KR100952999B1 - Pull-out insert robot system with insert nut alignment - Google Patents

Abstract

The present invention is an insert nut aligning device for taking out an injection product such as a mobile phone case in which the injection operation is completed with the nut inserted from the injection mold coupled to the injection machine and inserting the nut into the injection mold where the extraction operation is finished. It relates to a take-out insert robot system provided.

The ejection insert robot system equipped with the insert nut aligning apparatus of the present invention accommodates the insert nut, which is aligned and supplied with the air injection from the insert nut aligning member connected to the vibration feeder or the nut feed pipe connected to the compressor, in the nut conveying cartridge in a set number. Then, it is moved away from the ground through a nut alignment device fixing frame which is fixed to one lower end of the driving rail frame among the insert robot systems, and is moved to the fixed insert nut alignment device to insert the insert nut into the insert nut alignment device. Characterized in that configured to be fed and supplied.

In addition, one end of the nut alignment device fixing frame is further provided with a nut alignment device rotating means corresponding to the insert nut aligning device for adjusting the vertical, horizontal and horizontal angles and the rotation angle of the insert nut aligning device. It is done.

Therefore, according to the present invention, the insert nut supplied from the insert nut aligning member or the nut transfer pipe can be easily and conveniently carried to the insert nut aligning device by using the cartridge method, and can be supplied and supplied into the insert nut aligning device, and in particular, the nut aligning device is fixed. Since the insert nut aligning device is fixed to the bottom of one side of the running rail frame of the insert robot system through the frame, the insert nut is transported and supplied into the insert nut aligning device by the nut carrying cartridge and the ejection insert fixed to the robot arm As the work area and the working line are also shortened along with the reduction of the work radius according to the whole work process and robot operation, such as being transferred and inserted into the injection mold through the ejection insert jig in a state aligned with the jig. Through this It is possible to maximize the utilization of the dead area of the production line, as well as to lead to an improvement in productivity for the product.

Pull-out insert robot system, travel rail frame, nut alignment device fixing frame, insert nut alignment device, nut alignment device rotation means, front and rear vertical angle adjustment for insert nut aligning device, horizontal and horizontal angle adjustment for insert nut aligning device, insert nut Rotation angle adjustment for alignment device, nut carrying cartridge, ejection insert jig, pivoting bar, pivoting bracket, ejection ejection jig rotation

Description

The robot system for insert and injection with array device for insert-nut}

The present invention is an ejection insert robot system for ejecting an injection product such as a mobile phone case in which the injection operation is finished with the nut inserted from the injection mold coupled to the injection machine and inserting the nut into the injection mold in which the ejection work is finished. More specifically, the number of insert nuts aligned and supplied together with the air injection from the insert nut alignment member connected to the vibrating feeder or the nut feed pipe connected to the compressor is accommodated in the nut carrying cartridge in a set number, and then the running rails of the take-out insert robot system. The nut is inserted into the insert nut aligning device by carrying the nut aligning device fixed frame fixed to one side of the frame and being spaced from the ground to the fixed insert nut aligning device. Sort The insert nut supplied from the ash or nut conveying pipe can be easily and conveniently carried to the insert nut aligning device using a cartridge method to be fed into the insert nut aligning device, and in particular, the insert nut aligning device can be taken out through the nut aligning device fixing frame. Since the nut is inserted into the insert nut aligning device by the nut conveying cartridge, the insert nut is transported and supplied to the insert nut aligning device at the bottom of one side of the driving rail frame of the insert robot system, and is aligned with the ejection insert jig fixed to the robot arm. In the injection mold through the ejection insert jig to reduce the working radius due to the overall work process and robot operation, such as being transferred and inserted into the injection mold, and also shorten the work space and the working line as a result of the dead area of the production line through this Maximize utilization Sikkim as well as the insert to be lead to the improvement in productivity for the product nuts relates to a take-out robot inserts system with the alignment device.

In general, insert injection refers to inserting a structure called an insert into an injection mold in advance and injection molding to integrally form an insert member in an injection molded product (hereinafter referred to as an injection), and here, an insert member is used by a robot. Insert system is used to insert and insert the injection into the injection mold to insert the insert member alignment jig that automatically inserts the insert member through vibration to be supplied to the desired position (practical) Utility Model Registration No. 0404988 was previously filed by the present applicant and registered as a utility model, which includes: a feed feeder for supplying an insert nut through vibration; An insert alignment member for aligning the insert nuts supplied from the feed feeder in a row; Transfer path arranging means for accommodating the insert nuts supplied through the insert alignment member independently and simultaneously corresponding to the nut feed paths of the nut supply members by varying the length of the transfer bar drive cylinder; A vacuum fitting member that applies a vacuum force to the nut storage transfer bar so that the insert nut supplied in connection with the transfer path arrangement means may be independently received on the nut storage transfer bar of the transfer path arrangement means. Wow; A secondary vacuum force is applied to prevent separation of the insert nut stored in the nut storage transfer bar, and air is blown onto the insert nut arranged to correspond to the nut transfer path. A vacuum / injection fitting member installed in association with the transfer path arranging means so as to be supplied to a nut withdrawal hole at an end thereof; It is composed of a nut lifting means for raising the insert nut is aligned to the nut withdrawal hole of the nut supply member to be transferred to the adjacent insert supply die.

In addition, when the air injection through the vacuum / injection fitting member prevents the separation of the insert nut from the nut supply member and the insert nut to be supplied to the nut withdrawal hole to maintain the alignment in the initial supply state, and by the nut raising means The nut release prevention means is further provided with a withdrawal detection sensor to detect the withdrawal failure state of the insert nut raised from the nut supply member.

In the case of the conventional insert member alignment jig configured as described above, a device configuration for aligning the insert nut is very complicated as a preparation before inserting the insert nut into the cavity of the injection mold from which the injection product is drawn. In addition, in addition to the main work process of inserting the insert nut into the cavity of the injection mold, the preparation work for aligning the insert nut, that is, insert preparation work for nut supply and nut alignment must be performed separately. There was a big problem such that the overall work process for inserting the insert nut is increased and the working time is also long.

In addition, as the device configuration is complicated as described above, the insert preparation work for nut supply and nut alignment is performed separately from the main work process for inserting the insert nut into the cavity of the injection mold. In addition to the increase in process and working time, there was also a problem such that the manufacturing cost and the selling price for the device also increased, making the manufacturer or user feel economically burdened.

In addition, in the case of the conventional insert member alignment jig, the feeder and the insert alignment member, as well as the feed path arrangement means, vacuum fitting member, vacuum / injection fitting member, nut lifting means, nut supply member provided with a nut escape prevention means Since the configuration and size are very complex and occupy a large area, the installation area occupies the size of the conventional insert nut alignment jig increases, and at the same time, the effective area for the installation place is reduced, in contrast to the installation for a separate purpose. There were also problems such as limited use of some of the places.

On the other hand, a transport robot having a robot arm for fixing the insert insert jig and configured to be orthogonal to the front, rear, left and right, and up and down is installed on the upper end of the traveling rail frame and is fixed to one end of the injection molding machine so as to correspond to the injection mold. The insert insert jig of the ejection insert jig installed separately in the system, that is, from the insert nut aligning device for aligning the insert nut with the same position as the nut insertion position for inserting the ejection such as the mobile phone case The insert nut is supplied and transferred to the injection mold side, and at the same time, the process of taking out the injection product such as a mobile phone case in which the injection work is completed and inserting the insert nut are sequentially performed. Same as above In order to continuously carry out the work process, the insert nut must be continuously supplied to the insert nut aligning device. In this way, the nut feed pipe is connected to the vibration feeder or the compressor connected to the insert nut aligning member to provide a nut feed pipe through the compressed air injection. Will be used.

However, in the case of using such an insert nut supply method, the space taken up by the insert nut aligning device is inevitably increased as a vibration feeder connected to the insert nut aligning member or a nut feed pipe connected to the compressor is installed around the insert nut aligning device. Along with the problems such as the installation space due to the increase in the space of the insert nut aligning device as well as the increase in the dead area in the field, there was a big problem such as limited to build the site line densely.

In addition, in the feed amount and the supply speed of the insert nut for supplying the insert nut in the insert nut aligning device, since the nut is supplied in line with the insert nut alignment member connected to the vibration feeder or the nut feed pipe connected to the compressor Compared to the reduction amount and the reduction speed of the insert nut exhausted in the insert nut aligning device, the supply amount and the feed rate of the insert nut are inevitably reduced. In particular, the insert nut aligning member connected to the inlet side of the insert nut aligning device and the vibration feeder or If the outlet side of the nut transfer pipe connected to the compressor is not horizontally aligned with each other, supply of insert nut for accommodating into the insert nut alignment device from the insert nut alignment member or the nut transfer pipe connected to the compressor is not performed smoothly. Etc. Problem was, too.

