JP2000153930A - Method and device for forming skin integrated molding - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure gripping skins one by one and automatize the supply of the skins to a forming die. SOLUTION: In this method, skins 71 are set in a forming die 21 in an injection molding machine 2 and then synthetic resin 72 is injected into a cavity in the forming die 21 for forming skin integrated moldings 7. The skins 71 are set in the forming die 21 by a robot 3 by which the skins 71 placed in numbers are gripped one by one in sequence from the upper one and transferred and set into the forming die 21. The robot 3 has a frame 4 provided at the end 311 of an arm 31 and a needle tightener 5 arranged on the frame 4 for sticking a needle 511 into the skins 71 to pull the skins 71 in the tightening direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for molding a skin integral molding which can automate the supply of a skin to a mold when injection molding a skin integral molding comprising a skin and a synthetic resin.

[0002]

2. Description of the Related Art As a method for molding a skin-integrated molded product composed of a skin and a synthetic resin (see FIG. 5), for example, the skin is set in a mold such as an injection molding machine, and then the synthetic resin is placed in a cavity of the mold. To form an integral skin product. In the conventional molding method, as shown in FIG. 6 (a), an operator takes out the skins 71 placed on the pallet 80 one by one from the top, and as shown in FIG. 6 (b), The taken out skin 71 is stretched on a rectangular frame-shaped jig 99 in order to prevent tearing of the skin and occurrence of wrinkles. Then, as shown in FIG. 6C, the operator transfers and sets the skin 71 together with the frame-shaped jig 99 to the mold 921 of the injection molding machine 92.

[0006] Next, as shown in FIG. 6 (d), the injection molding machine 92 injects a synthetic resin into the cavity of the mold 921 to form a skin integral molded product (not shown).
The set skin 71 is pressed and fixed by the mold 921. Then, as shown in FIG. 6 (e), the operator integrally takes out the molded integral skin product 7 together with the frame jig 99 from the mold 921 of the injection molding machine 92.

[0004]

However, the above-mentioned conventional molding method of the integral skin molded article has the following problems.
That is, for example, when the skin 71 is as thin as about 1 to 4 mm, it may be difficult to remove the skin 71 from the pallet 80 one by one. In this case, not only the removal of the skin 71 but also the transfer and setting of the mold 9 described above.
The supply of the epidermis 71 to 21 must be performed manually, and automation is difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and it is possible to securely grip the skin one by one and to automate the supply of the skin to the mold. It is intended to provide a method and apparatus.

[0006]

According to the first aspect of the present invention, there is provided a method of forming a skin integral molded product by setting a skin in a mold of an injection molding machine, and then injecting a synthetic resin into a cavity of the mold. In the above, the setting of the skin on the mold is performed by a robot that holds the plurality of mounted skins one by one from the top and transfers and sets the skin to the mold. And a needle tensioning device disposed on the frame, the needle tensioning device being arranged on the frame for inserting a needle into the epidermis and tensioning the epidermis. is there.

What is most notable in the present invention is that a plurality of skins placed on top of each other are gripped one by one from the top by a robot provided with a needle tensioning device that pulls the skin in the direction in which the skin is tensioned. This is to transfer and set the skin to the mold of the injection molding machine.

Next, the function and effect of the present invention will be described.
First, the setting of the skin on the mold by the robot will be described. When setting the skin on the mold of the injection molding machine, first, the robot rotates the arm to position a frame provided at the tip of the arm above the skin on which the plurality of sheets are placed. Next, a needle tensioning device disposed on the frame inserts a needle into the uppermost skin of the plurality of epidermis and pulls the epidermis in a tensioning direction. Thus, one skin is gripped by the needle tensioning device.

Next, the robot rotates the arm while holding the skin, and transfers the skin to the mold of the injection molding machine. Then, the arm is rotated with the gripped skin facing the mounting surface of the mold to set the skin. Next, the needle tensioning device stops pulling the epidermis to release the tensioning of the epidermis, and then pulls out the needle inserted into the epidermis. Thus, the skin held by the needle tensioning device of the robot is set in the mold of the injection molding machine.

