JP4016168B2 - Injection head holding structure - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a holding structure for an injection head, and more specifically, presses a nozzle for pouring foaming liquid by controlling the positioning of a work robot against an injection port of a foaming mold, and in this state, the foaming liquid is injected into the foaming liquid. The present invention relates to a holding structure for mounting an injection head for closed injection into a mold on the work robot so as to be freely displaceable in posture.
[0002]
[Prior art]
For example, means for injecting a foam molding material (hereinafter referred to as “foaming liquid”) into a cavity defined in the foam mold is roughly classified into an open injection method and a closed injection method. Of these, the open injection method opens the mold divided into upper and lower parts, injects the foaming liquid into the cavity of the lower mold, and then closes the upper mold and the lower mold to perform the foaming reaction in the cavity. It is something to make progress. In the closed injection method, the injection head is brought into contact with an injection port provided at a required position of the foaming mold, and the foaming liquid is injected into the cavity of the mold that has been clamped in advance. Regardless of the injection method, the foaming liquid injected into the mold cavity becomes cloudy and creamy due to a chemical reaction, and then bubbles are generated and foaming starts. The foaming is completed by filling the cavity later and curing.
[0003]
In such foam molding, since it takes time to foam and cure the foamed liquid injected into the cavity, in general, on the premise of cycle time, for a plurality of foam molding dies installed on a turntable etc. Production efficiency is improved by providing one injection head and injecting the foaming liquid with the injection head while sequentially bringing each foaming mold to the injection position. Therefore, the injection head is mounted on, for example, an arm of a work robot controlled by a computer, and the automatic operation of the work robot is performed to inject and contact the foaming mold inlet and inject the foaming liquid. When the process is completed, the mold is moved away from the mold.
[0004]
[Problems to be solved by the invention]
Since the injection head is mounted on the work robot with high position reproduction accuracy, accurate positioning control with respect to the injection position is performed. However, the injection head is almost completely fixed to the robot arm so that the posture cannot be displaced. It was. Further, since the foaming mold is made of a synthetic resin in recent years in order to reduce the weight and cost, some distortion, bending, and twisting are likely to occur. For this reason, even if it is a foaming mold of the same shape, a subtle error is inherent in the forming position and forming angle of the injection port for each forming mold. Therefore, in the above-described closed injection method, when the nozzle of the injection head comes into contact with the injection port of the foaming mold, a gap may be defined between the nozzle and the injection port, and the injection is performed. There was a problem that part of the foaming liquid leaked from this gap. That is, when the foaming liquid leaks from the gap during the injection, a smaller amount of the foaming liquid is injected than the appropriate amount, resulting in a deterioration in quality of the foamed molded product that has been cured and a defective product. In addition, since the attached foaming liquid is cured and gradually grows around the nozzle spout around the injection head, this has caused the formation of a new gap and cannot prevent the foaming liquid from leaking out.
[0005]
OBJECT OF THE INVENTION
The present invention has been proposed to suitably solve the above-described problems. An injection head is mounted on a robot arm so as to be freely displaceable, and is always in close contact with an injection port provided in a foam molding die. It is an object of the present invention to provide a holding structure for an injection head that can prevent leakage of foaming liquid by being configured so as to make a proper contact.
[0006]
[Means for Solving the Problems]
In order to solve the above-mentioned problems and achieve the intended purpose, the present invention presses a nozzle for pouring out the foaming liquid by controlling the positioning of the work robot and presses the foaming liquid in this state. A holding structure for mounting an injection head for closed injection into the foaming mold on the work robot in a freely displaceable posture,
A fixed frame that is fixedly installed on the arm of the working robot and includes a plurality of support members extending in the direction of foaming liquid injection of the nozzle;
A movable frame is formed below the fixed frame via the respective support members formed in the insertion holes formed in the vicinity of the installation portion, where an installation portion for fixing and holding the injection head is formed. When,
A regulating member that is fixed to the distal end portion of each of the supporting members and that can be aligned when the axis line is aligned with the regulating holding portion formed on the movable frame;
It is elastically interposed between the fixed frame and the movable frame, and always comprises a biasing member that biases the movable frame toward the foaming liquid injection direction.
