JP2022159015A - Molded product take-out machine and teaching method for molded product take-out machine - Google Patents

Abstract

To provide a molded product take-out machine that reliably adsorbs a molded product and does not damage components of the molded product take-out machine or deform the molded product even when a torque monitoring section is provided, and its teaching method.SOLUTION: A teaching execution section 23 has a designated position specifying section 23A and a stop position specifying section 23B. The designated position specifying section 23A specifies, as a designated position, a position of a second traveling body 15 when the second traveling body 15 is moved in a direction of bringing an adsorption section 16a closer to the molded product in a mold in a state that a torque monitoring section 22 does not perform a predetermined operation, and it is confirmed with a detection result of an adsorption pressure detection section 40 that the adsorption section 16a has adsorbed the molded product. The stop position specifying section 23B stops the driving of the second traveling body 15 when or before the drive torque detected by a torque detection section 30 reaches an allowable upper limit torque, and specifies, as a stop position, a position of the stopped second traveling body 15.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a molded product take-out machine and a teaching method for the molded product take-out machine, and more particularly to a molded product take-out machine capable of reliably sucking and holding a molded product in a suction part and a teaching method for the molded product take-out machine.

Conventionally, a traverse type take-out machine is known as a device for taking out a molded product produced by a resin molding machine. This type of molded product take-out machine has a head that holds the molded product molded by the mold of the resin molding machine, and a head that is arranged along the opening and closing direction of the mold and along the direction of pulling out the molded product from the mold. A pull-out frame that realizes the movement of the head, an elevating arm that realizes the movement of the head in the vertical direction, and a direction perpendicular to the mold opening and closing direction and the vertical direction. and a transverse frame that realizes the movement of (for example, Patent Documents 1 and 2).

In such a molded article take-out machine, the head is inserted between the opened molds by lowering the elevating arm, and the head moves along the drawing frame toward the molded article formed by the molds. be done. When the molded article is held by the head, the head is moved along the drawing frame in the drawing direction of the molded article, and the elevating arm is raised to carry the head out of the mold.

JP-A-2002-283357 JP-A-2003-080529

In the molded product take-out machine as described above, teaching is performed in which the movement path (operation sequence) of the head is stored in advance in order to realize the operation of taking out the molded product. Specifically, for example, (a) horizontal movement of the head from outside the molding machine to above the open space when the mold is opened, and (b) movement of the head by lowering the elevating arm into the open space when the mold is opened. Lowering, (c) horizontal movement (forward movement) of the head along the drawing frame to the molded product suction position, (d) horizontal movement (backward movement) of the head along the drawing frame to the liftable position, (e) elevating arm and (f) horizontal movement of the head out of the molding machine.

In the teaching described above, in (c) horizontal movement of the head along the drawing frame to the molded product suction position, it is necessary to set a position where the head can more reliably hold the molded product to be picked up. Therefore, in the head that holds the molded product by suction, the molded product suction position is set to a position where the suction pad of the head is pressed against the molded product so that the molded product can be reliably suctioned.

Teaching as described above is often performed manually. Therefore, the actual situation is that the degree of pressing of the head against the molded product is judged only by the operator's sense. The state in which the head is pressed against the molded product more than necessary is a state in which the traveling body that moves the head along the drawing frame moves in the direction of the molded product more than necessary. is given an excessive load. Since such an excessive load is repeatedly applied during normal operation (molded article picking operation) after teaching, it becomes a factor of damage to the lift arm support section. Moreover, since a load is also applied to the molded product molded in the mold, the molded product may be damaged.

As a method for solving such a problem, Prior Document 1 discloses a configuration in which the head is configured to be movable to the side opposite to the molded product, and is provided with biasing means for biasing the head toward the molded product. ing. According to this configuration, when the head is pressed against the molded product more than necessary, the head moves to the side opposite to the molded product against the biasing force of the biasing means. As a result, it is possible to avoid applying an excessive load to the lifting arm support portion, thereby avoiding damage to the lifting arm support portion and damage to the molded product. However, in such a configuration, it is necessary to provide a special mechanism in the head, which complicates the structure and increases the cost.