According to the molding method of the present invention, even if the skin is thin, the skin can be gripped one by one from the top even if the skin is thin by setting the amount of needle insertion by the needle tensioning device. Further, when the epidermis into which the needle is pierced is pulled in the direction of tension by the needle tensioning device, the epidermis itself tends to return to the direction of relaxing tension. Therefore, the epidermis is firmly fixed to the needle of the needle tensioning device, so that the epidermis can be reliably gripped. Further, not only the gripping of the skin, but also the supply of the skin to the mold such as transfer and setting can be performed by the robot in an automated manner.

[0011] Next, as in the second aspect of the present invention, the needle tensioning device includes a needle unit provided so as to be able to advance and retreat a needle inserted from an inclined direction with respect to the upper surface of the skin, and the needle unit is provided with the needle unit. And a needle slide unit provided to be slidable in parallel with the upper surface of the needle. In this case, the needle can be inserted into the epidermis by the needle unit, and the needle unit can be slid in parallel with the upper surface of the epidermis by the needle slide device to pull the epidermis in a direction to tension the epidermis. it can.

The needle tensioning device includes a plurality of sets of the needle unit and the needle slide unit, and the needles of each needle unit are arranged so as to be able to advance and retreat in directions away from each other.
In addition, it is preferable that the needle units of the respective needle slide units are slidably disposed in directions away from each other. In this case, the needle can be pulled from at least two directions by sliding the needle units in directions away from each other.

Next, as in the third aspect of the present invention, the frame is rectangular, and the needle tensioning device is provided so that the needles of the needle unit can advance and retreat toward four corners of the frame. Further, it is preferable that the needle unit of the needle slide device is slidably disposed in four corner directions of the frame. In this case, the skin can be pulled from four directions by the needle slide device sliding the needle unit toward the four corners of the frame. In addition, since the direction in which the needle advances and retreats and the direction in which the needle unit slides match, when the skin is pulled, the skin is smoothly fixed along the needle of the needle unit.

Next, as an apparatus for performing the above molding method,
As in the invention according to claim 4, a robot for holding a plurality of skins placed one by one from the top and transferring and setting the skins to a mold, and a synthetic resin in a cavity of the mold. The robot comprises an injection molding machine for injecting and molding an integral skin product. The robot is provided with a frame provided at the tip of an arm, and a needle is inserted into the skin provided on the frame to tension the skin. And a needle tensioning device that pulls in a direction in which the skin is integrally formed.

In the above molding apparatus, the robot sets the skin on the mold of the injection molding machine in the same manner as in the first aspect. Therefore, by setting the needle insertion amount by the needle tensioning device, even if the skin is thin, it is possible to grip the skin one by one from the top.
Further, when the epidermis into which the needle is pierced is pulled in the direction of tension by the needle tensioning device, the epidermis itself tends to return to the direction of relaxing tension. Therefore, the epidermis is firmly fixed to the needle of the needle tensioning device, so that the epidermis can be reliably gripped.

Further, the robot can automate not only the gripping of the skin but also the supply of the skin to the mold such as transfer and setting. Therefore, the time for supplying the skin to the mold can be significantly reduced.

Next, as in the fifth aspect of the present invention, the needle tensioning device includes a needle unit provided so as to be able to advance and retreat a needle inserted from an inclined direction with respect to the upper surface of the skin, and the needle unit is provided with the needle unit. And a needle slide unit provided to be slidable in parallel with the upper surface of the needle. In this case, the needle unit can insert the needle into the epidermis, and the needle slide device can slide the needle unit in parallel with the upper surface of the epidermis to pull the epidermis in a direction of tensioning the epidermis.

Next, as in the invention of claim 6, the frame is rectangular, and the needle tensioning device is arranged such that the needles of the needle unit can advance and retreat toward four corners of the frame. Further, it is preferable that the needle unit of the needle slide device is slidably disposed in four corner directions of the frame. In this case, the skin can be pulled from four directions by the needle slide device sliding the needle unit toward the four corners of the frame. Further, since the advancing and retreating direction of the needle and the sliding direction of the needle unit are matched, when the skin is pulled, the skin can be fixed smoothly along the needle of the needle unit.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment A method and an apparatus for forming an integral skin product according to an embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 to 4, the molding apparatus 1 for integrally molding a skin of the present embodiment has a plurality of skins 71 (FIG. 2) placed in a substantially horizontal state.
From the uppermost one by one, and the outer skin 71 is
And an injection molding machine 2 for injecting the synthetic resin 72 into a cavity (not shown) of the mold 21 to mold the skin integral molded product 7. The robot 3 includes a frame 4 provided at the tip 311 of the arm 31 and a needle 51 provided on the skin 71 provided on the frame 4.
And a needle tensioning device 5 for piercing the skin 1 and pulling the epidermis 71 in a tensioning direction.

