JP2007203519A - Taking-out machine for moldings - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress the reduction of productivity by effecting the moving limitation of a moving portion in a taking-out machine for moldings only when practically needed through making it possible to surely detect an obstacle. <P>SOLUTION: The taking-out machine for moldings 1 is equipped with an ultrasonic sensor 6 for detecting an obstacle such as a person entering onto the moving passage of a taking-out head 3 and a processor 7 for moving and controlling the taking-out head 3 when an obstacle is detected. The processor 7 controls such that the ultrasonic wave transmitting interval from the transmitting section 61 of the ultrasonic sensor 6 is irregular or the transmitting frequency differs in every transmission of a transmission wave, and determines that there is an obstacle in the case that the reflecting position of the ultrasonic wave based on the responding time of the reflecting wave received by the receiving section 62 can be continuously taken as the same in a plurality of ultrasonic wave transmissions, and outputs a moving control instruction of the moving portion, according to the positional relation of the position of the obstacle and the current position of the taking-out head 3. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a molded product take-out machine having a moving part for taking out a molded product from a molding machine, and relates to a molded product take-out machine having an obstacle detection function capable of detecting an obstacle such as an operator. .

As shown in FIG. 11, this type of molded article take-out machine 801 is set so that the detection area K reaches the open position on the open position side of the transverse arm 803 fixed to the fixed platen 805 of the molding machine 802. The thing which provided the human detection member 823 is known (patent document 1). According to this molded product take-out machine 801, when the human detection member 823 transitions from OFF (human non-detection state) to ON (human detection state), the movement of the pick-up head 817 is immediately stopped, or the movement is stopped at a slow speed. To ensure the safety of an operator who has entered the open area of the molded product (paragraph 0030 of Patent Document 1).
JP 2003-136666 A

  However, in the molded product take-out machine 801, although the worker in the molded product open area can be detected by the human detection member 823, the moving part of the molded product take-out machine 801, that is, the arm to which the take-out head 817 and the take-out head 817 are attached. An operator who has entered the movement path cannot be detected. Therefore, it is not possible to reliably prevent a collision with an operator who has entered the movement path of the moving part.

  Further, in the molded product take-out machine 801, the human detection member 823 simply detects the presence / absence of an operator who enters the molded product release area, and thus the positional relationship between the take-out head 817 and the worker cannot be recognized. . Therefore, when the take-out head 817 is moved at a slow speed when it is detected that the operator has entered the molded product release area and stopped after a predetermined time, the take-off head 817 has a slow speed depending on the positional relationship between the work person and the take-out head 817. There is also a risk of colliding with the worker during movement.

  The molded product take-out machine 801 always stops the movement of the take-out head 817 when detecting the entry of an operator into the molded product open area for a predetermined time when the take-out head 817 reaches the molded product open area. Therefore, a recovery operation for moving the take-out head 817 is required next. As a result, one take-out cycle time of the molded product take-out machine 801 becomes longer, leading to a decrease in productivity.

  The present invention has been made in view of the above circumstances, and by making it possible to recognize the position of an obstacle such as an operator who has appeared on the movement path of the movement part of the molded article take-out machine, the movement part and the obstacle It is an object of the present invention to provide a molded product take-out machine that can reliably prevent a collision with an object and can perform a movement restriction only when it is really necessary to suppress a decrease in productivity to a minimum.

(1) The molded product take-out machine according to the present invention is:
In the molded product take-out machine that moves the moving part for taking out the molded product from the mold of the molding machine within a predetermined movable range,
A transmitter for transmitting a transmission wave directed in the traveling direction of the moving part;
A receiver for receiving the reflected wave of the transmission wave;
A transmission control unit for controlling the transmission timing so that the transmission interval of the transmission wave at the transmission unit is irregular;
When a reflected wave is received by the receiving unit, a reception control unit that measures a response time from when a transmission wave is transmitted by the transmitting unit to when a reflected wave is received by the receiving unit, and
A calculation unit for calculating the reflection position of the transmission wave based on the response time;
A determination unit that determines that there is an obstacle when the same result can be considered continuously in a plurality of transmission wave transmissions at the reflection position,
And a command unit that outputs a movement control command for the moving part in accordance with a positional relationship between the position of the obstacle and the current position of the moving part (claim 1).

  In the transmission unit, the transmission wave is transmitted a plurality of times with irregular transmission intervals. Therefore, in the reception unit, a reflected wave from a surrounding wall or the like with respect to the transmission wave transmitted before, a next transmission wave is generated. Even if it is received after being transmitted, the response time of the reflected wave due to this wall or the like does not become the same time length continuously with respect to a plurality of transmission wave transmission timings, but has a time length with variations. On the other hand, since the reflected wave from the obstacle within the movable range of the moving part is received before the next transmission wave is transmitted, the response time by the reflected wave of this obstacle is a plurality of transmission wave transmission timings. Are continuously obtained as the same time length. Therefore, the response time of the reflected wave due to the wall or the like can be distinguished from the response time of the reflected wave reflected by the obstacle.

Then, the calculation unit calculates the reflection position of the transmission wave based on the response time by the reflected wave from the obstacle, and the determination unit can regard the same result continuously by transmitting the transmission wave a plurality of times at the reflection position. Since it is determined that there is an obstacle, an obstacle such as a person who appears within the movable range of the moving part can be detected accurately and reliably. In addition, the position of the obstacle can be specified from the reflection position.
And since the command unit outputs a movement control command for the moving part according to the positional relationship between the position of the obstacle and the current position of the moving part, it is possible to reliably prevent the collision between the moving part and the obstacle, Moreover, it is performed only when movement restriction of the moving part is really necessary.