The present invention has been made in order to solve the above-described problems, the insert nut alignment member connected to the vibrating feeder or the insert nut that is supplied and aligned with the air injection from the nut transfer pipe connected to the compressor accommodated in the nut carrying cartridge in a set number Next, it is removed from the ground through a nut alignment device fixing frame which is fixed to one side of the run rail frame among the insert robot systems, and is transported to the fixed insert nut alignment device to insert the insert nut into the insert nut alignment device. By configuring to supply, the insert nut supplied from the insert nut aligning member or the nut transfer pipe can be easily and conveniently carried to the insert nut aligning device by using a cartridge method and can be supplied and supplied into the insert nut aligning device. The purpose is to lock.

In addition, in the present invention, since the insert nut aligning device is integrally fixed to the lower end of one side of the running rail frame of the insert robot system through the nut aligning device fixing frame as described above, the insert into the insert nut aligning device by the nut carrying cartridge. The operating radius according to the whole work process and robot operation such as the nut being transported and supplied and transferred and inserted into the injection mold through the eject insert jig while being aligned at a position corresponding to the eject insert jig fixed to the robot arm. In addition to the reduction of the work space and the working line is also shortened, thereby maximizing the utilization of the dead area of the production line through this and has another purpose to lead to the improvement of productivity for the product.

In the case of the present invention, by inserting the nut alignment device rotating means for adjusting the front and rear vertical angle, horizontal and horizontal angle and rotation angle with respect to the insert nut alignment device at one end of the nut alignment device fixing frame, The insert insert fixed to the robot arm by matching the fixed position, that is, the vertical angle, horizontal horizontal angle and rotation angle, corresponding to each other between the insert nut aligning devices installed at the lower side of the traveling rail frame through the mold and nut alignment device fixing frame. Another purpose is to allow the jig to significantly reduce the error rate for inserting the insert nut from the insert nut aligning device or inserting the insert nut inserted into the injection mold.

The ejection insert robot system equipped with the insert nut alignment device of the present invention has a robot arm for fixing the ejection insert jig, and a transport robot configured to be orthogonal to the front, rear, left, and right sides is installed at the top of the running rail frame and is ejected. In the ejection insert robot system that is fixed to one end of the injection molding machine to correspond to the mold,

An insert nut aligning device configured to receive a separately supplied insert nut and to align the inserted insert nut at a position corresponding to the ejection insert jig conveyed by the transfer robot while being fixed to the robot arm is provided in the driving rail frame. It is characterized in that the installation is fixed in a state spaced apart from the ground through the nut alignment device fixed frame fixed to one side.

In addition, the ejection insert robot system equipped with the insert nut alignment device of the present invention includes a robot arm for fixing the insert insert jig, and a transport robot configured to be orthogonal to the front, rear, left, and right sides is installed at the upper end of the traveling rail frame. In addition, in the ejection insert robot system installed and fixed at one end of the injection molding machine to correspond to the injection mold,

The robot arm accommodates the insert nut supplied through the nut carrying cartridge configured to accommodate the number of insert nuts aligned with the air injection from the insert nut alignment member connected to the vibrating feeder or the nut feed pipe connected to the compressor. An insert nut aligning device configured to align the accommodated insert nut in a position corresponding to the ejection insert jig conveyed by the transport robot in a fixed state is fixed to one lower end of the traveling rail frame through a nut alignment device fixing frame. It is characterized in that the installation is fixed apart from the ground.

In addition, the ejection insert robot system equipped with the insert nut alignment device of the present invention includes a robot arm for fixing the insert insert jig, and a transport robot configured to be orthogonal to the front, rear, left, and right sides is installed at the upper end of the traveling rail frame. In addition, in the ejection insert robot system installed and fixed at one end of the injection molding machine to correspond to the injection mold,

Insert nut that is aligned with the air injection from the insert nut aligning member connected to the vibrating feeder or the nut transfer pipe connected to the compressor. An insert nut aligning device configured to align the received insert nut in a position corresponding to the ejection insert jig conveyed by the transport robot while being fixed to the arm has a nut alignment device fixing frame fixed to one lower end of the traveling rail frame. Installed and fixed away from the ground through,

One end of the nut aligning device fixing frame is provided with a nut aligning device rotating means corresponding to the insert nut aligning device for adjusting the vertical, horizontal and horizontal angles and the rotation angle of the insert nut aligning device.

The ejection insert robot system equipped with the insert nut aligning device of the present invention accommodates the insert nut, which is aligned and supplied with the air injection from the insert nut aligning member connected to the vibration feeder or the nut feed pipe connected to the compressor, in the nut conveying cartridge in a set number. Next, it is removed from the ground through a nut alignment device fixing frame which is fixed to one side of the run rail frame among the insert robot systems, and is transported to the fixed insert nut alignment device to insert the insert nut into the insert nut alignment device. By configured to supply, the insert nut supplied from the insert nut aligning member or the nut transfer pipe can be easily and conveniently carried to the insert nut aligning device using a cartridge method, and can be supplied to the insert nut aligning device. There are excellent effects such as.

In addition, in the present invention, since the insert nut aligning device is integrally fixed to the lower end of one side of the running rail frame of the insert robot system through the nut alignment device fixing frame as described above, the insert into the insert nut aligning device by the nut carrying cartridge. While the nut is transported and supplied, it is transported and inserted into the injection mold through the insert insert jig while being aligned at a position corresponding to the eject insert jig fixed to the robot arm. Along with the reduction, the work space and the working line are also shortened, thereby maximizing the utilization of the dead area of the production line, and also improving the productivity of the product.

In the case of the present invention, by inserting the nut alignment device rotating means for adjusting the front and rear vertical angle, horizontal and horizontal angle and rotation angle with respect to the insert nut alignment device at one end of the nut alignment device fixing frame, The insert insert fixed to the robot arm by matching the fixed position, that is, the vertical angle, horizontal horizontal angle and rotation angle, corresponding to each other between the insert nut aligning devices installed at the lower side of the traveling rail frame through the mold and nut alignment device fixing frame. There is an effect that the jig can greatly reduce the error rate for inserting the insert nut from the insert nut aligning device or inserting the insert nut inserted into the injection mold.

The ejection insert robot system (hereinafter referred to as ejection insert robot system) equipped with the insert nut alignment device of the present invention will be described in detail with reference to the drawings.

1 is a perspective view schematically showing the take-out insert robot system of the present invention fixed to the injection molding machine, Figure 2 shows a front view of the take-out insert robot system of the present invention fixed to the injection molding machine, Figure 3 is a take-out of the present invention This is a perspective view showing the nut alignment device fixing frame and the insert nut alignment device in the insert robot system.

In addition, Figure 4 is an exploded perspective view of the nut alignment device fixing frame and the insert nut alignment device shown in Figure 3, Figure 5 shows a front view and a rear view of the nut alignment plate of the insert nut alignment device for the present invention. 6 shows a state diagram in which a nut carrying cartridge for carrying and supplying an insert nut to a nut alignment plate according to the present invention is mounted on a cartridge holder.

And, Figure 7 shows a perspective view of the ejection insert jig fixed to the robot arm of the ejection insert robot system, Figure 8 shows an operational state diagram showing the operation of the ejection insert jig shown in FIG.

The ejection insert robot system 1 of the present invention has a robot arm (not shown) for fixing the ejection insert jig 70 as shown in FIGS. 1 and 2, and is configured to be orthogonal to the front, rear, left, and right directions. The transfer robot 3 is installed at the upper end of the traveling rail frame 5 and fixedly installed at one end of the injection molding machine I so as to correspond to the injection mold (not shown), and an insert nut N or a vibration feeder supplied separately ( Conveying nuts configured to accommodate the number of insert nuts (N) connected to the insert nut aligning member (91) connected with the compressor (91) connected to the compressor (not shown) or the number of insert nuts (N) which are fed and supplied together with the air injection The received insert nut (N) is received at a position corresponding to the ejection insert jig 70 transported by the transport robot 3 while receiving the insert nut N supplied through the cartridge 80 and fixed to the robot arm. N) when sorting To be configured through the insert nut alignment device (40) is a nut arranged fixed device frame (10) fixed to one side of a lower end of the main line rail frame 5 is configured to be securely fixed in a state of being spaced apart from the ground.

