KR101617240B1 - apparatus for automatic clip assembly - Google Patents

Abstract

To automatically assemble a plurality of clips and improve productivity, the present invention provides an apparatus for automatic clip assembly, comprising: a base unit connected to the end unit of a multi-joint robot arm to be successively conveyed to a plurality of preset positions of assembly, which has a rod hole formed inside; a clip cartridge; and a pressurizing rod unit placed on the rod hole and connected to the operating means to, every time the base unit is conveyed to each position of assembly, rise for the clip of the rail ball to be conveyed to be hung on the elastic support unit and to fall for the clip hung on the elastic support unit to be pressurized and discharged. The clip cartridge comprises: a loading unit connected to the bottom of the base unit, which has a discharge hole connected to the bottom end of the rod hole and an elastic support unit, with which a wing unit installed on the top end of the clip is engaged, formed on the edge of the discharge hole; and a slide unit which is positioned on the rear of the loading unit, the more inclined upward and into which a plurality of clips are inserted to have a rail ball conveyed by its own weight.

Description

Apparatus for automatic clip assembly

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic clip assembling apparatus, and more particularly, to an automatic clip assembling apparatus in which a plurality of clips are automatically assembled, but productivity is improved.

Generally, an instrument panel, which is an exterior part, is assembled at a portion where an instrument panel of an automobile is assembled. At this time, the instrument panel is fixed to the vehicle body by a clip of an elastic material, and a plurality of clip mounting portions are provided on the instrument panel.

In this case, both ends of the rectangular strip member may be folded so that the clip has elastic assembling portions facing each other at opposite ends thereof. At this time, the elastic part is protruded toward the opposite direction of the center part.

As the clip mounting portion and a part of the vehicle body are inserted into the elastic assembly portions by pressing the clip, the instrument panel can be fixed to the vehicle. At this time, the clip attaching portion is provided in 30 ~ 40 pieces on one instrument panel, and it can be firmly fixed when the clip is correctly mounted on all the clip attaching portions.

Conventionally, although individual clips are individually assembled to a plurality of clip mounting portions by hand, recently, a clip assembly has been proposed in which a plurality of clips are continuously supplied and the supplied clips are individually assembled into a clip mounting portion.

Here, the clip assembly includes a feeder for aligning a plurality of clips in a line, a flexible hose for transporting the aligned individual clips by pneumatic pressure, an individual clip supplied through the hose jigged with a magnet, And a pressing portion for pressing and assembling the jigged clip with the clip mounting portion.

At this time, the clip assembler can be transferred to the clip inserting unit while keeping the clip aligned using the flexible hose having a rectangular cross section.

However, the flexible hose has a problem that the inside is easily worn by the sharp end of the metal clip. That is, the clip conveyed through the compressed air is rotated in the worn space inside the flexible hose and is hooked, or the clip transferred to the insertion portion is jigged to the magnet in a state deviated from the assembling direction, The productivity of the product is deteriorated.

Accordingly, since frequent replacement of the flexible hose is required, the production cost of the product is increased.

Korean Patent No. 10-1080544

In order to solve the above problems, the present invention provides an automatic clip assembling apparatus in which a plurality of clips are automatically assembled, but productivity is improved.

According to an aspect of the present invention, there is provided an articulated robot comprising: a base portion connected to an end of a multi-joint robot arm so as to be sequentially transferred to a plurality of predetermined assembly positions, And an elastic supporting portion connected to a lower portion of the base portion and formed with a discharge hole communicating with a lower end of the rod hole and having a wing portion protruding from the upper end of the clip is provided on an edge of the discharge hole, And a slide portion formed to be inclined upward toward the rear side and having a rail hole to which a plurality of clips are inserted and conveyed by their own weight; And a clasp provided in the rod hole and connected to the actuating means so that the clips of the rail hole are lifted so as to be engaged with the elastic support portion and the clip engaged with the elastic support portion is pressed each time the base portion is transported to the respective assembling positions, And a pressing rod portion that is lowered to be discharged.

Here, the guide hole is formed in the upper portion of the rail hole so as to guide the wing portion. The discharge hole is sized to allow the wing portion to pass therethrough. The inner center portion of the elastic support portion overlaps the side edge of the discharge hole And an elastic member provided at an outer end of the latching groove to be elastically supported toward a side edge of the discharge hole, wherein the elastic groove is formed to extend outwardly from a side edge of the discharge hole corresponding to a lower portion of the guide groove, And a support bar having an upper inner edge rounded to slide the wing portion of the pressurized clip.

In addition, the operating means is provided with a pneumatic cylinder, and the clip cartridge has an inlet connected to the discharge passage of the pneumatic cylinder so as to inject compressed air discharged when the pressing rod portion rises, And an air flow path connected to the rail through the inlet so as to be sprayed toward the rail.

A clip aligning device for aligning the plurality of clips; and an elastic hinge door provided at the rear of the clip cartridge and connected to the clip aligning device in a downward sloping manner so that the aligned clip is transported by its own weight, Further comprising a clip replenishing portion for replenishing the clip with a rear opening of the rail hole, wherein the clip replenishing portion includes a proximity sensor for sensing the connection of the clip cartridge, a clip restraining portion for controlling supplementation of the clip according to a detection signal of the proximity sensor, Preferably, it comprises means.