(2) Further, the molded product take-out machine according to the present invention is:
In the molded product take-out machine that moves the moving part for taking out the molded product from the mold of the molding machine within a predetermined movable range,
A transmitter for transmitting a transmission wave directed in the traveling direction of the moving part;
A receiver for receiving the reflected wave of the transmission wave;
A transmission control unit that selectively controls the frequency of the transmission wave in the transmission unit to be different for each transmission wave transmission; and
The receiving unit selects and controls the frequency of the reflected wave that can be received in synchronization with the transmission wave frequency at the transmitting unit in synchronization with the transmission wave transmission timing of the transmitting unit, and the receiving unit receives the reflected wave. Then, the reception control unit that measures the response time from when the transmission wave is transmitted at the transmission unit to when the reflected wave is received at the reception unit,
A calculation unit for calculating the reflection position of the transmission wave based on the response time;
A determination unit that determines that there is an obstacle when the same result can be considered continuously in a plurality of transmission wave transmissions at the reflection position,
And a command unit that outputs a movement control command for the moving part in accordance with a positional relationship between the position of the obstacle and the current position of the moving part (claim 2).

  The transmission control unit performs selection control so that the frequency of the transmission wave at the transmission unit differs for each transmission wave transmission, and the reception control unit synchronizes with the transmission wave transmission timing of the transmission unit at the reception unit. Since the frequency of the reflected wave that can be received is selected and controlled in synchronization with the transmission wave frequency at the transmission unit, after the transmission wave of the frequency different from the previous one is transmitted, the surrounding of the transmission wave transmitted before is Even if a reflected wave from a wall or the like is propagated to the receiving unit, the reflected wave is not received by the receiving unit because it is different from the frequency that can be received by the receiving unit. On the other hand, the reflected wave from the obstacle within the movable range is propagated to the receiving unit until the next transmission wave having a different frequency is transmitted, so this reflected wave is a transmission wave that can be received by the receiving unit. Since it is the same as the frequency, it is received by the receiving unit. Therefore, a reflected wave from a surrounding wall or the like with respect to a previously transmitted wave is not received after the next transmitted wave is transmitted, and thus an erroneous recognition of an obstacle caused by a reflected wave such as a wall is prevented. It can be prevented and accurate obstacle recognition can be performed.

Then, the calculation unit calculates the reflection position of the transmission wave based on the response time due to the reflected wave from the obstacle, and the determination unit can regard the same result continuously by transmitting the transmission wave a plurality of times at the reflection position. Since it is determined that there is an obstacle, an obstacle such as a person who appears within the movable range of the moving part can be detected accurately and reliably. In addition, the position of the obstacle can be specified from the reflection position.
And since the command unit outputs a movement control command for the moving part according to the positional relationship between the position of the obstacle and the current position of the moving part, it is possible to reliably prevent the collision between the moving part and the obstacle, Moreover, it is performed only when movement restriction of the moving part is really necessary.

(3) The transmission control unit sets the transmission wave transmission interval at the transmission unit so as not to be shorter than the response time of the reflected wave within the movable range of the moving part.

  As a result, the receiving unit can receive the reflected wave from the obstacle within the movable range of the moving part before the next transmission wave is transmitted from the transmitting unit, and the detection of the obstacle within the movable range can be detected. It can be surely prevented.

  As described above, according to the present invention, it is possible to recognize the position of an obstacle such as an operator who has appeared on the movement path of the moving part of the molded article take-out machine, thereby reliably colliding the moving part and the obstacle. In addition, it is possible to limit the movement of the moving part only when it is really necessary, and to suppress the decrease in productivity to the minimum.

Embodiments of the present invention will be described below with reference to the drawings.
(Embodiment 1)
FIG. 1 shows the overall configuration of the molded product take-out machine 1 as seen from the operation side where the operation panel 53 of the molding machine 5 is located, and FIG. 2 shows the overall configuration of the molded product take-out machine 1 as seen from the non-operation side. A molded product take-out machine 1 shown in FIGS. 1 and 2 is a traverse type and is mounted on a molding machine 5. As an external configuration of the molded product take-out machine 1, an arm mechanism 2 extending in the respective XYZ axial directions and a take-out head 3 for taking out a molded product from a mold 50 of the molding machine 5 are provided. Further, the molded product take-out machine 1 is connected to an operation terminal 10 for performing operations such as start / stop of automatic operation.

  The arm mechanism 2 includes a traverse arm 21 extending in the width direction of the molding machine 5 (Y direction in FIGS. 1 and 2) and a longitudinal direction of the molding machine 5 (X direction in FIGS. 1 and 2). A drawing arm 22 is provided, and a lifting arm 23 extending in the vertical direction of the molding machine 5 (the Z direction in FIGS. 1 and 2).

  The transverse arm 21 is mounted on and fixed to a stationary platen 51 of the molding machine 5. The drawing arm 22 is mounted on the traverse arm 21 and is moved forward and backward in the width direction (transverse direction) of the molding machine 5 by a first drive source M1 (not shown) such as a servo motor. The elevating arm 23 is suspended from the pulling arm 22 and is moved back and forth in the longitudinal direction (pulling direction) of the molding machine 5 by a second drive source M2 (not shown) such as a servomotor. The three driving sources M3 (not shown) are moved up and down in the vertical direction (up and down direction) of the molding machine 5.