The nut alignment device fixing frame 10 of the insert insert robot system 1 of the present invention, which is installed and fixed to correspond to the injection mold at one end of the injection molding machine I, as shown in FIGS. 3 and 4. The shape of the two vertical frame 11 and two horizontal frame 12 is formed in the form of "L" shaped to be spaced apart from the left and right through the lower connecting bar 14 to form an internal space, wherein the vertical frame The upper end of the (11) is connected to the top of each vertical frame 11, the upper connection bar 13 is fixed to the installation so that the bolt can be fixed to one side lower end of the running rail frame (5).

In addition, in the internal space of the vertical frame 11 interconnected by the upper connection bar 13, a control box for controlling the drive of the insert nut alignment device 40, separate from the drive of the insert robot system 1; 15) is installed, the operation panel for the operator to operate so that the insert nut aligning device 40 can be driven in the right-angled portion, that is, the connecting edge inside the vertical frame 11 and the horizontal frame 12 is coupled ( 16) is installed.

One end of the nut alignment device fixing frame 10, that is, one end of the horizontal frame 12 connected to the vertical frame 11, corresponds to the insert nut aligning device 40 so as to correspond to the insert nut aligning device 40. Nut alignment device rotation means 20 is installed to adjust the front and rear vertical angle, left and right horizontal angle and rotation angle with respect to the nut alignment device rotation means 20, as shown in Figures 3 and 4 Fixed brackets (21a, 21b) fixed to both ends of the two horizontal frame 12 as shown; A vertical and horizontal angle adjusting unit 22 installed on the fixing brackets 21a and 21b to adjust the length and the horizontal and horizontal angles of the insert nut aligning device 40; The insert nut aligning device 40 is coupled to the rotatable state through the rotation center pin 28 that is bolted to the center of the plate, and is fixed to the vertical and horizontal angle adjusting units 22 at the same time. An angle adjusting action plate 25 in which the front and rear vertical angles and the left and right horizontal angles are adjusted together with the insert nut alignment device 40 by the length adjustment action of the part 22; It is installed in a state corresponding to the up and down pivot coupling rod 31 which is fixed to the insert nut aligning device 40 through the arc-shaped long hole (27b) formed on both left and right sides of the angle adjustment action plate 25, respectively. , Is composed of a rotation angle control unit 30 for adjusting the rotation angle of the insert nut alignment device 40 by the screw adjustment action.

Here, in the case of the fixing bracket (21a, 21b) of the nut aligning device rotating means 20 configured as described above three vertical for supporting three points of the insert nut aligning device 40 on both ends of the two horizontal frame (12) And as an element for fixing the horizontal angle control unit 22, respectively fixed to both ends of the two horizontal frame 12 and at the same time through the vertical and horizontal angle control unit 22 for the angle adjustment working plate 25 It is formed in a "T" shape and a rectangular shape to enable point support, wherein two vertical and horizontal ends on the upper and lower ends of the "T" shaped fixing bracket 21a fixed to one end of the horizontal frame 12 on one side. The angle adjusting part 22 is provided to be adjustable in length, and on the contrary, one vertical and horizontal angle adjusting part 22 is provided at one end of the fixed bracket 21b of the rectangular shape fixed to one end of the other horizontal frame 12. ) Is installed to adjust the length.

In addition, in the case of the nut alignment device rotating means 20, the vertical and horizontal angle adjusting unit 22, fixed brackets (21a, 21b) fixed to both ends of the two horizontal frame 12, that is, "T" shape It is installed at the upper and lower ends of the fixing bracket 21a and the one end of the rectangular fixing bracket 21b to adjust the front and rear vertical angle and the horizontal and horizontal angle with respect to the insert nut aligning device 40 through length adjustment. A screw rod 23 coupled to each of the fixing brackets 21a and 21b, the length of which is adjusted through a spiral feed action; And a coupling nut 23a for fixing the screw rod 23. It is fixed to one end of the screw rod 23 and at the same time corresponding to the angle adjustment operating plate 25 is composed of a ball joint 24 is fastened and fixed to enable the three-point support of the angle adjustment operating plate 25, In the case of the ball joint 24 is a consumable ready-made product, detailed structure description thereof will be omitted.

And, in the case of the angle adjusting action plate 25 of the nut alignment device rotating means 20, the insert nut alignment device 40 is coupled in a rotatable state through a rotation center pin 28 that is bolted to the center of the plate. At the same time, the vertical and horizontal angle control unit 22 and the corresponding fixed, and the vertical and horizontal vertical angle and horizontal and horizontal angle with the insert nut aligning device 40 by the length adjustment action of the vertical and horizontal angle control unit 22 As an element to ensure, the overall shape is formed in the shape of a square plate having a through hole 25a for light weight at each corner, wherein the center and left and right sides of the angle adjustment action plate 25 is rotated. A circular center pin hole 27a and an arc-shaped long hole 27b are formed to penetrate with the center pin 28 and the up and down pivot coupling rod 31, respectively.

In addition, three support portions 26a and 26b are formed on both sides of the angle adjusting action plate 25 so as to be fastened in a state in which three points are supported corresponding to the vertical and horizontal angle adjusting portions 22, respectively. At this time, the upper and lower sides of one side of the angle adjustment action plate 25 is formed with two support parts (26a) protrudingly coupled to the two vertical and horizontal angle control unit 22, on the contrary the angle adjustment In the center of the other edge of the working plate 25, one support part 26b is formed to protrude to correspond to the one vertical and horizontal angle adjusting part 22, and the three vertical and horizontal angle adjusting parts 22 are respectively formed. Three corresponding support points are formed.

In addition, in the case of the rotation angle control unit 30 of the nut alignment device rotation means 20, the insert nut is aligned by passing through the hole-shaped hole 27b each formed on the left and right sides of the angle adjustment action plate 25, respectively. It is installed in a state corresponding to each of the up and down pivot coupling rod 31 fixed to the device 40 and at the same time as an element for adjusting the rotation angle of the insert nut alignment device 40 by a screw adjustment action, A vertical rotation coupling rod 31 which is respectively connected to the insert nut aligning device 40 through the long hole 27b of the 25; And a cylindrical bushing 32 inserted into an outer circumferential surface thereof. A rectangular support block 33 fixed to the left and right sides of the angle adjusting operation plate 25 in a state located at the upper end of the cylindrical bushing 32; The screw is fastened correspondingly to the cylindrical bushing 32 while penetrating through the support block 33, and the cylindrical bushing 32 and the up-and-down rotating coupling rod 31 are transported in the long hole 27b according to the spiral feeding action. Being composed of a control screw 34 to adjust the rotation angle of the insert nut aligning device 40 to the rotation center pin 28 to the point.

On the other hand, the ejection insert robot system 1 of the present invention is coupled to the rotatable state through the rotation center pin 28 that is bolted to the center of the angle adjustment action plate 25 of the nut alignment device rotational stage 20 In the case of the insert nut aligning device 40, as shown in FIGS. 3 and 4, an alignment is fastened and fixed to one end of the up and down pivot coupling rod 31 installed in the long hole 27b of the angle adjusting action plate 25. Plate fixing plate 41; Various parts protruding to the back of the nut alignment plate 45 and the pipes connected thereto while being fastened to and supported by the nut alignment plate 45 in a state of being bound to each corner of the alignment plate fixing plate 41. A connecting rod 44 having a cylindrical shape that maintains a distance between the alignment plate fixing plate 41 and the nut alignment plate 45 so that they are stably positioned without being interfered by the alignment plate fixing plate 41; A bolt is fixed to one end of the connecting rod 44 in a state spaced apart from the alignment plate fixing plate 41, and has a nut inlet 45a at the upper end thereof, and a plurality of homogeneous or different types on the front surface of the plate. ) A nut accommodating part 47 having a recessed groove shape for accommodating the insert nut N, and at the same time, the nut outlet hole 49 corresponding to the insert position in the injection molding and its position below the bottom surface thereof. A nut alignment plate 45 provided with a nut feed path 48 to feed the insert nut N; The nut transport path 48 is rotatably installed in a state corresponding to the inlet side of the nut transport path 48, and vacuum-inserts the insert nut N stored in the nut accommodating portion 47 independently. A nut array supply means (60) for supplying up to the nut take-out hole (49) through a rotational arrangement to the side and an air spraying action; The nut arrangement is provided while sealing the front surface of the nut alignment plate 45 so as to be slidable according to the length of the cylinder Cy, and having a nut outlet 52 communicating with the nut withdrawing hole 49. Prevention of detachment of the insert nut (N) transferred to the nut outlet hole (49) along the nut feed path (48) through the air spray action by the supply means (60) and maintaining the insert nut (N) in the initial supply state It is comprised by the cover member 51 to align.