At this time, the clip restraining means includes an opening / closing cylinder for opening / closing a replenishing hole formed along the inside of the clip replenishing portion so as to be in communication with the rail hole when the clip cartridge and the clip replenishing portion are engaged, The control unit controls the opening / closing cylinder to be shrunk so as to open the replenishing ball after a predetermined waiting time when the sensing signal of the proximity sensor is received, And a control unit for controlling the expansion / contraction of the opening / closing cylinder so that the supplementary ball is closed according to a signal.

Through the above-mentioned solution, the automatic clip assembling apparatus of the present invention provides the following effects.

First, in contrast to the conventional metal clips being supplied along the flexible hose by pneumatic pressure, the clip cartridge having a shape fixed to accommodate a plurality of clips therein is moved together with the base portion, and each clip is sequentially It is possible to minimize the work delay and maintenance cost due to the clipping of the hose due to the wear and deformation of the hose, the repeated replacement of the hose, and thus the productivity and economy of the product can be improved.

Second, since the clip cartridge is integrally provided at the lower portion of the base portion and is provided in an upward inclined shape, a plurality of the clips accommodated therein can be smoothly moved to the end side of the pressing rod portion by their own weight, So that the economical efficiency of the product can be improved.

Third, since the clip conveyed to the discharge hole is aligned and loaded in the correct direction so that the clip mounting portions of the elastic assembly and the assembling member are opposed to each other as the wing portion is hooked on the elastic support portion provided on the rim of the discharge hole, It is possible to accurately assemble the ejected clip, so that the defect rate due to the erroneous assembly can be minimized and the productivity of the product can be improved.

1 is an exemplary view showing an automatic clip assembling apparatus according to an embodiment of the present invention;
2 is a perspective view illustrating a clip of the automatic clip assembling apparatus according to an embodiment of the present invention;
3 is a side cross-sectional view of an automatic clip assembly according to an embodiment of the present invention;
Fig. 4 is a cross-sectional view showing an AB section of Fig. 3; Fig.
5 is a front cross-sectional view illustrating an automatic clip assembling apparatus according to an embodiment of the present invention;
6A and 6B are partial views showing an entire length of an automatic clip assembling apparatus according to an embodiment of the present invention;
FIG. 7 is an exemplary view showing a clip replenishing process of the automatic clip assembling apparatus according to an embodiment of the present invention; FIG.
8 is a side view of a clip replenishing device of an automatic clip assembling device according to an embodiment of the present invention.
Figure 9 is a block diagram of clip restraining means of an automatic clip assembling device according to an embodiment of the present invention;

Hereinafter, an automatic clip assembling apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view illustrating a clip of an automatic clip assembling apparatus according to an embodiment of the present invention. FIG. 3 is a side view of the automatic clip assembling apparatus according to an embodiment of the present invention. 4 is a cross-sectional view of the automatic clip assembling apparatus according to the embodiment, FIG. 4 is a cross-sectional view showing the cross section of FIG. 3, FIG. 5 is a front sectional view of the automatic clip assembling apparatus according to an embodiment of the present invention, And FIG. 6B is a partial view showing an insertion portion of the automatic clip assembling apparatus according to an embodiment of the present invention. FIG. 7 is an exemplary view showing a clip replenishing process of the automatic clip assembling apparatus according to an embodiment of the present invention, FIG. 8 is a side view showing a clip replenishing device of an automatic clip assembling apparatus according to an embodiment of the present invention, and FIG. 9 is a block diagram illustrating clip restraining means of an automatic clip assembling apparatus according to an embodiment of the present invention.

1 to 9, the automatic clip assembling apparatus 100 includes a base portion 10, a clip cartridge 20, and a pressing rod portion 30. Here, the automatic clip assembling apparatus 100 refers to an apparatus for automatically assembling a plurality of clips housed in the clip cartridge 20, sequentially moved along a plurality of predetermined assembly positions in three-dimensional coordinates or the like.

Referring to FIG. 1, the base 10 is connected to an end of the articulated robot arm 1 so as to be sequentially moved to a plurality of predetermined assembly positions.

Here, the assembling position refers to a clip mounting portion (not shown) provided in an assembling member (not shown) such as an instrument panel of a vehicle. When the assembling member is disposed in an assembly object (not shown) The assembly member and the object to be assembled can be combined.

2, the clip 3 may be formed of an elastic metal material, and both end portions of the rectangular strip member may be folded so that the elastic assembly portion 3a facing each end of the clip 3 is formed. The elastic assembly portion 3a may be provided in such a shape that the central portion protrudes toward the opposite direction.

The clip mounting portion of the assembly member and a part of the assembly object are inserted between the elastic assembly portions 3a of the clip 3 so that the assembly member and the assembly object can be coupled.

A wing portion 3b for aligning the clip 3 protrudes from the upper edge of the clip 3 so that the elastic assembly 3a can be pressed and assembled toward the clip mounting portion.

