JP2670538B2 - How to take out and stack resin molded products - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for taking out a resin molded product by taking out a resin molded product from a mold of a resin molding machine and sequentially stacking the resin molded products at predetermined stacking positions. The present invention relates to a method for removing and stacking resin molded articles that contributes to high cycle molding of a resin molding machine by shortening the cycle time of stacking.

[0002]

2. Description of the Related Art In general, a resin molded product molded by an injection molding machine is automatically taken out by a molded product take-out machine and sequentially stacked at a predetermined stacking position.

A conventional method for taking out and stacking resin molded products is to use a gripping head 1 shown in FIG. 3, and to reverse the gripping head 1 from a gripping posture shown by a solid line to a stacking posture shown by a virtual line. Is carried out by the molded article take-out machine 3 provided with the reversing / reversing / returning device 2 for reversing and returning from the stacking posture shown by the solid line to the gripping posture shown by the solid line.

That is, the first method is (a). As shown in FIG. 4, a molded product take-out position P2 that approaches and faces the molding die 5 that has been opened from the outside mold start position P1 of the resin molding machine 4.
Move the gripping head 1 of the molded product extractor 3 to
(B). After the molded product 6 is taken out from the molding die 5 at the molded product take-out position P2 by the gripping head 1 and gripped, the position P outside the mold
3 at the position P3 outside the mold or during the transfer.
The gripping head 1 is inverted to the stacking position indicated by the imaginary line by the operation of the inversion / inversion return device 2 of (c). By driving a servo motor (not shown), the gripping head 1 is moved from the out-of-die position P3 to the stacking position P4 in FIG. 5, where the gripping of the molded product 6 by the gripping head 1 is released and the molded product 6 is stacked. And (d). By driving the servo motor, the gripping head 1 is moved back from the stacking position P4 to the out-of-die position P3 of FIG. 4, and the gripping head 1 is operated during the movement or at the out-of-die position P3 by the operation of the reversing / reversing returning device 2 of FIG. Is returned to the gripping posture shown by the solid line, and after that, after passing through the start position P1 in FIG.
This is done by repeating (d) as one cycle.

The second method is (a1). As shown in FIG. 4, a molded product take-out position P2 approaching and facing the molding die 5 that has been opened from the out-of-mold start position P1 of the resin molding machine 4.
Move the gripping head 1 of the molded product extractor 3 to (b)
1). After the molded product 6 is taken out from the molding die 5 and gripped at the molded product take-out position P2 by the gripping head 1, the position outside the mold P3
3, and the gripping head 1 is reversed to the stacking posture shown by the phantom line by the operation of the reversing / reversing returning device 2 in FIG. 3 during the transfer or at the position P3 outside the mold (c1). By driving an elevator device (not shown), the lifter conveyor 7 is raised to the stacking position P4 as shown in FIG. 6, where the gripping of the molded product 6 by the gripping head 1 is released and the molded product 6 is stacked. , (D1). By driving the lifting device, the lifter conveyor 7 is lowered and retracted from the stacking position P4, and (e1). By operating the reversing / reversing returning device 2 of FIG. 3, the gripping head 1 is reversed and returned to the gripping posture shown by the solid line, and thereafter, after passing the start position P1 of FIG.
This is performed by repeating the above (a) to (e) as one cycle.

[0006] However, in such a method for taking out and stacking resin molded products, it is necessary to equip the molded product taking-out machine 3 with the reversing / reversing returning device 2.
The weight of the tip becomes heavy. Therefore, in order to shorten the cycle time of taking out and stacking the resin molded products, the inertia when the molded product take-out machine 3 is operated at a high speed becomes large, and the gripping head 1 is moved to the molded product take-out position P2 or the outside-mold position P3 or the stacking position. It has a drawback that it becomes difficult to quickly and accurately stop the positioning at a predetermined position such as the position P4.

Further, in the first method, the gripping head 1
Since the resin molded products are taken out and stacked by a series of operations by a series of independent operations of the molded product take-out machine 3 provided with the reversing / reversing returning device 2, in the steps (a) to (d), It is impossible to shorten the cycle time for taking out and stacking the resin molded product by overlapping the area of the process with the area of the post-process.

