JP3057639B1 - Injection molding machine - Google Patents

Abstract

The present invention provides an injection molding machine that can prevent the efficiency of injection molding processing from decreasing due to a delay in a molded product removal process. SOLUTION: This injection molding machine 1 is provided with a molded product take-out device 7 for taking out a molded product from a mold 4, wherein the molded product take-out device 7 is arranged on the side of the base 2 of the injection molding machine 1. Thus, the molded article is carried out to the side.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to an injection molding machine. More specifically, the present invention relates to an injection molding machine provided with a robot as a take-out device for taking out a molded product from a mold.

[0002]

2. Description of the Related Art Conventionally, an injection molding machine provided with a robot as a molded product taking-out device for taking out a molded product from a mold includes, for example, a base 10 of an injection molding machine 101 as shown in FIG.
2, a molding unit 104 having an injection unit 103 and a fixed mold attaching member to which the fixed mold is attached, and a movable mold attaching member to which the movable mold is attached is provided. A robot in which a robot 105 is mounted on a molding unit 104 as a molded product removal device is known.

The robot 105 includes a product arm 106 for gripping a product formed in a mold and a runner arm 107 for gripping a runner.
Reference numeral 107 is attached to a left-right traveling frame 109 supported by a slider 108 so as to be slidable in the left-right direction in FIG. In addition, the slider 108 is mounted on the front and rear traveling frame 11 supported by the molding portion 104 via the support 110.
1 is a front-rear direction in FIG. 6A (a left-right direction in FIG. 6B).
Is slidably mounted on the

When the hand at the tip of each of the arms 106 and 107 in the conventional molded product removing apparatus of the injection molding machine 101 takes out molded products such as products and runners, the operation is as shown in FIG. Done.

First, the hand of each of the arms 106 and 107 descends to a predetermined position for taking out a molded product formed in a mold (see arrow 121), and then advances to a predetermined position to grasp the molded product (arrow). 122). Then, after closing the respective chucks of the hands of the arms 106 and 107 in order to grip the molded product (see arrow 123),
It retreats to its original position (see arrow 124) and then rises (see arrow 125).

Next, the hand of each of the arms 106 and 107 traverses (see arrow 126) to a position above the mounting table on which the molded product is placed, and then places the molded product on the placing table. After performing the posture control (see arrow 127), the article is lowered (see arrow 128) to a predetermined position where the molded product is placed on the table. After the chuck is opened (see arrow 129) and the molded product is placed on the placing table, it is raised (see arrow 130), the posture is restored (see arrow 131), and then traverses (arrow 132) to move to the unloading start position. Return.

[0007] Further, as a molded product taking-out device of an injection molding machine as shown in FIG. 8, a device provided with a 4-axis robot has been conventionally known (for example, Japanese Patent No. 269424).
No. 9). The injection molding machine 140 is mounted on the upper surface 143a of the fixed mold attaching member 143 on which the fixed mold 142 provided on the base 141 is mounted.
The mounting member 145 is provided so as to extend toward the molded product mounting table (pallet) 144 side, and the mounting member 145 is provided with a molded product removal device 147 including a four-axis robot 146.

More specifically, the turning shaft 148 of the robot 146 is installed on the upper surface 143a of the fixed member 143,
An upper and lower arm 149 is engaged with the tip of the pivot shaft 148, and the front and rear arms 150 are attached to the tip of the upper and lower arm 149.
Are engaged, and the wrist shaft 1 is
51 is engaged, and at the tip of this wrist shaft 151,
For example, a hand having a suction pad for taking out a molded product is provided. In this example, the robot 146 has only an arm for taking out a product, and there is no special arm for taking out a runner. The movement path of the hand in the robot 146 is substantially the same as that in FIG. 5, except that the trajectory of the traverse is a circular motion due to the turning of the turning shaft 148.

[0009] However, the conventional injection molding machine,
In both cases, the robot, which is a molded product removal device, is mounted on the fixed mold mounting member, and once the molded product is taken out above the mold, it is transported to the molded product mounting table arranged on the machine side. Therefore, there is a problem that the conveying distance of the molded article is long, the cycle time for removing the molded article is long, and the efficiency of the entire injection molding process is reduced.

