JP2949053B2 - Head mechanism of injection molding robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a head mechanism of a robot which is inserted between dies of an injection molding machine to insert a member or take out a molded product.

[0002]

2. Description of the Related Art FIG. 4 shows a part of a head mechanism of a conventional robot. The head mechanism is a quadrilateral head plate 2 attached to the tip of a movable arm 1 which can be bent and extended.
And a base plate 3 of the same shape which is mounted on the front surface at three to four places and is movably movable back and forth.

Further, a spring member 5 is provided around the axis between the head plate 2 and the base plate 3 so that the base plate 3 is positioned parallel to the parting surface of the injection mold 4 so as to be slidable on the head plate 2. It is inserted and supported by a spindle 7 locked to the head plate 2 by a stopper 6 connected to the shaft end.

In the head mechanism having such a configuration, positioning is performed by a plurality of guide pins 8 protruding at required positions on the surface of the base plate 3, and although not shown in the drawing, a jig provided on the base plate 3 holds the jig. The inserted work is inserted into a predetermined position of the mold.

[0005] The head mechanism having the above structure is inserted between the molds opened by bending and extending the movable arm, and then moves laterally with the movable arm to bring the base plate close to the parting surface of the mold. Insert the set member into the mold. The positioning of the base plate with respect to the mold is performed by fitting a guide pin provided on the base plate into a tapered receiving hole set on the parting surface.

[0006]

In such a conventional structure, even if reciprocating motion is repeated for the insert, the correlation position between the head plate and the base plate or between the suction pad and the suction pad does not change due to inertia or vibration. To
Penetration of the supporting shafts holding them into the head plate is performed densely within a range that allows sliding in the axial direction.
For this reason, the base plate and the like have no flexibility with respect to the head plate, and the position with respect to the parting surface is determined by the insertion position of the head plate. Therefore, a high-precision device is required to insert the head plate by bending and extending the movable arm. , The equipment is also expensive.

The bent portion of the movable arm is liable to wear over a long period of use, and the looseness caused by the wear often affects the accuracy of the insertion position, causing the head plate to be displaced. This displacement can be corrected by the taper of the guide pin provided on the base plate.However, since there is no room to move the guide pin on the bearing part of the head plate, the position correction by the guide pin is limited to a very small dimensional difference. Most of the displacements are uncorrectable, so that the movable arm needs to be constantly adjusted, and in some cases, the molding must be interrupted and replaced.

The present invention has been conceived to solve the above-mentioned conventional problems, and an object of the present invention is to provide a flexible attachment of a support shaft of a base plate to a head plate, thereby displacing a position by a guide pin. It is another object of the present invention to provide a head mechanism of an injection molding robot having a new configuration that can enlarge a correction range of the above and can maintain a relative position between a head plate and a base plate as set by using a frustoconical stopper.

According to the present invention, the head plate at the tip of the movable arm positioned in parallel with the parting surface of the injection mold, and the head plate is supported on the mold side via a spring member so as to be able to advance and retreat. A base plate, a set plate having a guide pin attached to the mold side of the base plate and fitted in a tapered receiving hole of the parting surface; and a head provided with the spring member around an axis between the head plate and the base plate. It consists of a base plate support shaft slidably inserted into a plurality of locations on the plate, and the support tube on the head plate side of the support shaft is provided on the mounting hole drilled in the head plate and provided on the back side of the plate And a sleeve in the main body having an inner diameter larger than the support shaft and forming a clearance around the support shaft. And a stopper having a truncated cone shape is connected to the shaft end of the spindle inserted through the sleeve so as to be adjustable with a screw member with the conical surface facing inward. It comes into contact with the seat on the tapered surface.

[0010]

[Operation] In the above configuration, since the support shaft has a margin for movement due to the clearance in the support cylinder and the circumference of the support shaft, the misalignment is caused by the contact between the base plate and the parting surface of the base plate. The base plate moves together with the set plate and is released by the pressing force in the process of fitting into the taper receiving hole on the mold side.