When the injection head is not in contact with the injection port of the foaming mold, the respective restricting members and the corresponding restricting holding portions are aligned under the action of the biasing member, and the movable frame is moved in the horizontal direction. By holding the injection head in a steady posture,
When a reaction force exceeding the urging force of the urging member acts on the injection head when the injection head is brought into contact with the injection port of the foaming mold, the movable frame is displaced in a direction opposite to the injection direction. The arrangement is characterized in that the alignment between each of the restricting members and the restricting holding part is released, thereby allowing the movable frame to move in the horizontal direction and displacing the injection head.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Next, a holding structure for an injection head according to the present invention will be described below with reference to the accompanying drawings by way of a preferred embodiment. 1 is a schematic front view of an injection head holding structure according to a preferred embodiment of the present invention, FIG. 2 is a schematic plan view of the injection head holding structure shown in FIG. 1, and FIG. It is a schematic side view of the holding structure of the injection head shown. The holding structure of the injection head according to the present embodiment is such that the injection head 40 is mounted on the tip of a horizontal arm 64 in a work robot 60 as shown in FIG. For convenience of explanation, the right side in FIG. 2 is the “front side” of the holding mechanism and the left side is the “rear side”, the upper side in FIG. 3 is the “opposite side or upper side in the injection direction” and the lower side is the lower side. “Injection direction side or lower side”.
[0008]
(About work robot)
The work robot 60 is an arm type that is already in practical use in various manufacturing fields. That is, a vertical arm 63 pivotally supported by a main body 62 that can be swiveled horizontally with respect to the installation base 61, and connected to a tip end portion of the vertical arm 63 so as to be rotatable about a longitudinal axis. A horizontal arm 64 and a wrist 65 that is connected to the tip of the horizontal arm 64 and the other is rotatable about an axis perpendicular to the axis of the horizontal arm 64. The injection head 40 is mounted on the moving side via the holding structure of this embodiment. In such a working robot 60, the constituent members such as the vertical arm 63, the horizontal arm 64, the wrist portion 65 and the like have sufficient rigidity, and the constituent members are connected and supported with high precision. Under the drive control of an actuator, a servo motor, etc., a complicated posture displacement of the injection head 40 in the three-dimensional space can be performed accurately and easily.
[0009]
(Foam mold)
The foam molding die 50 is a closed injection type split molding die composed of an upper die 51 and a lower die 52 that can be closely clamped to each other as shown in FIG. By opening the upper mold 51 upward, the cavity 53 having a required shape defined inside can be exposed. Further, a funnel-shaped injection port 54 made of, for example, aluminum and having a conical surface 55 with which the nozzle 42 of the injection head 40 abuts is provided at a required position of the upper mold 51. 53. Therefore, the injection of the foaming liquid by the injection head 40 is performed in a state where the upper mold 51 and the lower mold 52 are clamped, and the foamed product molded in the cavity 53 is separated into the upper mold 51 and the lower mold 52. Open and demold.
[0010]
(Injection head)
The injection head 40 of this embodiment is exemplified by a two-liquid mixing type including a mixing chamber 41 that generates foaming liquid by mixing foaming raw materials separately pumped from two supply pipes (not shown). A piston for detachably mounting an adapter-type nozzle 42 formed with a spout 43 for pouring the foamed liquid below the mixing chamber 41 and for pouring the mixed liquid above the mixing chamber 41 Is equipped with a cylinder 45. That is, the injection head 40 pours out a predetermined amount of foaming liquid generated in the mixing chamber 41 from the nozzle 42 by a required piston operation in the cylinder 45. The nozzle 42 is made of steel, for example, and has a tapered tapered conical surface 44 formed at the tip so as to be in close contact with the injection port 54 provided in the foam molding die 50. Yes. As for the nozzle 42, a plurality of different shapes and sizes are prepared on the premise of the shape of the injection port 54 (for example, a spherical shape at the tip end). It has become.