Further, in the second method, the resin molded product is moved to the out-of-mold position P3 by a series of independent operations of the molded product unloader 3 provided with the gripping head 1 and the reversing / reversing returning device 2. Since the transfer is performed, in the above-described steps (a1) to (b1) and (e1), the cycle time for removing and stacking the resin molded product is reduced by overlapping the area of the previous step with the area of the subsequent step. Is impossible.

That is, in the first and second methods, since it is necessary to equip the molded product take-out machine 3 with the reversing / reversing and returning device 2, the weight of the molded product take-out machine 3 is particularly heavy. Therefore, in order to shorten the cycle time of taking out and stacking the resin molded products, the inertia becomes large when the molded product take-out machine 3 is operated at high speed, and the gripping head 1 is quickly and accurately positioned and stopped at a predetermined position. In addition to the drawback that it becomes difficult to take out and stack the resin molded products in series operation, the resin molded products can be taken out by overlapping the area of the previous process and the area of the subsequent process. Since it is impossible to shorten the stacking cycle time, there is a drawback that the high cycle molding of the resin molding machine cannot be supported and the high cycle molding of the resin molding machine is hindered.

[0010]

That is, in the conventional method of removing and stacking resin molded articles, it is difficult to quickly and accurately stop the positioning of the gripping head at a predetermined position when the molded article removing machine is operated at a high speed. Since the removal and stacking of the resin molded products are performed in a serial operation, the cycle time for removing and stacking the resin molded products can be reduced by overlapping the region of the previous process with the region of the subsequent process. Since it is impossible, it cannot be applied to the high cycle molding of the resin molding machine, and has a drawback of hindering the high cycle molding of the resin molding machine. Therefore, in the invention according to claim 1, the molded product take-out device and the reversing / reversing returning device are separated,
By reducing the weight of the molded product take-out machine, even when the molded product take-out machine is operated at high speed, the gripping head can be quickly and accurately positioned and stopped at a predetermined position, and the molded product take-out device and the reversing / returning device can be used. By taking out and stacking resin molded products by parallel operation, it is possible to overlap the area of the previous process with the area of the subsequent process, shorten the cycle time of taking out and stacking the resin molded products, and It is an object of the present invention to provide a method for taking out and stacking resin-molded products, which is compatible with the high-cycle molding, and enables high-cycle molding by a resin molding machine.

[0011]

According to the first aspect of the present invention,
The first positioning step of the gripping head that moves and positions the gripping head of the molding product unloading machine from the position outside the mold of the resin molding machine to the molding product unloading position that faces the molding die that has opened The second positioning step of the gripping head, in which the gripping head takes out the molded product from the mold and grips it, transfers it to the molded product open position outside the mold, and positions it, and the molded product gripped by the gripping head at the molded product release position. A reversing table and a receiving gripping head mounted on the reversing table are moved by a first moving device to a first receiving position approaching and opposed to the reversing table, and in the course of this movement, the reversing table and the receiving gripping head are reversed and reversed. The first positioning step of the receiving gripping head for reversing and positioning by the step of releasing the grip of the molded product by the gripping head at the molded product release position, and The first receiving step of the molded product for receiving and gripping the molded product by the receiving gripping head which is returned to the first receiving position and is positioned to be reversed, and the stacking gripping head of the stacking device is moved from the stacking position to the second position by the second moving device. A first positioning step of the stacking gripping head for moving and positioning to the receiving position, and moving the reversing table and the receiving gripping head from the first receiving position to the delivering position by the first moving device in a gripping state of the molded product by the receiving gripping head. In addition, in the process of this movement, the reversing table and the receiving gripping head are reversed and positioned by the reversing / reversing returning device, and the second positioning step of the receiving gripping head and the gripping of the molded product by the receiving gripping head at the delivery position are released. A second part of the molded product that receives and grips the molded product by the stacking gripping head positioned at the second receiving position. The first step is to move the receiving gripping head, which has delivered the molded products, from the transfer position to the first receiving position, and the stacking device is configured to move the stacking device in the gripping state of the molded products by the stacking gripping head. The second of the stacking gripping head for moving and positioning the molded products to the stacking position by the two moving device
It is characterized by comprising a positioning step and a step of stacking the molded products by releasing the grip of the molded products by the stacking gripping head at the stacked position of the molded products to stack the molded products.