Here, the assembly position may be set to three-dimensional coordinates of each clip mounting part with reference to the position of the articulated robot arm 1, and the assembly position is input to a control part of the articulated robot arm 1 .

At this time, a plurality of rotary shafts 1a, 1b, 1c, 1d, 1e, 1f are provided in the articulated robot arm 1, and the control unit controls the rotary shafts 1a, 1b 1b, 1c, 1d, 1e, and 1f of the articulated robot arm 1 and rotates the rotary shafts 1a, 1b, 1c, 1d, 1e, and 1f independently in accordance with the calculated values, To the respective assembly positions.

The control unit controls the pressing rod unit 30 to move up and down when the movement of the end of the articulated robot arm 1 is completed.

That is, when the ends of the articulated robot arm 1 are moved to the respective assembling positions, the clip 3 loaded on the clip cartridge 20 is pressed as the pressing rod portion 30 is lifted up and down, And the lifting and lowering of the pressing rod portion 30 is repeated each time the end portion of the articulated robot arm 1 is moved to the respective assembling position so that the plurality of clips 3 ) Can be automatically assembled sequentially.

At this time, the control unit is arranged such that the base unit 10 coupled to the end of the articulated robot arm 1 is vertically arranged so that the pressing / assembling direction and the gravity direction of the clip 3 are aligned, 1b, 1c, 1d, 1e, and 1f so as to move the rotary shafts 1a, 1b, 1c, 1d, 1e, and 1f.

The end of the articulated robot arm 1 may be coupled to the coupling plate 12 extending in the horizontal direction from the outer surface of the base unit 10. [

3, the base portion 10 is a polygonal columnar to circular columnar member made of a high strength / abrasion resistant material such as chromium-plated metal or reinforced plastic, and includes a rod hole 11 are formed.

At this time, a pressing rod portion 30 is provided in the rod hole 11, and the pressing rod portion 30 is provided with operating means such as a pneumatic cylinder 32 provided on the upper portion of the base portion 10, And can be connected and elevated.

The operating direction of the actuating means is the same as the forming direction of the rod hole 11 and the pressing rod portion 30 connected to the actuating means can be moved up and down along the rod hole 11 .

Meanwhile, the clip cartridge 20 includes a loading portion 20a and a slide portion 20b. The loading section 20a and the slide section 20b refer to the respective portions of the clip cartridge 20 by their functions and the loading section 20a and the sliding section 20b are integrally provided And may be assembled as a separate member for convenience of manufacturing.

The loading part 20a is formed with a discharge hole 21 communicating with the rod hole 11 and allowing the clip 3 to pass therethrough and having a discharge hole 21 for loading the clip 3 The elastic supporting part 23 may be integrally formed at the lower part of the base part 10 and may be manufactured separately from the base part 10 for convenience of manufacturing.

Here, the loading part 20a is connected to the lower part of the base part 10. The loading portion 20a may be formed of the same material as the base portion 10 and may extend rearward from a lower portion of the base portion 10 and have a rear end connected to the slide portion 20b, In a rounded shape.

At this time, a discharge hole 21 is formed in the front part of the loading part 20a connected to the base part 10 so as to communicate with the lower end of the rod hole 11 in a vertical direction.

Here, the discharge hole 21 is formed in a rectangular cross-sectional shape such that the blade 3 protruding from the upper end of the clip 3 can pass therethrough so that the clip 3 can pass in the vertical direction.

A rail hole 22 branched toward the rear end of the loading part 20a is formed at one side of the discharge hole 21 and the rail hole 22 is connected to the inside of the slide part 20b , And the rail hole (22) is provided in a shape allowing the clip (3) to pass through in the front and rear directions.

The slide part 20b is connected to the rear end of the loading part 20a and is inclined upwards from the loading part 20a toward the rear. A plurality of clips 3 are inserted along the inside of the slide part 20b, A rail hole 22 is formed.

Here, the slide portion 20b may be formed of the same material as the loading portion 20a, and the rail hole of the slide portion 20b and the rail hole of the loading portion 20a may have the same cross- So as to be continuous.

That is, the rail hole 22 is branched from the discharge hole 21 of the loading part 20a and penetrates the rear end surface of the loading part 20a, and the rear end surface of the loading part 20a and the And is formed so as to pass through the rear end surface of the slide portion 20b from the front end surface of the slide portion 20b.

Here, the slide portion 20b is formed to be upwardly inclined. The base portion 10 is connected to the base portion 10 through the loading portion 20a with the base portion 10 disposed in the vertical direction along the gravity direction It is understood that the slide portion 20b is arranged to be upwardly inclined, and the slide portion 20b may be a rectangular member extended in the forward and backward directions.

Also, the rail hole 22 is formed along the inside of the slide portion 20b, and the slide portion 20b may be arranged to be upwardly inclined as the slide portion 20b is arranged upward.

A plurality of clips 3 can be inserted through the opening of the rail hole 22 formed in the rear end surface of the slide portion 20b and the inserted clip 3 is inserted into the rail hole 22 by its own weight, And can be moved to the discharge hole 21 through the rail hole of the loading part 20a.

