KR101092815B1 - Robot system for injection molding of the carrier - Google Patents

Abstract

The present invention relates to a robot system for inserting a press for injection molding of a carrier, which is one of the components of a front end module (FEM) of a vehicle. Aligning each element member and inserting it into the press by arranging the element members so as to fit the shape of the carrier to be injected and received while being contained on a movable pallet, and then handling them at once to seat the mold in the press. It is to provide a robot system for press insertion for injection molding of a FEM carrier of a vehicle which can fully automate and improve the overall work efficiency.

The present invention comprises a press for modularizing the insert injection molding component parts; A plurality of element positions for positioning each component supplied to the outside; A seating table for mounting each component required before press working; The press, the seating table, and at least one element position are placed in the drive area, and the elements in the element positions positioned in the drive area are respectively mounted at the designated positions of the seating table, and all the components mounted on the seating table are gripped. The technical gist of the present invention relates to a press insertion robot system for injection molding of a vehicle bumper front end, which is composed of transfer robots which are supplied into a single circuit press.

Front End Module (FEM), Carrier, Upper Panel, Side Panel, Low Panel, Displacement Robot

Description

ROBOT SYSTEM FOR INJECTION MOLDING OF THE CARRIER}

Figure 1 is an exemplary view showing a completed injection state of the carrier constituting the front end module

2 is a schematic view of an injection molding press insertion system according to the present invention.

3 is a front view (a) and a plan view (b) showing an embodiment of the element position according to the present invention

4 is a cross-sectional view illustrating the cut along the X-X line of FIG.

5 is a side view illustrating a stopper configuration of an element position presented as an embodiment

Figure 6 is an exemplary view showing the grip hand of the main transfer robot according to the present invention

Figure 7 is an exemplary view showing a seating table according to the present invention

8 is an exemplary view showing a grip hand of a secondary transfer robot according to the present invention

<Description of the symbols for the main parts of the drawings>

(1) injection molding (carrier)

(10): Press

(21), (22), (23), (24): 1, 2, 3, 4 element positions

(30): Seating Table

(40): Secondary Robot

(50): Main Robot

210: (movable) pallet

The present invention relates to a handling robot system for injection molding of a carrier constituting a front end module of a vehicle (hereinafter referred to as 'FEM'), and more particularly to the alignment of each component part supplied individually through the whole process and The present invention relates to a handling robot system that enables to implement a complete automation for carrier injection molding, such as by placing the aligned group of components in the mold in the press at a time.

In general, the major parts of a car can be divided into a chassis and a body. The chassis has a minimum function of driving a car by itself, and the frame is equipped with an engine and a device for driving.

The body is for accommodating people and cargo, and is composed of a car compartment, a cargo compartment, an engine compartment, a trunk compartment, a fender, and the like. In addition, the body is divided into a front side, a center side, and a rear side body along the longitudinal direction of the vehicle. It is done.

The carrier, which is an injection molding according to the invention, is a component of the front body, ie the front end module (FEM), which is a cooling module, a headlamp, a bumper, Consists of a horn and a carrier corresponding to the present invention.

In addition, the carrier serves to support the cooling module, headlamp, bumper, horn and the like aligned with each other.

1 shows a carrier which is a finished injection molding to which the present invention is applied, and as shown, the carrier, that is, the injection molding 1, has an upper panel 2 on the upper side, and side panels 3 on both sides thereof. In addition, each component composed of the radiator low panel 4 at the front lower side is made to form one injection-finished product through an injection molding operation through a press. Although not shown, in general, in press injection molding integrating each of the panels 2, 3 and 4, a plurality of bolt members are inserted together to perform press injection molding, whereby each panel is conventionally welded and welded. This is to realize the process that had to be fixed with bolts, shortening the assembly time and reducing the overall weight of the vehicle body.

On the other hand, in the conventional injection process for forming a carrier, it is to perform the operation of repeatedly inserting the respective component parts that are manufactured and supplied in advance from the previous process into the injection mold, and also recently injection using a multi-axis drive robot Although efforts have been made to implement automation of work, a plurality of robots and a plurality of grips corresponding to the respective component parts are required in order to handle each component part supplied from various paths in various processes and different processes of each component part. In order to control the entire system, the tools must be provided, and most of all, the robots are not uniform in the process of controlling the entire system. Can't handle parts optimally And it was caused a problem that the overall production efficiency.