[0011]
(Retention structure)
As shown in FIGS. 1 to 4, the holding structure for the injection head according to the present embodiment is the fixed frame 10 fixed to the wrist portion 65 of the work robot 60 and the injection head 40 fixedly held and fixed. The frame 10 includes a movable frame 11 that is mounted so as to be able to slide and tilt in the front-rear direction and the left-right direction. That is, the pouring head 40 can be allowed to be displaced by the sliding displacement or tilting displacement of the movable frame 11 with respect to the fixed frame 10.
[0012]
(Fixed frame)
The fixed frame 10 is based on the mounting base 12 fixed to the wrist portion 65 of the work robot 60. The mounting base 12 includes a base 13 that is fixed to the wrist 65 with bolts, and two mounting pieces 14 that extend in parallel from the front end surface of the base 13 to the front with a required interval on the left and right. 14 are integrally formed. Further, left and right holding members 15, 15 extending in the front-rear direction are fixed to the lower surface of each mounting piece 14, and the holding members 15, 15 are arranged near the front end and the rear end of each holding member 15, 15. A total of four support rods (support members) 16 extending vertically downward (injection direction side) with respect to 15 are fixed. Each support bar 16 has a large-diameter portion 17 on the upper side and a small-diameter portion 18 on the lower side formed in a stepped round bar shape with a substantially central portion in the vertical direction as a boundary. Each support rod 16 is provided with a coiled spring (biasing member) 19 and a frustoconical shape having a first convex surface 21 having a conical surface and a second convex surface 22 having a conical surface. The restricting member 20 is fixed to the distal end portion 16 a of the support bar 16.
[0013]
(Movable frame)
The movable frame 11 includes a left holding piece 25 positioned below the left holding member 15, a right holding piece 26 positioned below the right holding member 15, and left and right holding pieces 25, 26. The left holding piece 25, the right holding piece 26 and the connecting hook 27 are integrally formed. Further, on the front end side and the rear end side of the left holding piece portion 25 and the right holding piece portion 26, insertion holes 28 that allow insertion of the respective support rods 16 corresponding to the positions of the support rods 16 are provided. Is formed. As shown in FIG. 8, the inner diameters of these insertion holes 28 are set to approximately three times the outer diameter of the narrow diameter portion 18 of the support rod 16, and each support rod 16 has a sufficient gap. It has come to penetrate. A concave portion 29 for holding the lower end portion of the spring 19 is formed at the upper opening edge of each insertion hole 28, and the restriction member is formed at the lower opening edge of the insertion hole 28. The regulation holding part 30 which formed the conical concave surface 31 with which the 20 1st convex surfaces 21 align is recessedly provided.
[0014]
An installation portion 32 for fixing and holding the injection head 40 is formed at the left and right central portion of the connecting rod portion 27. As shown in FIG. 4, the installation portion 32 includes a first holding portion 33 that is integrally formed with the connecting collar portion 27 to form a semicircular contact surface 33 a, and the first holding portion 33 The second holding part 34 is formed separately and formed with a semicircular contact surface 34b, and the second holding part 34 is attached to the first holding part 33 with the main body of the injection head 40 sandwiched from the front and rear. By screwing, the contact surfaces 33a and 34a are in close contact with the outer surface of the main body, and the injection head 40 is fixedly held on the movable frame 11. In addition, the installation part 32 is located in the center where the diagonal line which connected each insertion hole 28 of front and back, and right and left cross | intersects. In other words, each insertion hole 28 is located on the same circumference centering on the installation portion 32, and each support rod 16 penetrating through the insertion hole 28 surrounds the injection head 40 fixed to the installation portion 32. Located.
