JP3659754B2 - Method and apparatus for taking out molded product of injection molding machine - Google Patents

Method and apparatus for taking out molded product of injection molding machine Download PDF

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Publication number
JP3659754B2
JP3659754B2 JP27937996A JP27937996A JP3659754B2 JP 3659754 B2 JP3659754 B2 JP 3659754B2 JP 27937996 A JP27937996 A JP 27937996A JP 27937996 A JP27937996 A JP 27937996A JP 3659754 B2 JP3659754 B2 JP 3659754B2
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Prior art keywords
molded
gripping
mold
injection molding
molding machine
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JPH10119097A (en
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貴司 水野
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三菱重工業株式会社
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/40Removing or ejecting moulded articles
    • B29C45/42Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/76Measuring, controlling or regulating
    • B29C45/7626Measuring, controlling or regulating the ejection or removal of moulded articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/40Removing or ejecting moulded articles
    • B29C45/42Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4275Related movements between the robot gripper and the movable mould or ejector
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/76Measuring, controlling or regulating
    • B29C45/7626Measuring, controlling or regulating the ejection or removal of moulded articles
    • B29C2045/7633Take out or gripping means

Description

【0001】
【発明の属する技術分野】
本発明は、射出成形機により射出成形された成形品を、冷却工程後に金型から自動的に取り出すための、射出成形機の成形品取出方法および装置に関する。
【0002】
【従来の技術】
一般に、射出成形機においては、溶融樹脂を金型内に射出して形成された成形品を自動的に取り出すべく、成形品取出装置がそなえられている。この成形品取出装置は、射出成形機の金型を開いた状態で、一方の金型に嵌まり込んでいる成形品をつかむチャック(把持機構)と、このチャックを射出成形機についての左右方向,前後方向および上下方向の3軸に対して位置決めするための直交3軸位置決め機構とを有して構成されている。