Accordingly, the present applicant uses a minimal multi-axis robot that handles each component part supplied from various paths to meet the one-time process of the press performing the injection molding. We have sought a process system that can achieve optimal handling.

The present invention is to solve the conventional problems as described above, the object of the injection molding by handling the respective component parts in response to the rapid injection process pattern of the press machine by receiving the respective component parts prepared in advance through the entire process It is to provide a handling robot system for carrier injection molding that can improve overall work efficiency through shortening of the process.

In addition, the robot system according to the present invention for carrying out the above object is to be equipped with a mold for seating each of the component parts integrally to prepare a press machine capable of forming a completed carrier through a single injection process. In addition, a gripping tool of a robot capable of integrally clamping the respective component parts should be provided.

The present invention for achieving the object as described above and to eliminate the conventional defects in the press insert handling device for injection molding of the carrier as a component of the first, second, third, fourth elements made in advance in the entire process In

A press for integrating the first, second, third and fourth elements by injection molding by seating on an inner mold;

First, second, third, and fourth element positions for holding the first, second, third, and fourth elements pre-fabricated in the previous process, respectively, and maintaining their positions;

A seating table configured to mount the first, second, third, and fourth elements required for one-time press injection before being inserted into the press at a predetermined position to prepare for insertion;

An auxiliary transfer robot for placing the press, the seating table, and the element positions in the driving area, and extracting at least one or more selected elements from the corresponding element positions and placing them at a designated position of the seating table; And

The press, the seating table, and the element positions are placed in the drive area, and the other elements which are not taken out of the auxiliary transfer robot are taken out from the element positions and mounted at the designated positions of the seating table. A main transfer robot which grips all 1,2,3,4 elements and supplies them into the press;

It is characterized by consisting of.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 2 shows the overall process diagram of the vehicle bumper injection molding robot system according to the present invention, when described in connection with Figure 1, the robot used in the first process according to the present invention is the main transfer robot 50 and the auxiliary transfer material The robot 40 is disposed, the press 10 is disposed at one side of the driving region of the main transfer robot 50 and the auxiliary transfer robot 40, and the first, second, and constituent parts of the carrier injection molding 1 are provided. First, second, third, and fourth element positions 21, 22, 23, and 24 for positioning the 3, 4 elements are disposed, and the first transfer robot 50 and the auxiliary transfer robot 40 are disposed. A seating table 30 is arranged which is mounted before the 2, 3, 4 elements are inserted into the press 10 to await insertion.

As shown in FIG. 1, the carrier injection molded product 1 completed by the robot system of the present invention includes an upper panel of the first element 2, a side panel of the second element 3, The third element 4 is a low panel, and the fourth element (not shown) corresponds to a bolt member which is integrally formed during press working with the respective elements.

As described above, the robot system according to the present invention implements an optimum handling for supplying the first, second, third, and fourth elements previously manufactured to the press 10, thus saving processing time. And a handling system to improve productivity.

More specifically, the first, second, third, and fourth element positions 21, 22, 23, and 24 are loaded in the system control unit (not shown) with each of the first, second, third, and fourth elements supplied from the outside. Make sure that the reference position is set correctly. That is, the pallet itself is the correct position for holding the handling of the main transfer robot 50 and the auxiliary transfer robot 40 through the movable pallet forming the aligned state of the front, rear / left, right / vertical direction. 3 is a front view (a) and a top view (b) of the movable pallet, which is an embodiment of the element position according to the present invention, and FIG. 4 is of FIG. Sectional view cut along the line XX, Figure 5 is a side view showing the configuration of the stopper and the clamp provided on the stopper of the movable pallet, the bottom of the workplace through the wheel 211 provided on the bottom of the pallet (210) It has a structure that can move me freely. On the bottom surface of the movable pallet 210, a bar-shaped key 215 formed in a direction entering toward the reference position A is formed to protrude downward, and a plurality of keys arranged at equal intervals in parallel with the key 215. Two horizontal bars 216 are configured. At this time, the key 215 is formed to have a predetermined thickness with respect to the traveling direction, the plurality of horizontal bars 216 are formed to form the bottom of the same height all. In addition, on the bottom of the reference position (A) is provided a guide member 230 for aligning the left and right to be in close contact with both sides by receiving the key 215 of the entering pallet 210, the horizontal bar 216 to enter A plurality of roller members 220 are installed in close contact with the bottom of the). In addition, a stopper 240 having a clamp 241 for fixing the continuous forward and backward movement of the completed pallet 210 is provided at one side of the reference position (A). At this time, the guide member 230 and the roller member 220 is to be installed in a position that does not interfere with the moving wheel 211 of the pallet 210 to enter. That is, the pallet 210 to the left and right movement with respect to the entry direction from the reference position (A) through the guide member 230, the roller member 220 can maintain the horizontal state of the pallet (210) Finally, the stopper 240 catches the movement of the pallet 210 in the front-rear direction (entry direction) through the stopper 240.