The plurality of clips 3 are filled along the inside of the upwardly inclined clip cartridge 20 integrally provided at the lower portion of the base portion 10 and smoothly moved toward the end side of the pressing rod portion 30 by its own weight So that a separate power source for moving the clip 3 is not required and the economical efficiency of the product can be improved.

The length of the rail hole 22 in the forward and backward directions may correspond to the number of the clips 3 used in a one-time process. When the rail hole 22 is used to assemble an instrument panel for a vehicle, And the number of the clip 3 inserted into the hole of the slide part 20b is preferably 30 or more.

Referring to FIG. 4, a guide groove 22a may be formed in the upper portion of the rail hole 22 so as to guide the wing portion 3b. That is, the rail hole 22 has a width such that the lower portion thereof can pass through the elastic assembly portion 3a of the clip 3, and the upper portion thereof has a width allowing the wing portion 3b of the clip 3 to pass therethrough. Shaped "T" -shaped cross-section.

The lower portion of the wing portion 3b may be seated and transported along the upper surface of the step portion to which the lower and upper portions of the rail hole 22 are connected, and the elastic assembly portion 3a of the clip 3 may be lower The clip 3 can be accurately moved to the discharge hole 21 while maintaining the assembling direction.

Referring to FIG. 5, the edge of the discharge hole 21 is provided with an elastic support portion 23, which is engaged with a blade portion 3b protruding from the upper end of the clip 3.

The elastic support part 23 is provided along the rim of the discharge hole 21 corresponding to the lower part of the guide groove part 22a to which the wing part 3b is moved, 22 and can be moved to the upper portion of the elastic support portion 23 when the ejection hole 21 is reached.

The wings 3b are engaged with the elastic supporting portions 23, and the clip 3 is loaded. Here, the clip 3 is loaded means that the clip 3 is disposed in the discharge hole 21 which can be moved in the up and down direction, and in the state where the pressing force is applied by the pressing rod portion 30, And thus it is preferable to understand that it is prepared to be pressurized and discharged to the lower part.

On the other hand, the pressing rod portion 30 is disposed on the rod hole 11 so that the clip 3 caught by the elastic supporting portion 23 is pushed downward, and is lifted and raised by the operating means.

That is, each time the pressing rod portion 30 is transferred to the respective assembling positions by the articulated robot arm 1, the clip 3 of the rail hole 22 is transferred to the pressing rod portion 30, The clip 3 is lifted so as to be caught by the elastic supporting portion 23 and the clip 3 hooked on the elastic supporting portion 23 is pressed and discharged.

Here, the cross-sectional area of the pressing rod portion 30 is preferably less than the cross-sectional area of the discharge hole 21 so as to pass through the discharge hole 21.

For example, the actuating means may be provided with a pneumatic cylinder 32. At this time, the pressing rod portion 30 can be coupled to the end portion of the operating rod 31 which is expanded and contracted by the pneumatic cylinder 32 mounted on the upper portion of the base portion 10 and can be raised and lowered.

Of course, the actuating means may be a hydraulic cylinder, a solenoid, a motor, or the like. If the means for controlling the elevating and lowering of the pressing rod portion 30 in response to the movement of the articulated robot arm 1, It is not limited. However, in the case where the operating means is provided as the pneumatic cylinder 32, it is easy to link the pneumatic cylinder 24 with the pneumatic cylinder 24. Therefore, in the present embodiment, the operating means is provided as the pneumatic cylinder 32 Explain.

The lower end portion 30a is disposed on the upper portion of the elastic support portion 23 in a state where the pressing rod portion 30 is maximally raised and the lower end portion 30a is positioned on the elastic support portion 23 in a state in which the pressing rod portion 30 is lowered. The length of the pressing rod portion 30 and the rod hole 11, the stroke distance of the actuating means, and the like are preferably set so as to be disposed at the lower portion of the rod 23.

The lower end portion 30a of the pressing rod portion 30 passes through the elastic supporting portion 23 so that the connecting portion of the discharge hole 21 and the rail hole 22 is closed And the clips of the rail holes 22 are moved through the articulated robot arm 1 in a state where the clips of the rail holes 22 are constrained to the side portions of the pressing rod portion 30.

When the base portion 10 reaches a predetermined assembling position, the pressing rod portion 30 is raised by the operating means, and the connecting portion of the rail hole 22 and the discharge hole 21 One of the clips 3 which is opened and moved by its own weight may be moved to the upper portion of the elastic support portion 23.

At this time, the wing portion 3b is caught by the elastic support portion 23, and the clip 3 can be maintained in a loaded state without being released to the lower portion of the discharge hole, The clip 3 can be pressed and discharged through the elastic supporting portion 23 in accordance with the pressing of the pressing member 30 to be assembled at the assembling position.

It is preferable that the elastic support portion 23 is provided between the upper end and the lower end of the rail hole 22 adjacent to the discharge hole 21 and one clip 3 is engaged with the elastic support portion 23 The front end of the other clip of the rail hole 22 is hooked by the rear end of the hooked clip 3 so that the overlapping movement to the elastic support portion 23 can be prevented.