[0015]
The movable frame 11 configured in this manner is provided by the spring 19 and the restricting members 20 that are elastically interposed between the fixed frame 10 and the movable frame 11 while being mounted on the support rods 16. The sliding movement and tilting with respect to the fixed frame 10 are restricted or allowed. For example, in a state where the injection head 40 is not in contact with the injection port 54 of the foaming mold 50, the movable frame 11 is urged downward (injection direction side) by the urging force of each spring 19, and each regulation is held. The portion 30 and the corresponding restricting member 20 are aligned under close contact between the concave surface 31 and the first convex surface 21 (FIG. 1 and FIG. 6A). As a result, the movable frame 11 is restricted from moving in the front-rear direction, left-right direction, and up-down direction and tilting in the front-rear direction and left-right direction, and the injection head 40 is held in a steady posture.
[0016]
On the other hand, in a state where the injection head 40 is pressed against the injection port 54 of the foaming mold 50 with a pressing force exceeding the urging force of the four springs 19, the injection head 40 and the urging force of each spring 19 are resisted. The movable frame 11 integrally moves and displaces upward (opposite to the injection direction), and the alignment between the restricting members 20 and the restricting holding portions 30 is released (FIG. 7). As a result, the movable frame 11 is in a so-called “floating state” because each insertion hole 28 is located in the small diameter portion 18 of the support bar 16, so Accordingly, the injection head 40 can be slidably displaced in the front-rear and left-right directions in a vertical posture (FIGS. 6B and 8). Therefore, for example, even if there is a slight error in the formation position of the injection head 40, the injection head 40 is appropriately displaced toward the injection port 54, and the axis of the injection head 40 and the axis of the injection port 54 are The hearts come to coincide (see FIG. 9).
[0017]
Further, in the floating state of the movable frame 11 described above, the movable frame 11 is allowed to be tilted and displaced in the front-rear direction and the left-right direction by the gap between the insertion hole 28 and the support rod 16. Tilt displacement in the front-rear direction or the left-right direction is possible. Thereby, for example, when a gap is formed in a part of the contact portion between the nozzle 42 and the injection port 54 at the initial contact of the injection head 40 with the foaming mold 50, the side corresponding to the position of the gap Since the side of the movable frame 11 corresponding to the spring 19 is displaced toward the injection direction under the urging force of the spring 19, the entire injection head 40 is tilted so that the gap portion is in close contact. (See FIG. 10 and FIG. 11).
[0018]
As described above, in the injection head holding structure according to the present embodiment, the injection head 40 pressed against the injection port 54 of the foaming mold 50 moves and displaces to the opposite side in the injection direction, and the restriction holding portion 30 of the movable frame 11 and In the floating state of the movable frame 11 in which the alignment with the restriction member 20 of the fixed frame 10 is released, the sliding displacement of the injection head 40 in the front-rear direction and the left-right direction and the tilting displacement in the front-rear direction and the left-right direction are allowed. Is done. Thereby, for example, even if there is some error in the formation position and the formation angle of the injection port 54 for each foaming mold 50, the injection head 40 simultaneously contacts the injection port 54 with the nozzle 42 of the injection head 40. The position of the nozzle is appropriately displaced, and the nozzle 42 and the inlet 54 are suitably aligned and adhered.
[0019]
In the injection head holding structure according to this embodiment configured as described above, the injection port 54 is formed with an accuracy of 0.1 mm in the front-rear direction and the left-right direction with respect to errors in the formation position and formation angle of the injection port 54 While the posture of the head 40 can be displaced, it is possible to cope with a positional deviation of a maximum of ± 7 mm.
[0020]
[Effect of the embodiment]
Next, the operation of the injection head holding structure according to the present embodiment configured as described above will be described.