【0003】
その直交3軸位置決め機構は、射出成形機の固定型盤上に設置され、通常、左右方向駆動機構,前後方向駆動機構および上下方向駆動機構を有している。
ここで、左右方向駆動機構は、チャックを射出成形機の左右方向〔水平面内で型開閉方向(射出成形機の長手方向)に直交する方向〕に移動させるためのもので、前後方向駆動機構は、チャックを射出成形機の前後方向〔型開閉方向(射出成形機の長手方向)〕に移動させるためのもので、上下方向駆動機構は、チャックを上下方向に昇降させるためのものである。
【0004】
そして、これらの左右方向駆動機構,前後方向駆動機構および上下方向駆動機構により、チャックを、所要の取出位置や解放位置へ移動させ、直交3軸に対して位置決めするようになっている。
なお、上述した左右方向駆動機構や前後方向駆動機構は、通常、フレームに取り付けられている電動モータと、この電動モータにより回転駆動される送りねじと、この送りねじに螺合して駆動対象部材側に固設されたナット(雌ねじ)とから構成されている。また、上下方向駆動機構は、例えば、エアシリンダにより、または、前述と同様の電動モータ,送りねじおよびナットにより構成され、昇降アームを介してチャックを昇降駆動する。
【0005】
また、上述のような成形品取出装置が動作を開始するタイミングは、図8にて後述するように、可動型盤が型開き動作により固定型盤に対して全開の状態になった時点であり、そのタイミングを可動型盤の開限位置到達により検知すべく、可動型盤の位置を検出する型盤位置センサがそなえられている。
さらに、可動型盤には、可動側金型に食いついた状態の成形品をその可動側金型から離脱させるべく突出し動作を行なうエジェクタがそなえられている。
【0006】
上述のごとく構成された成形品取出装置を有する射出成形機では、その射出成形機の型開閉工程に連動して成形品取出装置が図8にタイミングチャートとして示すような工程順で動作することにより、成形品が自動的に取り出される。
つまり、図8に示すように、可動型盤を固定型盤から離すようにして型開き動作を行ない、可動型盤が開限位置(もしくはその近傍)に到達したことが型盤位置センサにより検出・確認されると、その検出タイミングt1(図8中の“*”で検出)で、型開き動作を完了(可動型盤を停止)させてから成形品取出装置を作動させる。
【0007】
このとき、成形品取出装置は、まず、直交3軸位置決め機構により、チャックを、所定高さまで下降させてから、タイミングt2で、成形品と対向する位置まで水平移動(近寄せ)を行なう。この後、タイミングt3で、チャックにより成形品をつかむ動作(チャッキング)を行なうと同時に、エジェクタによる成形品突出し動作を行なう。そして、直交3軸位置決め機構により、タイミングt4で、チャックを成形品抜き代分だけ水平(前後方向)に移動させて成形品の抜き出しを行ない、さらに、タイミングt5で、成形品をつかんでいるチャックをそのまま上昇させて成形品を取り出す。
【0008】
このようにして成形品取出(成形品上昇)を終了したタイミングt6で型閉じ動作を開始し、可動型盤を固定型盤に近づけて型締めを行なう。
【0009】
【発明が解決しようとする課題】
しかしながら、上述した従来の成形品取出装置による取出手順では、射出成形機側において可動型盤を型開限位置(もしくはその近傍)まで移動させてその位置に停止させてから、成形品取出装置による一連の成形品取出動作を行ない、その取出動作を完了した後、射出成形機側において次の型閉じ動作を開始しているため、射出成形機は、成形品取出装置により成形品取出動作を行なっている間(タイミングt1〜t6の間)、完全に停止していなければならず、これが、射出成形機による成形効率を大きく低下させる要因になっていた。
【0010】
本発明は、このような課題に鑑み創案されたもので、型開き動作と成形品把持/取出動作とを並列的に実行するようにして、射出成形機の停止期間を短縮することにより、成形品の成形サイクルを短縮し成形能力の向上をはかった、射出成形機の成形品取出方法および装置を提供することを目的とする。
【0011】
【課題を解決するための手段】