Here, in the case of the insert nut alignment device 40 configured as described above, the alignment plate fixing plate 41 is formed in a rectangular shape, and in this case, the center and left and right sides of the alignment plate fixing plate 41 are rotated. A center pin hole 42a and a coupling bar fastening hole 42b are formed to penetrate through the center pin 28 and the up and down pivot coupling rod 31, respectively, and the nut is disposed on the upper and lower sides of the alignment plate fixing plate 41. After moving the fixing position of the connecting rod 44 according to the size of the alignment plate 45, a plurality of connecting rod coupling holes 43 for fastening and fixing the connecting rod 44 and the nut alignment plate 45 at equal intervals. The array is formed.

In addition, in the case of the nut alignment plate 45, the nut array supply means 60, and the cover member 51 of the insert nut aligning device 40, the present applicant supplies an insert nut filed on March 24, 2008. Among the components of the device (Patent Application No. 2008-0026724), the nut alignment plate 45, the nut array supply means 60 and the cover member 51, the same structure and the same operation as the element, the first nut alignment In the case of the plate 45, as shown in Fig. 5, the overall shape is formed of a rectangular plate, in which a plurality of homogeneous or heterogeneous insert nuts are separately supplied to the front surface of the plate. N) or a nut configured to accommodate the number of insert nut alignment members 91 connected to the vibrating feeder 90 or the insert nut N, which is supplied and aligned with the air injection from the nut transfer pipe connected to the compressor, in the set number. A nut accommodating portion 47 in the form of a recess is formed to accommodate the insert nut N supplied through the transport cartridge 80.

In addition, an insert nut (N), which is separately supplied, or an insert nut (N), which is transported and supplied through the nut transport cartridge 80, may be injected into the nut accommodating portion 47 at an upper end of the nut alignment plate 45. The nut inlet 45a is formed so that the nut inlet 45a of the nut conveying cartridge 80 and the nut inlet 45a of the nut alignment plate 45 are formed on both sides of the nut inlet 45a. Positioning grooves 45b are formed to correspond to the positioning projections 87 protruding on both sides of the nut inlet and outlet of the nut conveying cartridge 80 so that they can be positioned.

In addition, a nut feed path 48 is formed at the bottom of the bottom of the nut accommodating part 47 so that the nut withdrawing hole 49 corresponding to the insert position in the injection molding and the insert nut N can be transferred to the position thereof. In this case, the nut withdrawal hole 49 corresponds to the nut outlet 52 of the cover member 51 which is installed to be slidable up and down on the front surface of the nut alignment plate 45, and the nut feed path 48 corresponds to the nut housing groove 62 of the nut array member 61 of the nut array supply means (60).

In addition, at the center of the bottom of the nut receiving portion 47 of the nut alignment plate 45, one insert region portion 46 including a nut withdrawing hole 49 and a nut feed path 48 is formed. In addition to the insert nut (N) transferred to the nut withdrawal hole (49) through the nut transport path (48), separate insert nuts (N) accommodated in the nut receiving portion (47) and the nut withdrawal hole (49) The insert region 46 is formed to protrude from the bottom surface of the nut accommodating portion 47 in order to prevent flow into the nut feed path 48.

Further, the upper and lower sides of the insert region 46 are correspondingly coupled with the guide rods 73 of the eject insert jig 70 so that the alignment of the eject insert jig 70 fixed to the robot arm can be aligned with the eject insert jig 70. A guide bushing hole 50 is formed therethrough, and a screw hole 50b is formed through the nut alignment plate 45 to fix the cover member 51 in a slidable state. The nut withdrawing hole 49 of the nut alignment plate 45 is smoothly made while the sliding action of the cover member 51 is also smoothly performed along the length of the cylinder Cy around the cover member 51 corresponding to the plate 45. A long hole-shaped transfer hole 50c is formed at a position corresponding to the screw holes 50b and 50b of the nut alignment plate 45 so that the nut outlet 52 of the cover member 51 and the nut outlet 52 are coincident with each other. .

Then, the nut array supply means 60 of the insert nut aligning device 40 is rotatably installed in a state corresponding to the inlet side of the nut transfer path 48, the nut accommodating portion 47 As an element for supplying to the nut take-out hole 49 through the air injection action, while simultaneously inserting the inserted insert nut (N) is vacuum suction and arranged to the nut feed path 48, respectively, as shown in FIG. As described above, the insert nut (N) accommodated in the nut accommodating part 47 is installed to be rotatable or slidable at the bottom left and right sides of the bottom surface of the nut alignment plate 45 in a state corresponding to the inlet side of the nut feed path 48. ) And the nut array member 61 for accommodating each independently through a vacuum suction action and at the same time rotating or slide conveying arrangement corresponding to the nut feed path 48; It is installed at the center of the rear surface of the nut array member 61, and the insert nut (N) is individually stored on the nut array member 61 side through the vacuum suction and air spray action to the nut feed path (48) side at the same time. A vacuum / spray fitting member (64) for feeding the insert nut (N) from the pivoted or slide-transferred nut arrangement member (61) to the nut take-out hole (49) at the end of the nut transfer path (48); It is connected to the nut array member 61, and transmits the rotational force through the time belt 66 to rotate the nut array member 61 in a clockwise or counterclockwise direction or to slide transfer the nut array member It consists of an operation cylinder 67.

Here, in the case of the nut array member 61, the overall shape is formed of a cylindrical body or a rectangular block body (not shown), and one side of the outer circumferential surface thereof through a vacuum suction action by the vacuum / spray fitting member 64. The U-shaped nut accommodating grooves 62 are formed independently and at equal intervals so that the insert nuts N accommodated in the nut accommodating portion 47 of the nut alignment plate 45 can be accommodated and adsorbed, respectively. .

In addition, in the center of the rear surface of the nut array member 61, the vacuum / injection fitting member 64 so that the vacuum suction and air injection can be made in the nut receiving groove 62 formed on the outer circumferential surface of the nut array member 61 independently. Is coupled, and each nut housing groove 62 and the rear end of each of the nut housing grooves 62 in order to operate the vacuum suction and air injection by the vacuum / spray fitting member 64 to the nut housing groove 62. An air suction injection hole 63 is formed through the vacuum / injection fitting member 64 so as to communicate with each other. In a vacuum, a vacuum suction input is applied to the nut receiving groove 62 so that the nut receiving portion of the nut alignment plate 45 is formed. The insert nut N accommodated in 47 is adsorbed and accommodated in the nut storage groove 62. On the contrary, in the case of air injection, the insert nut N stored and adsorbed in the nut storage groove 62 is the nut alignment plate 45. A nut withdrawing hole 49 formed at an end thereof along a nut feed path 48 of the Will be transported and supplied.

The cover member 51 of the insert nut aligning device 40 is slidably installed along the length of the cylinder Cy while sealing the front surface of the nut alignment plate 45. The insert nut which has a nut outlet 52 communicating with the nut outlet hole 49 and is transferred to the nut outlet hole 49 along the nut feed path 48 through an air spraying action by the nut array supply means 60. As an element for preventing separation of (N) and maintaining and aligning the insert nut (N) in an initial supply state, as shown in FIG. 5, the overall shape is formed of a rectangular plate, and is translucent as a material thereof. A transparent resin material may be used. In this case, the cover member 51 may be made of a transparent resin material so that an operator may check the insert nut N stored in the nut accommodation portion 47 of the nut alignment plate 45. It is preferable to use.

In addition, the cover member 51 is formed through the nut outlet 52 for communicating with the nut extraction hole 49 of the nut alignment plate 45 in the slide conveyed state according to the change in the length of the cylinder (Cy) The cover member 51 has a nut withdrawal of the nut alignment plate 45 while a slide action of the cover member 51 is smoothly performed from the nut alignment plate 45 according to the variable length of the cylinder Cy. A long hole-shaped transfer hole 50c passes through a position corresponding to the screw hole 50b of the nut alignment plate 45 so that the nut 49 of the hole 49 and the cover member 51 can coincide with each other. In this case, the transfer hole 50c is used to fasten the cover member 51 to a bolt (not shown) in a state corresponding to the screw hole 50b of the nut alignment plate 45, respectively, but the nut alignment The nut withdrawing hole 49 of the plate 45 and the nut of the cover member 51 When the length of the cylinder Cy is made to coincide with the trough outlet 52, the upper and lower slides with respect to the cover member 51, such as a long hole-shaped transfer hole 50c, slides from the bolt as a starting point. It will play a role to make the transfer action.