[0021]
For example, as shown in FIG. 12, the holding structure of the injection head according to the present embodiment is obtained by using a single injection head 40 with a plurality of foam molding dies 50 (six in the drawing) installed on the turntable 66. Can be suitably applied to a system in which closed injection is sequentially performed. That is, since the work robot 60 has extremely high machine rigidity and position reproduction accuracy, the injection head 40 is accurately positioned at the injection position under the automatic operation of the work robot 60. When there is a subtle error in the formation position or formation angle of the injection port 54 for each foaming mold 50, the posture of the entire injection head 40 is appropriately displaced simultaneously with the nozzle 42 contacting the injection port 54. As a result, the nozzle 42 is brought into close contact with the injection port 54 in any mold 50 without any gap, and a suitable closed injection of the foaming liquid is performed. Then, next, the attitude | position displacement of the injection | pouring head 40 with respect to the installation form of the injection inlet 54 is demonstrated concretely.
[0022]
(When there is no error in the injection port formation position and formation angle)
When the injection head 40 is pressed against the foaming mold 50 with no error in the molding position and forming angle of the injection port 54 under the positioning operation of the work robot 60 (see FIG. 7), the nozzle is inserted into the injection port 54. Since the axial centers of both 40 and 54 coincide with each other when 42 abuts, the adhesion of the conical surfaces 55 and 44 is ensured simultaneously with the abutment of the injection head 40. Therefore, the movable frame 11 is in a floating state without being displaced by sliding or tilting, and the injection head 40 is maintained in its posture.
[0023]
(If there is an error in the injection port formation position)
Under the positioning operation of the work robot 60, when the injection head 40 is pressed against the foam molding die 50 (see FIG. 9), there is an error in the formation position of the injection port 54 (there is no error in the formation angle). Since the axes of the nozzles 40 and 54 do not coincide with each other when the nozzle 42 comes into contact with the inlet 54, the nozzle 42 moves to the inlet 54 side and the injection head 40 is temporarily tilted. However, since the injection head 40 is tilted and displaced, a gap is defined between the nozzle 42 and the injection port 54, so that the movable frame 11 is in a floating state and at the same time is slid and displaced under the biasing force of the spring 19. Then, the injection head 40 returns to the vertical posture again, and the gap disappears. That is, when the injection head 40 is slid and displaced obliquely rearward from the original position and the axial centers of the injection head 40 and the injection port 54 coincide, the conical surface 55 of the injection port 54 and the conical surface 44 of the nozzle 42 are aligned. Adhesion is secured.
[0024]
(When there is an error in the formation angle of the inlet)
When the injection head 40 is pressed against the foaming mold 50 under the positioning operation of the work robot 60, there is an error in the formation angle of the injection port 54 (there is no error in the formation position) (see FIGS. 10 and 11). In this case, when the nozzle 42 comes into contact with the injection port 54, the axes of both 40 and 54 do not coincide with each other, so that a gap is defined between the nozzle 42 and the injection port 54. Therefore, in the process of moving the movable frame 11 to the floating state, the movable frame 11 is tilted and displaced as a whole by the biasing force of the spring 19 on the side corresponding to the position of the gap. When the axial centers of the injection head 40 and the injection port 54 coincide with each other, adhesion between the conical surface 55 of the injection port 54 and the conical surface 44 of the nozzle 42 is ensured.
[0025]
(When there is an error in both the injection port formation position and formation angle)
Under the positioning operation of the work robot 60, when the injection head 40 is pressed against the foaming mold 50 having an error in both the formation position and the formation angle of the injection port 54 (not shown), the injection port When the nozzle 42 comes into contact with the nozzle 54, the axes of both 40 and 54 do not coincide with each other, so that the nozzle 42 moves to the injection port 54 side and the injection head 40 is temporarily tilted. In addition, since a gap is defined between the nozzle 42 and the injection port 54, the movable frame 11 is slid and displaced under the urging force of the spring 19 when the movable frame 11 is in a floating state. When the axial centers of the injection head 40 and the injection port 54 coincide with each other, adhesion between the conical surface 55 of the injection port 54 and the conical surface 44 of the nozzle 42 is ensured.