The details will be described below. As shown in FIGS. 2 to 4, the needle tensioning device 5 includes a needle unit 51 provided with a needle 511 for piercing the upper surface 711 of the epidermis 71 from an inclined direction so as to be able to advance and retreat, and the needle unit 51. The needle slide unit 52 is provided so as to be slidable in parallel with the upper surface 711 of the skin 71 stacked in a horizontal state.

As shown in FIG. 2A, the frame 4
Is a rectangle, and the needle tensioning device 5 is
One needle 511 is disposed so as to be able to advance and retreat toward the four corners of the frame 4, and the needle unit 51 of the needle slide device 52 is disposed so as to be slidable toward the four corners of the frame 4. is there.

The needle unit 51 includes, as shown in FIGS. 3 and 4, the needle 511 and a drive unit 514 for holding the needle 511 so as to be able to advance and retreat along its axis. The advance / retreat rod 513 of the driving unit 514 has a holder 512.
Is fixed, and the holder portion 512
The needle 511 is fixed in a state where the axis of the needle 511 is inclined by about 45 degrees with respect to the upper surface 711 of the first needle 511. The reciprocating rod 513, holder 512, and needle 511 are coaxially arranged.

As shown in FIGS. 3 and 4, the needle slide unit 52 includes a fixing plate 525 to which the driving unit 514 of the needle unit 51 is fixed by bolts, a slide rail 527 for sliding the fixing plate 525, Cylinder 528
And

The slide rail 527 is shown in FIG.
As shown in the figure, the frames 4 are arranged along the four corners. In addition, the slide rail 527
As shown in FIGS. 2B and 3, the corner portion 41 of the frame 4 is connected via a bracket 42 extending downward from the frame 4 and a board 521 welded thereto.
It is fixed to. Also, the slide rail 527 is
As shown in FIG. 3, it is arranged in parallel with the upper surface 711 of the skin 71.

As shown in FIG. 3, the cylinder 528 is fixed to each substrate 521 with its slide rod 529 facing the outside of the frame 4. Also,
The slide rod 529 is connected to the slide rail 52.
7 is connected to a fixing plate 525 disposed on the base plate 7.

As shown in FIG.
At the end of 27, a stopper bolt 523 is provided which is in contact with the fixing plate 525 and adjusts the sliding limit of the needle unit 51. The fixed plate 525 has two pairs of rollers 526 that slide while sandwiching the slide rail 527 from above and below.

The fixing plate 525 has a connecting hole 524 for connecting to the slide rod 529 of the cylinder 528. The fixing plate 525 is provided with a mounting hole (not shown) for fixing the driving unit 514 of the needle unit 51. The drive section 514 has a fixing bolt 515 screwed into the mounting hole.

As shown in FIG. 1, the robot 3 has an arm 31 provided with the frame 4 for supplying the skin and the needle tensioning device 5, and an arm 32 provided with a suction cup (not shown) for taking out the product. . The injection molding machine 2 has two molds 21 of a convex type and a concave type. The cavity (not shown) is a space having a substantially W-shaped cross section formed between the molds 21 and 21 when the mold is closed. In addition, the injection molding machine 2
It has a screw 22 for injecting the synthetic material 72. The robot 3 is arranged near the mold 21 of the injection molding machine 2.

A carry-in conveyor (not shown) and a carry-out conveyor 89 are arranged near the robot 3. A plurality of pallets 80 are placed on the carry-in conveyor, and a plurality of skins 71 are stacked inside the pallets 80, respectively. On the unloading conveyor 89, the molded integral skin product 7 is placed. As shown in FIG. 5, the skin integral molded product 7 includes the skin 71 and the synthetic resin 72. The outer skin 7
Numeral 1 is deformed into a substantially W-shaped cross section, and a synthetic resin 72 is adhered to the upper surface thereof.

Next, the mold 21 by the robot 3 is used.
A description will now be given of a set of the epidermis 71 to the skin. As shown in FIG. 1, when setting the skin 71 on the mold 21 of the injection molding machine 2, first, the robot 3 rotates the arm 31 to move the tip of the arm 31 as shown in FIG. The plurality of frames 4 provided in the section 311 are positioned above the flat skin 71 placed on the pallet 80.