In addition, as shown in Figure 4, the guide member 230 is preferably formed in the receiving portion 235 formed wider than the width of the key 215 on the entrance side into which the pallet 210 enters, arbitrary by the operator The pallet 210 side key 215 entering the direction is guided. In addition, the guide member 230 has a bracket 231 installed on the bottom along the entry direction of the pallet 210, and a plurality of two-row structure spaced apart by the width of the key 215 on the upper surface of the bracket 231 It consists of two pins 232, so as to make point contact with both side surfaces of the key 215 to reduce the friction generated when entering. Alternatively, the pin may be rotatably installed to allow the operator to make rolling contact with both sides of the key 215 to provide the operator with convenience of entering and leaving the pallet.

In addition, as shown in FIG. 5, the preferred stopper 240 allows the front one side of the entering pallet 210 to be in close contact with the entire entrance and stops, and catches the retraction operation of the stopped pallet 210. The clamp 241 for the cycle is installed at the lower end of the stopper 240 and is operated by the cylinder 242 which draws the rod 243 toward the pallet 210 and the first hinge at the end of the rod 243. 241b) is simultaneously coupled to the stopper 240 and the second hinge 241a to be the center of rotation is rotated upwardly around the second hinge (241a) point by the operation of the cylinder 242 pallet 210 The front end of the is in close contact with the stopper 240 to be fixed.

The key 215 / guide member 230 to maintain the left and right alignment of the pallet as described above, the horizontal bar 216 / roller member 220 to maintain the horizontal state of the pallet, the stopper 240 to maintain the alignment of the pallet back and forth The operator can simply complete the alignment of the pallet by completing the entry into the initial reference position (A), the reference position (A), that is, the main transfer robot 50 and the auxiliary transfer robot 40 The first transfer robot 50 and the auxiliary transfer robot 40 each of the first, second, third, and fourth elements loaded in the movable pallet which are always aligned with the entry at the same time without the need for a separate designation corresponding to the set position. It is to maintain the specified position of the drive area of.

Subsequently, as shown in FIG. 2, as the embodiment of the present invention, the first element position 21 into the element position having the above configuration is positioned in the driving range of the main robot robot 50. The second, third and fourth element positions 22, 23 and 24 are disposed in the driving range of the auxiliary transfer robot 40. In addition, as shown, the element positions 21, 22, and 23 are provided with two positions 21a, 21b / 22a, 22b / 23a, and 23b for the same element part, respectively, and are stacked in one element position. By waiting for the other element positions before the transfer of the completed elements is completed, it prevents the robot driving from being stopped due to the absence of the element member in the work space so that continuous process work can be performed.

Subsequently, among the main transfer robot 50 and the auxiliary transfer robot 40 provided as a robot for handling the elements in the element position, as described above, the main transfer robot for placing the first element position 21 in the driving region. 50 is an operation of placing and aligning the first element 2 from the first element position 21 by mounting it on the seating table 30, and first and second mounting on the seating table 30. The entire amount of elements 3 and 4 is gripped and inserted into the press 10 through a single drive. FIG. 6 is a plane (a), side (b), front (c), and bottom (c) view of the clamping hand 51 of the main transfer robot 50 in a state where all the component parts are clamped. The output stage is provided with respective gripping tools for gripping the first, second, third and fourth elements, generally as shown in the press 10 so as to be seated on the movable mold and the fixed mold facing each other. On one side of the gripping hand 51, a gripping tool for the first element is provided, and a gripping tool for the second, third and fourth elements is provided on the opposite side.