At this time, the pressing rod portion 30 is provided to be less than the sectional area of the clip 3 so as to press only one clip 3 loaded on the elastic supporting portion 23 when the pressing rod portion 30 is lowered, As shown in FIG.

It is further preferable that a guide tube portion 50 is formed on the lower portion of the discharge hole 21 so as to extend along the edge of the discharge hole 21 so that the discharge direction of the clip 3 is guided.

The base portion 10 connected to the end of the articulated robot arm 1 is sequentially moved along a plurality of assembling positions and one clip 3 is loaded and unloaded according to the upward and downward movements of the pressing rod portion 30, And the pressing and discharging process are repeated, a plurality of clips can be automatically assembled to a plurality of assembling positions, so that the productivity of the product can be remarkably improved.

In addition, unlike a conventional metal clip, which is supplied along the flexible hose by pneumatic pressure, the clip cartridge 20, which is formed of a wear resistant material and has a fixed shape so as to accommodate a plurality of clips 3 therein, ). Since the clips are sequentially supplied, the delay and maintenance cost due to clipping of the hose due to abrasion and deformation of the hose and repetitive replacement of the hose are minimized, so that productivity and economical efficiency of the product can be improved.

Since the guide groove 22a for guiding the wing 3b of the clip 3 is formed along the upper portion of the rail hole 22, the elastic assembly 3a of the clip 3 is inserted into the assembly member The clip can be aligned and transported in the correct direction so as to face the formed clip mounting portion, so that misassembly due to the rotation of the clip 3 and the like can be minimized and the defect rate can be reduced, so that the product productivity can be improved.

6A to 6B, it is preferable that the elastic supporting portion 23 includes a latching groove portion 23c and a supporting bar 23a. Here, the elastic support portion 23 may be provided on a side edge of the discharge hole 21. [ The side edge of the discharge hole 21 refers to the left or right edge of the discharge hole 21 facing the blade portion 3b of the clip 3 conveyed along the rail hole 22 Understanding is desirable.

It is preferable that the wings 3b are provided on the left upper end and the right upper end of the clip 3 for accurate transport of the clip 3, It is preferable that both of them are provided on both side edges of the side wall. At this time, the latching groove portion 23c and the support bar 23a are provided on both sides of the discharge hole 21 in pairs.

The discharge hole 21 is formed in such a size that the wing portion 3b of the clip 3 can pass through in the up and down direction and an interval from the left side edge to the right side edge of the discharge hole 21, Is greater than the distance from the left wing portion end to the right wing portion end of the wing portion (3).

Here, it is preferable that the latching groove portion 23c is provided on the side edge of the discharge hole 21 corresponding to the lower portion of the guide groove portion 22a. That is, the latching groove portion 23c is formed at a lower height than the guide groove 22a of the rail hole 22 connected to the exhaust hole 21, and the exhaust hole 21 is formed from the rail hole 22, It is possible to prevent the clip 3 moved to the rail hole 22 from being retracted.

In this case, it is preferable that the latching groove portion 23c is formed at a portion higher than the lower end of the clip 3 moved along the guide groove portion 22a, and that a plurality of the clips 3 are arranged on the elastic supporting portion 23 .

In detail, the latching groove portion 23c is formed to extend outward from the side edge of the discharge hole 21, and the inner central portion of the latching groove portion 23c is formed to overlap with the side edge of the discharge hole 21 to be communicated do. The term " inside " means a portion adjacent to the discharge hole 21, and the term " outside " is understood to mean a direction away from the discharge hole 21. [

That is, the latching groove portion 23c is recessed toward the outer surface of the loading portion 20a from the side edge of the discharge hole 21. The front end and the rear end of the latching recess portion 23c are connected to the discharge hole 21, And is formed to extend more than the length in the front-back direction.

At this time, the elastic member 23b in the form of a leaf spring is provided at the outer end of the latching groove portion 23c. Both ends of the elastic member 23b are in contact with the outer end of the latching groove portion 23c, And may protrude radially toward the discharge hole 21 so as to be spaced apart from the outer end of the groove 23c.

The supporting bar 23a is inserted into the engaging groove 23c and is elastically supported by the elastic member 23b from the outer end of the engaging groove 23c toward the side edge of the discharging hole 21 .

The length of the support bar 23a in the forward and backward direction is greater than the forward and backward length of the discharge hole 21 and smaller than the forward and backward length of the engagement groove 23c. The front end and the rear end of the support bar 23a are hooked on the inner rim and can be elastically supported without being detached from the engagement groove 23c

The support bar 23a may have a lateral length smaller than the recessed depth of the engagement recess 23c and may be elastically moved along the inner and outer sides of the engagement recess 23c. Here, the support bar 23a covers the side edge of the discharge hole 21 while being elastically supported inside the engagement groove 23c.

The spacing between the inner ends of the support bars 23a facing each other in a state in which the support bars 23a are maximally moved to the inside of the engagement groove 23c is determined by the distance between the right and left wing portions 23a of the clip 3, (3b) end portions of the clip (3), but exceeding the width of the elastic assembly (3a) of the clip (3), the lower portion of the clip (3) Can be hooked and loaded.