On the other hand, by adopting a configuration in which a torque monitoring unit capable of detecting the drive torque of the drive motor as disclosed in Prior Document 2 is adopted, the drive torque of the motor that drives the traveling body during the above-described pressing is set in advance. It is possible to forcibly stop the movement of the traveling object when the value becomes equal to or higher than the value. According to such a configuration, in principle, it is possible to avoid applying an excessive load to the lifting arm support portion, thereby avoiding breakage of the lifting arm support portion and breakage of the molded product. However, when adopting a configuration that monitors the drive torque of the drive motor, it is necessary to set the threshold value of the drive torque to a small value in order to set the pressing amount to be small. If such a small threshold value is set, the moving body will be forcibly stopped even though it is not in contact with the molded product because it reacts to the vibration when the lifting arm moves forward from the lowered position. There is a risk of If the drive torque threshold is set to a large value in order to avoid such a forced stop, the force that presses the suction part against the molded product will become too large, and an excessive load will be applied to the lifting arm support part of the running body. In addition, it increases the possibility of deforming the molded product and increasing the rate of defective products. Therefore, even with a configuration that employs a configuration capable of detecting the drive torque of the drive motor by providing a torque monitoring unit, it is not possible to obtain sufficiently satisfactory results.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances. It is an object of the present invention to provide a molded article take-out machine and its teaching without deformation.

In order to achieve the above objects, the present invention employs the following technical means. A molded product take-out machine to which the present invention is directed comprises a drawing frame arranged along a virtual center line extending in the opening and closing direction of a mold for molding a molded product; a traveling body that advances and retreats, a drive motor that drives the traveling body, an arm structure that is movable while being supported by the traveling body, a suction unit that is attached to the arm structure and that suctions the molded product in the mold, and a drive motor and a torque detection unit for detecting the driving torque of the motor, and an operation control unit. Here, the arm structure includes parts that exist between the traveling body and the suction section, and includes the arm itself, a pick-up head to which the suction section is attached, a connecting section between the traveling body and the arm, and the like. The motion control unit operates at least the traveling body and the arm structure according to a preset motion sequence to take out the molded product from the mold, transport the taken-out molded product to a predetermined position, and control the operation of releasing the product. . The operation control unit includes a torque monitoring unit that performs a predetermined operation when the detected value of the torque detection unit exceeds an allowable upper limit torque that does not damage the members constituting the arm structure, and teaching of an operation sequence and the operation. It includes a teaching executive that allows determination of the parameters of the sequence. The predetermined operation performed by the torque monitoring unit includes issuing an alarm, stopping the operation depending on the detected torque value, and the like.

In the method for teaching a molded article unloader of the present invention, a suction pressure detection section for detecting the suction pressure of the suction section and a traveling body position detection section for detecting the position of the traveling body are provided. Then, using the teaching execution unit, the torque monitoring unit is set to a state in which the predetermined operation is not performed, and the moving body is moved in a direction in which the suction unit approaches the molded product in the mold, and the suction unit attracts the molded product. The position of the traveling object when this is confirmed by the detection result of the adsorption pressure detection unit is identified as the designated position. In order to bring the torque monitoring unit into a state in which it does not perform the predetermined operation, the threshold used in the torque monitoring unit should be increased or the output of the torque monitoring unit should be stopped.

After that, the torque monitoring unit performs a predetermined operation, the traveling body is further moved toward the molded product, and the suction unit further presses the molded product, and the drive torque detected by the torque detection unit reaches the allowable upper limit torque. The driving of the running body is stopped before or before it is reached, and the stopped position of the running body is specified as the stop position. In order to set the torque monitoring unit to perform a predetermined operation, the threshold used in the torque monitoring unit should be set to the threshold normally used, and the torque monitoring unit should output. In the present invention, the specified position and stop position are defined as part of the parameters in the operation sequence.

Of course, the adsorption pressure detected by the adsorption pressure detection section and the drive torque detected by the torque detection section may be the rate of change of the adsorption pressure and the rate of change of the torque instead of the adsorption pressure and torque themselves. By employing the rate of change, the position of the traveling object can be specified in more detail.
The method of the present invention may perform the above identification automatically or by the user. When the user carries out, a display unit is further provided for displaying the detection result of the adsorption pressure detection unit, the detection result of the torque detection unit, and the detection result of the traveling body position detection unit. Then, the specified position and the stop position may be specified based on the display result displayed on the display unit. In the case of automatic operation, (claim 4) the operation control unit includes a specified position specifying unit that specifies a specified position based on the detection result of the adsorption pressure detection unit, and a stop position based on the detection result of the torque detection unit. It is preferable to further include a stop position specifying unit for specifying.

It should be noted that, for example, it is possible to determine whether or not the above-described suction unit has suctioned the molded product by whether or not the detection result of the suction pressure detection unit has entered a stable state. A stable state means a state in which the adsorption pressure increases and then approaches a saturated state.