The take-out head 3 is attached to the lower end of the elevating arm 23, holds and takes out a molded product as a product from the mold 50, releases the hold at a predetermined collection position outside the molding machine 5, and releases the molded product. To recover. Further, the take-out head 3 is configured so that its molded product holding surface can be rotated in a reverse orientation between a vertical posture and a horizontal posture, or can be horizontally rotated in a vertical posture.
In the molded product take-out machine 1, the extraction arm 22, the lifting arm 23, and the take-out head 3 are the moving parts of the molded product take-out machine 1.

The molded product take-out machine 1 includes an operation control unit (not shown), and performs automatic operation of the following take-out operation.
Referring also to FIG. 3 showing the movement path R of the take-out head 3, first, when the mold 50 of the molding machine 5 is opened, the take-out head 3 is moved from the standby position (P1) on the mold 50 to the mold 50. It moves to the entry position (P2). Next, the take-out head 3 is moved to the take-out position (P3) close to the surface of the mold 50. The molded product is held by the take-out head 3 at this take-out position (P3). Then, after the take-out head 3 holding the molded product is retracted to the pulling position (P4), it is raised to the upper position (P5) of the mold and is moved out of the mold 50. Subsequently, it is moved outside the molding machine 5 to the open position (P6) on the distal end side of the traversing arm 21, and at this open position (P6), the take-out head 3 is reversed to the horizontal posture and then lowered to the collection position (P7). ), And at this collection position (P7), the holding of the molded product is released and collected. Thereafter, the take-out head 3 is raised to the open lift position (P8), the take-out head 3 is reversed to the vertical position, and then returned to the standby position (P1) again. The above one extraction cycle is repeated.

  The molded product take-out machine 1 has a detecting means 6 for detecting an obstacle such as a person who has entered the moving path R of the take-out head 3, and the positional relationship between the detected obstacle and the take-out head 3. Accordingly, a processor 7 for controlling movement of the take-out head 3 is provided. The molded product take-out machine 1 is intended to detect an intrusion of an obstacle such as a person between the molding machine 5 and the collection position (P7).

  The detection means 6 is composed of ultrasonic sensors 6a and 6b each having a transmitter 61 for transmitting an ultrasonic wave as a transmission wave and a receiver 62 for receiving a reflected wave of the ultrasonic wave. 6a and 6b are installed so that the transmitter 61 and the receiver 62 are directed in the traveling direction of the take-out head 3. In the molded product take-out machine 1 shown in FIGS. 1 and 2, the ultrasonic sensors 6a and 6b are moved back in the traverse direction (the direction in which the take-out head 3 faces the open position (P6) from the upper position of the mold (P5)). The ultrasonic sensor 6a is provided so as to be directed in the respective directions (directions in which the take-out head 3 faces the mold upper position (P5) from the open position (P6)). As shown in FIG. 1, the ultrasonic sensor 6b provided near the attachment position of the take-out head 3 at the lower end of the lifting arm 23 and directed in the transverse return direction is pulled out on the non-operation side as shown in FIG. It is provided near the tip of the arm 22.

  As shown in the block diagram of FIG. 4, the processor 7 includes a transmission control unit 71, a reception control unit 72, a calculation unit 73, a determination unit 74, a command unit 75, and the like. The processor 7 is attached to the box portion at the proximal end of the extraction arm 22 (see FIG. 2), but may be incorporated in an operation control unit that controls the operation of the molded product take-out machine 1. In addition to the ultrasonic sensors 6 a and 6 b of the detection means 6, the processor 7 drives and controls the displacement detector 8 that detects the current position of the takeout head 3 and the drive sources M1 to M3 of the arm mechanism 2. The drive mechanism controller (for example, servo driver) D1 to D3 and the like are signal-connected. The drive mechanism control units D1 to D3 may constitute a part of an operation control unit that controls the operation of the molded product take-out machine 1. The displacement detector 8 detects the amount of displacement of each of the drive sources M1 to M3 and can detect the current position of the extraction head 3. For example, a rotary encoder provided in the servo motor of the drive sources M1 to M3 Consists of. If the drive sources M1 to M3 are linear motors as the displacement detector 8, the displacement detector 8 may be constituted by a scale reader that reads scales from bar-code linear scales attached to the arms 21 to 23.

  The transmission control unit 71 controls the transmission timing so that the ultrasonic transmission interval A at the transmission unit 61 of the ultrasonic sensors 6a and 6b is irregular. The ultrasonic waves are transmitted while the take-out head 3 is moving. For example, the pull-out arm 22 moves along the traverse arm 21, and the take-out head 3 moves over the molding machine 5 and the collection position (P7). Send ultrasonic waves while moving between.

  When the reception unit 62 receives the reflected wave, the reception control unit 72 measures a response time from when the transmission unit 61 transmits the ultrasonic wave to when the reception unit 62 receives the reflected wave. This response time is the time difference between the ultrasonic wave transmission timing and the reflected wave reception timing until the next ultrasonic wave is transmitted.