In addition, since the robot is mounted above the mold, the height of the injection molding machine is increased by that much, and the installation location is restricted, and the adjustment, maintenance and inspection of the robot are easily managed. There is also a problem that it cannot be done.

Further, since the robot is arranged above the mold, there is a problem that foreign matters such as dust and oil may fall into the mold, thereby causing defective products.

[0012]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and is an injection molding machine capable of preventing the efficiency of injection molding from lowering due to a delay in a molded product removing step. It is intended to provide.

[0013]

The injection molding machine of the present invention comprises:
An injection molding machine including a molded product removal device that removes a molded product from a mold, wherein the molded product removal device includes:
Product arm having a hand for holding a formed product
A runner arm having a hand for holding the runner;
A traveling axis on which the product arm and the runner arm travel;
, Consisting of a robot with
The front and rear arms of the arm and runner arm are upright.
The length is adjusted to the product take-out height in the
A row axis is provided on the side of the base of the injection molding machine in parallel with the base.
It is thereby characterized by comprising adapted to unload the molded article to said side lateral side.

In the injection molding machine of the present invention, for example,
For example, a support member for supporting the traveling shaft is attached to a base of the injection molding machine in a space provided below the mold.

[0015]

[0016]

[0017]

Since the injection molding machine of the present invention is configured as described above, the conveying distance of the molded article is significantly shortened, whereby the cycle time for removing the molded article is significantly reduced. Further, since the molded product take-out device is disposed on the side of the base of the injection molding machine, it is easy to manage the adjustment, maintenance, inspection and the like. Further, since there is no work above the mold, foreign matter is prevented from falling into the mold.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

An injection molding machine according to an embodiment of the present invention is shown in FIGS. FIG. 1 is a plan view of the injection molding machine, FIG. 2 is a front view thereof, and FIG. 3 is a side view thereof.

The injection molding machine 1 has a base 2, and the base 2
In addition, a mold clamping mechanism 3 and an injection mechanism of a synthetic resin material (not shown) are provided, and a molded product taking-out device including a traveling robot 6 for taking out a product and a runner molded in the mold 4 of the mold clamping mechanism 3. 7 is supported.

The mold clamping mechanism 3 includes a fixed mold attaching member 8 fixed to the base 2, a plurality of molds 4, a movable mold attaching member 9, a plurality of guides 10, and a mold clamping cylinder not shown. And a drive mechanism including a mold clamping piston. When the mold clamping mechanism 3 molds the material injected from the injection mechanism, the mold clamping piston of the drive mechanism presses the movable mold attaching member 9 in the direction of the fixed mold attaching member 8.
As a result, the movable mold attaching member 9 is pressed by the mold clamping piston, and moves in the direction of the fixed mold attaching member 8 while being guided by the four rod-shaped guides 10. As a result, the outer peripheral portions of the respective molds 4 come into contact with each other, and a mold for molding a product is formed.

Below the mold clamping mechanism 3 of the base 2, there is provided a space 11 which is open on both lateral sides in the short direction.
In this space 11, two beams 12 supporting the traveling robot 6 are attached to the base 2.

The traveling robot 6 has a traveling frame (traveling shaft) 13 supported by a beam 12 attached to the base 2 in a space 11, and is slidably mounted on the traveling frame 13. Product arm 14 for holding a formed product and runner arm 1 for holding a runner
5 is provided. More specifically, the traveling frame 13 is supported by the beam 12 and
The first axes (left and right axes) 16 and 17 of the respective arms 14 and 15 are arranged in parallel with the traveling frame 13.
Are slidably mounted independently of each other.
Hereinafter, the structures of the product arm 14 and the runner arm 15 will be described.

The product arm 14 has a four-axis configuration. That is, the front and rear arms 18
And the upper and lower arms 1 are
9 is engaged, and the wrist shaft 20 is
And a hand having, for example, a suction pad (FIG. 4) for holding the product on the distal end of the wrist shaft 20.
21). Here, the length of the front and rear arms 18 is set to the product collection height in a state where the arms 18 are upright (see FIG. 3).