Of course, the spacing between the inner ends of the support bars 23a facing each other in a state in which the respective support portions 23a are maximally moved to the outside of the engagement groove portions 23c is determined by passing the upper portion of the clip 3, The wings 3b may be provided at a distance equal to or greater than a distance between the ends of the right and left wing portions 3b of the clip 3 so as to be discharged to the lower portion of the clip 21.

When the upper surface of the clip 3 is pressed by the pressing rod portion 30, the support bar 23a is pushed to the outer end side of each engagement groove portion 23c, And the clip 3 can be pressed and discharged along the discharge hole 21 to be assembled in the assembling position.

At this time, it is preferable that the upper inner edge of the support bar 23a is rounded, and when the clip 3 is pressed, the wing portion 3b is slid along the upper inner edge of the support bar 23a It is possible to induce the movement of the supporting bar 23a in the outward direction. Here, it is more preferable that the support bar 23a is a bar-shaped member having a circular cross section.

As the wings 3b of the clip 3 moved to the discharge hole 21 are engaged with the elastic supporting portions 23 provided on the rim of the discharge hole 21, The portion 3a can be aligned and loaded in the correct direction so as to face the clip mounting portion formed on the assembling member.

As a result, since the clip can be accurately assembled by pushing the pressing rod portion 30 through the pressing rod portion 30, the defect rate due to misassembly can be minimized and the productivity of the product can be improved.

3 to 4, the actuating means is provided as a pneumatic cylinder 32, and the clip cartridge 20 is pressurized by compressed air to inject the compressed air discharged when the pressing rod portion 30 ascends. (24a, 24b) connected to the rail hole (22) from the inlet (24a) so that the compressed air is injected toward the front of the rail hole (22) It is preferable to further include a spring portion 24.

The air flow paths 24b and 24c may be formed as one flow path 24c connected from the inlet 24a to the rear end of the rail hole 22 and may be branched from the inlet path 24a, A pair of flow paths 24b and 24c may be provided. In the following description, the air flow paths 24b and 24c are branched into a pair of flow paths 24b and 24c.

At this time, the air flow paths 24b and 24c may include a first flow path 24c and a second flow path 24b branched from the inlet 24a.

The first flow path 24c is connected to the rear end of the rail hole 22 and the second flow path 24b is inclined downward toward the front so that the loading part 20a and the slide part 20b are inclined downward. To the front bulb (22b) of the rail hole (22).

Specifically, the clip cartridge 20 covers the upper portion of the rail hole 22 formed in the loading portion 20a and the slide portion 20b, and covers the upper side of the cover frame 20b connecting the loading portion 20a and the slide portion 20b. (20c).

In this case, the cover frame 20c may be provided with a flat front portion, an upwardly inclined rear portion, and a bulb portion for rounding the front portion and the rear portion. In the loading portion 20a, Can be coupled along the rear portion of the connected portion to cover the upper portion of the rail hole 22. [

The inlet 24a is formed on one side of the upper portion of the cover frame 20c and the elastic hinge door 25 is provided on the rear side of the cover frame 20c.

The elastic hinge door 25 is connected to the cover frame 20c through a hinge connection portion 25a provided with a torsion spring and has a rear end portion of a ' Respectively.

At this time, when the elastic hinge door 25 is rotated upward by the external force, the rear opening of the rail hole 22 can be opened. When the external force is released, the elastic hinge door 25 is returned to the lower side by the elastic force of the torsion spring, Can be shielded.

Specifically, the first flow path 24c extends from the inlet 24a to the rear of the cover frame 20c, and at a portion where the cover frame 20c and the rear end of the elastic hinge door 25 are in contact with each other And is formed in a 'C' shape which is connected to the inside of the rear end of the elastic hinge door 25 and is bent toward the rear opening of the rail hole 22. [

At this time, the compressed air flowing along the first flow path 24c is guided to the front of the rail hole 22 along the inner side 24e of the elastic hinge door 25, Lt; / RTI >

The second flow path 24b extends from the inlet 24a to the front of the cover frame 20c and is connected to a rail of the loading part 20b, And is connected to the rail hole 22 by being sloped downward at a portion 24d adjacent to the ball portion 22b of the hole 22. [

At this time, the compressed air flowing along the second flow path 24b flows forward along the upper portion of the rail hole 22 and can be injected toward the bulb portion 22b of the rail hole 22. [ Thus, even if the number of clips arranged on the slide portion 20b is reduced due to the consumption of the clip 3 built in the clip cartridge 20, the last remaining clip can be smoothly loaded on the discharge hole 21.

In addition, the inlet 24a is preferably connected to the discharge passage 33 of the pneumatic cylinder 32. The pneumatic cylinder 32 is provided at its lower portion with an injection path 34 through which compressed air is injected so that the operating rod 31 is lifted. And a discharge flow path 33 through which air is discharged.

That is, compressed air discharged from the pneumatic cylinder 32 can be injected into the inlet 24a when the pressing rod 30 rises, and the pressing rod 30 rises, And the connecting portion of the rail hole 22 are opened, the compressed air can be injected through the inlet and sprayed along the respective flow paths 24b and 24c.