  The calculation unit 73 calculates the reflection position of the ultrasonic wave, that is, the position of what appears to be an obstacle based on the response time. The position of what is considered to be an obstacle is calculated as the distance from the movement reference point of the take-out head 3 to the obstacle. For example, in the molded product take-out machine 1, the position where the extraction arm 22 is at the stroke limit position on the molding machine 5 side and the take-out head 3 is on the molding machine 5 is used as the movement reference point of the take-out head 3. A person who has entered the movement path R from the mold upper position (P5) to the release position (P6) while the take-out head 3 is moving from the mold upper position (P5) to the release position (P6). When the (obstacle) is detected, the calculation unit 73 calculates the distance in the Y direction from the mold upper position (P5) to the person. This distance is a position where an ultrasonic wave is reflected and which is considered to be an obstacle. Further, a person who has entered the movement path R from the upper open direction (P8) to the standby position (P1) while the take-out head 3 is moving from the upper open position (P8) to the standby position (P1) is detected. Then, also in this case, the calculation unit 73 calculates the distance in the Y direction from the mold upper position (P5) to the person, and calculates the position of what appears to be an obstacle.

  The determination unit 74 determines that there is an obstacle when the ultrasonic wave reflection position obtained by the calculation unit 73 can be regarded as the same result continuously by a plurality of ultrasonic transmissions. Thereby, an obstacle can be reliably detected. The case where the results can be regarded as the same result is to avoid complication of determination processing in the determination unit 74 in consideration of various circumstances such that an obstacle such as a person may move a little.

  Based on the current position information of the take-out head 3 from the displacement detector 8 and the position information of the obstacle from the calculation unit 73, the command unit 75 determines the shaping from the positional relationship between the take-out head 3 and the obstacle. A predetermined movement control command is output to the operation control unit that controls the operation of the product take-out machine 1. As control contents by this control command signal, according to the positional relationship between the take-out head 3 and the obstacle, the movement speed of the take-out head 3 is lowered or the movement is restricted such as stopping the take-out head 3. When the obstacle is removed, the normal moving speed of the take-out head 3 is restored.

Next, the principle of obstacle detection will be described.
As shown in the schematic diagram of FIG. 5, the ultrasonic wave (1) transmitted from the transmitter 61 of the ultrasonic sensor 6 is within the movable range α of the extraction head 3 (for example, from the position of the molding machine 5 to the recovery position (P7)). In addition to being reflected (reflected wave (1) ') by obstacles such as people who have appeared in the area between them, it is also reflected from surrounding walls far away from this movable range α (reflected wave (1) ) '') And received by the receiving unit 62 of the ultrasonic sensor 6.

  In this case, as shown in FIG. 6A, the response time C due to the reflected wave (1) ″ from the wall or the like is longer than the time length corresponding to the movable range α of the extraction head 3. It can be distinguished that the time length corresponding to the movable range α is exceeded. Therefore, even if ultrasonic transmission is performed a plurality of times from the transmitter 61 in order to more reliably detect an obstacle, if the transmission interval A of the ultrasonic waves transmitted a plurality of times is sufficiently long, the reflected wave from the wall or the like ( The response time C by 1) '' .. is received until the next ultrasonic transmission, and can be distinguished as exceeding the corresponding time length within the movable range α (FIG. 6A).

  However, as shown in FIG. 6 (b), if the ultrasonic wave transmission interval A is shortened in order to perform obstacle detection earlier, the reflected wave from the surrounding wall or the like with respect to the previously transmitted ultrasonic wave (1) ( A polymerization phenomenon may occur where 1) '' is received after transmission of the next ultrasonic wave (2). Since the response time C due to the reflected wave (1) '' (2) '' ... of this polymerization phenomenon is measured from the immediately preceding ultrasonic wave transmission timing, it is the time within the movable range α of the take-out head 3 There is. Moreover, if the transmission intervals A of the ultrasonic waves transmitted a plurality of times are equal, each response time C of the reflected waves (1) '' (2) '' ... of this polymerization phenomenon is the same time length. And obtained continuously (FIG. 6B). Therefore, the response time C of the reflected wave (1) "(2)" ... by the wall or the like is the reflected wave (1) '(2)' from the obstacle present in the movable range α of the take-out head 3 It becomes difficult to distinguish from the response time B (FIG. 6B). As a result, even if there is actually no obstacle within the movable range α of the take-out head 3, it is erroneously recognized as if there is an obstacle at the position corresponding to the response time C due to the polymerization phenomenon. Inconveniences such as stopping the movement of the take-out head 3 occur.

  Therefore, the transmitter 61 of the ultrasonic sensor 6 transmits ultrasonic waves with irregular transmission intervals A, A ′, A ″,. Then, as shown in FIG. 7, in the receiving unit 62 of the ultrasonic sensor 6, the reflected wave (1) '' ... from the surrounding wall with respect to the previously transmitted ultrasonic wave (1) ... Even if the next ultrasonic wave (2) is received after being transmitted, the response time (C, C ′, C ″,...) Of the reflected wave (1) ″,. It is not the same time length continuously with respect to the ultrasonic transmission timing of the times, and the time length varies. On the other hand, the response time B of the reflected wave (1) '··· from the obstacle within the movable range α is obtained as the same time length continuously for a plurality of ultrasonic transmission timings. Therefore, the response time C ·· of the reflected wave (1) '··· due to the wall or the like can be distinguished from the response time B of the reflected wave (1)' ···· reflected by the obstacle. Therefore, by transmitting ultrasonic waves multiple times at random transmission intervals A, A ′, A ″, etc., it is possible to prevent erroneous recognition of obstacles caused by reflected waves (1) ″, etc. on walls. Accurate obstacle recognition.