In addition, the nut is aligned with the nut insertion cylinder 72 of the insert nut insertion jig 71 of the ejection insert jig 70 fixed to the robot arm around the nut outlet 52 of the cover member 51. A nut withdrawal detection sensor 55 is provided for detecting whether the insert nut N is drawn out from the plate 45 and determining whether or not the insert nut N has been inserted at all of the nut insertion cylinders 72.

On the other hand, in order to supply the insert nut (N) to the nut receiving portion 47 side through the nut inlet (45a) of the upper end of the nut alignment plate 45 of the insert nut alignment device 40 configured as described above Although only the insert nut (N) may be supplied separately, in order to maximize the efficiency of the insert nut (N) supply, the insert nut is aligned with the air injection from the insert nut alignment member 91 connected to the vibration feeder 90 or the nut feed pipe connected to the compressor. The insert nut N is conveyed and supplied to the nut receiving portion 47 side of the nut alignment plate 45 using a separate nut conveying cartridge 80 accommodated in the enclosure by the number of insert nuts N supplied. It is very preferable to, and the nut carrying cartridge 80 will be described in detail as follows.

In the case of the nut carrying cartridge 80 as described above, the number of insert nuts N aligned and supplied together with air injection from the insert nut alignment member 91 connected to the vibration feeder 90 or the nut transport pipe connected to the compressor is set. In order to supply the insert nut N into the insert nut aligning device 40 by transporting it to the insert nut aligning device 40 easily and conveniently, the container is accommodated in the enclosure by 1000 to 2000 pieces. As shown in the figure, a yaw shape for accommodating the nut entrance and exit 82 and the insert nut N at the center and the front surface of the insert nut alignment member 91 so as to be in communication with one end of the nut transfer pipe. A housing 81 of a rectangular housing provided with a nut accommodating part 83 therein; A transparent cover 88 which is bolted to an upper end of the housing 81 in order to prevent an external detachment of the insert nut N accommodated in the nut accommodating part 83; It is installed to be linearly transported from the rear of the housing 81 to the nut accommodating portion 83, the entrance and exit opening and closing bar for opening and closing the nut inlet and outlet 82 while the slide forward and backward in accordance with the pressure or restoration of the coupled spring (89a) ( 89); It is composed of a cartridge holder (95) for seating and supporting the nut conveying cartridge (80) to be horizontally maintained at the same height as the insert nut alignment member (91) connected to the vibrating feeder (90) or the nut conveying pipe connected to the compressor.

Here, in the case of the housing 81 of the nut carrying cartridge 80 configured as described above, the overall shape is formed as a rectangular box, and the insert nut alignment member connected to the vibration feeder 90 is formed at the center of the front surface thereof. An insert nut (N) received from the insert nut alignment member (91) or the nut feed tube, which is in communication with the one end of the nut feed pipe connected to one end of the compressor (91), or is inserted into the housing (N). The nut inlet and outlet 82 is formed to penetrate outwardly, and the upper surface of the housing 81 communicates with the nut inlet and outlet 82 from the insert nut alignment member 91 or the nut feed pipe. A plurality of insert nuts (N) to be supplied, that is, the number of insert nuts (N) counted by a set number (1000 to 2000 pieces) is accommodated in the housing 81 so as to accommodate the nut accommodating portion 83 Formed In this case, the nut accommodating part 83 has a depth slightly higher than that of the insert nut N, that is, the insert nut N which is discharged together with the air injection from the insert nut alignment member 91 or the nut feed pipe is housed. (81) The insert nut alignment member 91 does not invert the upper and lower sides of the insert nut N in the process of being transferred into the nut accommodating part 83 through the nut inlet and outlet 82 formed at the center of the front surface. Or it is formed to a depth having a height difference enough to be conveyed as it is fed from the nut feed pipe aligned.

In addition, the front of the nut accommodating part 83 has a tapered guide 84 connected to the nut inlet and outlet 82 so as to facilitate the discharge of the insert nut N received through the nut inlet and outlet 82. It is formed, the opening and closing bar guide 85 for guiding the front and rear slide transfer action of the entry and exit opening and closing bar 89 smoothly in the rear center of the nut receiving portion 83 into the nut receiving portion 83 inside Protrudingly formed, the left and right sides of the opening and closing bar guide 85 through the nut inlet and outlet 82, the compressed air introduced with the insert nut (N) through the rear of the nut receiving portion 83 to the outside An air outlet 86 in the form of a long hole to be discharged is formed.

In addition, the nut inlet 45a of the nut alignment plate 45 and the nut inlet and outlet 82 of the housing 81 are mutually formed on both sides of the nut inlet and outlet 82 formed at the front center of the housing 81. Positioning protrusions 87 having a circular pin shape are formed so as to be located on the same line, and the positioning protrusions 87 correspond to both sides of the nut inlet 45a of the nut alignment plate 45 corresponding thereto. Positioning groove 45b is formed to be inserted, and the insert nut aligning member 91 connected to the vibrating feeder 90 or the nut transfer pipe connected to the compressor is provided on both sides before and after the lower surface of the housing 81. Among the components of the cartridge holder 95 applied for seating and supporting the nut carrying cartridge 80 so as to be horizontally maintained in height, corresponding coupling with a binding protrusion (not shown) formed at both front and rear sides of the top of the mounting plate is performed. A binder projection groove (not shown) is formed at the top of the tooth plate so that the nut carrying cartridge 80, that is, the housing 81 for accommodating the insert nut N may be seated and fixed.

In the case of the transparent cover 88 of the nut carrying cartridge 80, the insert nut N accommodated in the nut accommodating part 83 of the housing 81 may be prevented from being separated out of the housing 81. The bolt is fixed to the upper end of the housing 81 and is formed of a transparent resin material so that an operator can visually check the insert nut N accommodated in the nut accommodating part 83.

In addition, in the case of the entrance and exit bar 89 of the nut carrying cartridge 80, the overall shape is in the form of a baseball bat, that is, the nut entrance and exit 82 penetrated in the center of the front surface of the housing 81 and the state connected thereto. The front face is inclined to both sides so as to correspond to the tapered guide 84 of the straight line, and a straight rectangular bar is formed at a predetermined length to the rear thereof, and is inclined so as to gradually become rearward from both ends of the formed rectangular bar. After being formed, a straight rectangular bar is formed in a predetermined length so as to correspond to the opening and closing bar guide 85 of the nut accommodating part 83 to the rear thereof, and is formed to be extended so that the pressing force is applied from the operator to the rear thereof. It is in the form of a bar.

In addition, in the case of the cartridge holder 95 of the nut conveying cartridge 80, a vibration plate 90 connected to an insert nut alignment member 91 or a base plate 96 on which a compressor connected to a nut feed pipe is seated and fixed; A mounting plate (97) provided with binding protrusions at both front and rear sides of the upper and rear sides of the housing (81) so as to correspond with the binding protrusion grooves on the bottom surface, and the housing (81) is seated and fixed to accommodate the insert nut (N); It is installed between the base plate 96 and the mounting plate 97, the installation of the mounting plate 97 so as to maintain the same level between the insert nut alignment member 91 or the nut feed pipe and the housing 81 at the same height Consists of a height adjusting means consisting of a screw rod 98 and an adjusting nut 99 to adjust the height.

Finally, the insert nut (N) in the injection mold is fixed to the robot arm of the ejection insert robot system (1) of the present invention while being transported in the same direction according to the orthogonal conveying action to the front, rear, left, and right of the transfer robot (3). In the case of the insert insert jig 70 used for inserting and ejecting the injection molded product from the injection mold, as shown in FIGS. 7 and 8, the insert insert jig 70 is coupled to the guide bushing hole 50 of the nut alignment plate 45 to form the same line. The nut insertion cylinder 72 in which the stopper 73a and the extraction pin 72a are inserted is fixed to the nut cylinder fixing plate 71a together with the guide rod 73, respectively, and the nut insertion cylinder 72 is fixed. Insert nut insert jig 71 for inserting the insert nut (N) aligned from the nut alignment plate 45 to insert into the injection mold; The plate driving cylinder 76a is fixed to the center of the rear surface of the driving cylinder fixing plate 75 which is coupled to the lower end of the nut cylinder fixing plate 71a, and at the same time, the injection vacuum tube is drawn on the rod side of the plate driving cylinder 76a. The movable plate 76 having the injection-molding tongs 77b fixed to each of the injection-molding tongs 77b is provided, and is composed of an injection-molding jig 74 for taking out the injection-molding material from the injection-mould through suction force.