As the compressed air generated when the pneumatic cylinder 32 is reduced is recycled, the connection portion between the discharge hole 21 and the rail hole 22 can be reduced in accordance with the reduction of the pneumatic cylinder 32 without any additional power source or control equipment. The compressed air can be injected into the first flow path 24c and the second flow path 24b, and the economical efficiency of the product can be improved by simplifying the apparatus.

7 to 8, the automatic clip assembling apparatus 100 further includes a clip aligning device 2 for aligning a plurality of clips, and a clip replenishing unit 40. The clip aligning unit 2 includes:

The clip aligning apparatus 2 is provided with a receiving container 2b capable of receiving a plurality of clips at its upper portion and a vibrating portion 2c for generating vibration at a lower portion of the receiving container 2b . At this time, a spiral extending discharge pipe 2a is formed in the receiving container 2b and a groove corresponding to the elastic assembly 3a of the clip 3 is formed in the discharge pipe 2a.

Specifically, when the receiving container 2b is vibrated, the clip of the receiving container 2b flows along the discharge pipe 2a, and the clip can be aligned as the elastic assembling portion 3a is inserted into the groove portion .

At this time, the clip replenishing unit 40 includes an elastic hinge door 25 provided at the rear of the clip cartridge 20 and connected to the clip aligning device 2 in a downward sloping manner so that the aligned clip is transported by its own weight So that the transported clip can be replenished with the rear opening of the rail hole 22. [

The clip replenishing unit 40 includes a proximity sensor 41 for detecting the connection of the clip cartridge 20 and clip restraining means for controlling supplementation of the clip according to a detection signal of the proximity sensor 41 .

In detail, the clip replenishing unit 40 includes a replenishing hole 42 (see FIG. 1) which is provided as a rectangular member connected downwardly sloping along the discharge pipe 2a and connected to the discharge pipe 2a of the clip aligning device 2 downwardly And a coupling guider 40b which extends along the end of the base body 40a and in which the clip cartridge 20 is aligned and mated with the base body 40a.

The coupling guider 40b may be provided in a container shape in which a coupling space corresponding to the slide portion 20b of the clip cartridge 20 is formed to be engaged with the slide portion 20b.

A protrusion guide groove 44a for guiding the alignment protrusion 26 protruding forward of the clip cartridge 20 is provided in front of the coupling guider 40b, It is preferable that an opening protrusion 44b for pressing the lower end of the elastic hinge door 25 is provided.

The gap between the protrusion guide groove portion 44a and the opening protrusion 44b corresponds to the distance from the alignment protrusion 26 of the clip cartridge 20 to the lower end of the elastic hinge door 25 desirable.

When the clip cartridge 20 is inserted into the coupling guider 40b such that the alignment protrusion 26 is inserted into the protrusion guide slot 44a, the opening protrusion 44b presses the elastic hinge 40b, As the lower end of the door 25 is pressed and rotated upward, the rear opening of the rail hole 22 can be opened.

At this time, the protruding guide groove 44a is inclined downward from the rear toward the front, and the lower end of the elastic hinge door 25 can be accurately pressed by the aligning protrusion 26. [

It is preferable that the supplementary hole 42 has the same cross section as the rail hole 22 and that when the clip cartridge 20 and the coupling guider 40b are engaged, The replenishing holes 42 may be arranged to be mutually continuous.

When the clip cartridge 20 is coupled to the coupling guider 40b, the proximity sensor 41 detects the proximity of the object through ultraviolet rays or a laser, And transmit it to the clip restraining means.

At this time, the clip restraining means releases the restraint to the clip so that the clip stored in the replenishing ball (42) flows to the rail hole (22) by its own weight when the sensing signal is received.

As long as the clip cartridge 20 is moved by the articulated robot arm 1 to be connected to the clip replenishing portion 40 as described above, the elastic hinge door 25 is automatically opened, And can be automatically replenished to the rear opening of the exposed rail hole 22 through the hole 42, thereby improving the usability of the product.

8 to 9, it is preferable that the clip restraining means include an opening / closing cylinder 43, an encoder sensor 45, and a control unit 46.

The opening and closing cylinder 43 is connected to the replenishing hole formed in the inside of the clip replenishing portion 40 so as to communicate with the rail hole 22 when the clip cartridge 20 and the clip replenishing portion 40 are engaged. 42 are opened and closed.

At this time, the opening / closing cylinder 43 may be provided as a solenoid or a pneumatic cylinder, and is disposed at the front end side of the replenishing hole 42 to open the replenishing hole 42 according to the reduction of the operating rod, The replenishing hole 42 can be shielded when the rod is elongated.

An encoder sensor 45 for detecting the movement of the clip is provided in the replenishing hole 42. The encoder sensor 45 detects the reflected light by emitting ultraviolet rays or a laser beam. The encoder sensor 45 senses the gap between the continuously arranged clips 3, and detects the gap corresponding to the movement of the clip when the clip is moved A signal is generated, and when the clip is stopped, a sensing signal corresponding to a stop of the clip can be generated.