The first, second, third, and fourth elements required for the injection operation, that is, the component parts, are gripped in the grip hand 51 of the main transfer robot 50 in the entire amount, and press 10 through one insertion drive of the robot. Will be inserted into

7 is a planar (a), side (b), frontal (c) view of the component parts seated and aligned through the main transfer robot and the auxiliary transfer robot in accordance with the present invention. 30 is disposed in the same driving region of the main transfer robot 50 and the auxiliary transfer robot 40, the main transfer robot 50 by aligning the component parts required for one injection through the press 10 Waiting for the holding of the main transfer robot 50 and the auxiliary transfer robot 40, the component parts that are seated on the upper, that is, each cradle for mounting each of the first, second, three, four elements ( 31). In addition, as shown, the seating table 30 according to the present invention is a movable seating table, and is configured to be movable from the first position 30A to the second position 30B adjacent to the press 10. In the seating table 30 at the first position 30A, the first element through the main transfer robot 50 and the second, third and fourth elements through the auxiliary transfer robot 40 are mounted on the mounting table 30. 31), the movable seating table 30 is moved to the second position 30B in the state where the first, second, third and fourth elements are seated in this way, and through the main transfer robot 50 according to the present invention. All will be waiting for gripping. That is, the mounting and alignment of the component parts is performed at the first position 30A of the movable seating table 30, and the press 10 through the main transfer robot 50 at the moved second position 30B. The gripping operation for insertion is performed.

The mobile seating table 30 is positioned at the first position 30A simultaneously with the detachment of the component parts due to the gripping operation of the main transfer robot 50 at the second position 30B, and together with the current press ( 10) the second and third elements to be mounted on the cradle of the seating table 30 returned to the first position 30A by using the insertion drive and the auxiliary transfer robot 40 at the same time. During operation of the transfer robot 40, the main transfer robot 50, which has completed the insertion and driving of the preceding element parts into the press 10, also mounts a new first element to the seating table 30 at the first position 30A. Drive to perform.

This is the same as in the embodiment of the present invention, the handling of the second, third and fourth elements through the auxiliary transfer robot 40, the first element through the main transfer robot 50 and the total insertion of the element parts toward the press As a reason for implementing the movement, the handling driving time of the second, third and fourth elements of the auxiliary transfer robot 40 toward the seating table 30 is the main transfer toward the seating table 30 and the press 10. By ideally identifying the proper time of the handling drive for the first element and the entire component part of the robot 50, the overall work process time through the optimum handling robot is reduced.

On the other hand, Figure 8 is a front (a), side (b), bottom (c) (d) diagram showing a state in which a plurality of element parts clamped to the grip hand of the auxiliary transfer robot according to the present invention, the second, The auxiliary transfer robot 40 having the three and four element positions 22, 23 and 24 in the driving area is provided with a grip hand 41 capable of holding both the second, third and fourth elements. In order to perform one injection process through 10, before the insertion operation of the main transfer robot 50, the driving of mounting the second, third and fourth elements on the seating table 30 is performed in advance. . In addition, although it is unnecessary when the second, third and fourth element positions 22, 23, and 24 are disposed in the multi-axis driving region of the auxiliary transfer robot 40, as shown in FIG. 2 in the embodiment of the present invention. Likewise, the element positions 22, 23 and 24 and the respective elements may be provided from the use of relatively small robots, each having two element positions for the same element or to implement precise control for handling a variety of element parts. The second, third and fourth element positions 22, 23 and 24 and the seating table 30 from the working floor, the base of the auxiliary transfer robot 40 being removed from the work area. It was made to be slidable to keep in the driving area.

As described above, the driving of the auxiliary transfer robot 40 to mount the second, third and fourth elements on the seating table 30 is performed by the first transfer robot 50 being mounted on the seating table 30. , 2, 3, 4 is performed during the drive to insert the element toward the press 10, more precisely, the main transfer robot 50 has inserted the first, 2, 3, 4 elements into the press 10 Thereafter, the operation of mounting the second, third, and fourth elements on the seating table 30 is completed within approximately the same time as the operation time for mounting the new first element on the seating table 30.