Then, the needle tensioning device 5 disposed on the frame 4 inserts a needle into the uppermost skin 71 of the plurality of skins 71 and pulls the skin 71 in the direction of tension. More specifically, as shown in FIG. 3, the needle unit 51 of the needle tensioning device 5 causes the advance / retreat rod 513 of the drive unit 514 to protrude and stabs the needle 511 fixed to the holder 512 into the skin 71. Put in. Thus, the four corners of the skin 71 are fixed by the needles 511. At this time, the insertion amount of the needle 511 is set so that the tip of the needle 511 is located inside the skin 71.

Next, as shown in FIG. 4, in the needle sliding device 52 of the needle tensioning device 5, the cylinder 528
Slide rod 529 (FIG. 3). As a result, the fixing plate 525 is slid along the slide rails 527 in the four corner directions of the frame 4 to pull the skin 71 in the direction of tension. Thereby, one skin 71 is gripped by the needle tensioning device 5.

Next, as shown in FIG. 1, the robot 3 rotates the arm 31 while holding the skin 71, and puts the skin 71 into the mold 21 of the injection molding machine 2.
Transfer to Then, the arm 71 is rotated and set around the axis of the arm 31 so that the skin 71 faces a mounting surface (not shown) of the mold 21. Next, the needle tensioning device 5 stops pulling the epidermis 71 to release the tension of the epidermis 71, and then pulls out the needle 511 inserted into the epidermis 71.

Specifically, conversely, after the needle slide unit 52 of the needle tensioning device 5 pulls back the slide rod 529 of the cylinder 528, the needle unit 51 of the needle tensioning device 5 drives the driving unit. Rod 513 of section 514
Pull back. Thus, the skin 71 held by the needle tensioning device 5 of the robot 3 is set on the mold 21 of the injection molding machine 2.

Next, as shown in FIG. 1, the injection molding machine 2 closes the mold, and then injects the synthetic resin 72 into the cavity (not shown) between the dies 21 and 21 by the screw 22. Then, the skin integral molded product 7 is molded. The set skin 71 is pressed and fixed by the mold 21. Then, the robot 3 rotates the arm 32, and sucks the arm 32 (not shown).
As a result, the molded integral skin product 7 is taken out of the mold 21 of the injection molding machine 2. The taken-out integrated skin product 7 is carried out by the carry-out conveyor 89.

According to the molding method of this embodiment, by setting the amount of insertion of the needle 511 by the needle unit 51, even if the epidermis 71 is as thin as about 1 to 4 mm, one epidermis 71 is placed from the top. Can be grasped one by one.

Further, when the skin 71 into which the needle 511 has been inserted is pulled in the direction of tension by the needle slide device 52, the skin 71 itself tends to return to the direction of relaxing the tension. That is, the skin 71 attempts to return to the direction opposite to the sliding direction of the needle unit 51. Therefore, the skin 71 slightly moves to the holder 512 side of the needle unit 51 and is firmly fixed to the needle 511 of the needle unit 51, so that the skin 71 can be securely gripped.

Further, not only the grip of the skin 71 but also the supply of the skin 71 to the mold 21 such as transfer and setting can be performed automatically by the robot 3. Thereby, the supply time of the skin 71 to the mold 21 can be reduced from 50 seconds to 10 seconds per one skin 71. As described above, the robot 3
Can be performed automatically until the product (skin-integrated molded product 7) is taken out.

The needle tensioning device 5 includes the needle unit 51 and a needle slide device 52. Therefore, as described above, the needle 511 can be inserted into the epidermis 71 by the needle unit 51, and the needle unit 51
The upper surface 71 of the outer skin 71 is
1 and can be slid in parallel with each other to pull the epidermis 71 in the direction of tension.

Further, the frame 4 is rectangular, and the needle tensioning device 5 is provided such that the needles 511 of the needle unit 51 can move forward and backward in the four corner directions of the frame 4, and The needle unit 51 of the container 52 is slidably disposed in the four corners of the frame 4. Therefore, the needle slide unit 52 slides the needle unit 51 toward the four corners of the frame 4 so that the skin 71 can be pulled from four directions. Therefore, wrinkling of the skin 71 can be prevented during transfer.