The above-mentioned allowable upper limit torque is determined when setting the threshold value of the torque monitoring section, and is determined based on the characteristics of the drive motor used and the mechanical strength of the arm structure. Therefore, it can be determined by the operation of the torque monitoring section that the driving torque detected by the torque detecting section reaches the allowable upper limit torque. Further, it is possible to automatically detect that the drive torque has not yet reached the allowable upper limit torque by setting a lower threshold than this allowable upper limit torque as a reference. These thresholds can be determined by preliminary experiments. Even if the drive torque exceeds the allowable upper limit torque, the members constituting the arm structure are not immediately damaged, so the teaching of the present invention will not damage the molded article take-out machine.

According to the method of the present invention, by moving the traveling body to advance the suction unit toward the molded product, when identifying the specified position where the suction unit can be attracted to the molded product for the time being, the torque monitoring unit is set in advance. Since the specified operation is not performed, the operation of the torque monitoring unit does not interrupt the teaching. However, in this state, there is a high possibility that sufficient adsorption is not obtained. Therefore, in the present invention, by further moving the traveling body to further press the suction unit against the molded product, a stop position is specified at which the suction unit can reliably suction the molded product. In the present invention, the allowable upper limit torque used by the torque monitoring unit is used as a criterion for determining the stop position. , the arm structure is not damaged and the molded product is not deformed.

A molded product take-out machine for carrying out the method of the present invention comprises: a drawing frame arranged along a virtual center line extending in the opening and closing direction of a mold for molding a molded product; a traveling body that advances and retreats, a drive motor that drives the traveling body, an arm structure that is movable while being supported by the traveling body, a suction part that is attached to the arm structure and that suctions the molded product in the mold; According to a preset operation sequence, at least the above-mentioned An operation control unit is provided for controlling the operation of removing the molded product from the mold by operating the traveling body and the arm structure, transporting the removed molded product to a predetermined position, and releasing the molded product. The operation control unit includes a torque monitoring unit that performs a predetermined operation when the detected value of the torque detection unit exceeds an allowable upper limit torque that does not damage the members constituting the arm structure, and teaching of an operation sequence and the operation sequence. includes a teaching executor that allows determination of the parameters of The teaching execution unit sets the torque monitoring unit to a state in which the predetermined operation is not performed, moves the traveling body in a direction in which the suction unit approaches the molded product in the mold, and detects that the suction unit has suctioned the molded product. A specified position specifying unit that specifies the position of the traveling body when confirmed by the detection result of the adsorption pressure detecting unit as a specified position, and after the specified position specifying unit specifies the specified position, the torque monitoring unit performs a predetermined operation. state, the traveling body is further moved toward the molded product, the suction portion further presses the molded product, and the driving torque detected by the torque detecting portion reaches or before reaching the allowable upper limit torque, and the traveling body is driven. and a stop position specifying unit that specifies the position of the stopped running body as the stop position. In the molded product take-out machine of the present invention, the specified position and the stop position are defined as parameters in the operation sequence. In the molded article take-out machine of the present invention, the teaching method of the molded article take-out machine of the present invention can be automatically carried out.

1 is a perspective view schematically showing an example of a molded article takeout machine according to an embodiment of the present invention; FIG. 1 is a functional block diagram showing an example of a molded article take-out machine according to an embodiment of the present invention; FIG. (a) to (c) are explanatory diagrams schematically showing an example of a process of teaching a molded article suction position in the molded article take-out machine according to one embodiment of the present invention. 4 is a flow chart showing an algorithm of a program used when a microcomputer is used to implement the main part of the operation control unit of the molded article take-out machine according to one embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings. In the following, a molded product that is placed on a fixed platen of a resin injection molding machine that opens and closes the mold in the horizontal direction, and is transported out of the resin injection molding machine by a traverse frame along the direction perpendicular to the opening and closing direction of the mold. The invention is embodied as an unloader.

FIG. 1 is a perspective view schematically showing a molded product unloader 10 according to this embodiment. As shown in FIG. 1, the molded product take-out machine 10 is a so-called traverse type molded product take-out machine, and is fixed on a stationary platen 101 of a molding machine 100 .

The molding machine 100 has a known structure, and is arranged with a stationary platen 101 and a movable platen 102 facing each other. The movable platen 102 is slidably supported by four tie bars 103 horizontally arranged from the four corners of the stationary platen 101 . The movable platen 102 is horizontally driven by a mold clamping device 105, and by this driving, a mold 104 composed of a fixed mold 104a attached to the stationary platen 101 and a movable mold 104b attached to the movable platen 102 is formed. Mold clamping and mold opening are performed. When the mold 104 is in a clamped state, a molded product is manufactured by injecting heat-melted resin into the cavity of the mold 104 from an injection device 106 connected to the stationary platen 101 .