When the head plate is inserted with a slight inclination with respect to the parting surface and is displaced, the clearance around the support shaft, the frustoconical stopper, and the support by the tapered seat are supported. Since the support shaft has a margin for inclination, the support shaft is inclined when the set plate comes into contact with the parting surface, and the base plate and the set plate are in contact with the parting surface in parallel even if the head plate remains inclined. The gap disappears.

In addition, despite the flexibility of the support shaft, the relative positions of the head plate and the base plate are determined by the fitting of the conical surface of the stopper with the tapered surface of the receiving seat on the side of the support cylinder, and the tensile force of the spring member. As a result, the center of the support shaft is located at the center of the support cylinder, so that it is always kept at the same position, and the position of the base plate relative to the head plate does not shift due to inertia or vibration.

[0013]

In the drawing, reference numeral 11 denotes a movable arm which can be freely extended and retracted. A quadrangular head plate 12 is attached to the tip of the movable arm 11 so as to be positioned in parallel with the parting surface of a mold 14. At four corners of the plate 12, a relatively large-diameter mounting hole 12a for mounting the quadrilateral base plate 13 on the mold side, that is, on the front surface of the plate is formed.

In each of the mounting holes 12a, a support tube 15 is provided with its end inserted from the back of the plate. The support tube 15 is a main body 15 having a support piece 15b facing the outside.
a, and a sleeve 16 fitted to the main body 15a. The support piece 15b is screwed to the head plate 12 and fastened to the head plate 12. Further, a flange 16a having a required thickness forming an outer opening end of the main body 15a is integrally formed at one end of the sleeve 16, and an inner edge of an outer end of the sleeve 16 is formed as a tapered surface. Has become a seat.

Reference numeral 18 denotes a support shaft of the base plate 13,
One end is screwed at each position of the support cylinder 15 to protrude from the rear side of the base plate. The shaft diameter of the support shaft 18 is formed to be smaller than the inner diameter of the sleeve 16 to such an extent that a required clearance is formed between the support shaft 18 and the sleeve 16. It is drilled in.

The support shaft 18 is provided with a spring member 19 having the inner end of the sleeve 16 as a locking end, and a spring member 19 formed on the head plate 1.
The support tube 15 is extended around the shaft between the base 2 and the base plate 13 and is inserted through the sleeve 16 of the support tube 15. After the insertion, the stopper 17 connected to the shaft end locks the support tube 15 so as not to come off. Have been.

The stopper 17 has a truncated cone shape in which the tapered surface of the conical portion is formed to be the same as the tapered surface of the seat of the sleeve 16. The stopper 17 is screwed into the shaft end of the support shaft 18 with the conical portion facing inward. They are connected with screws 20. Such a stopper 17 is strongly attracted to the tapered seat by the tensile force of the spring member 19 to fit therein, and the stopper 1
8 is always positioned on the center of the support cylinder 15.

The screw 20 is screwed with a nut 21 housed in the opening at the shaft end. When the screw 20 is loosened, the support shaft 18 is pulled out by spring pressure, and the head plate 1 is pulled out.
The space between the base plate 2 and the base plate 13 is widened, and when tightened in the opposite direction, the space is pulled back and the space is narrowed. Therefore, the screw 20 also serves as an adjusting screw in addition to the connection, and can always hold the base plate 13 in parallel with the head plate 12.

Reference numeral 22 denotes a set plate for the work attached to the base plate 13. A guide pin 23 for positioning, which is in contact with the mold 14, is provided at a required position so as to be freely inserted and removed. Although not shown in the drawing, a work jig is provided on the front surface facing the mold.