At this time, in the case of the ejection insert jig 70, the ejection jig rotation cylinder 78 fixed to both ends of the rear surface of the insert nut insertion jig 71 is coupled to the rotation brackets 79a at both ends of the rotation bar 79 and at the same time. As the insert nut insertion jig 71 and the ejection ejection ejection jig 74 are interconnected and installed through the bar 79, the rotation bracket rotates clockwise or counterclockwise according to the length of the ejection jig rotation cylinder 78. In addition to the rotational action of the 79a and the rotation bar 79, the injection-molding jig 74 also has a structural feature that is rotated in the same direction. Reference numeral 79b denotes a rotation bar support portion 79b which is integrally formed on both sides of the lower end of the nut cylinder fixing plate 71a of the insert nut insertion jig 71 and supports the pivoting bar 79 that is fitted in a rotatable state. will be.

Hereinafter, the process of adjusting the front and rear vertical angle, the horizontal horizontal angle and the rotation angle with respect to the insert nut aligning device 40 by using the nut aligning device rotating means 20 of the ejection insert robot system 1 of the present invention, and the nut transport The process of transporting and supplying the insert nut N in the nut alignment plate 45 of the insert nut aligning device 40 using the cartridge 80 will be described in detail with reference to the drawings.

9A to 9C are operation state diagrams illustrating a process of adjusting the vertical, horizontal and horizontal angles and the rotation angle of the insert nut aligning device using a nut aligning device pivoting means of the ejectable insert robot system according to the present invention. An operation state diagram illustrating a process of transporting and supplying an insert nut into a nut alignment plate using a nut transport cartridge applied to an ejection insert robot system according to the present invention.

First, as a process of adjusting the rotation angle of the insert nut aligning device 40 using the nut aligning device rotating means 20 of the ejection insert robot system 1 of the present invention, the components of the nut aligning device rotating means 20 Vertical rotation coupling rod 31 is fixed to the insert nut aligning device 40 through the rotation angle adjustment unit 30, that is, through the arc-shaped long hole (27b) formed on each of the left and right sides of the angle adjustment operation plate (25) Cylindrical bushing 32 is inserted into the outer circumferential surface of the support) is installed on the rear surface of the angle adjustment plate 25 and at the same time the support block 33 is bolted to the upper end, the support block 33 In order to match the insert nut aligning device 40 in the same state as the injection mold fixed to the injection molding machine I in the state in which the adjustment screw 34 is fastened to correspond to the cylindrical bushing 32 in the penetrating state, FIG. When rotating the adjustment screw 34 located on one side or the other side as shown in When the cylindrical bushing 32 corresponding to the lower end of the adjusting screw 34 is pressed, the upper and lower pivot coupling rods 31 fixed to the insert nut aligning device 40 are inserted into the cylindrical bushing 32. Along with the cylindrical bushing 32 along the long hole (27b) of the angle adjustment plate 25 is transported downward (down) and coupled with the up and down pivot coupling rod 31 of the side transported downward (down) One side of the insert nut alignment device 40 rotates the rotation center pin 28 to a point, and the rotation angle of the insert nut alignment device 40 is fixed to the injection molding machine I through the above process. It is adjusted to the same state as the injection mold.

In addition, as a process of adjusting the left and right horizontal angle of the insert nut aligning device 40 using the nut aligning device rotating means 20 of the ejection insert robot system 1 of the present invention, the configuration of the nut aligning device rotating means 20 Vertical and horizontal angle adjusting portion 22 of the elements, that is, the screw rod 23 is fixed to the ball joint 24 at one end of the upper and lower ends of the "T" shaped fixing bracket 21a and the fixed bracket 21b of the rectangular shape (23) ) And each ball joint 24 are fastened and fixed to the three support parts 26a and 26b protruding from both edges of the angle adjusting action plate 25, respectively, through fastening of the coupling nut 23a and the like. The same state as the injection mold fixed to the injection molding machine (I) installed in the injection molding machine (I) in the state where the three-point support of the angle adjusting action plate (25) to which the insert nut alignment device (40) is fixed by the vertical and horizontal angle adjusting units (22) is made. As shown in FIG. 9B to match the furnace insert nut aligning device 40 The two screw rods 23 are rotated from the "T" shaped fixing bracket 21a by rotating the two screw rods 23 installed on both ends of the upper and lower ends of the "T" shaped fixing bracket 21a. 1) extend the protruding length to the same length or rotate the one screw bar 23 installed at one end of the square fixing bracket 21b through the spiral feed action, Through the same process as described above to shorten the screw rod (23) protruding length to adjust the horizontal angle of the insert nut alignment device 40 to the same state as the injection mold fixed to the injection machine (I).

Then, as a process of adjusting the front and rear vertical angle of the insert nut aligning device 40 using the nut aligning device pivoting means 20 of the ejection insert robot system 1 of the present invention, as in the initial state of Figure 9b, Of the components of the device turning means 20, the vertical and horizontal angle adjusting portion 22, that is, the ball joint 24 at one end of the upper and lower ends of the fixed bracket 21a of the "T" shape and the fixed bracket 21b of the rectangular shape The ball joints are respectively installed at the three support parts 26a and 26b protruding from both side edges of the angle adjusting action plate 25 while being respectively installed by fastening the screw rod 23 and the coupling nut 23a fixed thereto. (24) is fastened and fixed to the injection molding machine (I) in a state in which the three-point support of the angle adjustment working plate 25, to which the insert nut aligning device 40 is fixed, by the vertical and horizontal angle adjusting units 22. Align the insert nut alignment device 40 in the same state as the fixed injection mold. As shown in FIG. 9C, one of the two threaded rods 23 installed at the upper and lower ends of the fixed bracket 21a having the shape of “T” is fixed to one of the threaded rods 23 and the rectangular shape. Rotate one screw rod 23 installed at one end of the bracket 21b to extend or shorten the protruding length of each screw rod 23 from the fixing brackets 21a and 21b to the same length through the spiral feed action. Through such a process as described above, the front and rear vertical angles of the insert nut alignment device 40 are adjusted to the same state as the injection mold fixed to the injection machine I.

Next, a process of conveying and supplying the insert nut N in the nut alignment plate 45 using the nut conveying cartridge 80 applied to the ejection insert robot system 1 of the present invention, As shown in FIG. 6, the outlet of the cartridge holder 95, that is, the insert nut alignment member 91 connected to the vibration feeder 90, and the nut of the nut carrying cartridge 80 are supplied to accommodate the insert nut N. When the vibration feeder 90 is operated in a state where the inlet and outlet 82 are horizontally maintained in communication with each other, the insert nut N received through the vibration action generated from the vibration feeder 90 causes the vibration. The insert is introduced to the inlet side of the insert nut alignment member 91 connected to the feeder 90 and is aligned along the feed rail formed in the longitudinal direction inside the insert nut alignment member 91. Compressed air which is conveyed to the outlet side of the liner alignment member 91, and the insert nut (N) transferred to the outlet side of the insert nut alignment member 91 is injected through the air flow path from the fitting member installed at the top of the outlet side of the cover By the nut inlet and outlet 82 which communicates with the outlet side of the insert nut alignment member 91 is to be transported and received into the nut conveying cartridge 80 of the present invention.

As such, when the number of insert nuts N is accommodated in the set number (1000 to 2000) into the nut carrying cartridge 80 of the present invention, as shown in FIG. The inlet / outlet opening / closing bar 89 provided to be linearly transported from the nut accommodating part 83 to the nut receiving part 83 by pressing the spring 89a together with the nut inlet / outlet 82 of the nut conveying cartridge 80 being sealed. After moving to the side of the insert nut aligning device 40 which is installed and spaced apart from the ground through the nut alignment device fixing frame 10 fixed to one lower end of the running rail frame 5 of the robot system (1) As shown in the positioning projection 87 formed at both sides of the nut inlet and outlet 82 of the nut carrying cartridge 80 and the nut inlet 45a of the nut alignment plate 45 of the insert nut aligning device 40. Location formed in The fastening grooves 45b are correspondingly installed so that the nut inlet and outlet 82 of the nut conveying cartridge 80 and the nut main inlet 45a of the nut alignment plate 45 communicate with each other.

When the operator releases the pressing force acting on the opening and closing bar 89 by the operator, the nut opening and closing bar 89 is transported to the original position through the elastic restoring force of the spring 89a which has been compressed, and the nut is transported. The nut inlet and outlet 82 of the cartridge 80 is opened, and the insert nut N accommodated in the nut carrying cartridge 80 in which the nut inlet and outlet 82 is opened is aligned through the nut inlet 45a. By being transported and received by the nut accommodating part 47 of the plate 45, the process of supplying the insert nut N by the nut carrying cartridge 80 is completed.