上記目的を達成するために、本発明の射出成形機の成形品取出方法(請求項1)は、成形品を把持する把持機構とこの把持機構を移動させる移動機構とを用いて、射出成形冷却工程後に成形品を金型から取り出す方法であって、射出成形機の型開き動作中に移動機構により把持機構を金型の間に差し込み、移動機構により把持機構を型開き動作に伴って金型とともに移動中の成形品に追随移動させながら、該把持機構から該成形品までの距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で把持機構により成形品を把持してから、移動機構による把持機構の追随移動を停止させて型開き動作に伴う金型の移動により成形品を金型から分離した後、移動機構により把持機構を移動させて成形品を取り出すことを特徴としている。
本発明の射出成形機の成形品取出方法(請求項2)は、成形品を把持する把持機構と該把持機構を移動させる移動機構とを用いて、射出成形冷却工程後に該成形品を金型から取り出す、射出成形機の成形品取出方法であって、該射出成形機の型開き動作中に、該移動機構により該把持機構を該金型の間に差し込み、該移動機構により、該把持機構を、該射出成形機の型開き動作に伴って該金型とともに移動中の該成形品に追随移動させながら、該把持機構から該成形品までの距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で該把持機構により該成形品を把持してから、該移動機構による該把持機構の移動を該追随移動方向とは逆の移動方向へ切り替えて、該射出成形機の型開き動作に伴う該金型の移動により該成形品を該金型から分離した後、該移動機構により該把持機構を移動させて該成形品を取り出すことを特徴としている。
いずれの方法においても、把持機構から該成形品までの距離を検出する距離センサをそなえ、上記の把持機構が成形品の位置に到達したか否かの判断を、該距離センサで検出された距離に基づいて行なうことが好ましい(請求項3)。
【0012】
また、本発明の射出成形機の成形品取出装置(請求項)は、射出成形機の射出成形冷却工程後に成形品を金型から取り出すべく、成形品を把持する把持機構と、この把持機構を移動させる移動機構とをそなえてなる装置において、射出成形機の型開き動作に伴って移動する金型の位置を検出する位置センサと、把持機構から成形品までの距離を検出する距離センサと、これらの位置センサおよび距離センサによる検出結果に基づいて下記項目(1)(5)のように把持機構および移動機構を制御する制御部とをそなえたことを特徴としている。
【0013】
(1)位置センサにより検出された金型の位置に基づいて型開き動作中の金型の間隔が把持機構の差し込み可能な間隔になったと判断した時点で把持機構を金型の間に差し込むように、移動機構を制御する。
(2)距離センサにより検出された前記距離に基づいて、把持機構を、型開き動作に伴って金型とともに移動中の成形品に追随移動させるように、移動機構を制御する。
【0014】
(3)距離センサにより検出された前記距離に基づいて把持機構が成形品の位置に到達したと判断した時点で成形品を把持するように、把持機構を制御する。
(4)把持機構による成形品の把持後に把持機構の追随移動を停止させるように、移動機構を制御する。
(5)型開き動作に伴う金型の移動により成形品が金型から分離された後に把持機構を移動させて成形品を取り出すように、移動機構を制御する。
また、本発明の射出成形機の成形品取出装置(請求項5)は、射出成形機の射出成形冷却工程後に成形品を金型から取り出すべく、成形品を把持する把持機構と、この把持機構を移動させる移動機構とをそなえてなる装置において、射出成形機の型開き動作に伴って移動する金型の位置を検出する位置センサと、把持機構から成形品までの距離を検出する距離センサと、これらの位置センサおよび距離センサによる検出結果に基づいて下記項目(1)〜(4´),(5)のように把持機構および移動機構を制御する制御部とをそなえたことを特徴としている。
(1)位置センサにより検出された金型の位置に基づいて型開き動作中の金型の間隔が把持機構の差し込み可能な間隔になったと判断した時点で把持機構を金型の間に差し込むように、移動機構を制御する。
(2)距離センサにより検出された前記距離に基づいて、把持機構を、型開き動作に伴って金型とともに移動中の成形品に追随移動させるように、移動機構を制御する。