  The above is the principle of obstacle detection, but the obstacle detection by the molded product take-out machine 1 is performed while the take-out head 3 is moving, and the ultrasonic sensors 6a and 6b provided at the moving parts are also moving. The ultrasonic wave transmission position transmitted several times and the reflected wave reception position are slightly different. That is, since the moving part such as the take-out head 3 approaches the obstacle, the response time is gradually shortened. Therefore, in the case of actual obstacle detection described below, the response time is converted into a distance (absolute position) from the movement reference point of the extraction head 3 to detect the presence or absence of the obstacle.

The obstacle detection operation will be described below.
FIG. 8 is a flowchart showing the obstacle detection operation. Referring to FIG. 8, when the take-out head 3 starts to move from the mold upper position (P5) to the open position (P6), the ultrasonic sensor 6a facing the open position (P6) is operated to obstruct the object. The detection operation is started.

  First, the current position of the take-out head 3 is recognized based on position information from the displacement detector 8 (step S1), and then a distance measuring operation for obstacle detection is executed (step S2). As this distance measurement operation, an ultrasonic wave is transmitted from the transmission unit 61 of the ultrasonic sensor 6a toward the traveling direction of the extraction head 3 in accordance with a command from the transmission control unit 71. In this case, if there is an obstacle such as a person on the moving path R of the take-out head 3, that is, the moving path R toward the open position (P 6) of the take-out head 3, the ultrasonic wave is reflected by the obstacle, and the reflected wave Is received by the receiving unit 62 of the ultrasonic sensor 6a. Then, the response time due to the reflected wave is measured by the reception control unit 72. This response time is measured as the time from when the ultrasonic wave is transmitted by the transmitter 61 to when the reflected wave is received by the receiver 62. Then, the calculation unit 73 converts the response time into the distance by converting the sound velocity coefficient, and corrects the distance traveled by the extraction head 3 in a short time from transmission to reception of the ultrasonic wave by 1/2. Then, it is calculated as a relative distance between the take-out head 3 (strictly speaking, the position of the ultrasonic sensor 6a) and an obstacle (ultrasonic reflection position). Next, the calculation unit 73 calculates the absolute position (ultrasonic reflection position) of what appears to be an obstacle based on the relative distance and the current position of the take-out head 3. This absolute position is the distance from the movement reference point of the take-out head 3 to what appears to be an obstacle. Here, as the movement reference point of the take-out head 3, for example, the take-out head 3 moves along the traverse arm 21. In the Y direction, the take-out head 3 can be set to the molding machine 5 side stroke limit position of the extraction arm 22 in the upper mold position (P5). Specifically, when an obstacle is detected on the movement path R while the take-out head 3 moves from the mold upper position (P5) to the opening position (P6), the picking head 3 is released from the mold upper position (P5). It is calculated as “XX mm” toward the position (P6) side (Y direction). Then, the absolute position of what is considered to be an obstacle calculated here is temporarily stored in the processor 7.

  Next, the determination unit 74 compares the absolute position of what appears to be an obstacle with that obtained by a plurality of distance measurements (step S3), and does not receive a reflected wave at the first distance measurement. In addition, if the absolute position obtained by the multiple times of distance measurement is not constant and varies, after waiting for an indefinite time (step S4), the above operation (steps S1 and S2) is executed again. . The indefinite time in step S4 is an ultrasonic transmission interval A, which is not shorter than the time for reciprocating the movable range α at the speed of sound, and is randomly set by the transmission control unit 71 so as to be different from the previous indefinite time. Is done. Thus, when the distance measuring operation (step S2) is repeatedly executed, ultrasonic pulses are transmitted a plurality of times at irregular transmission intervals A from the transmission unit 61 of the ultrasonic sensor 6a. Then, even if a reflected wave from a surrounding wall or the like with respect to the previously transmitted ultrasonic wave is received by the receiving unit 62 after the current ultrasonic wave transmission, as described above, when reflected by a plurality of distance measurements, the reflected waves are reflected. Variations occur in the response times due to the waves, and can be distinguished from the response times due to the reflected waves from the obstacles within the movable range α.

  Then, when the distance measuring operation (step S2) is repeated several times and the absolute position of the detected obstacle seems to be the same position continuously several times (for example, twice), the absolute position is set. Determines that there is an obstacle (step S3). Thereby, the presence recognition of an obstruction can be performed more reliably. Note that the case where the above positions can be regarded as the same is a case where variations in the absolute positions are within a predetermined allowable range.

  When the determination unit 74 determines that there is an obstacle, a movement control command for moving the take-out head 3 is output from the command unit 75 to the drive mechanism control units D1 to D3 (step S5). As the movement control of the extraction head 3, the movement of the extraction head 3 is immediately stopped from the positional relationship between the absolute position of the obstacle calculated by the calculation unit 73 and the current position of the extraction head 3 from the displacement detector 8. If the take-out head 3 is away from the position of the obstacle by a predetermined distance (collision risk area), the moving speed of the take-out head 3 is decreased, and the take-out head 3 is moved from the position of the obstruction by a predetermined distance (collision risk area). The movement of the take-out head 3 may be stopped when the distance is within.

  On the other hand, if none of the detected obstacles are in the same position consecutively a plurality of times (for example, twice), it is determined that there is no obstacle on the movement route R, and the indefinite After waiting for a time (step S4), the above operation (steps S1 to S3) is executed again.