Although the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. .

1 is a perspective view schematically showing the take-out insert robot system of the present invention fixed to the injection machine.

Figure 2 is a front view of the eject insert robot system of the present invention fixed to the injection machine.

Figure 3 is a perspective view of a nut alignment device fixing frame and the insert nut aligning device of the take-out insert robot system of the present invention.

4 is an exploded perspective view of the nut alignment device fixing frame and the insert nut alignment device shown in FIG.

Figure 5 is a front view and rear view of the nut alignment plate of the insert nut alignment device for the present invention.

6 is a state in which a nut carrying cartridge for carrying and supplying the insert nut to the nut alignment plate according to the present invention is mounted on the cartridge holder.

Figure 7 is a perspective view of the ejecting insert jig fixed to the robot arm of the ejecting insert robot system.

8 is an operational state diagram showing the operation of the take-out insert jig shown in FIG.

9a to 9c is an operating state diagram showing a process of adjusting the vertical, horizontal and horizontal angles and the rotation angle of the insert nut aligning device using a nut aligning device rotating means of the ejection insert robot system of the present invention.

Figure 10 is an operational attitude showing the process of conveying and supplying the insert nut in the nut alignment plate using a nut conveying cartridge applied to the ejection insert robot system of the present invention.

Explanation of symbols on the main parts of the drawings

1. Injection Insert Robot System 3. Transfer Robot

5. Running rail frame 10. Nut alignment device fixing frame

11.Vertical Frame 12.Horizontal Frame

13. Upper connection bar 14. Lower connection bar

20. Nut alignment device turning means 21a, 21b. fixed bracket

22. Vertical and horizontal angle adjusting part 23, 98. Screw rod

24. Ball joint 25. Angle adjustment plate

26a, 26b. Support 28. Rotary Center Pin

30. Rotating angle control part 31. Up and down rotating rod

32. Cylindrical bushing 33. Support block

34. Adjustment screw 40. Insert nut alignment device

41. Alignment plate fixing plate 43. Connecting rod coupling hole

44. Connecting rod 45. Nut alignment plate

45a. Nut inlet 45b. Positioning Home

46. Insert area 47, 83. Nut accommodation area

48. Nut feed path 49. Nut take-out hole

50. Guide bushing hole 51. Cover member

52. Nut outlet 55. Nut pull out sensor

60. Nut array supply means 61. Nut array member

62. Nut receiving groove 64. Vacuum / spray fitting member

67. Operation cylinder 70. Injection insert jig

71. Insert Nut Insertion Jig 71a. Nut cylinder fixing plate

72. Nut insertion cylinder 72a. Ejection pin

73. Guide rods 73a. stopper

74. Injection ejection jig 75. Drive cylinder fixing plate

76. Movable Plate 76a. Plate Drive Cylinder

77a. Injection vacuum tube 77b. Injection Tweezers

78. Jig ejection cylinder 79. Push bar

79a. Rotating Bracket 80. Nut Transport Cartridge

81.Housing 82.Nut inlet and outlet

84. Tapered guide 85. Opening and closing bar guide

86. Air outlet 87. Positioning protrusion

88. Clear cover 89. Opening and closing bar

90. Vibration feeder 91. Insert nut alignment member

95. Cartridge holder 96. Base plate

97. Mounting Plate 99. Adjusting Nut

Cy. Cylinder I. Injection Molding Machine

N. Insert Nut

Claims (19)