Referring to the operation of the robot system of the present invention through the configuration as described above in connection with FIG.

The first element (upper panel) / second element (side panel) / third element (low panel) and the fourth element (bolt member) prepared in advance through the entire process are movable element positions 21, 22, 23 and 24. Each position is positioned in the right position), and then the main transfer robot 50 mounts the upper panel of the position 21 positioned in the driving area to the seating table 30 through the system control unit. 40 is a first panel, a second panel, a third panel and a fourth panel which are required for injection of the single press 10 by mounting the side panel, the lower panel and the bolt member to the seating table 30 in the driving region thereof. (Upper Panel / Side Panel / Low Panel / Bolt Member) That is, the component parts are aligned with the holder 31 of the seating table 30 which stays at the first position 30A.

Subsequently, the seating table 30 on which the component parts are mounted is moved to the second position 30B, and simultaneously the main transfer robot 50 grips all of the component parts from the mounting table 30 again.

Thereafter, the main transfer robot 50 performs driving to insert the component parts held in the grip hand into the mold side of the press 10, and the seating table 30 from which the component parts have been removed is returned to the first position ( At the same time as returning to 30A), alignment of the new second, third, and fourth elements with the auxiliary transfer robot 40 is performed.

In addition, the carrier completed through the injection operation for a predetermined time in the press 10 machine is removed from the mold of the press 10 through a separate take-off transfer device.

After completion of the insertion drive into the press 10 of the above-mentioned element parts, the main transfer robot 50 again mounts a new first element from the element position 21 on a seating table positioned at the first position 30A. By holding the entire alignment of the component parts is to repeatedly perform the insertion operation toward the press (10).

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

As described above, the present invention provides an optimal handling robot for handling a large number of component parts required for one injection, and parallel driving of movable element positions for positioning each component part at a designated position of the handling robot. By carrying out the gripping preparation process for the large number of element parts before being inserted into the press through the rapid injection cycle of the press to maximize the overall process cycle according to the optimal insertion process have.

In addition, the maximization of this process cycle is a system that equalizes the point in time at which each component part is taken out of the element position and ready to be inserted into the press machine while being mounted on the seating table through two transfer robots that bear the handling of each component. Control can improve overall work efficiency.

In addition, the invention is expected in the industry that can implement the handling system of the complete unmanned operation not only for the carrier but also for other injection-finished products composed of various composite parts.

Claims (2)

In the handling apparatus for inserting a press for injection molding of a carrier comprising the first, second, third and fourth elements made in advance in the previous process, A press (10) for integrating the first, second, third, and fourth elements by injecting and molding the inner molds; First, second, consisting of a movable pallet that is completed to move to the reference position (A) and at the same time while maintaining the predetermined position while loading the first, second, third, fourth elements prepared in advance in the previous process, respectively Three and four element positions 21, 22, 23 and 24; A seating table 30 which prepares for insertion by mounting the first, second, third and fourth elements required for one press injection before being inserted into the press; By placing the seating table and the second, third and fourth element positions in the driving region, the auxiliary transfer robot for taking out the elements loaded in the second, third and fourth element positions from the corresponding element positions and mounting them to the designated positions of the seating table, respectively. 40); And The press, the seating table, and the first element position are placed in the driving area, and the first, second, and third completed mounting on the seating table are taken out together with the elements loaded in the first element position being taken out and mounted at the designated positions of the seating table. A main transfer robot (50) for gripping all of the four elements to supply the inside of the press; Handling robot system for injection molding of the front end module, characterized in that consisting of. The method of claim 1, A bar-shaped key formed on a bottom surface of the movable pallets constituting the first, second, third and fourth element positions 21, 22, 23, and 24 toward the reference position A; Comprising a plurality of horizontal bars arranged at equal intervals in parallel with the key, It is installed on the bottom surface of the reference position (A), guide members for left and right alignment to be in close contact with both side surfaces of the key to enter the key through the receiving portion formed on one side thereof; A plurality of horizontal alignment roller members rotatably installed on the bottom surface of the reference position A to support the bottom surface of the horizontal bar in close contact; Is installed on one side of the reference position (A), handling robot for the injection injection molding of the front end module comprising a stopper for front and rear alignment, including a clamp for fixing the entry completed pallet in the entry direction system.

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