Further, since the advancing and retreating direction of the needle 511 matches the sliding direction of the needle unit 51, when the skin 71 is pulled, the skin 71
It is fixed smoothly along the first needle 511. Therefore, during transfer, no excessive force is applied to the epidermis 71, so that tearing of the epidermis 71 can be prevented.

The needle unit 51 includes the needle 51
Since the skin 1 is inserted into the upper surface 711 of the skin 71 from an inclined direction, it is possible to reliably prevent the skin 71 from dropping from the needle unit 51 when the skin 71 is pulled. Further, since the needle 511 is stabbed in the inclined direction, the load on the needle 511 can be reduced. The inclination angle θ (FIG. 3) between the upper surface 711 of the skin 71 and the axis of the needle 511 is preferably 45 to 60 degrees.
In this case, the above effects can be more reliably exerted. Note that a 7-axis general-purpose robot can be used as the robot 3.

[0043]

As described above, according to the present invention, there is provided a method and an apparatus for forming an integrally formed skin, which can securely hold the skin one by one and can automatically supply the skin to a mold. can do.

[Brief description of the drawings]

FIG. 1 is a plan view of a molding apparatus for an integral skin-molded product according to an embodiment.

FIG. 2A is a bottom view and FIG. 2B is a front view of the frame and the needle tensioning device in the embodiment.

FIG. 3 is a front view of the needle tensioning device in the embodiment.

FIG. 4 is a plan view of the needle tensioning device according to the embodiment.

FIG. 5 is a perspective view of a skin-integrated molded product in the embodiment.

FIG. 6 is an explanatory view of a molding method of a skin integral molded product in a conventional example.

[Explanation of symbols]

 1. . . Molding equipment, 2. . . Injection molding machine, 21. . . Mold, 3. . . Robot, 31. . . Arm, 311. . . 3. Tip, . . Frame, 5. . . 6. Needle tensioning device, . . Skin integral molded product, 71. . . Epidermis, 72. . . Synthetic resin,

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Katsunori Oda 100 Kanayama, Ichiriyama-cho, Kariya-shi, Aichi F-term (reference) 3F343 FA20 FB17 FC01 GA01 GB01 GC01 GD01 HA12 HB04 JC08 JC16 LA04 LA13 LC02 LD06

Claims (6)

[Claims] 1. A method of setting a skin on a mold of an injection molding machine, and then injecting a synthetic resin into a cavity of the mold to form a skin integral molded product, wherein the skin is set on the mold. Is carried out by a robot which grips the plurality of skins placed one by one from the top and transfers and sets the skins to the mold. The robot comprises a frame provided at the tip of an arm, A needle tensioning device disposed on a frame for inserting a needle into the skin and pulling the skin in a direction of tensioning the skin, the method comprising the steps of: 2. The needle tensioning device according to claim 1,
A needle unit provided so that a needle for piercing the upper surface of the epidermis from an inclined direction can be advanced and retracted; and a needle slider provided so that the needle unit can be slid parallel to the upper surface of the epidermis. Molding method for skin-integrated molded products. 3. The needle tensioning device according to claim 2, wherein the frame is rectangular, and the needle tensioning device is arranged so that the needles of the needle unit can advance and retreat toward four corners of the frame. A method for forming an integral skin product, wherein a needle unit of the container is slidably disposed in four corner directions of the frame. 4. A robot for holding a plurality of skins placed one by one from the top and transferring and setting the skins to a mold, and injecting a synthetic resin into a cavity of the mold, The robot comprises an injection molding machine for molding an integral skin product, wherein the robot is provided at a tip portion of an arm, and a needle is provided on the frame and a needle is inserted into the skin to pull the skin in a direction to tension the skin. What is claimed is: 1. An apparatus for forming an integral skin product, comprising: a needle tensioning device. 5. The needle tensioning device according to claim 4,
A needle unit provided so that a needle for piercing the upper surface of the epidermis from an inclined direction can be advanced and retracted; and a needle slider provided so that the needle unit can be slid parallel to the upper surface of the epidermis. Molding device for integrated skin products. 6. The needle tensioning device according to claim 5, wherein the frame is rectangular, and the needle tensioning device is arranged so that the needles of the needle unit can advance and retreat toward four corners of the frame. An apparatus for forming an integral skin product, wherein a needle unit of a container is slidably disposed in four corner directions of the frame.