The molded article take-out machine 10 includes a mount 11 , a traverse frame 12 , a first traveling body 13 , a drawing frame 14 , a second traveling body 15 , a take-out head 16 and an elevating arm 17 . The traverse frame 12 is arranged along the molded product produced by the molding machine 100 so as to extend in the carrying-out direction to the outside of the molding machine. In this example, as shown in FIG. 1 , the traverse frame 12 is arranged along a direction perpendicular to a vertical plane including the axes of the tie bars 103 of the molding machine 100 . The base end of the traversing frame 12 is fixed to a mounting base 11 installed on the fixed platen 101 , thereby mounting the molded article take-out machine 10 to the fixed platen 101 .

The first traveling body 13 is movably supported by the traverse frame 12 and advances and retreats along the traverse frame 12 using a servomotor as a drive source. The drawing frame 14 has a base end fixed to the first traveling body 13 and is arranged to extend in the opening/closing direction of the mold 104 . The second traveling body 15 is movably supported by the pull-out frame 14 and advances and retreats along the pull-out frame 14 using a servomotor as a drive source. The take-out head 16 is supported by the lower end of the lift arm 17 . The elevating arm 17 is movably supported with respect to the second traveling body 15 so as to extend in the vertical direction, and moves up and down in the vertical direction using a servomotor included in the second traveling body 15 as a drive source. As the lifting arm 17 moves vertically, the head 16 moves vertically. The take-out head 16 includes a suction portion 16a composed of one or a plurality of suction pads arranged at a position corresponding to the molded product forming position of the movable mold 104b. As is well known, the suction unit 16a sucks and holds the molded product by reducing the pressure in the closed space formed between the suction pad and the molded product while the suction pad is in contact with the molded product.

In the molded product take-out machine 10 having the above configuration, teaching is performed to pre-store the moving path (or operation sequence) of the take-out head 16 in order to realize the take-out operation of the molded product. Specifically, (1) the take-out head 16 is lifted from the molded product release position (reference position) by lifting the lifting arm 17, and (2) the movement of the first traveling body 13 and the second traveling body 15 to the outside of the molding machine. (3) lowering of the take-out head 16 to the open space between the fixed mold 104a and the movable mold 104b when the mold is opened by lowering the lifting arm 17; (4) Horizontal movement (advance movement) of the head 16 to the molded article pick-up position by movement of the second traveling body 15; (6) Lifting of the take-out head 16 by raising the lift arm 17; (7) Horizontal movement of the take-out head 16 out of the molding machine by moving the first traveling body 13 and the second traveling body 15; ) The movement path of the head 16, such as the descent of the take-out head 16 to the molded product release position by the descent of the lift arm 17, is stored. Such teaching is performed by the user, for example, through an operation panel provided in the motion control unit 20 of the molded product unloader 10 . Each element that performs signal processing and data processing in the operation control unit 20 is, for example, a dedicated arithmetic circuit, or hardware including a processor and memory such as RAM (Random Access Memory) and ROM (Read Only Memory). , and software stored in the memory and running on the processor.

Since the molded article take-out machine 10 of the present embodiment is particularly characterized by the setting of the molded article suction position in (4) above, this operation will be described below. FIG. 2 is a functional block diagram of the main part of the molded product unloader 10 of the present embodiment that can realize the operation. As shown in FIG. 2, the molded article unloader 10 of the present embodiment includes a controlled section 19, an operation control section 20, a torque detection section 30, an adsorption pressure detection section 40, a traveling body position detection section 50, a display device 28 and An instruction input unit 29 is provided. The controlled section 19 includes an arm structure 18 including the suction section 16 a , the suction head 16 and the lifting arm 17 , a traveling body 15 , and a driving motor M for driving the traveling body 15 . The arm structure 18 includes parts that exist between the traveling body and the suction section, and includes the lifting arm 17 itself, the pick-up head 16 to which the suction section 16a is mounted, and the connection portion between the traveling body 15 and the lifting arm 17. and so on.

The operation control unit 20 includes a motor control unit 21 for controlling operations of a plurality of drive motors including the drive motor M for driving the second traveling body 15, an operation sequence storage unit 24, and parameters for operation sequences. A parameter storage unit 25 for storing data, a torque monitoring unit 22, a teaching execution unit 23 including a designated position specifying unit 23A and a stop position specifying unit 23B, and an alarm generating unit 26 are provided. A torque detection unit 30, an adsorption pressure detection unit 40, and a traveling body position detection unit 50 are provided as sensor devices. An instruction for causing the teaching execution unit 23 to execute teaching is input from the instruction input unit 29 . Note that if the display section 28a has a touch switch function, the instruction input section 29 need not be provided separately.