The runner arm 15 has a three-axis configuration. That is, the front and rear arms 22
And the upper and lower arms 2 are
3 is engaged, and a hand 24 having, for example, a gripper for holding a runner at the distal end of the upper and lower arms 23 is provided. That is, the runner arm 15 is not provided with a wrist shaft. Here, the length of the front and rear arms 22 is the same as that of the front and rear arms 18.

The left and right shafts 16 and 17 and the front and rear arms 1
8, 22, each upper and lower arm 19, 23, and wrist axis 20
Are driven by servo motors, respectively, and the control is performed by a robot controller (not shown).

Although the detailed description of the other components of the injection molding machine 1 is omitted, it is the same as that of a conventionally known injection molding machine. At an appropriate position on the side of the base 2 where the traveling robot 6 is disposed, a product mounting table (pallet) 25 on which the formed product is mounted is installed.
The molded product taken out of the mold 4 by 4 and 15 is placed here.

Next, the injection molding machine 1 having such a configuration
With reference to FIG. 5 , the removal of a molded article formed by the method will be described.

(1) The traveling robot 6 serving as the molded product removal device 7 stores a molded product removal pattern by teaching. This teaching is performed on all molded products manufactured by the injection molding machine 1 in principle. In FIG.
Here, the basic movements of the hands 21, 24 of the arms 14, 15 to be taught are indicated by arrows.

(2) In the injection molding machine 1, predetermined parts are injection-molded by a conventional method.

(3) A mold opening instruction signal is input to the drive mechanism to open the mold 4 and the instruction signal is also input to the robot controller.

(4) After a lapse of a predetermined time from the input of this instruction, the robot controller sets each of the arms 14 and 15
The members 16, 17, 18, 19, 20, 22, and 23 are appropriately operated while synchronizing with each other to obtain the hand 2.
1 and 24 are moved from the starting point A to the molded article take-out position (see arrows 31 and 32). That is, the hands 21 and 24 are made to enter the gaps from the sides of the respective dies 4, and the suction pads and the grippers are brought into contact with the product and the runner, respectively.
In this case, the robot controller can be manually
0 is operated to bring the suction pad into a desired posture.

(5) After the suction pad and the gripper grip the product and the runner, respectively, the robot controller returns to the members 16, 17, 1 of the arms 14, 15 again.
8, 19, 20, 22, and 23 are appropriately operated while synchronizing them, and the hands 21 and 24 are moved to the open position (see arrows 33 and 34). That is, the hand 21,
24 is a pallet 2 arranged on the machine side of the injection molding machine 1
5 above.

(6) The robot controller is the hand 2
After lowering 1, 24 (see arrow 35) and placing the molded product on the pallet 25, the gripping of the molded product by the suction pad and the gripper is released. That is, the grip of the product and the runner by the suction pad and the gripper is released.
In this case, when the arrangement direction of the molded products is specified,
Wrist axis 20, or each axis 16, 17, 18, 19, 2
After appropriately rotating the rollers 2 and 23 (see arrow 36), the gripping by the suction pad and the gripper is released after the molded product is oriented in that direction.

(7) The robot controller uses the arrow 3
When the processing of the arrow 6 is performed, the arm 1 is rotated so as to return the rotation (see arrow 37). When the processing of the arrow 36 is not performed, each arm 1 is immediately released after the gripping of the product is released.
4, 15 members 16, 17, 18, 19, 20, 2
2 and 23 are appropriately operated to return the hands 21 and 24 to the starting point A (see arrows 38 and 39).

Thereafter, by repeating (2) to (7), the molded products are sequentially placed on the pallet 25 from the mold 4.

As described above, in this embodiment, in the space 11 provided below the mold 4 provided on the base 2 of the injection molding machine 1, the traveling robot 6 as the molded product removal device 7 is mounted. Since the beam 12 to be supported is attached to the base 2 and the molded article can be unloaded from the side of the mold 4 by the traveling robot 6 supported by the beam 12, a molded article take-out device 7 is provided. Injection molding machine 1
Does not pose a problem at all, thereby preventing the injection molding machine 1 from being restricted by the installation location, and facilitating the management of adjustment, maintenance, inspection and the like of the molded product take-out device 7.