In the above configuration, even if the insertion position of the head plate 12 is slightly shifted due to the bending and extension of the movable arm 11, the support shaft 18 of the base plate 13 inserted and supported by the support cylinder 15 is provided.
, The support shaft 18 has a movable allowance due to the clearance provided around the base plate 13 if the positional deviation can be corrected by the taper of the guide pin 23.
The base plate 13 is moved to the set plate 22 by the pressing force generated in the process in which the guide pin 23 completely fits into the tapered receiving hole 23a on the mold side due to the contact of the base plate 13 with the parting surface.
In addition, the position is automatically corrected by moving horizontally or vertically.

The insertion of the head plate 12 corresponds to the mold 1
4 is slightly tilted with respect to the parting surface, the position of the parting surface of the set plate 22 is increased because the clearance provided around the support shaft 18 has a margin for inclination. 2, the support shaft 18 is inclined in the support cylinder 15 as shown in FIG. 2, so that the base plate 13 and the set plate 22 contact the parting surface in parallel even if the head plate 12 remains inclined. The displacement due to the inclination is eliminated.

Although the above embodiment is directed to the description of the insert, the present invention can be used particularly as a head mechanism of a robot for removing molded products by providing a base plate with a holding tool or a holding tool. It is not limited to the insertion robot.

[0023]

As described above, according to the present invention, the support shaft of the head plate having the set plate provided with the guide pins which fits into the tapered receiving hole of the parting surface of the mold is formed by forming a clearance around the support shaft. The support shaft is supported on the head plate side by the truncated cone-shaped stopper connected to the shaft end and the seat on the taper surface of the support tube side, and the support shaft is movable or inclined. With the flexibility, the position of the base plate when inserted between the molds is automatically eliminated in combination with the positioning by the guide pins, and the position of the support shaft is always maintained at the same position. become.

Therefore, even if wear occurs in the bent portion of the movable arm due to long-term use, this does not cause a position shift, and it is also necessary to interrupt molding and perform positioning again. Since it is no longer possible, unmanned operation is possible even for a robot having a problem with the repeatability.

In addition, although the support shaft has flexibility, the relative positions of the head plate and the base plate are determined by the conical surface of a frusto-conical stopper provided at the shaft end of the support shaft and the receiving seat at the opening of the support cylinder. Maintained by the engagement with the tapered surface, the axis of the support shaft is always located on the center of the support cylinder due to the tensile force of the tapered surface and the spring member. The position of the base plate does not shift, the structure is not particularly complicated even in comparison with the conventional mechanism, and the cost is not increased because partial improvement is sufficient.

[Brief description of the drawings]

FIG. 1 is a cross-sectional plan view of an injection molding robot according to the present invention when a head mechanism is inserted.

FIG. 2 is a plan cross-sectional view when the same abuts against a parting surface.

FIG. 3 is a partial plan sectional view of a conventional head mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Movable arm 12 Head plate 12a Mounting hole 13 Base plate 14 Die 15 Support cylinder 16 Sleeve 17 Stopper 18 Support shaft 19 Spring member 20 Screw screw 22 Set plate 23 Guide pin

Claims (1)

(57) [Claims] 1. A head plate at a tip end of a movable arm positioned in parallel with a parting surface of an injection mold, a base plate rotatably supported on a mold side of the head plate via a spring member, and a base plate thereof. A set plate provided with a guide pin which is attached to the mold side of the mold and which fits into the tapered receiving hole of the parting surface, and the spring member is provided around an axis between the head plate and the base plate, and is provided at a plurality of positions on the head plate. A main plate provided on the back side of the plate by slidably penetrating a base plate support shaft, the support tube on the head plate side of the support shaft being provided in a mounting hole formed in the head plate, and an inner diameter; And a sleeve in the main body that has a larger diameter than the above-mentioned support shaft and forms a clearance around the support shaft. A frusto-conical stopper is connected to the shaft end of the support shaft inserted through the sleeve so as to be adjustable with a screw member with the conical surface facing inward, and the stopper is brought into contact with the seat of the tapered surface by spring pressure. A head mechanism for an injection molding robot, comprising: