JP2006001203A - Molding machine system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To contribute to the shortening of the molding cycle of a molding machine system by making it possible to realize the ultrahigh speed acceleration or deceleration operation of a linear motion member in the peripheral device attached to a molding machine. <P>SOLUTION: In the molding machine system constituted inclusive of the peripheral device attached to the molding machine, a linear motor is used as the drive source of the linear moving member of the peripheral device. The linear motor is composed of a stator around which a winding is wound and a moving member linearly moving with respect to the stator. The stator has a plurality of opposed parts wherein magnetic pole teeth are opposed to each other and, in a plurality of these opposed parts, the magnetic pole teeth of the adjacent opposed parts take a staggered structure. The linear moving member having a permanent magnet is arranged between the magnetic pole teeth constituting the opposed parts. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a molding machine system including a molding machine such as an injection molding machine or a die casting machine and a peripheral machine attached thereto, and in particular, to move a linearly moving member in a peripheral machine at high speed. It relates to a suitable technique.

  Peripheral machines such as a molded product take-out machine are often attached to the molding machine. For example, the molded product take-out machine cooperates with the molding operation of the molding machine to place a take-out arm in the open space. Insert and remove the molded product (resin molded product in the injection molding machine, cast product in the die casting machine) from the mold by the chucking part or suction part at the tip of the take-out arm, and use the removed molded product at the place where the molded product is placed. It is carried and the molded product is placed on the molded product placement location. Therefore, in order to shorten one molding cycle of the molding machine, it is required to shorten the operation time of the molded product take-out machine. In particular, in molding of a molded product having a short mold opening / closing time, the time of the mold open state is extremely long. Since it is short, it is required to shorten as much as possible the operation time for inserting / extracting the take-out arm into the space where the mold is opened and the operation time for removing the molded product in the space where the mold is opened.

  By the way, in the insertion / extraction operation into the space where the extraction arm of the molded product extraction machine described above is opened, the insertion / extraction by turning the extraction arm cannot be performed because the tie bar disturbs. In many cases, the taking-in / out of the take-out arm into the open space must be performed by linearly moving the take-out arm. Further, in order to remove the molded product attached to the mold from the mold, the take-out arm is linearly moved in a direction along the moving direction of the movable die plate, which is a direction orthogonal to the above-described loading / unloading direction. It is necessary to exercise.

  In order to cause the take-out arm to linearly move as described above, conventionally, an air cylinder is used as a drive source for linear motion, or a ball screw that converts rotation of the servo motor into linear motion using a rotary servo motor as a drive source. It is common to take a configuration using a mechanism. However, when an air cylinder is used, there is a problem that it is difficult to obtain precise positioning accuracy. With a configuration using a rotary servo motor and a ball screw mechanism, good positioning accuracy can be obtained. However, if a configuration using a rotary servo motor is used, there is an influence of the rotation inertia of the rotation transmission system. The capacity was inevitably about 4G. For this reason, in the configuration using the rotary servo motor and the ball screw mechanism, there is a problem that it is difficult to shorten the operation time of the linear motion of the take-out arm as much as possible.

An injection molding machine using a linear motor as a driving source for injection filling is also known in order to increase the acceleration / deceleration capability, although it is not a driving source for peripheral machines such as a molded product take-out machine (Patent Document). 1).
JP 2004-050632 A

  In the technique disclosed in Patent Document 1 described above, since a linear motor is used as a drive source for the linear motion of the screw, there is no influence of rotational inertia as in the case of using a rotary servo motor. Acceleration and deceleration of about 8G can be achieved, and good positioning accuracy can be obtained. However, since the linear motor used in Patent Document 1 is a general linear induction motor, such a general linear induction motor is used as a drive source for linear motion of a take-out arm of a molded product take-out machine. Even if this is the case, the acceleration / deceleration capability cannot be reduced to about several tens of grams. Therefore, the linear movement operation using the ultrahigh-speed acceleration / deceleration capability can minimize the operation time of the linear movement of the take-out arm. It is difficult to shorten.

  The present invention has been made in view of the above points, and the object of the present invention is to enable ultra-rapid acceleration and ultra-rapid deceleration of the linear motion member in a peripheral machine attached to the molding machine, The purpose is to contribute to shortening the molding cycle of the molding machine system.

  In order to achieve the above object, the present invention provides a molding machine system including a molding machine and a peripheral machine attached to the molding machine. Is composed of a stator around which a winding is wound and a mover that moves linearly with respect to the stator, and the stator has a plurality of facing portions where the magnetic pole teeth face each other, and a plurality of facing portions. In this case, the magnetic pole teeth of the adjacent facing portions have a staggered structure, and the linear mover having a permanent magnet is disposed between the magnetic pole teeth constituting the facing portion.

  The linear motor having the above-described configuration is also referred to as a tunnel actuator, and has a structure capable of canceling the magnetic attractive force generated between the stator (armature) and the mover, so that the stator and the mover are arranged. A sufficient thrust can be obtained with almost no magnetic attraction force, and acceleration / deceleration of 40 G or more can be realized by reducing the weight of the mover. Therefore, for example, by linearly driving the take-out arm of the molded product take-out machine with this tunnel actuator type linear motor, it is possible to achieve responsive and ultra-rapid acceleration and deceleration. The linear motion operation time can be shortened as much as possible, which can greatly contribute to shortening the molding cycle time of the molding machine system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a main configuration of a molding machine system according to an embodiment of the present invention. The molding machine of the present invention can be applied to any of an inline screw type injection molding machine, a pre-plastic type injection molding machine, or a die casting machine. The molding machine of this embodiment is, for example, an injection molding machine. Suppose that

  In FIG. 1, 1 is a molding machine, and 2 is a molded product take-out machine as a peripheral machine of the molding machine 1, and a molding machine system is constructed by the molding machine 1 and the peripheral machine 2. In FIG. 1, the molding machine 1 depicts only the main part of the mold opening / closing system mechanism.

  In the molding machine 1, 11 is a fixed die plate, 12 is a fixed die mounted on the fixed die plate 11, and 13 is movable along the four tie bars 14 so as to move back and forth (movable in the vertical direction in the figure). The die plate 15 is a movable side mold mounted on the movable die plate 13.

  Further, in the molded product take-out machine 2, 21 is a rotating body that is rotatably held by a rotation holding member 22, 23 is a rotary servo motor that is held by an appropriate support member (not shown), and 24 is a rotary type. A rotation transmission mechanism that transmits the rotation of the servo motor 23 to the rotating body 21, a motor holder 25 that can move linearly in the vertical direction in the figure with respect to the rotating body 21, and a motor 26 that holds the motor holder 25 so that it can move linearly. The linear motion guide member 27 is a tunnel actuator type first linear motor (for convenience of illustration, the stator 27a is fixed / held to the rotating body 21 and the movable element 27b is fixed to the motor holding body 25. The configuration of the first linear motor 27 is schematically shown), 28 is fixed and held by the stator 28a on the motor holder 25, and the movable element 28b is operated by the motor 28b. A tunnel actuator type second linear motor held so as to be linearly movable by a linear guide member 29 integral with the holding body 25 (for convenience of illustration, the configuration of the second linear motor 28 is schematically shown. ) 30 is a take-out arm whose base end is fixed and held on the mover 28b of the second linear motor 28, and 31 is a grip for the molded product 41 provided at the tip of the take-out arm 30. A chucking member 32 is provided at the tip of the take-out arm 30, and a chuck opening / closing actuator made of, for example, an air cylinder for driving the chucking member 33 is a servo driver that drives the rotary servomotor 23 by feedback control. 34 is a servo driver that drives the first linear motor 27 by feedback control, and 35 is a second linear motor. Servo driver for driving the over motor 28 with feedback control, 36 in accordance with preset operation control conditions, a system controller providing a command value to the servo driver 33, 34 and 35.

  The system controller 36 is provided on the molding machine 1 side, and controls the entire molding machine system including the molding machine 1 and the molded product take-out machine 2. Although not shown, the system controller 36 controls the operation of the chuck opening / closing actuator 32 by controlling the electromagnetic valve means for driving and controlling the chuck opening / closing actuator 32 via a valve driver. Yes.

  In addition, in the example shown in FIG. 1, a chucking member 31 for gripping the molded product 41 is attached to the tip of the take-out arm 30, but instead of the chucking member 31, the tip of the take-out arm 30 is attached. Further, a configuration may be adopted in which a suction member for vacuum-sucking the molded product 41 is attached.

  FIG. 2 is a diagram schematically illustrating a configuration example of the first linear motor 27 or the second linear motor 28 of the tunnel actuator type used in the present embodiment. In FIG. 2, 51 and 52 are stators (armatures). In each of the stators 51 and 52, 53 is a magnetic pole, 53a is an upper magnetic pole tooth of the magnetic pole 53, 53b is a lower magnetic pole tooth of the magnetic pole 53, and 54 is The magnetic pole 54 a is an upper magnetic pole tooth of the magnetic pole 54, 54 b is a lower magnetic pole tooth of the magnetic pole 54, 55 is an iron core, and 56 is a winding wound in the longitudinal direction of the iron core 55. Moreover, in FIG. 2, 57 is a needle | mover which has a permanent magnet by which N pole and S pole are alternately arrange | positioned along a longitudinal direction.

  In the tunnel actuator type linear motor shown in FIG. 2, the upper magnetic pole teeth 53 a of the magnetic pole 53 and the lower magnetic pole teeth 54 b of the magnetic pole 54 face each other with a predetermined gap G to form a facing portion, and the lower magnetic pole teeth 53 b of the magnetic pole 53 are formed. Similarly, the upper magnetic pole teeth 54a of the magnetic pole 54 are opposed to each other with a predetermined gap G to form a facing portion, and the magnetic pole teeth have a staggered structure between adjacent facing portions. And the needle | mover 57 is arrange | positioned between the magnetic pole teeth which comprise each opposing part.

  In the tunnel actuator type linear motor having such a configuration, when the pole pitch P between adjacent magnetic pole tooth centers is set to a predetermined value and the stator 51 is driven (excited) in the A phase, the stator 52 is moved. When the stator 51 is driven (excited) in the B phase and the stator 51 is driven in the B phase, the stator 52 is driven in the A phase, and the stators 51 and 52 sequentially drive the A phase and the B phase alternately. By switching to, the mover 57 moves linearly with a thrust in a predetermined direction.

  Here, in the adjacent facing portions, as shown in FIG. 3, the directions in which the suction force works are opposite to each other, so that the suction force can be offset to substantially zero as a whole, With this configuration, sufficient thrust can be obtained, and the movable element 27 can be reduced in weight, so that acceleration / deceleration of 40 G or more can be realized.

Since the configuration of such a tunnel actuator type linear motor is known in Patent Document 2 and the like, further detailed description thereof will be omitted.
Japanese Patent No. 3395155

  Next, operation | movement of the molded product take-out machine 2 of this embodiment is demonstrated. After the mold is clamped, molten resin is injected and filled into the cavity formed by the fixed side mold 12 and the movable side mold 15, and after the resin is solidified, the mold is opened and the movable die plate 13 is lowered. As a result, the molded product 41 is pulled away from the fixed mold 12 and is attached to the movable mold 15. Before the mold opening completion state, the rotating body 21 has taken a rotational position in which the longitudinal direction of the movable element 28b of the linear motor 28 is directed to the intermediate position between the two tie bars 14, and the motor holding body 25 is The mover 28b of the linear motor 28 is in the ascending position, and is in a retracted position in the left-hand direction in the drawing where the take-out arm 30 is placed outside the mold opening / closing system mechanism, and a chucking member 31 at the tip of the take-out arm 30. Is in an open non-gripping state.