  As described above, when an obstacle is detected at the same position by a plurality of distance measuring operations without determining that there is an obstacle in one distance measuring operation and controlling the movement of the pick-up head 3 The movement of the take-out head 3 is determined by determining that there is an obstacle. In addition, by making the ultrasonic wave transmission interval A from the ultrasonic sensor 6a irregular during a plurality of distance measuring operations, the reflected wave from the surrounding wall or the like can be distinguished from the reflected wave from the obstacle. Yes. Therefore, it is possible to reliably detect the obstacle, and to avoid unnecessarily stopping the take-out head 3 due to erroneous recognition of the obstacle, without making the one take-out cycle time longer than necessary, It does not reduce the productivity of the molded product more than necessary.

  The movement control (step S5) of the take-out head 3 keeps performing the same distance measuring operation while the take-out head 3 is moved at a low speed or while the take-out head 3 is stopped. When the obstacle is no longer detected a plurality of times (for example, twice), the processor 7 (command unit 75) controls the operation control unit (drive mechanism control unit) so that the extraction head 3 automatically returns to the original extraction operation. A return command may be output to D1-D3). As a result, when there are no obstacles, the operator can save the trouble of restarting the take-out operation with the operation terminal 10, and the original take-out operation is executed promptly, thereby increasing the productivity of the molded product. It can be prevented from lowering.

  On the other hand, when the take-out head 3 starts to move from the open upper position (P8) toward the standby position (P1), the ultrasonic sensor 6b provided on the pull-out arm 22 is operated to perform the same obstacle detection operation as described above. The movement control operation of the take-out head 3 is performed (steps S1 to S5).

(Embodiment 2)
In the molded product take-out machine 1 according to the second embodiment, the frequency of ultrasonic waves transmitted from the ultrasonic sensors 6a and 6b is different for each ultrasonic transmission when detecting an obstacle. Hereinafter, differences from the first embodiment will be mainly described.

  In the second embodiment, a plurality of element units are integrated in each of the transmission unit 61 and the reception unit 62 of the ultrasonic sensors 6a and 6b, and the frequency of the ultrasonic wave to be transmitted is transmitted in each element unit of the transmission unit 61. In addition, each element unit of the receiving unit 62 is designed so that the frequency of the ultrasonic wave received corresponding to each element unit of the transmitting unit 61 is different. And the transmission control part 71 is controlled so that an ultrasonic wave is transmitted with the same transmission space | interval A from the transmission part 61 of the said ultrasonic sensors 6a and 6b, but the transmission frequency of an ultrasonic wave is continuously the same frequency at that time The element part of the transmission part 61 is selected so that it does not become, and the frequency of ultrasonic transmission is controlled. That is, the ultrasonic wave transmitted from the transmitters 61 of the ultrasonic sensors 6a and 6b is selected to be different from the frequency of the previously transmitted ultrasonic wave. The reception control unit 72 is an element unit of the reception unit 62 corresponding to the specific frequency from when the ultrasonic wave of a specific frequency is transmitted from the transmission unit 61 to when the ultrasonic wave of a different frequency is transmitted next. When the reflected wave of the ultrasonic wave of the specific frequency is received, control is performed so as to measure the response time from the time when the transmitting unit 61 transmits the specific frequency to the time when the receiving unit 62 receives the reflected wave of the specific frequency. To do.

  Next, the principle of obstacle detection in the case of the second embodiment will be described. As shown in FIG. 9, for example, the first frequency (40 kHz) is transmitted from the transmitter 61 of the ultrasonic sensor 6 at the same transmission interval A. ) And ultrasonic waves (1), (2),... Having different frequencies of the second frequency (70 kHz). On the other hand, the receiving unit 62 synchronizes with the first frequency (40 kHZ) and the second frequency (70 kHZ) from the transmitting unit 61 in synchronism with the ultrasonic transmission timing at the transmitting unit 61. A reflected wave is received. That is, in the receiving unit 62, when the ultrasonic wave (1) having the first frequency is transmitted from the transmitting unit 61, the ultrasonic wave (1) having the first frequency is received by the receivable element unit. When the ultrasonic wave (2) of the second frequency is transmitted from the element, the ultrasonic wave (2) of the second frequency is received by the receivable element unit. And can be received.

  Then, after the ultrasonic wave (2) of the second frequency is transmitted, the reflected wave (1) '' from the surrounding wall or the like with respect to the ultrasonic wave (1) of the first frequency transmitted previously is the ultrasonic sensor 6. However, the reflected wave (1) '' has the first frequency, and therefore does not react at the element unit corresponding to the second frequency of the receiving unit 62. On the other hand, the reflected wave (1) ′ from the obstacle within the movable range α is propagated to the ultrasonic sensor 6 until the next ultrasonic wave (2) having a different frequency is transmitted. Since 1) ′ is the first frequency, it is received by the element unit corresponding to the first frequency of the receiving unit 62.

  In this way, each element unit of the receiving unit 62 receives only ultrasonic waves having a set specific frequency, and therefore, the specific element unit of the receiving unit 62 is adapted to the previously transmitted ultrasonic wave (1). The reflected wave from the surrounding wall (1) '' can be prevented from being polymerized, such as being received after the transmission of the next ultrasonic wave (2), so that the reflected wave from the wall ( 1) It is possible to prevent erroneous recognition of obstacles caused by '' ...

Next, the obstacle detection operation in the second embodiment will be described.
Referring to FIG. 10, when the take-out head 3 starts moving from the raised position on the mold toward the open position (P6), the ultrasonic sensor 6a facing the open position (P6) is activated to detect an obstacle. Operation starts.