The torque detection unit 30 detects the drive torque of the servomotor, which is the drive motor M for the second traveling body 15 . A method for detecting the driving torque is not particularly limited, and any known method can be adopted. In this embodiment, the torque detector 30 detects the drive torque based on the drive current of the drive motor M for the traveling body 15 . In this embodiment, the torque detector 30 acquires information about the drive current from the motor controller 21 in the operation controller 20 . Note that the torque detection unit 30 does not need to directly measure the drive torque, and any parameter can be used as long as it changes according to the magnitude of the drive torque. For example, the rate of change in drive torque may be used as the output of the torque detector 30 .

The suction pressure detection unit 40 is provided in a pipe between the vacuum generator 42 driven by the vacuum generator control unit 41 and the suction unit 16a, and detects the suction pressure of the suction unit 16a. A method for detecting the adsorption pressure is not particularly limited, and any known method can be adopted. In the present embodiment, the adsorption pressure detection unit 40 detects the adsorption pressure by detecting the pressure in the piping that executes the depressurization of the adsorption unit 16a.

The traveling body position detection unit 50 may be of any type as long as it can directly or indirectly detect the position of the second traveling body 15 on the pull-out frame 14 . In the present embodiment, the traveling body position detection unit 50 is configured to perform detection using the output of a rotary encoder provided in the drive motor M of the second traveling body 15 .

The outputs of the torque detection section 30, the suction pressure detection section 40, and the traveling body position detection section 50 are input to the display device 28 and the operation control section 20, respectively. The display device 28 displays the detection results of the torque detection section 30, the suction pressure detection section 40, and the traveling body position detection section 50 in characters, graphs, and combinations thereof.

The motion control unit 20 operates at least the second traveling body 15 and the arm structure 18 according to a motion sequence pre-stored in the motion sequence storage unit 24, thereby taking out the molded product from the mold 104, and controlling the taken-out molded product in a predetermined manner. Controls the operation of conveying to the position of and releasing. The operation control unit 20 also includes a torque monitoring unit 22 that performs a predetermined operation when the detected value of the torque detection unit 30 exceeds an allowable upper limit torque that does not damage the members constituting the arm structure 18, and a torque monitoring unit 22 that performs a predetermined operation. It includes a teaching executor 23 that makes it possible to teach and determine the parameters of the motion sequence. The predetermined operation performed by the torque monitoring unit includes issuing an alarm, stopping the operation depending on the detected torque value, and the like. The method of issuing the warning is not particularly limited. Any method recognizable by the user or the like, such as display, sound, or e-mail, can be adopted. Here, the alarm generation unit 26 notifies the alarm by displaying a warning character at a position recognizable by the user on the display unit 28a such as the display of the display device 28 and emitting an alarm sound.

The teaching execution unit 23 includes a designated position specifying unit 23A and a stop position specifying unit 23B. The designated position specifying unit 23A causes the torque monitoring unit 22 to stop performing a predetermined operation, moves the second traveling body 15 in a direction in which the suction unit 16a approaches the molded product in the mold, and the suction unit 16a The position of the second traveling body 15 when it is confirmed by the detection result of the suction pressure detection unit 40 that the molded product is sucked is identified as the specified position. Whether or not the suction unit 16a has suctioned the molded product can be determined by, for example, whether or not the detection result of the suction pressure detection unit 40 has entered a stable state. That is, after the adsorption pressure detected by the adsorption pressure detection unit 40 rises, it may be determined that a stable state has been reached when it approaches a saturated state. This can be easily realized by comparing the outputs of the detection unit 40 .

In order to prevent the torque monitoring unit 22 from performing a predetermined operation (generating an alarm from the alarm generating unit 26, temporarily stopping the drive motor M, etc.), the threshold used in the torque monitoring unit 22 is increased. Alternatively, the output of the torque monitoring unit 22 may be stopped.

After the designated position identifying section 23A identifies the designated position, the stop position identifying section 23B performs an operation predetermined by the torque monitoring section 22 (generating an alarm from the alarm generating section 26, temporarily stopping the drive motor M, etc.). In this state, the second traveling body 15 is further moved toward the molded product, and the suction portion 16a further presses the molded product. Then, the stop position specifying unit 23B stops the driving of the second running body 15 when or before the drive torque detected by the torque detection unit 30 reaches the allowable upper limit torque, and detects the position of the stopped second running body 15. Identify as a stop position. The allowable upper limit torque is determined when setting the threshold value of the torque monitoring unit 22, and is determined based on the characteristics of the driving motor to be used and the mechanical strength of the arm structure. Therefore, it can be determined by the operation of the torque monitoring section 22 that the driving torque detected by the torque detecting section 30 reaches the allowable upper limit torque. Further, it is possible to automatically detect that the drive torque has not yet reached the allowable upper limit torque by setting a lower threshold than this allowable upper limit torque as a reference. These thresholds can be determined by preliminary experiments. Even if the drive torque exceeds the allowable upper limit torque, the members constituting the arm structure are not immediately damaged, so the teaching does not damage the molded article take-out machine.