  When the mold take-out machine 2 is in the above-described state, when the mold opening is completed, the system controller 36 immediately advances the mover 28b of the second linear motor 28 through the servo driver 35 with super rapid acceleration ( Next, the movable element 28b is decelerated at a very high speed before the movable element 28b advances by a predetermined stroke, and the movable element 28b is stopped at a position where the movable element 28b has advanced by the predetermined stroke. The chucking member 31 at the tip of the take-out arm 30 that has moved forward together with the child 28b is positioned directly above the molded product 41. Next, the system controller 36 drives the mover 27b of the first linear motor 27 backward (moving in the downward direction shown in the drawing) via the servo driver 34, and then the mover 27b is moved by a predetermined stroke. It is decelerated at an ultra-high speed before retreating, the mover 27b is stopped at a position where the mover 27b has retreated by a predetermined stroke, and is connected to the mover 28b of the second linear motor 28 lowered together with the motor holder 25. The chucking member 31 at the tip of the take-out arm 30 is positioned in the vicinity of the molded product 41 (a position where the molded product 41 can be gripped). Next, the system controller 36 drives the chuck opening / closing actuator 32 via a valve driver and electromagnetic valve means (not shown) to cause the chucking member 31 to perform a closing operation. Hold it.

  Next, the system controller 36 drives the mover 27b of the first linear motor 27 forward with a sudden acceleration (moving in the upward direction shown in the figure) via the servo driver 34. Next, the mover 27b is driven by a predetermined stroke. Before moving forward, it is decelerated at an ultra-high speed, and the mover 27b is stopped at a position where the mover 27b has advanced by a predetermined stroke, whereby the mover 28b of the second linear motor 28 raised together with the motor holder 25 is obtained. The molded product 41 held by the chucking member 31 at the tip of the connected take-out arm 30 is pulled away from the movable mold 15 and lifted. Next, the system controller 36 drives the mover 28b of the second linear motor 28 to retreat (moving in the leftward direction in the drawing) via the servo driver 35, and then the mover 28b moves to a predetermined stroke. The armature 28b is decelerated at a very high speed just before retreating, and the armature 28b is stopped at a position where the armature 28b is retracted by a predetermined stroke, whereby the takeout arm 30 and the chucking member retracted integrally with the armature 28b. The molded product 41 gripped by 31 is positioned outside the mold opening / closing system mechanism. When the “pushing” operation of the take-out arm 30 from the mold opening space is completed, the system controller 36 causes the molding machine 1 to immediately perform a mold closing (clamping) operation.

  After completing the “pushing” operation of the take-out arm 30 from the mold opening space, the system controller 36 rotates the rotary servo motor 23 in a predetermined direction by a predetermined amount via the servo driver 33 to thereby rotate the rotating body 21 in a predetermined direction. While rotating by an angle, the mover 28b of the second linear motor 28 is driven forward by super rapid acceleration via the servo driver 35, and then decelerated at a very high speed just before the mover 28b advances by a predetermined stroke. Then, the movable element 28b is stopped at a position where the movable element 28b has advanced by a predetermined stroke, whereby the molded product 41 gripped by the chucking member 31 of the take-out arm 30 that has advanced integrally with the movable element 28b, It is positioned directly above a place for placing a molded product (not shown) (for example, a belt conveyor). Next, the system controller 36 drives the mover 27b of the first linear motor 27 backward (moving in the downward direction in the figure) via the servo driver 34, and then the mover 27b is moved to a predetermined stroke. The mover 27b is decelerated at a very high speed just before moving backward, stops the mover 28b at a position where the mover 27b has moved back by a predetermined stroke, and is connected to the mover 28b of the second linear motor 28 lowered together with the motor holder 25. The molded product 41 held by the chucking member 31 at the tip of the take-out arm 30 is positioned very close to the molded product placement location (for example, several mm above the molded product placement location). Next, the system controller 36 drives the chuck opening / closing actuator 32 via a valve driver and electromagnetic valve means (not shown) to cause the chucking member 31 to open, thereby forming from the chucking member 31. The product 41 is released and the molded product 41 is softly placed on the molded product placement location.