(3)距離センサにより検出された前記距離に基づいて把持機構が成形品の位置に到達したと判断した時点で成形品を把持するように、把持機構を制御する。
(4´)把持機構による成形品の把持後に把持機構の移動を該追随移動方向とは逆の移動方向へ移動させるように切り替えるように、移動機構を制御する。
(5)型開き動作に伴う金型の移動により成形品が金型から分離された後に把持機構を移動させて成形品を取り出すように、移動機構を制御する。
【0015】
上述のような本発明の射出成形機の成形品取出方法および装置では、射出成形機の型開き動作と並行して成形品の取出動作が実行される。つまり、金型(型盤)が低速で移動する型開き動作の途中から、相対的に速い移動速度で実行される成形品把持/取出動作を開始し、この成形品把持/取出動作と型開き動作とが重合されて実行される。
【0016】
これにより、射出成形機が型開き動作を終了した時点で成形品把持/取出工程の大半も完了しており、次の型閉じ動作を開始するまでの射出成形機の停止期間を短縮することができる。
【0017】
【発明の実施の形態】
以下、図面(図1〜図7)を参照して本発明の実施の形態を説明する。
図2は、本発明の一実施形態としての成形品取出装置とこの成形品取出装置を付設された射出成形機とを一部破断して示す側面図であり、この図2に示すように、射出成形機の本体基盤となるベース1上には、固定型盤2が固設されるとともに、可動型盤3が、ベース1上のガイド1aに沿って射出成形機の前後方向(図2中の左右方向)へ移動可能にそなえられている。そして、固定型盤2には固定側金型4が固設され、可動型盤3には可動側金型5が固設されている。なお、固定側金型4の中央部には、溶融樹脂を注入するための射出孔4aが形成されている。
【0018】
また、固定型盤2側には、射出ユニット6がそなえられている。この射出ユニット6は、樹脂材料を可塑化し、その溶融樹脂を、固定側金型4と可動側金型5とを型締めした時にこれらの金型4,5間に形成される金型キャビティ内へ射出するものである。射出ユニット6のノズル6aから射出された溶融樹脂は、固定側金型4の射出孔4aを通じて前記金型キャビティ内へ注入され、金型キャビティ内で冷却・固化することにより成形品10が形成されるようになっている。
【0019】
固定側金型4の上下部には、それぞれスライド型装置11,11が設置されている。各スライド型装置11は、成形品10の側面にチャッキング用の孔(または窪み;スプルー)10aを形成するためのもので、ロッド11aとこのロッド11aを伸縮駆動するシリンダ11bとから構成されている。固定側金型4と可動側金型5とを型締めして射出ユニット6から溶融樹脂を射出する際に、各スライド型装置11のシリンダ11bによりロッド11aを金型キャビティ内へ突出させることで(図4参照)、そのロッド11aの先端で成形品10にチャッキング用の孔10aが2ヶ所に形成されるようになっている。
【0020】
固定型盤2には油圧式の型盤移動シリンダ18が取り付けられ、この型盤移動シリンダ18の作動ロッド18aの先端が、可動型盤3の突出部材3aに結合されている。この型盤移動シリンダ18は、油圧により可動型盤3をベース1上のガイド1aに沿って前後方向へ移動させ、固定型盤2(固定側金型4)に対して可動型盤3(可動側金型5)を開閉駆動するものである。
【0021】
また、一組の型盤2,3について、複数本(図2中では2本のみ図示)のタイバー21が設けられ、各タイバー21の一端側が固定型盤2に固設される一方、各タイバー21の他端側外周には複数の溝21aが等ピッチで形成されている。各タイバー21の他端側は、型盤移動シリンダ18による型閉じ後の型締めに際し、可動型盤3を貫通して、この可動型盤3に取り付けられたハーフナット装置23に到達し、そのハーフナット装置23におけるハーフナット24内周の複数の溝24aとタイバー21先端の溝21aとが係合するように構成されている(図4参照)。
【0022】
さらに、可動型盤3の内部においてタイバー21の貫通部分の外周にはシリンダ3bが形成されており、このシリンダ3bには、ハーフナット24と当接しうる型締めピストン22がタイバー21の外周に沿って前後方向へ摺動可能に内蔵されている。従って、型盤移動シリンダ18による型閉じ後の型締め時に、ハーフナット24内周の複数の溝24aとタイバー21先端の溝21aとを係合させた状態で、シリンダ3b内の型締めピストン22の後方側油室(図2中の右側油室)に油圧を作用させることにより、型締めピストン22およびハーフナット24を介してタイバー21が可動型盤3を固定型盤2側へ引き寄せるように型締め力が発生するようになっている。