In addition, in order for the torque monitoring section 22 to perform a predetermined operation, the threshold used in the torque monitoring section 22 should be set to a threshold normally used, and the torque monitoring section 22 should output an alarm. The specified position and the stop position specified by the specified position specifying section 23A and the stop position specifying section 23B are stored in the parameter storage section 15 as parameters in the operation sequence.

According to the present embodiment, by moving the second traveling body 15 to advance the suction portion 16a toward the molded product, when specifying the specified position where the suction portion 16a can be attracted to the molded product for the time being, Since the torque monitoring unit 22 is in a state in which it does not perform a predetermined operation, the operation of the torque monitoring unit 22 does not interrupt the teaching. At the specified designated position, the torque monitoring unit 22 switches whether or not to perform a predetermined operation. This switching may be performed in conjunction with specifying the specified position, and is included in the operation sequence. When identifying the specified position, it is not necessary to stop the second traveling body 15 at the specified position, but the second traveling body 15 may once be stopped at the specified position in order to increase the certainty.

However, when the specified position is specified, there is a high possibility that sufficient adsorption is not obtained. Therefore, in the present embodiment, by further moving the second traveling body 15 toward the molded product and further pressing the suction unit 16a against the molded product, the suction of the molded product by the suction unit 16a can be ensured. Identify possible stopping positions. In the present embodiment, the allowable upper limit torque used by the torque monitoring unit 22 is used as a reference for determining the stop position, and the drive torque detected by the torque detection unit 30 reaches the allowable upper limit torque or before reaching the allowable upper limit torque. Stop driving. If the stop position specified in this embodiment is used as a parameter of the operation sequence, the arm structure 18 will not be damaged or the molded product will be deformed even if it is used for a long period of time.

The start of movement of the second traveling body 15 when teaching is performed is performed by an instruction from the instruction input unit 29 . In the present embodiment, after the movement of the second traveling body 15 is started, the movement and stopping of the second traveling body 15 and the specification of the specified position and the stop position are automatically performed until the stop position is specified. will be However, based on the detection information displayed on the display unit 28a of the display device 28 and the warning from the alarm generation unit 26, the operator instructs the movement and stop of the second traveling body 15 from the instruction input unit 29, or designates The instruction input unit 29 may be used to specify and store the position and stop position.

The main part of the operation control unit 20 of this embodiment can be realized by the processor using the RAM as a work area and executing the program stored in the ROM. FIGS. 3(a) to 3(c) are explanatory diagrams schematically showing an example of the teaching process in the molded article take-out machine according to one embodiment of the present invention. FIG. 4 is a flow chart showing an algorithm of a program used when implementing the main part of the operation control unit 20 of the molded product unloader according to the above embodiment using a microcomputer.

Teaching of the suction position is started, for example, when the operator selects (4) setting of the suction position in the above-described teaching through the instruction input unit 29 . 3A, the suction portion 16a of the head 16 is formed in the mold 104, and after the mold is opened, the suction portion 16a is exposed on the molding surface side of the movable mold 104b. It is started in a state in which it is arranged at a position facing the product W (a state in which (3) in the above-described teaching is completed).

When the procedure is started, first, based on the start instruction input from the instruction input unit 29, the teaching execution unit 23 instructs the vacuum generator control unit 41 to start depressurization. In response to this instruction, the vacuum generator controller 41 drives the decompression means such as a vacuum pump that constitutes the vacuum generator 42 to start decompressing the adsorption section 16a (step ST1). Further, the teaching execution section 23 drives the drive motor M of the second traveling body 15 through the motor control section 21 to start moving the second traveling body 15 in the direction of the molded product W (step ST2).

The designated position specifying unit 23A of the teaching execution unit 23 puts the torque monitoring unit 22 in a state in which the predetermined operation is not performed (torque monitoring unit non-operating state) (step ST2), and receives the suction pressure information from the suction pressure detection unit 40. While acquiring (step ST3), the second traveling body 15 is moved in a direction to bring the suction portion 16a closer to the molded product in the mold (step ST4). Whether or not the suction unit 16a has suctioned the molded product is determined by whether or not the detection result of the suction pressure detection unit 40 has entered a stable state (step ST5). Then, the position of the second traveling body 15 when the suction is confirmed by the detection result of the suction pressure detection unit 40 is specified as the designated position (step ST6). In this example, the traveling body 15 is temporarily stopped in step ST6. Also, at this point, the reduced pressure is maintained (ST7). At this time, as shown in FIG. 3B, the suction portion 16a of the head 16 is in contact with the surface of the molded product W, and the inside of the suction portion 16a is in a decompressed state (first position). ). At this time, the specified position specifying unit 23A specifies the position of the traveling object 5 as the specified position based on the position information from the traveling object position detecting unit 50 (step ST6).