[0026]
(Returning the injection head to a steady posture)
When the injection operation by the injection head 40 is completed, the injection head 40 is moved away from the foaming mold 50 under the return operation of the work robot 60. That is, when the pressing force by the work robot 60 is gradually reduced, the movable frame 11 in the floating state is displaced toward the injection direction side under the biasing force of each spring 19. At this time, since the corresponding restriction members 20 are aligned with the respective restriction holding portions 30, the movement and tilting of the movable frame 11 in the front-rear direction and the left-right direction are again restricted, and the injection head 40 is held in a steady posture. Each restricting member 20 is formed in a tapered shape toward the corresponding restricting / holding portion 30 by the first convex surface 21 and the second convex surface 22, and the restricting / holding portion 30 is formed by the concave surface 31. Since they are formed so as to expand to the side, both 20 and 30 are aligned very smoothly while being close to each other. In particular, the second convex surface 22 is formed on each regulating member 20, so that the movable frame 11 is in a steady posture regardless of the posture of the movable frame 11 in the slide displacement state or the tilt displacement state. It returns smoothly.
[0027]
As described above, in the holding structure for the injection head according to the present embodiment, even if there is an error in the formation position or formation angle of the injection port 54 provided in the foaming mold 50, the positioning operation of the work robot 60 is performed. When the injection head 40 is pressed against the injection port 54, the injection head 40 is appropriately displaced in position so that the axial centers of the two 40 and 54 coincide with each other to ensure adhesion. Accordingly, in accordance with prevention of leakage of the foaming liquid poured out from the injection head 40, an appropriate amount (a prescribed amount) of foaming liquid is always injected into the cavity 53 of the foaming mold 50, and a foam product with stable quality. Is obtained.
[0028]
In the above embodiment, the holding structure of the injection head provided with a total of four support rods 16 has been exemplified. However, the number of support rods 16 is not limited to this, and the injection head 40 may be surrounded. Assuming that the movable frame 11 is disposed at a distance of at least three, the posture displacement of the movable frame 11 can be suitably maintained. Moreover, regarding the mounting posture of each support bar 16, the state of extending vertically and parallel to the injection direction side is illustrated, but the mounting angle of this support bar 16 is not limited to this, for example, the injection direction side It may be attached in the shape of a letter C that is spaced apart from each other, or in the form of a letter C that is close to each other toward the injection direction.
[0029]
In the embodiment, the movable frame 11 is positioned with respect to the fixed frame 10 by the close contact between the conical first convex surface 21 of the restricting member 20 and the conical concave surface 31 of the restricting holding portion 30. However, even if the first convex surface 21 and the concave surface 31 have a spherical shape that can be brought into close contact with each other, suitable alignment between the restricting member 20 and the restricting holding portion 30 can be achieved and the movable frame 11 can be positioned.
[0030]
【The invention's effect】
As described above, according to the holding structure for the injection head according to the present invention, even if there is an error in the formation position or formation angle of the injection port provided in the foaming mold, the positioning operation of the work robot is performed. When the injection head is pressed against the injection port, the posture of the injection head is appropriately displaced, so that the axial centers of the two coincide with each other to ensure adhesion. Therefore, along with prevention of leakage of the foaming liquid poured out from the injection head, there is an advantage that an appropriate amount of foaming liquid is always injected into the cavity of the foaming mold and a foamed product with stable quality can be obtained.
[0031]
Further, in the injection head holding structure according to the present invention, when the injection head is not pressed against the injection port of the foaming mold, the biasing member is elastically interposed between the moving frame and the fixed frame. As a result, the regulation holding portions formed on the movable frame and the corresponding regulation members disposed on the fixed frame are aligned, so that the movement and tilting of the movable frame in the front-rear direction and the left-right direction are regulated and injection is performed. The head can be held in a steady posture.
[Brief description of the drawings]
FIG. 1 is a schematic front view of an injection head holding structure according to a preferred embodiment of the present invention.
2 is a schematic plan view of an injection head holding structure shown in FIG. 1. FIG.
3 is a schematic side view of the holding structure for the injection head shown in FIG. 1. FIG.
FIG. 4 is an exploded perspective view showing components of the holding structure for the injection head according to the present embodiment.