According to the first aspect of the present invention, since the molded product take-out machine and the reversing / reversing returning device are separated, the weight of the molded product take-out machine can be reduced. This can reduce the inertia when the molded product take-out machine is operated at high speed. Further, a region near the end of the second positioning process of the gripping head and a region near the end of the first positioning process of the receiving gripping head can be overlapped, and a region near the end of the first positioning process of the stacking gripping head. And a region near the end of the second positioning step of the receiving gripping head can be overlapped, and the return reversal of the receiving gripping head by the reversing / reversing returning device can be overlapped in the first positioning step of the receiving gripping head. The reversing of the receiving gripping head by the reversing and reversing device can be overlapped in the second positioning step of the receiving gripping head.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the invention described in claim 1 will be described below with reference to the drawings. Note that the same or corresponding portions as those of the conventional example shown in FIGS. FIG. 1 is a side view of an apparatus applied to the implementation of the invention according to claim 1, and FIG. 2 is a plan view of FIG. 1, in which a gripping head 1 made of a suction cup is attached to a tip end of a molded product take-out machine 3. The gripping head 1 is connected to a known suction / suction release device (not shown) equipped with an intake means such as a blower and a switching valve so that the molded product 6 can be suctioned and gripped. The gripping head 1 is a molded product take-out machine 3
By the operation of, the molding product take-out position P that approaches and faces the molding die 5 opened from the outside mold start position P1 of the resin molding machine 4
2 and is positioned at the same time, the molded product 6 is taken out of the molding die 5 at the molded product removal position P2, gripped and transferred to the molded product open position P5 outside the mold.

A receiving gripping head 9 made of a suction cup is attached to the reversing table 8, and the receiving gripping head 9 is connected to a known suction / adsorption releasing device (not shown) equipped with an intake means such as a blower and a switching valve. Thus, the molded product 6 can be suction-held and released. The reversing table 8 and the receiving gripping head 9 are moved back and forth between the first receiving position P6 and the delivery position P7 by the first moving device 10, and the reversing / reversing returning device 2 moves the reversing table 8 and the receiving gripping head 9 to the first position. (1) At the receiving position P6, the receiving position is inverted to the receiving position indicated by the solid line, and at the receiving position P7, the receiving position is inverted to the receiving position indicated by the virtual line. The first moving device 10
The servomotor 10A, a lead screw 10B that is rotationally driven in the forward and reverse directions by the servomotor 10A, and the lead screw 10
A female screw member 10C that is screwed to B in a non-rotatable manner is provided. A reversing table 8 is rotatably attached to a support portion of the female screw member 10C via a pin 11.

A reversing / reversing returning device 2 for reversing the reversing table 8 to the delivery attitude and returning to the receiving attitude is a cam plate 2B having a cam groove 2A and a reversing table 8.
Cam follower 2C fixed to and engaged with the cam groove 2A
It has.

A stacking gripping head 13 formed of a suction cup is attached to the stacking device 12, and this stacking gripping head 13 is a known suction / adsorption release device (not shown) equipped with an intake means such as a blower and a switching valve. By being connected, the molded product 6 can be suction-held and released. Stacking device 12 and stacking gripping head 1
3 by the second moving device 14 and the stacking position P4 and the second
Positioning is performed by moving back and forth between the receiving positions P8. Second
The moving device 14 is composed of a cylinder.

Next, the operation of the above configuration will be described. (1). The gripping head 1 of the molding product unloading machine 3 is moved and positioned from the outside mold start position P1 of the resin molding machine 4 to a molding product unloading position P2 that is close to and opposed to the molding die 5 that has opened the mold (first gripping head 1 Positioning process). (2). At the molded product take-out position P2, the gripping head 1 takes out and holds the molded product 6 from the molding die 5 and transfers it to the molded product release position P5 outside the mold for positioning (second positioning step of the gripping head 1). (3). The reversing table 8 and the receiving gripping head 9 attached to the reversing table 8 by the first moving device 10 up to the first receiving position P6 that approaches and faces the molded product 6 gripped by the gripping head 1 at the molded product release position P5. And the reversing table 8 and the receiving gripping head 9 in the process of this movement.
Is reversed by the reversing / reversing returning device 2 and positioned (first positioning step of the receiving gripping head 9). That is, by driving the servomotor 10A of the first moving device 10 to rotate the lead screw 10B in the forward direction, the female screw member 10C and the reversing base 8 are advanced, and in the process of this advance, the cam follower 2C is moved by the cam groove 2A. And the reversing table 8 is returned to the receiving posture and positioned at the first receiving position P6. (4). The gripping of the molded product 6 by the gripping head 1 is released at the molded product release position P5, and the molded product 6 is received and gripped by the receiving and gripping head 9 which is returned to the first receiving position P6 and is inverted. First receiving step). (5). The stacking gripping head 13 of the stacking device 12 is moved and positioned from the stacking position P4 to the second receiving position P8 by the second moving device 14 (first positioning step of the stacking gripping head 13). That is, the stacking device 12 located at the stacking position P4 indicated by a virtual line
The stacking gripping head 13 is pulled up to the second receiving position P8 indicated by the solid line by the operation of the cylinder forming the second moving device 14 and positioned. (6). While the molded product 6 is being held by the receiving and holding head 9, the reversing table 8 and the receiving and holding head 9 are moved from the first receiving position P6 to the delivery position P7 by the first moving device 10, and in the course of this movement, the reversing table 8 and The receiving gripping head 9 is reversed and positioned by the reversing / returning device 2 (second positioning step of the receiving gripping head 9). That is, by driving the servomotor 10A of the first moving device 10 to rotate the lead screw 10B in the opposite direction, the female screw member 10C and the reversing base 8 are retracted, and the cam follower 2C is moved by the cam groove 2A in the process of this retract. And the reversing table 8 is reversed to the delivery position and positioned at the delivery position P7. (7). At the delivery position P7, the gripping of the molded product 6 by the receiving gripping head 9 is released, and the stacking gripping head 13 positioned at the second receiving position P8 receives and grips the molded product 6 (second molding product receiving step). ). (8). The receiving gripping head 9 that has delivered the molded product 6 is moved from the delivery position P7 to the first receiving position P6 by the first moving device 10.
Start moving toward. (9). The stacking device 12 is moved to the stacking position P4 of the molded product 6 by the second moving device 14 and positioned while the molded product 6 is gripped by the stacking gripping head 13 (second positioning step of the stacking gripping head 13). (10). At the stacking position P4 of the molded product, the gripping of the molded product 6 by the stacking gripping head 13 is released, and the molded product 6 is released.
Are stacked (step of stacking the molded products 6).

By repeating the steps (1) to (10), it is possible to automatically take out the resin molded products 6 from the mold 5 of the resin making machine 4 and sequentially stack them at the stacking position P4. .

As described above, since the molded product take-out machine 3 and the reversing / reversing returning device 2 are separated from each other, the weight of the molded product take-out machine 3 can be reduced. This can reduce the inertia when the molded product take-out machine 3 is operated at high speed. Therefore, even if the molded product removal machine 3 is operated at a high speed, the positioning of the gripping head 1 at the molded product removal position P2 and the molded product opening position P5 can be stopped quickly and accurately. The above (2)
The area near the end of the second positioning step of the gripping head 1 described in (4) and the area near the end of the first positioning step of the receiving gripping head 9 described in (3) above can be overlapped, and the area (5) above can be overlapped. The area near the end of the first positioning step of the stacking gripping head 13 described in (6) and the area near the end of the second positioning step of the receiving gripping head 9 described in (6) above can be overlapped and received. During the first positioning step of the gripping head 9, the return reversal of the receiving gripping head 9 by the reversing / reversing returning apparatus 2 is overlapped, and the receiving gripping head by the reversing / reversing returning apparatus 2 is included in the second positioning step of the receiving gripping head 9. The 9 inversions can be overlapped. As a result, the cycle time for taking out and stacking the molded products 6 can be shortened, and the high cycle molding of the resin molding machine 4 can be performed in response to the high cycle molding of the resin molding machine 4.