Although only one suction pad of the suction portion 16a is shown in FIG. 3 for the sake of explanation, a plurality of suction pads provided in the suction portion 16a are often used to simultaneously suction molded products. When the suction unit 16a includes a plurality of suction pads, particularly when the number of suction pads is large, it is difficult to determine that all the suction pads are surely sucking the molded article W only by the suction pressure. . If some of the suction pads are not able to suck the molded products W, when the molding machine 100 continuously molds the molded products W, suction failure occurs and the molding machine 100 has to be stopped. Let me. Therefore, it is necessary to move the second traveling body 15 from the state shown in FIG.

When the specification of the specified position is completed, the stop position specification unit 23B of the teaching execution unit 23 performs the operation predetermined by the torque monitoring unit 22 (issue of an alarm from the alarm generation unit 26, temporary stop of the drive motor M, etc.). ) (torque monitoring unit operating state) (step ST8), the second traveling body 15 is further moved toward the molded product, and the suction unit 16a further presses the molded product (step ST9). Since the suction portion 16a is in contact with the surface of the molded article W, when the second traveling body 15 moves toward the molded article W, the drive torque of the drive motor for the second traveling body 15 increases. By such a pressing operation, the suction portion 16a of the head 16 is pressed by the surface of the molded product W, as shown in FIG. 3(c). Then, the stop position specifying section 23B determines whether the driving torque detected by the torque detecting section 30 reaches or is before reaching the allowable upper limit torque (step ST10). If the determination result is Yes, the driving of the second traveling body 15 is stopped, and the position of the stopped second traveling body 15 is specified as the stop position (step ST11). Then, the specified position and stop position thus specified are stored in the parameter storage section 25 (step ST11). This completes the procedure for setting the pickup position.

As described above, according to the molded article unloader 10 according to the present embodiment, the torque monitoring section 22 does not perform a predetermined operation until the suction section 16a abuts on the molded article W and starts suctioning. Since this state is set, there is no problem that the movement of the second traveling body 15 is prohibited in a state where the suction portion 16a does not come into contact with the molded product W. In addition, since the structure monitors the magnitude of the driving torque of the second traveling body 15 in the pressing operation that defines the amount of pressing from the position where the suction portion 16a contacts the molded product W, the second traveling member 16a that supports the suction portion 16a is configured to monitor the magnitude of the drive torque. There is no need to provide the head or the like with a special mechanism for avoiding the application of an excessive load to the second traveling body 15 . Therefore, according to the molded article take-out machine 10 according to the present embodiment, it is possible to easily and appropriately set the molded article suction position. As a result, even when the molding machine 100 continuously molds the molded product W, the suction unit 16a can stably support the molded product W by suction.

In the above embodiment, the value of the adsorption pressure detected by the adsorption pressure detection unit 40 is set as the adsorption pressure condition, but it is also possible to specify the value of the rate of change of the adsorption pressure. Similarly, although the value of the drive torque detected by the torque detector 30 is set as the torque condition, it is also possible to specify the value of the rate of change of the drive torque. By employing the rate of change, the position of the second traveling body 15 can be specified in more detail.

INDUSTRIAL APPLICABILITY As described above, according to the present invention, in a molded article take-out machine that holds a molded article by moving the suction portion that suctions and holds the molded article along the opening and closing direction of the molding die for the molded article, the molded article The suction position can be set easily and appropriately.

The above-described embodiments do not limit the technical scope of the present invention, and various modifications and applications other than those already described are possible within the scope of the present invention. For example, in the flowchart shown in FIG. 4, the order of steps and the like can be changed as appropriate within the range of equivalent effects.

Moreover, the physical shape and material of each element described above, such as the drawing frame, the traveling body, and the take-out head, can be arbitrarily changed within the scope of the effects of the present invention.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to easily and appropriately set the molded product suction position, and it is useful as a molded product take-out machine and its teaching method.

