached to a pair of left and right tie bars 14, 16 located on the lower side of the four tie bars 13 to 16. A robot placing unit 56 for placing the robot 30 is provided on the gantry unit 41 ′. Positioning bars 60 and 61 arranged between the fixed die plate 11 and a movable die plate (not shown) are provided near both sides of the gantry unit 41 ′. The positioning bars 60 and 61 extend in parallel with the tie bars 14 and 16 along the lower tie bars 14 and 16. Further, positioning attachment members 70 and 71 are attached to the upper tie bars 13 and 15 by holding members 72. The positioning attachment members 70 and 71 are along the upper tie bars 13 and 15. The positioning bars 60 and 61 and the positioning attachment members 70 and 71 may be omitted. Since the other configuration and operation are the same as those of the robot mounting apparatus 40 of the first embodiment, the same reference numerals are assigned to the portions common to the both, and the description thereof is omitted.

  Needless to say, in carrying out the present invention, for example, specific shapes, arrangements, dimensions, materials, and the like of the clamp member, the robot mounting portion, the positioning bar, and the like constituting the gantry unit can be appropriately changed. The present invention can be similarly applied to any molding machine having a tie bar other than the die-cast molding machine, and a robot may be used for operations other than overlay welding.

DESCRIPTION OF SYMBOLS 10 ... Die-cast molding machine 11 ... Fixed die plate 12 ... Moving die plate 13, 14, 15, 16 ... Tie bar 40, 40 '... Robot mounting device 41, 41' ... Base unit 45, 46, 47, 48 ... Clamp member 56 ... Robot placement part 60, 61 ... Positioning bar 70, 71 ... Positioning attachment member

Claims (6)

A robot mounting device provided in a molding machine having a fixed die plate, a moving die plate, and a plurality of tie bars for guiding the movement of the moving die plate,
Comprising a gantry unit that is detachably fixed to one tie bar among the plurality of tie bars between the fixed die plate and the movable die plate;
A robot mounting apparatus for a molding machine, wherein a robot placement unit for placing a robot is provided on the gantry unit.   2. The positioning unit is provided with a positioning bar that extends in parallel with the tie bar on the one side and is disposed between the fixed die plate and the movable die plate. The robot mounting device described in 1.   3. The gantry unit includes a clamp member that can be attached to and detached from the pair of upper and lower tie bars on the one side, and is fixed to the pair of upper and lower tie bars via the clamp members. The robot mounting device described in 1.   A positioning attachment member that can be attached to the tie bar on the other side of the plurality of tie bars is further provided, the positioning attachment member has a length corresponding to the positioning bar, and the positioning attachment member is attached to the tie bar on the other side. The robot mounting apparatus according to claim 2, wherein the robot mounting apparatus is disposed between the fixed die plate and the movable die plate.   The robot mounting according to any one of claims 1 to 4, wherein the gantry unit includes a robot placement portion for placing an articulated robot that performs overlay welding of the die plate. apparatus. A build-up welding method for a fixed die plate, a movable die plate, and a molding machine having a plurality of tie bars for guiding the movement of the movable die plate,
Moving the moving die plate in the mold opening direction;
After the moving die plate moves in the mold opening direction, fixing a gantry unit to one tie bar among the plurality of tie bars between the fixed die plate and the moving die plate;
Mounting a robot having a welding torch on the robot mounting portion of the gantry unit;
Performing overlay welding of the die mounting surface of the die plate by a welding torch of the robot mounted on the gantry unit;
Removing the gantry unit from the tie bar after the overlay welding;
The build-up welding method of the molding machine characterized by comprising.

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