In the above-mentioned embodiment, the gripping head 1, the receiving gripping head 9 and the stacking gripping head 13 which are suction cups are used, and these are well-known suction / adsorption means equipped with an intake means such as a blower and a switching valve. Although the description is made by connecting to the suction release device so that the suction gripping and gripping release of the molded product 6 are possible, the gripping head 1, the receiving gripping head 9 and the stacking gripping head 13 are mechanical chucks. May be configured.

[0021]

As described above, according to the first aspect of the present invention, the molded product take-out machine and the reversing / reversing returning device are separated, so that the molded product take-out machine can be made lightweight. This can reduce the inertia when the molded product take-out machine is operated at high speed. Therefore, even if the molded product take-out machine is operated at high speed, the gripping head can be quickly and accurately stopped at a predetermined position. Further, a region near the end of the second positioning process of the gripping head and a region near the end of the first positioning process of the receiving gripping head can be overlapped, and a region near the end of the first positioning process of the stacking gripping head. And a region near the end of the second positioning step of the receiving gripping head can be overlapped, and the return reversal of the receiving gripping head by the reversing / reversing returning device can be overlapped in the first positioning step of the receiving gripping head. The reversing of the receiving gripping head by the reversing and reversing device can be overlapped in the second positioning step of the receiving gripping head. As a result, it is possible to shorten the cycle time for taking out and stacking the molded products, to cope with the high cycle molding of the resin molding machine, and to enable the high cycle molding of the resin molding machine.

[Brief description of the drawings]

1 is a side view of an apparatus applied to the implementation of the invention according to claim 1;

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of an apparatus applied to a conventional method.

FIG. 4 is a plan view showing a conventional operation procedure.

FIG. 5 is an operation explanatory view showing a stacked state of molded products according to the first conventional method.

FIG. 6 is an operation explanatory view showing a stacked state of molded products according to a second conventional method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 gripping head 2 reversing / reversing returning device 3 molded product take-out machine 4 resin molding machine 5 mold 6 molded product 8 reversing table 9 receiving gripping head 10 first moving device 12 stacking device 14 stacking gripping head 15 second moving device P1 Outer mold start position P2 Molded product take-out position P4 Stacking position P5 Molded product release position P6 First receiving position P7 Handing position P8 Second receiving position

Claims (1)

(57) [Claims] 1. A first gripping head for moving and positioning a gripping head of a molded product take-out machine from a position outside the mold of a resin molding machine to a molded product take-out position which is close to and faces a molding die opened.
A positioning step, a second positioning step of a gripping head for taking out the molded article from the molding die by the gripping head at the molded article taking-out position, transferring the molded article to the molded article open position outside the mold, and positioning the molded article; The reversing table and the receiving gripping head attached to the reversing table are moved by the first moving device to a first receiving position approaching and facing the molded product gripped by the gripping head. A first positioning step of the receiving gripping head for positioning the receiving gripping head by reversing and reversing the position by the reversing / reversing returning device, and releasing the gripping of the molded product by the gripping head at the molded product releasing position and returning to the first receiving position. A first receiving step of receiving and gripping the molded article by the receiving gripping head which is positioned in an inverted position, and stacking the molded article by the second moving device A first positioning step of the stacking gripping head for moving and positioning the stacking gripping head of the stacking device from the stacking position to the second receiving position; A second positioning step of the receiving gripping head, in which the receiving gripping head is moved from the first receiving position to the delivering position, and in the course of this movement, the reversing base and the receiving gripping head are inverted and positioned by the reversing / reversing returning device; A second receiving step of the molded product in which the gripping of the molded product by the receiving gripping head at the position is released, and the molded product is received and gripped by the stacking gripping head positioned at the second receiving position, and the molded product is delivered. Starting the movement of the receiving gripping head from the transfer position to the first receiving position by the first moving device; A second positioning step of the stacking gripping head in which the stacking device is moved to the stacking position of the molded product by the second moving device in the gripping state of the molded product by the head and the positioning is performed by the stacking gripping head at the stacking position of the molded product. A method for taking out and stacking resin-molded products, comprising the steps of: stacking the molded products by releasing the grip of the products and stacking the molded products.