【0023】
そして、上述のような本実施形態の射出成形機には、直交3軸型成形品取出機(成形品取出装置)7が付設されている。この直交3軸型成形品取出機7は、支台12,左右方向駆動機構(移動機構)13,前後方向駆動機構(移動機構)14,上下方向駆動機構(移動機構)15,ロッド16およびチャック(把持機構)17を有して構成されている。
【0024】
ここで、支台12は、固定型盤2上に固設され、この支台12上に、左右方向駆動機構13が設置されている。
左右方向駆動機構13は、チャック17を射出成形機の左右方向〔図2中に示す前後方向に対し水平面内で直交する方向;即ち、図2を記載した紙面に対し直交する方向(紙面を突き抜ける方向)〕に移動させるためのもので、サーボモータ13aと、このサーボモータ13aにより回転駆動される送りねじ13bと、前後方向駆動機構14を左右方向に案内するガイド13cとを有して構成されている。送りねじ13bは、前後方向駆動機構14側に固設された雌ねじ(ナット;図示省略)に螺合しており、この送りねじ13bをサーボモータ13aにより所定方向へ回転駆動することで、前後方向駆動機構14,上下方向駆動機構15,ロッド16およびチャック17が一体的に射出成形機の左右方向に駆動されるように構成されている。
【0025】
また、前後方向駆動機構14は、チャック17を射出成形機の前後方向に移動させるためのもので、サーボモータ14aと、このサーボモータ14aにより回転駆動される送りねじ14bと、上下方向駆動機構15を前後方向に案内するガイド14cとを有して構成されている。送りねじ14bは、上下方向駆動機構15側に固設された雌ねじ(ナット;図示省略)に螺合しており、この送りねじ14bをサーボモータ14aにより所定方向へ回転駆動することで、上下方向駆動機構15,ロッド16およびチャック17が一体的に射出成形機の前後方向に駆動されるように構成されている。
【0026】
さらに、上下方向駆動機構15は、ロッド16を介してチャック17を上下方向に移動させるためのもので、サーボモータ15aと、このサーボモータ15aにより回転駆動される送りねじ15bと、ロッド16を上下方向に案内するガイド(図示省略)とを有して構成されている。送りねじ15bは、ロッド16側の雌ねじ(ナット;図示省略)に螺合しており、この送りねじ15bをサーボモータ15aにより所定方向へ回転駆動することで、ロッド16およびチャック17が一体的に上下方向に昇降駆動されるように構成されている。
【0027】
これらの左右方向駆動機構13,前後方向駆動機構14および上下方向駆動機構15によりチャック17を各軸方向へ移動させることで、チャック17を直交3軸に対して位置決めすることができるようになっている。
ロッド16は、上下方向駆動機構15から下方に向かって延設されており、その先端(下端)にチャック17が取り付けられている。このチャック17は、射出成形冷却工程後に可動側金型5に食いついている成形品10を把持するためのもので、対称に配置された上下一対の爪17a,17aにより構成されている。これらの爪17a,17aは、図示省略の空気圧源からのエアによって開閉駆動され、各爪17aを成形品10に形成された孔(スプルー)10aに係合させることにより成形品10がチャッキング(把持)されるようになっている(図6,図7参照)。成形品10をチャッキングする機構としては、吸引ポンプ等により生成される真空状態を利用した吸着パッドを用いてもよい。
【0028】
なお、可動型盤3には、成形品エジェクタ25がそなえられている。この成形品エジェクタ25は、図2に示すごとく可動側金型5に食いついた状態の成形品10を可動側金型5から離脱させるためのもので、油圧シリンダ26,押圧ロッド27,作動プレート28,エジェクトバー29および圧縮ばね30を有して構成されている。
【0029】