The transfer robot, which has a robot arm for fixing the insert insert jig and is configured to be orthogonally transported in front, rear, left and right, and up and down, is installed at the top of the traveling rail frame and installed at one end of the injection molding machine to correspond to the injection mold. In An insert nut aligning device configured to receive a separately supplied insert nut and to align the inserted insert nut at a position corresponding to the ejection insert jig conveyed by the transfer robot while being fixed to the robot arm is provided in the driving rail frame. Take-out insert robot system with an insert nut aligning device, characterized in that the installation is fixed to be spaced apart from the ground through a nut alignment device fixed frame fixed to one side. The nut alignment device rotation means of claim 1, wherein one end of the nut alignment device fixing frame corresponds to an insert nut alignment device to adjust the vertical, horizontal and horizontal angles and the rotation angle with respect to the insert nut alignment device. Extraction insert robot system having an insert nut alignment device, characterized in that provided. According to claim 1 or 2, wherein the nut alignment device fixing frame is formed in the form of "L" shaped integrally spaced apart from the left and right through the lower connecting bar so that the two vertical frames and two horizontal frames to form an inner space, The upper connection bar is fixed to the upper end of the vertical frame to be fixed to one side lower end of the running rail frame, In the interior space of the vertical frame, a control box for controlling the drive of the insert nut alignment device is installed separately from the drive of the take-out insert robot system, An insert insert robot system having an insert nut alignment device, characterized in that an operation panel for driving an insert nut alignment device is installed at a perpendicular portion where the vertical frame and the horizontal frame are coupled to each other. [3] The nut aligning device rotating means of claim 2, further comprising: a fixing bracket fixed to both ends of two horizontal frames; A vertical and horizontal angle control unit installed to adjust the length of each fixing bracket to adjust the vertical, horizontal and horizontal angles of the insert nut alignment device; The insert nut aligning device is rotatably coupled to the insert nut through a rotation center pin fixed to the center of the plate, and the insert nut aligning device is fixed to the vertical nut and the horizontal angle adjusting part. And angle adjustment action plate and the vertical and horizontal horizontal angle and horizontal and horizontal angle control; It is installed in a state corresponding to the up and down rotating coupling rods respectively fixed to the insert nut aligning device penetrating through the arc-shaped long hole formed on the left and right sides of the angle adjusting action plate, the rotation angle of the insert nut aligning device by the screw adjustment action Extraction insert robot system with an insert nut alignment device, characterized in that consisting of a rotation angle adjustment unit for adjusting the. The method of claim 4, wherein the fixing bracket is fixed to both ends of the two horizontal frame and at the same time formed in the shape of a "T" and a rectangular shape so as to enable three-point support for the angle adjustment plate through the vertical and horizontal angle control unit. , Two vertical and horizontal angle adjusting units are installed to adjust the length at the upper and lower ends of the fixed bracket of the "T" shape, and one vertical and horizontal angle adjusting unit is installed to adjust the length at one end of the rectangular bracket. Ejectable insert robot system equipped with an insert nut alignment device. According to claim 4, The vertical and horizontal angle control unit is coupled to each of the fixing brackets screw rod length adjustment is made through the spiral feed action; And a coupling nut for fixing the screw rod; The insert insert robot system having an insert nut aligning device, which is fixed to one end of the screw rod and is configured to be fastened to correspond to an angle adjusting operation plate so as to support three points of the angle adjusting operation plate. According to claim 4, The angle adjustment action plate is formed in a rectangular plate shape having a through hole for the light weight (輕 量) at each corner of the overall shape, the center and the left and right sides of the rotary center pin and the up and down rotating coupling rod and Center pin holes and arc-shaped hole holes for corresponding coupling are respectively formed through, Three support parts are formed on both side edges of the angle adjusting action plate so as to correspond to the vertical and horizontal angle adjusting parts, respectively, to be fastened in a state of being supported by three points, and two support parts are formed on the upper and lower sides of one edge, and the other side is An ejection insert robot system with an insert nut alignment device, characterized in that one support portion protrudes from the center to form three support points. According to claim 4, wherein the rotation angle adjustment portion Up and down rotation coupling rods which are respectively fastened to the insert nut alignment device through the long hole of the angle adjustment operation plate; And a cylindrical bushing inserted into the outer circumferential surface thereof. A support block that is bolted to both left and right sides of the angle adjusting action plate in a state located at the top of the cylindrical bushing; The screw is fastened to correspond to the cylindrical bushing in the state of passing through the support block, and the cylindrical bushing and the up-and-down rotating coupling rod according to the spiral feeding action are transferred in the long hole to adjust the rotation angle of the insert nut alignment device to the rotation center pin. Take-out insert robot system with an insert nut alignment device, characterized in that consisting of an adjustment screw. According to claim 4, The insert nut aligning device is an alignment plate fixing plate which is fastened and fixed to one end of the up and down rotating coupling rods penetrated in the long hole of the angle adjustment operation plate; Alignment plate fixing plate so that various parts protruding to the back of the nut alignment plate and the pipes connected thereto are stably positioned while being fastened to and supported by the nut alignment plate in a state where they are attached to each corner of the alignment plate fixing plate. A connecting rod for maintaining a distance between the nut and the alignment plate; A bolt is fixed to one end of the connecting rod in a state spaced apart from the alignment plate fixing plate, and has a nut inlet at the upper end thereof to accommodate the same or different insert nuts on the front surface of the plate. A nut alignment plate having a nut-receiving portion having a groove shape and having a nut feed path so as to transfer the insert nut to the position of the nut withdrawal hole corresponding to the insert position in the injection-molded product and the position below the bottom surface thereof; The nut is rotatably installed in a state corresponding to the inlet side of the nut transport path, and the insert nut housed in the nut accommodating part is vacuum sucked independently to arrange the nut to the nut transport path, and at the same time, the nut is injected through the air injection action. A nut array supply means for supplying the outlet hole; It is installed to be slidable according to the length of the cylinder while sealing the front of the nut alignment plate, having a nut outlet communicating with the nut outlet hole and through the air injection action by the nut array supply means Extraction insert robot system having an insert nut alignment device comprising a cover member for preventing separation of the insert nut transferred to the side and maintaining the insert nut in the initial supply state. 10. The method of claim 9, wherein the center pin and the left and right sides of the alignment plate fixing plate is formed through the center pin hole and the coupling rod fastening holes for corresponding coupling with the rotary center pin and the vertical rotation coupling rod, respectively, The upper and lower sides of the alignment plate fixing plate inserts, characterized in that the plurality of connecting rod coupling holes for fastening and fixing the connecting rod and the nut alignment plate is formed at equal intervals after moving the fixing position of the connecting rod according to the size of the nut alignment plate Take-out insert robot system with nut alignment device. 10. The method of claim 9, wherein the center of the bottom surface of the nut receiving portion is formed with one insert region including a nut withdrawal hole and the nut feed path, through the nut feed path In addition to the insert nut transferred to the nut outlet hole, a separate in In order to prevent the nut from flowing into the nut extraction hole and the nut feed path The insert region is formed to protrude from the bottom surface of the nut receiving portion, The ejection insert jig fixed to the robot arm is positioned on the upper and lower sides of the insert region. It characterized in that the guide bushing hole is formed so as to achieve a linear positioning The eject insert robot system is provided with an insert nut alignment device. 10. The nut array supplying means of claim 9, wherein the nut array supply means is rotatably or slidably installed at both bottom left and right sides of the bottom surface of the nut alignment plate in a state corresponding to the inlet side of the nut transport path, A nut arrangement member for accommodating each independently through a vacuum suction action and at the same time rotating or sliding transfer arrangement corresponding to the nut feed path; The nut is installed in the center of the rear surface of the nut array member, and the insert nut is separately received on the nut array member through vacuum suction and air injection, and the insert nut is moved from the nut array member rotated or slided to the nut feed path. A vacuum / injection fitting member configured to be supplied to a nut extracting hole which is an end of the nut conveying path; An insert insert robot having an insert nut alignment device connected to the nut array member and configured to rotate the nut array member in a clockwise or counterclockwise direction or to slide the nut array member in a slide manner; system. The nut array member of claim 12, wherein the nut arrangement member is formed in a cylindrical shape or in a quadrangular block body, and each side of the nut arrangement member is independently formed with a U-shaped nut receiving groove for accommodating an insert nut. Become, At the rear end of each nut receiving groove, vacuum suction and air injection by the vacuum / spray fitting member are formed so that the air suction spray hole penetrates the nut storage groove and the vacuum / spray fitting member to communicate with each other. Ejectable insert robot system equipped with an insert nut alignment device. 10. The insert nut according to claim 9, wherein the insert nut that is aligned and supplied with the air injection from the insert nut alignment member connected to the vibration feeder or the nut feed pipe connected to the compressor when the insert nut is supplied to the nut receiving portion of the nut alignment plate An ejection insert robot system having an insert nut alignment device, characterized in that the insert nut is transported and supplied to the nut receiving portion side of the nut alignment plate through a separate nut conveying cartridge accommodated in the enclosure. 15. The nut-carrying nut of claim 14, wherein the nut carrying cartridge has a nut-shaped nut for receiving the nut inlet and the insert nut at the front center and the top thereof so as to correspond to one end of the insert nut alignment member or one end of the nut feed pipe. A housing of the rectangular housing provided with a receiving portion; A transparent cover that is bolted to an upper end of the housing to prevent an outer detachment of the insert nut received in the nut accommodating part; An entrance opening / closing bar which is installed to be linearly transported from the rear surface of the housing to the nut accommodation part and opens and closes the nut entrance and exit while the slide is moved forward and backward according to the pressure or restoration of the bound spring; And an insert nut alignment device including an insert nut alignment device for seating and supporting the nut carrying cartridge to be horizontally maintained at the same height as the insert nut alignment member connected to the vibration feeder or the nut transfer pipe connected to the compressor. The method of claim 15, wherein the front of the nut receiving portion is formed with a tapered guide connected to the nut inlet and outlet to facilitate the discharge of the insert nut received through the nut inlet, An opening and closing bar guide is formed at the rear center of the nut accommodating part to protrude the nut accommodating part to guide the front and rear slide transfer action of the entrance and exit bar smoothly. On the left and right sides of the opening and closing bar guides are formed air outlets for discharging the compressed air introduced with the insert nut through the nut inlet and outlet to the outside through the rear of the nut receiving portion, Positioning protrusions are formed at both sides of the nut inlet and outlet so that the nut inlet of the nut alignment plate and the nut inlet and outlet of the housing are located on the same line. The insert insert robot system having an insert nut aligning device formed on both sides of the nut inlet of the nut alignment plate has a positioning groove for correspondingly inserting the positioning projection. 12. The nut inserting cylinder according to claim 11, wherein the insert insert jig is fixed to the guide bushing hole of the nut alignment plate to fix the nut insertion cylinder with the stopper and the ejection pin inserted together with the guide rod on the nut cylinder fixing plate. An insert nut insertion jig for inserting an insert nut aligned from a nut alignment plate through the nut insertion cylinder and inserting the insert nut into an injection mold; The plate driving cylinder is fixed to the center of the rear surface of the driving cylinder fixing plate which is coupled to the lower end of the nut cylinder fixing plate, and at the same time, a movable plate having injection injection vacuum tongs is fixed to the rod side of the plate driving cylinder together with injection molding vacuum tongs. It consists of an injection ejection jig that draws out the injection from the injection mold through the suction force, The ejection jig rotation cylinder fixed to both side ends of the insert nut insertion jig is coupled to the rotation brackets at both ends of the rotation bar, and the insert nut insertion jig and the ejection ejection jig are connected to each other through the rotation bar, so that the length of the ejection jig rotation cylinder is installed. An ejection insert robot system having an insert nut alignment device, characterized in that the ejection ejection jig is also rotated in the same direction along with the rotation of the rotation bracket and the rotation bar which rotates clockwise or counterclockwise according to the variable. The transfer robot, which has a robot arm for fixing the insert insert jig and is configured to be orthogonally transported in front, rear, left and right, and up and down, is installed at the top of the traveling rail frame and installed at one end of the injection molding machine to correspond to the injection mold. In The robot arm accommodates the insert nut supplied through the nut carrying cartridge configured to accommodate the number of insert nuts aligned with the air injection from the insert nut alignment member connected to the vibrating feeder or the nut feed pipe connected to the compressor. An insert nut aligning device configured to align the accommodated insert nut in a position corresponding to the ejection insert jig conveyed by the transfer robot in a fixed state is provided with a nut aligning device fixing frame fixed to one lower end of the traveling rail frame. Ejectable insert robot system having an insert nut alignment device, characterized in that the installation is fixed to be spaced apart from the ground through. The transfer robot, which has a robot arm for fixing the insert insert jig and is configured to be orthogonally transported in front, rear, left and right, and up and down, is installed at the top of the traveling rail frame and installed at one end of the injection molding machine to correspond to the injection mold. In The robot arm accommodates the insert nut supplied through the nut carrying cartridge configured to accommodate the number of insert nuts aligned with the air injection from the insert nut alignment member connected to the vibrating feeder or the nut feed pipe connected to the compressor. An insert nut aligning device configured to align the accommodated insert nut in a position corresponding to the ejection insert jig conveyed by the transport robot in a fixed state is fixed to one lower end of the traveling rail frame through a nut alignment device fixing frame. Installed and fixed away from the ground, One end of the nut aligning device fixing frame is provided with a nut aligning device rotating means corresponding to the insert nut aligning device for adjusting the vertical, horizontal and horizontal angles and the rotation angle of the insert nut aligning device. Ejectable insert robot system equipped with an insert nut alignment device.

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