  When the placement of the molded product 41 on the molded product placement location is completed, the system controller 36, via the servo drivers 33, 34, 35, the rotary servo motor 23, the first linear motor 27, the second linear motor. The motor 28 is driven to shift the molded product take-out machine 2 to the state before completion of the mold opening described above.

  In the present embodiment, the tunnel actuator type second linear motor 28 is used as a drive source for the forward and backward movement of the take-out arm 30, and the tunnel actuator type first linear motor 27 is used as a drive source for the vertical movement of the take-out arm 30. Therefore, it is possible to perform acceleration and deceleration with extremely good responsiveness, and it is possible to control ultra-rapid acceleration and deceleration by acceleration and deceleration of about several tens of grams. Therefore, it is possible to shorten the insertion / extraction operation time of the take-out arm 30 into the mold opened space and the removal operation time of the molded product in the mold opened space as much as possible. The time for the mold open state can be shortened, and thus greatly contributes to shortening the molding cycle time.

  In the above-described embodiment, the molded product take-out machine of the vertical injection molding machine is taken as an example. However, the same configuration and operation can be adopted in the horizontal injection molding machine and the molded product take-out machine of the die casting machine. Needless to say.

  In the above-described embodiment, the molded product take-out machine is taken as an example of the peripheral machine attached to the molding machine. However, other than the molded product take-out machine, for example, a release agent spraying machine attached to the die casting machine, etc. By using a tunnel actuator type linear motor as a drive source of the linear moving member of the peripheral machine, it becomes possible to shorten the molding cycle.

It is explanatory drawing which shows the principal part structure of the molding machine system which concerns on one Embodiment of this invention. It is explanatory drawing which shows the outline of the structural example of the tunnel actuator type | mold linear motor used with the peripheral machine of the molding machine system which concerns on one Embodiment of this invention. FIG. 3 is an explanatory diagram showing suction force cancellation in the tunnel actuator type linear motor of FIG. 2.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Molding machine 2 Peripheral machine 11 Fixed die plate 12 Fixed side metal mold 13 Movable die plate 14 Tie bar 15 Movable side metal mold 21 Rotating body 22 Rotating holding member 23 Rotating servo motor 24 Rotation transmission mechanism 25 Motor holding body 26 Linear motion guide Member 27 Tunnel actuator type first linear motor 27a Stator 27b Movable element 28 Tunnel actuator type second linear motor 28a Stator 28b Movable element 29 Linear motion guide member 30 Extracting arm 31 Chucking member 32 Chuck opening / closing actuator 33, 34, 35 Servo driver 36 System controller 41 Molded product 51, 52 Stator 53 Magnetic pole 53a Upper magnetic pole tooth 53b Lower magnetic pole tooth 54 Magnetic pole 54a Upper magnetic pole tooth 54b Lower magnetic pole tooth 55 Iron core 56 Winding 57 Movable element

Claims (4)

A molding machine system including a molding machine and peripheral machines attached to the molding machine,
Using a linear motor as a drive source for the linear movement member of the peripheral machine,
The linear motor includes a stator around which a winding is wound, and a mover that moves linearly with respect to the stator, and the stator has a plurality of facing portions in which magnetic pole teeth face each other, The plurality of opposing portions are such that the magnetic pole teeth of the adjacent opposing portions have a staggered structure, and the linear mover having a permanent magnet is arranged between the magnetic pole teeth constituting the opposing portion. Characteristic molding machine system. In the molding machine system according to claim 1,
The peripheral machine is a molded product take-out machine, and the linear moving member is a molded product take-out member provided with a chucking portion or a suction portion at the tip, and the molded product take-out member is driven forward and backward by the linear motor. A molding machine system characterized by that. In the molding machine system according to claim 2,
It has a drive source for driving the molded product take-out member in a direction orthogonal to a plane including the forward / backward direction of the molded product take-out member, and the linear motor having the above-described configuration is used for this drive source. Forming machine. In the molding machine system according to claim 2 or 3,
A molding machine characterized in that acceleration and deceleration during acceleration / deceleration of the linear motor are 10G or more.

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