ここで、油圧シリンダ26は、可動型盤3の前面側に取り付けられ、その油圧シリンダ26の作動ロッド26aには、複数本(図2中では2本のみ図示)の押圧ロッド27が固設されている。各押圧ロッド27は、前後方向へ摺動可能に可動型盤3を貫通するように配置されるとともに、油圧シリンダ26によって後方へ駆動されるとその先端(後端)が可動型盤3の後面側へ突出しうるように配置されている。
【0030】
また、可動側金型5の前端面(可動型盤3の後面に対向する部分)には凹部5aが形成されており、この凹部5a内において、作動プレート28が前後方向へ摺動可能に収納されるとともに、作動プレート28を可動型盤3側へ付勢する圧縮ばね30が、作動プレート28と可動側金型5との間に介装されている。
さらに、作動プレート28には、複数本(図2中では2本のみ図示)のエジェクトバー29が固設されている。各エジェクトバー29は、前後方向へ摺動可能に可動側金型5を貫通するように配置されるとともに、後方へ駆動されるとその先端(後端)が可動側金型5の後面側へ突出して成形品10を押し出すように配置されている。
【0031】
従って、本実施形態の成形品エジェクタ25では、図6および図7によっても後述するごとく、油圧シリンダ26により作動ロッド26aを介して押圧ロッド27を後方へ駆動することで、その押圧ロッド27が、作動プレート28の前面に当接し、圧縮ばね30の付勢力に対抗しながら作動プレート28を後方へ押しやる。これにより、作動プレート28とともにエジェクトバー29が後方へ移動し、エジェクトバー29の先端が、可動側金型5の後面側へ突出し、成形品10に当接しながらこの成形品10を後方へ押し出すようになっている。
【0032】
ここで、成形品エジェクタ25(油圧シリンダ26の作動ロッド26a)の作動ストロークは、射出成形された後に冷却した状態で可動側金型5に食いついている成形品10を押し外すために必要になるごく僅かな寸法に設定されている。また、成形品10を押し外した後は、油圧シリンダ26の作動ロッド26aを元の位置(図2に示す位置)に戻すことにより、圧縮ばね30の付勢力が作用して作動プレート28やエジェクトバー29も元の位置(図2に示す位置)に復帰するようになっている。
【0033】
また、本実施形態では、後述する制御装置40によりチャック17の送り速度(前後方向への送り速度)を自由に変更制御できるように、前後方向駆動機構14におけるサーボモータ14aは、回転速度を自在に制御可能なACサーボモータにより構成されている。
また、ロッド16の下端には距離検出センサ(距離センサ)19が取り付けられている。この距離検出センサ19は、チャック17によるチャッキング動作時に図2に示すごとく可動側金型5に貼り付いた状態の成形品10までの距離を検出するもので、その距離検出センサ19としては、例えば、成形品10に直接当接しうる検出バーの伸縮を感知するポテンショメータ、または、超音波の反射波等により成形品10までの距離を非接触で検出するものなどが用いられる。なお、本実施形態では、後者の非接触式のセンサを採用した例が図示されている。
【0034】
さらに、ベース1には、射出成形機の型開き動作に伴って移動する可動型盤3(つまりは可動側金型5)の前後方向位置を検出するための型盤位置検出器(位置センサ)20がそなえられている。
これらの距離検出センサ19および型盤位置検出器20による検出信号は、制御部40に入力される。本実施形態の制御部40は、これらの距離検出センサ19および型盤位置検出器20からの検出信号に基づき、図3にて後述するフローチャートに従って、直交3軸型成形品取出機7(即ち、駆動機構13〜15),チャック17および成形品エジェクタ25を制御するもので、基本的に次の項目▲1▼〜▲5▼のような制御動作を行なう。
【0035】
▲1▼型盤位置検出器20により検出された可動型盤3(可動側金型5)の位置に基づいて型開き動作中の金型4,5の間隔がチャック17の差し込み可能な間隔になったと判断した時点でチャック17を金型4,5の間に差し込むように、取出機7(上下方向駆動機構15)を制御する。
▲2▼距離検出センサ19により検出された距離に基づいて、成形品10に対するチャック17の相対速度を算出しながら、チャック17を、型開き動作に伴って可動側金型5とともに移動中の成形品10に追随移動させるように、取出機7(前後方向駆動機構14におけるサーボモータ14aの回転速度)を制御する。
【0036】