10 molded product extractor 14 drawing frame 15 second running body (running body)
16 Take-out head 16a Suction unit 17 Lifting arm 18 Arm structure 19 Controlled unit 20 Motion control unit 21 Motor control unit 22 Torque monitoring unit 23 Teaching execution unit 23A Specified position specifying unit 23B Stop position specifying unit 24 Operation sequence storage unit 25 Parameter Storage unit 26 Alarm generation unit 28 Control unit 29 Instruction input unit M Drive motor 30 Torque detection unit 40 Adsorption pressure detection unit 50 Traveling body position detection unit

Claims (6)

a drawing frame arranged along an imaginary center line extending in the opening and closing direction of a mold for molding a molded product;
a running body arranged on the pull-out frame and moving back and forth in the longitudinal direction of the pull-out frame;
a driving motor that drives the traveling body;
an arm structure movable while being supported by the traveling body;
a suction unit that is attached to the arm structure and that suctions the molded product in the mold;
a torque detection unit that detects the drive torque of the drive motor;
By operating at least the traveling body and the arm structure according to a preset operation sequence, the molded product is removed from the mold, and the removed molded product is conveyed to a predetermined position and released. Equipped with an operation control unit,
The operation control unit
a torque monitoring unit that performs a predetermined operation when the detected value of the torque detecting unit exceeds an allowable upper limit torque that does not damage the members constituting the arm structure;
A teaching method for a molded article take-out machine including a teaching execution unit capable of teaching the operation sequence and determining parameters of the operation sequence,
A suction pressure detection unit for detecting the suction pressure of the suction unit and a traveling object position detection unit for detecting the position of the traveling object are provided,
Using the teaching execution unit,
With the torque monitoring unit set to a state in which the predetermined operation is not performed, the traveling body is moved in a direction in which the suction unit approaches the molded product in the mold, and the suction unit attracts the molded product. specifying the position of the traveling body when it is confirmed by the detection result of the adsorption pressure detection unit as the designated position,
After that, the torque monitoring unit is set to perform the predetermined operation, the traveling body is further moved toward the molded product, and the suction unit further presses the molded product, and the torque detection unit detects the torque. stopping the driving of the running body when the drive torque reaches or before reaching the allowable upper limit torque, and specifying the stopped position of the running body as a stop position;
A teaching method for a molding extractor, wherein the specified position and the stop position are determined as part of the parameters in the operation sequence. 2. A teaching method for a molded product unloader according to claim 1, wherein the fact that said suction unit has attracted said molded product is determined by whether or not the detection result of said suction pressure detection unit has entered a stable state. A display unit for displaying a detection result of the adsorption pressure detection unit, a detection result of the torque detection unit, and a detection result of the traveling object position detection unit is further provided, and the designated position is based on the display result displayed on the display unit. 3. A teaching method for a molded article take-out machine according to claim 1 or 2, wherein the stop position is specified. The operation control unit includes a designated position identification unit that identifies the designated position based on the detection result of the adsorption pressure detection unit;
2. The teaching method for a molded product unloader according to claim 1, further comprising a stop position specifying unit that specifies the stop position based on the detection result of the torque detection unit. 2. A teaching method for a molded article take-out machine according to claim 1, wherein said allowable upper limit torque is determined based on the characteristics of said drive motor used and the mechanical strength of said arm structure. a drawing frame arranged along an imaginary center line extending in the opening and closing direction of a mold for molding a molded product;
a running body arranged on the pull-out frame and moving back and forth in the longitudinal direction of the pull-out frame;
a driving motor that drives the traveling body;
an arm structure movable while being supported by the traveling body;
a suction unit that is attached to the arm structure and that suctions the molded product in the mold;
a torque detection unit that detects the drive torque of the drive motor;
an adsorption pressure detection unit that detects an adsorption pressure of the adsorption unit;
a traveling body position detection unit that detects the position of the traveling body;
According to a preset operation sequence, by operating at least the traveling body and the arm structure, the molded article is removed from the mold, and the removed molded article is conveyed to a predetermined position and released. and an operation control unit that performs
The operation control unit
a torque monitoring unit that performs a predetermined operation when the detected value of the torque detecting unit exceeds an allowable upper limit torque that does not damage the members constituting the arm structure;
a teaching executor capable of teaching the motion sequence and determining parameters of the motion sequence;
The teaching execution unit sets the torque monitoring unit to a state in which the predetermined operation is not performed, moves the traveling body in a direction in which the suction unit approaches the molded product in the mold, and moves the suction unit. a designated position identifying unit that identifies, as a designated position, the position of the traveling body when it is confirmed by the detection result of the suction pressure detecting unit that the molded article is attracted by the
After the specified position specifying unit specifies the specified position, the torque monitoring unit is brought into a state of performing the predetermined operation, the running body is further moved toward the molded product, and the adsorbing unit moves the molded product. is further pressed to stop the driving of the running body when or before the drive torque detected by the torque detection unit reaches or reaches the allowable upper limit torque, and to specify the position of the stopped running body as a stop position. a position specifying unit;
A molding extractor, wherein the specified position and the stop position are defined as part of the parameters in the operation sequence.

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