Since the molded product is taken out to the side of the mold 4 provided with the molded product take-out device 7, the molded product is taken out of the mold 4
The transport distance for transporting the molded product to the product mounting table 25 can be significantly shorter than when the product is taken out above. As a result, the time required for the molded product removal process, that is, the molded product removal cycle time can be significantly reduced, thereby preventing a reduction in the molding efficiency due to the delay in the molded product removal process.

Furthermore, foreign substances such as dust and oil fall into the mold 4 from the robot 6 by arranging the robot 6 which is the molded article taking-out device 7 not on the mold 4 but on the side thereof. Can be prevented. As a result, foreign matter is prevented from being mixed into the molded product, and the product quality is improved.

As described above, the present invention has been described based on the embodiments. However, the present invention is not limited to only such embodiments, and various modifications are possible.

For example, in the embodiment, the arm for adsorbing the product and the arm for adsorbing the runner are provided. However, depending on the type of the molded product, only the arm for adsorbing the product is provided. You may.

[0042]

As described above, in the present invention, the molded product take-out device of the injection molding machine is supported by the base and arranged on the side of the mold, and the molding is performed from the side of the mold. Since the product is taken out, the distance for taking out the molded product from the mold and transporting the product to the product mounting table installed at a predetermined place can be significantly reduced. As a result, the molded product removal cycle time can be significantly shortened, so that an excellent effect of preventing a decrease in molding processing efficiency due to a delay in the molded product removal process can be obtained.

Further, since the molded article removing device is disposed not on the side of the mold but on the side, it is possible to prevent foreign matters such as dust and oil from falling into the mold and to remove the molded article. An excellent effect that management of adjustment, maintenance, inspection, and the like of the device is facilitated is also obtained.

Further, since the foreign substances can be prevented from falling into the mold, an excellent effect of improving the product quality can be obtained.

[Brief description of the drawings]

FIG. 1 is a plan view of an injection molding machine according to an embodiment of the present invention.

FIG. 2 is a front view of the same.

FIG. 3 is a side view of the same.

FIG. 4 is a view showing a robot arm constituting a molded product removal device of the injection molding machine.

FIG. 5 is a diagram showing a trajectory in which a hand at the tip of the arm moves in a take-out process.

FIG. 6 is a view showing a conventional injection molding machine, wherein FIG.
Shows a side view, and (b) shows a front view.

FIG. 7 is a diagram showing a locus of movement of a hand at the tip of an arm in a removal process in a robot constituting the molded product removal device of the injection molding machine.

FIG. 8 is a schematic perspective view of an injection molding machine according to Japanese Patent No. 2694249.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Injection molding machine 2 Base 4 Die 6 Robot 7 Mold removal device 11 Space 12 Beam 13 Traveling frame (traveling axis) 14 Product arm 15 Runner arm 16, 17 Left and right axis 18, 22 Front and rear arm 19, 23 Vertical arm 20 Wrist Axis 21, 24 Hand

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B29C 45/40-45/44 B29C 33/44 B22D 17/22

Claims (2)

(57) [Claims] 1. An injection molding machine comprising a molded product removal device for removing a molded product from a mold, wherein the molded product removal device stores a product molded by the mold.
Hold product arm with hand to hold and runner
A runner arm having a hand, the product arm and
From a robot with a traveling axis on which the runner arm travels
Configured, front and rear arms and Ran'naamu before and after the product arm
The arm should be long enough to take up the product when it is upright.
Is adjusted, and the traveling axis is arranged on the side of the base of the injection molding machine in parallel with the base.
Is set, an injection molding machine, characterized in that by comprising adapted to unload the molded article to said side lateral side. 2. A according to claim 1, wherein a support member for supporting the traveling axis is attached to the base of the injection molding machine in the space provided below the mold <br / > Injection molding machines.