FIG. 5 is a schematic configuration diagram of a working robot equipped with an injection head holding structure according to the present embodiment.
FIG. 6A shows the state of restriction of the movable frame due to the alignment between the restriction member and the restriction holding portion, and FIG. 6B shows the state where the movable frame is floated due to the release of the alignment between the restriction member and the restriction holding portion. (c) is an enlarged sectional view showing a state in which the movable frame is inclined.
FIG. 7 is a front view of a holding structure when an injection head is pressed against an injection port with no error in forming position and forming angle.
8 is a bottom view showing that the movable frame can be slidable back and forth and left and right in the state shown in FIG. 7;
FIG. 9 is a front view of the holding structure when the injection head is pressed against an injection port with an error in the formation position.
FIG. 10 is a front view of the holding structure when the injection head is pressed against the injection port that is inclined to the left (the formation angle has an error).
FIG. 11 is a side view of the holding structure when the injection head is pressed against the injection port that is inclined forward (the formation angle has an error).
FIG. 12 is a schematic configuration diagram illustrating an example of a system in which a foaming liquid can be sequentially injected into a plurality of foaming molds by a work robot equipped with a holding structure for an injection head according to the present embodiment.
[Explanation of symbols]
10 Fixed frame
11 Movable frame
16 Support rod (support member)
16a tip
19 Spring (biasing member)
20 Regulatory members
21 First convex surface
28 Insertion hole
30 Restriction holding part
31 Concave
32 Installation section
40 injection head
42 nozzles
50 Foam mold
54 Inlet
60 working robot
64 arms

Claims (4)

The nozzle (42) for pouring the foaming liquid by controlling the positioning of the work robot (60) is pressed against the inlet (54) of the foaming mold (50), and in this state, the foaming liquid is injected into the foaming mold (50 A holding structure for mounting the injection head (40) closed injecting to the work robot (60) in a posture-displaceable manner,
A fixed frame (10) provided with a plurality of support members (16) that are fixedly installed on the arm (64) of the work robot (60) and extend in the direction of foaming liquid injection of the nozzle (42),
An installation portion (32) for fixing and holding the injection head (40) is formed, and the respective support members (16) loosely inserted into insertion holes (28) drilled in the vicinity of the installation portion (32). Through the movable frame (11) installed below the fixed frame (10),
A regulating member (20) fixed to the tip end portion (16a) of each of the support members (16) and capable of being aligned when the axis line is aligned with the regulating holding portion (30) formed on the movable frame (11); ,
From an urging member (19) that is elastically interposed between the fixed frame (10) and the movable frame (11), and constantly urges the movable frame (11) toward the foam liquid injection direction. Become
In a state where the injection head (40) is not in contact with the injection port (54) of the foaming mold (50), under the action of the urging member (19), the corresponding restriction member (20) and the corresponding restriction holding Part (30) is aligned, and the injection frame (40) is held in a steady posture by restricting movement of the movable frame (11) in the horizontal direction,
When the injection head (40) is brought into contact with the injection port (54) of the foaming mold (50), a reaction force exceeding the urging force of the urging member (19) acts on the injection head (40). Then, the movable frame (11) is displaced in the direction opposite to the injection direction to release the alignment between the respective restricting members (20) and the restricting holding portion (30), thereby the horizontal position of the movable frame (11). An injection head holding structure characterized in that the injection head (40) is displaced while allowing movement in a direction. The injection head holding mechanism according to claim 1, wherein the support member (16) is a support bar installed at a required position surrounding the injection head (40), and the support bar is composed of at least three or more. The injection head holding structure according to claim 1 or 2, wherein the biasing member (19) is a coil spring that is externally inserted into the respective support members (16). The restriction holding portion (30) is formed as a concave surface (31), and the restriction member (20) is formed as a convex surface (21) that can be in close contact with the concave surface (31), and these concave surfaces (31). The injection head holding mechanism according to claim 1, wherein the movable frame (11) is allowed to be displaced with respect to the fixed frame (10) by the convex surface (21).

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