  First, the current position of the take-out head 3 is recognized based on the position information from the displacement detector 8 (step S11), and then the transmission control unit 71 and the reception control unit 72 transmit the transmission unit 61 and the reception unit of the ultrasonic sensor 6a. The ultrasonic frequency at 62 is selected (step S12), and a distance measuring operation for obstacle recognition is executed (step S13). As this distance measuring operation, the ultrasonic wave is extracted from the transmitter 61 of the ultrasonic sensor 6a toward the traveling direction of the extraction head 3. In this case, if there is an obstacle such as a person on the moving path R of the take-out head 3, that is, the moving path R toward the open position (P 6) of the take-out head 3, the ultrasonic wave is reflected by the obstacle, and the reflected wave Is received by the receiving unit 62 of the ultrasonic sensor 6a. Then, the response time due to the reflected wave is measured by the reception control unit 72. This response time is measured as the time from when the ultrasonic wave is transmitted by the transmitter 61 to when the reflected wave is received by the receiver 62. Then, the response time is converted into a distance by converting the response time by the sound speed coefficient by the calculation unit 73, and the distance traveled by the extraction head 3 during a short time from transmission to reception of the ultrasonic wave is corrected. Then, it is calculated as a relative distance between the take-out head 3 (strictly speaking, the positions of the ultrasonic sensors 6a and 6b) and what appears to be an obstacle (ultrasonic reflection position). Next, the calculation unit 73 calculates the absolute position (ultrasonic reflection position) of what is considered to be an obstacle, based on the relative distance and the current position of the take-out head 3, as in the first embodiment. Then, the absolute position of what is considered to be an obstacle calculated here is temporarily stored in the processor 7.

  Next, the determination unit 74 compares the absolute position of what appears to be an obstacle with that obtained by a plurality of distance measurements (step S14), and the reflected wave is not received at the first distance measurement. In addition, if the absolute position obtained by multiple times of distance measurement is not constant and varies, after waiting for a certain time (step S15), the above operation (steps S11 to S13) is executed again. In addition, the fixed time in step S15 is set by the transmission control unit 71 so as not to be shorter than the time for reciprocating the movable range α at the speed of sound. Further, the frequency selection in step S12 is selected so as not to be the same frequency as the previous time. For example, the first frequency (40 kHZ) and the second frequency (70 kHZ) are alternately set, or each time. A different frequency may be set. Then, even if an ultrasonic wave having a frequency different from the previous time is transmitted and a reflected wave from the surrounding wall with respect to the ultrasonic wave having the previous frequency is transmitted to the ultrasonic sensor 6a, this reflected wave is transmitted this time. The element unit of the receiving unit 62 corresponding to the ultrasonic frequency is not received because it is different from the receivable ultrasonic frequency.

  Then, when the distance measuring operation (step S13) is repeated several times and the absolute position of the detected obstacle seems to be the same position continuously a plurality of times (for example, twice), the determination unit 74 It is determined that there is an obstacle at the absolute position (step S14). Thereby, the presence recognition of an obstruction can be performed more reliably.

  When it is determined that there is an obstacle, a movement control command for moving the take-out head 3 is output from the command unit 75 to the drive mechanism control units D1 to D3 (step S16). As the movement control of the take-out head 3, as in the case of the first embodiment, the take-out head 3 is immediately stopped, or the take-out head 3 is separated from the position of the obstacle by a predetermined interval (collision danger area). The movement speed of the take-out head 3 may be reduced, and the take-out head 3 may be stopped when the take-out head 3 approaches within a predetermined interval (collision danger area) from the position of the obstacle.

  On the other hand, if there is no detected obstacle in the absolute position that is continuously in the same position a plurality of times (for example, twice), it is determined that there is no obstacle on the movement route R, and the obstacle is not detected for a certain period of time. After waiting (step S15), the above operation (steps S11 to S14) is executed again.

  As described above, in the second embodiment, the transmitter 61 and the receiver 62 in the ultrasonic sensor 6a are selected so that they do not have the same frequency continuously during a plurality of distance measuring operations. The reflected wave from the wall or the like and the reflected wave from the obstacle within the movable range α can be received separately. Therefore, it is possible to reliably detect the obstacle, and to avoid unnecessarily stopping the take-out head 3 due to erroneous recognition of the obstacle, without making the one take-out cycle time longer than necessary, It does not reduce the productivity of the molded product more than necessary.

  The movement control (step S5) of the take-out head 3 keeps performing the same distance measuring operation while the take-out head 3 is moved at a low speed or while the take-out head 3 is stopped. When an obstacle is no longer detected a plurality of times (for example, twice), a return command may be output from the processor 7 to the operation control unit so that the extraction head 3 automatically returns to the original extraction operation. Good.

  On the other hand, when the take-out head 3 starts to move from the open upper position (P8) toward the standby position (P1), the ultrasonic sensor 6b provided on the pull-out arm 22 is operated to perform the same obstacle detection operation as described above. The movement control operation of the take-out head 3 is performed (steps S11 to S16).

  In the second embodiment, the transmitter 61 and the receiver 62 of the ultrasonic sensors 6a and 6b are integrated with a plurality of element units having different frequency ranges. However, the transmitter 61 and the receiver 62 include One element unit is integrated, a plurality of ultrasonic sensors having different handling frequencies are provided, a specific ultrasonic sensor is selected every time the distance measuring operation (step S13) (step S12), and the same frequency is continuously set. You may make it transmit and receive an ultrasonic wave so that it may not become.