The controller 46 controls the opening / closing cylinder 43 so that the replenishing ball 42 is opened after a preset waiting time when the sensing signal of the proximity sensor 41 is received.

That is, when the clip cartridge 20 is coupled to the clip replenishing portion 40, the control portion 46 opens the end portion of the replenishing hole 42 and flows along the inside of the replenishing hole 42, A clip can be supplemented with the rail hole 22.

At this time, the controller 46 controls the opening / closing cylinder 43 so that the opening / closing cylinder 43 is reduced in a waiting time of about 1 to 3 seconds after receiving the sensing signal of the proximity sensor 41.

The control unit 46 controls the encoder sensor 45 to be driven when the opening and closing cylinder 43 is shrunk. When the sensing signal corresponding to the movement of the clip is received from the encoder sensor 45, Closing cylinder 43 is maintained to be in a contracted state, and when the sensing signal corresponding to the stop of the clip is received, the control is performed so that the opening / closing cylinder 43 is extended.

That is, when the clip is filled in the rail hole 22, the clip in the replenishing hole 42 is stopped, and the control unit 46 controls the rails 22, It is possible to judge completion of charging of the clip with respect to the hole 22. When the clip is charged, the replenishing hole 42 is closed and the signal can be transmitted so that the articulated robot arm 1 performs a subsequent assembling operation.

In this way, since the process of replenishing the clip to the clip cartridge and assembling the replenished clip to the assembling position is automated and the completion timing of the replenishment of the clip can be accurately measured through the detection signal of the encoder sensor 45, So that the productivity and work efficiency of the product can be remarkably improved.

As described above, the present invention is not limited to the above-described embodiments, and variations and modifications may be made by those skilled in the art without departing from the scope of the present invention. And such modifications are within the scope of the present invention.

100: automatic clip assembly device 1: articulated robot arm
3: Clip 3a: Elastic assembly
3b: wing portion 10: base portion
11: rod ball 12: engaging plate
20: clip cartridge 20a: entire cartridge
20b: slide portion 21: exhaust hole
22: rail ball 23: elastic support
23a: Support bar 23b: Elastic member
23c: engagement groove portion 24: air spring portion
24a: inlet port 24b: second flow path
24c: first flow path 25: elastic hinge door
26: alignment protrusion 30: pressing rod section
40: clip replenishing unit 50: guide tube

Claims (5)

A base portion connected to an end of the articulated robot arm so as to be sequentially transferred to a plurality of predetermined assembly positions, the rod portion having a rod hole therein;
And an elastic supporting portion connected to a lower portion of the base portion and formed with a discharge hole communicating with a lower end of the rod hole and having a wing portion protruding from the upper end of the clip is provided on an edge of the discharge hole, And a slide portion formed to be inclined upward toward the rear side and having a rail hole to which a plurality of clips are inserted and conveyed by their own weight; And
The clip of the rail hole is lifted so as to be hooked on the elastic support portion and the clip engaged with the elastic support portion is pressed and discharged And a pressing rod portion that is lowered as much as possible. The method according to claim 1,
Wherein a guide groove is formed in an upper portion of the rail hole so as to guide the wing portion, the discharge hole being sized to allow the wing portion to pass therethrough,
The elastic support portion
An engaging groove portion extending outwardly from a side edge of the discharge hole corresponding to a lower portion of the guide groove portion so that an inner center portion thereof overlaps and communicates with a side edge of the discharge hole,
And a support bar which is elastically supported toward the side edge of the discharge hole by an elastic member provided at an outer end of the latching groove and has an upper inner edge rounded to slide the blade of the pressed clip, Automatic clip assembly device. The method according to claim 1,
Wherein the actuating means comprises a pneumatic cylinder,
The clip cartridge
An inlet port connected to the discharge passage of the pneumatic cylinder so as to inject compressed air discharged when the pressure rod portion rises, and an air flow passage connected from the inlet port to the rail ball so that the compressed air is injected toward the front of the rail ball Further comprising an air spring portion. The method according to claim 1,
A clip aligning device for aligning the plurality of clips; and an elastic hinged door provided at the rear of the clip cartridge and connected to the clip aligning device in a downward sloping manner so that the aligned clip is transported by its own weight, Further comprising a clip replenishing portion which replenishes with a rear opening of the rail ball, wherein the clip replenishing portion
A proximity sensor for detecting connection of the clip cartridge,
And clip restraining means for controlling replenishment of the clip according to a detection signal of the proximity sensor. 5. The method of claim 4,
The clip restraining means
An opening / closing cylinder for opening and closing a replenishing hole formed along the inside of the clip replenishing portion to be in communication with the rail hole when the clip cartridge and the clip replenishing portion are engaged,
An encoder sensor disposed inside the replenishing hole to sense movement of the clip,
Closing cylinder so that the supplementary ball is opened after a predetermined waiting time when the detection signal of the proximity sensor is received, the supplementary ball is closed in response to a sensing signal corresponding to the stop of the clip from the encoder sensor after the reduction of the opening / closing cylinder And a control unit for controlling extension of the opening / closing cylinder.

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