▲3▼距離検出センサ19により検出された距離に基づいてチャック17が成形品10の位置に到達したと判断した時点で、チャック17が可動型盤3と同一速度で移動するように取出機7(前後方向駆動機構14におけるサーボモータ14aの回転速度)を制御しながら、成形品10を把持(チャッキング)するようにチャック17を制御する。
【0037】
▲4▼チャック17による成形品10の把持後にチャック17の追随移動を停止(もしくは逆方向に移動)させるように、取出機7(前後方向駆動機構14におけるサーボモータ14a)を制御するとともに、成形品エジェクタ25を作動させて成形品10の突出しを行なうように制御する。
▲5▼型開き動作に伴う可動側金型5の移動により成形品10が可動側金型5から分離された後に、型盤位置検出器20により検出された可動型盤3(可動側金型5)の位置に基づいて可動側金型5とチャック17との距離が成形品10の抜き代以上になったと判断した時点で、チャック17を上方へ移動させて成形品10を取り出すように、取出機7(上下方向駆動機構15)を制御する。
【0038】
なお、図2において、符号3′は型締め時における可動型盤3等の位置を示す一方、符号3″は型開き動作完了時における可動型盤3等の位置を示している。また、本実施形態では、チャック17の左右方向についての位置決めは、左右方向駆動機構13によって既に完了しているものとして説明を行なっている。さらに、型盤移動シリンダ18の動作は、取出機7用の制御部40とは別個に設けられた、射出成形機用の制御装置(図示省略)によって制御されるようになっている。
【0039】
次に、上述のごとく構成された本発明の一実施形態としての射出成形機の成形品取出装置の動作について、図1および図3〜図7を参照しながら説明する。ここで、図1は、本実施形態による成形品取出方法を説明すべく、型開き動作と成形品把持/取出動作とのタイミングを示すタイミングチャート、図3は、本実施形態における制御部40の動作について説明するためのフローチャート、図4〜図7は、本実施形態における取出機7の動作を説明すべく、本実施形態における射出成形機の要部およびチャック17を一部破断して示す側面図である。
【0040】
まず、図3に示すフローチャート(ステップS1〜S9)に従い、図1を参照しながら、本実施形態における制御部40の動作について説明すると、この図3に示すように、制御部40は、射出成形機が型盤移動シリンダ18を作動させて型開き動作を開始すると(ステップS1でYES判定の場合;図1のタイミングT0)、型盤位置検出器20からの可動型盤3(可動側金型5)の位置に基づいて、型開き動作中の金型4,5の間隔がチャック17の差し込み可能な間隔になったか否かを判断する(ステップS2)。
【0041】
型開き動作中の金型4,5の間隔がチャック17の差し込み可能な間隔になったと判断すると(ステップS2でYES判定の場合;図1のタイミングT1)、取出機7の上下方向駆動機構15におけるサーボモータ15aを制御して、チャック17を金型4,5の間に差し込み、図1や図5に示すように、チャック17が成形品10と対向しうる所定高さまでチャック17を下降させる(ステップS3;図1のタイミングT1〜T2)。
【0042】
その高さ位置で、距離検出センサ19により検出された成形品10までの距離に基づいて、成形品10に対するチャック17の相対速度を算出しながら、取出機7の前後方向駆動機構14におけるサーボモータ14aの回転速度をフィードバック制御することにより、チャック17を、射出成形機の前方向(長手方向)へ移動させ、型開き動作に伴って可動側金型5とともに移動中の成形品10に追随移動させる(ステップS4;図1のタイミングT2〜T3)。
【0043】
このようにしてチャック17を成形品10に追随移動させながら、距離検出センサ19により検出された成形品10までの距離に基づいて、チャック17が成形品10の位置に追い付いたか否かを判断し(ステップS5)、追い付いたと判断すると(YES判定の場合;図1のタイミングT3)、取出機7の前後方向駆動機構14におけるサーボモータ14aの回転速度を制御してチャック17を可動型盤3と同一速度で移動させるとともに、チャック17に対するエア供給系(図示省略)を制御してチャック17の動作を制御することにより、爪17a,17aを成形品10の孔10a,10aに係合させて成形品10をチャッキングする(ステップS6;図1のタイミングT3〜T4)。