  In the second embodiment, the transmission interval of the ultrasonic waves from the transmission unit 61 is the same interval (S15 in FIG. 10 and the like), but may be an irregular transmission interval as in the first embodiment. As a result, the reflected wave from the surrounding wall and the like and the reflected wave from the obstacle within the movable range α can be more reliably distinguished.

  Note that the present invention is not limited to the above-described embodiment, and for example, as the detection unit 6, in addition to the above ultrasonic sensor, various optical sensors (laser, infrared use, etc.), an electromagnetic wave use device, and the like may be used. Good.

  Further, the position and the number of the detection means 6 can be appropriately set so as to be directed in the traveling direction of the moving part of the molded product take-out machine 1. However, in this case, the detection means 6 always needs to be directed in the traveling direction in the movement path of the moving part, but even if it is not arranged and attached so as to be directed in the respective traveling directions along the movement path, A function for changing the orientation (for example, a swinging machine or the like) may be provided so as to be integrated to some extent at a predetermined location.

  The detection means 6 may be configured as an intelligent unit incorporating any one of the function units 71 to 75 of the processor 7 in addition to the transmission unit 61 and the reception unit 72.

  Further, as the molded product take-out machine 1, not only the traverse type, but also a side entry type for taking out a molded product from the side of the mold 50, and a turn for taking out the molded product of the mold 50 by swinging and moving an arm. You may apply to molded article extraction machines 1, such as a type | mold.

  In addition, the molding machine 5 on which the molded product take-out machine 1 is mounted may be either a vertical type or a horizontal type as long as the mold clamping and mold opening operations are performed, and the molded product is made of resin. Not only metal such as aluminum may be used.

It is a perspective view which shows the whole structure (operation side) of a molded article extraction machine. It is a perspective view which shows the whole structure (non-operation side) of a molded article take-out machine. It is a schematic diagram which shows the movement path | route of the taking-out head of a molded article take-out machine. It is a functional block diagram which performs obstruction detection and movement control of a movement part in a molded article take-out machine. It is a schematic diagram for demonstrating the principle of an obstacle detection. It is a timing chart of ultrasonic transmission and reflected wave reception of an ultrasonic sensor as a detection means. FIG. 9A shows a case where the transmission interval A of ultrasonic waves is sufficiently long, and FIG. The case where the sound wave transmission interval A is shortened is shown. 4 is a timing chart of ultrasonic transmission and reflected wave reception of the ultrasonic sensor as the detection means in Embodiment 1, and shows a case where the ultrasonic transmission interval A is random. 3 is a flowchart showing an obstacle detection operation in the first embodiment. 5 is a timing chart of ultrasonic transmission and reception of a reflected wave of an ultrasonic sensor as a detection unit in Embodiment 2, and shows a case where the ultrasonic transmission frequency and reception frequency are made different. 10 is a flowchart showing an obstacle detection operation in the second embodiment. It is a perspective view which shows the whole structure of the molded product extraction machine with the conventional person detection function.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Molded product take-out machine 2 Arm mechanism 3 Take-out head 5 Molding machine 6 Detection means 6a, 6b Ultrasonic sensor 7 Processor 8 Displacement detector 21 Traverse arm 22 Pull-out arm 23 Lifting arm 71 Transmission control unit 72 Reception control unit 73 Calculation unit 74 determination unit 75 command unit D1 to D3 drive mechanism control unit

Claims (3)

In the molded product take-out machine that moves the moving part for taking out the molded product from the mold of the molding machine within a predetermined movable range,
A transmitter for transmitting a transmission wave directed in the traveling direction of the moving part;
A receiver for receiving the reflected wave of the transmission wave;
A transmission control unit for controlling the transmission timing so that the transmission interval of the transmission wave at the transmission unit is irregular;
When a reflected wave is received by the receiving unit, a reception control unit that measures a response time from when a transmission wave is transmitted by the transmitting unit to when a reflected wave is received by the receiving unit, and
A calculation unit for calculating the reflection position of the transmission wave based on the response time;
A determination unit that determines that there is an obstacle when the same result can be considered continuously in a plurality of transmission wave transmissions at the reflection position,
A molded product take-out machine comprising: a command unit that outputs a movement control command for a moving part in accordance with a positional relationship between the position of the obstacle and the current position of the moving part. In the molded product take-out machine that moves the moving part for taking out the molded product from the mold of the molding machine within a predetermined movable range,
A transmitter for transmitting a transmission wave directed in the traveling direction of the moving part;
A receiver for receiving the reflected wave of the transmission wave;
A transmission control unit that selectively controls the frequency of the transmission wave in the transmission unit to be different for each transmission wave transmission; and
The receiving unit selects and controls the frequency of the reflected wave that can be received in synchronization with the transmission wave frequency at the transmitting unit in synchronization with the transmission wave transmission timing of the transmitting unit, and the receiving unit receives the reflected wave. Then, the reception control unit that measures the response time from when the transmission wave is transmitted at the transmission unit to when the reflected wave is received at the reception unit,
A calculation unit for calculating the reflection position of the transmission wave based on the response time;
A determination unit that determines that there is an obstacle when the same result can be considered continuously in a plurality of transmission wave transmissions at the reflection position,
A molded product take-out machine comprising: a command unit that outputs a movement control command for a moving part in accordance with a positional relationship between the position of the obstacle and the current position of the moving part. In the molded product takeout machine according to claim 1 or 2,
The said transmission control part is a molded article take-out machine which sets so that the transmission interval of the transmission wave in the said transmission part may not become shorter than the response time of the reflected wave within the movable range of a movement part.

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