【0044】
チャック17による成形品10のチャッキング後に、取出機7の前後方向駆動機構14におけるサーボモータ14aを制御することにより、チャック17の追随移動を停止(さらには逆方向に移動)させると同時に、成形品エジェクタ25の動作を制御して成形品10の突出しを行なう(ステップS7;図1のタイミングT4〜T5)。これにより、型開き動作に伴って可動側金型5が移動して、成形品10は可動側金型5から分離されて抜き出されることになる。
【0045】
そして、引き続き型開き動作により可動側金型5を移動させ、型盤位置検出器20による検出結果に基づいて可動側金型5とチャック17との距離が成形品10の抜き代以上になったか否かを判断し(ステップS8)、抜き代以上になったと判断すると(YES判定の場合;図1のタイミングT5)、取出機7の上下方向駆動機構15におけるサーボモータ15aを制御することにより、チャック17を上昇させて成形品10を取り出す(ステップS9;図1のタイミングT5〜T6)。このようにして成形品10の取出を完了すると(図1のタイミングT6)、射出成形機は、次の型閉じ動作を開始する。なお、図1中の“*”は、距離検出センサ19や型盤位置検出器20の検出動作タイミングを示している。
【0046】
さらに、制御部40による上述のような制御動作に応じた、本実施形態の射出成形機の成形品把持/取出動作中における具体的な状態を、図4〜図7を参照しながら説明する。なお、図4〜図7中、図2により前述した符号と同一の符号は同一部分を示している。
図4は、固定側金型4と可動側金型5とが閉じた状態(型締め状態)を示している。この図4に示す状態では、タイバー21先端の溝21aとハーフナット24とが係合しており、シリンダ3bに油圧を作用させることにより、型締めピストン22およびハーフナット24を介してタイバー21が可動型盤3を強く引き寄せることで金型4,5は型締め状態になり、この状態で射出ユニット6から金型キャビティ内に溶融樹脂が射出されて成形される。このとき、成形品取出機7のチャック17は、射出成形機と干渉しないように、射出成形機上方の位置に引き上げられている。また、スライド型装置11のロッド11a先端は、チャッキング用の孔10aを成形品10に形成すべく突出状態になっている。
【0047】
図5は、ハーフナット24が開いて、タイバー21がハーフナット24の拘束から解放され、型盤移動シリンダ18に油圧を作用させることにより可動型盤3を前方へ移動させ、金型4,5が開きつつある状態を示している。このとき、型盤位置検出器20により可動型盤3の位置を検出し、固定側金型4と可動側金型5との間隔がチャック17を下げて差し入れても干渉しない位置まで移動したことが確認されると、制御部40から取出機7に対して指示を行ない、チャック17を下降させる。また、このとき、可動型盤3は、矢印Aで示すように前方へ移動しつつあり、チャック17も、矢印Bで示すように同じ方向へ、可動型盤3よりも速く追随する。
【0048】
距離検出センサ19は、チャック17から成形品10までの距離を連続的に計測してその信号を制御部40へ送っており、この制御部40において、前述の通り成形品10に対するチャック17の相対速度を計算し、チャック17の速度を調整し、チャック17が成形品10に追い付いた後には可動型盤3と同一速度になるようにサーボモータ14aの回転速度を制御する。可動型盤3は重量が重く型開き速度は遅いのに対し、相対的に重量の軽い取出機7のチャック17を含む上下方向駆動機構15は、十分に早く成形品10に追い付くことができる。
【0049】
図6は、チャック17が成形品10に追い付き、チャック17が各爪17aを各孔10aに係合させて成形品10をチャッキングし、成形品エジェクタ25(油圧シリンダ26)が作動してエジェクトバー29が成形品10を緊締位置から突き出した状態を示している。成形品エジェクタ25が作動すると同時にチャック17は停止し、続いてチャック17を、矢印Cで示すように今までとは逆方向(後方)へ移動させる(チャック17を停止させたまま、可動型盤3を矢印A方向へ移動させ続けるだけでもよい)。
【0050】
そして、可動型盤3がなおも移動して金型4,5の間隔を広げ、チャック17が逆方向に移動して可動金型5からの距離が成形品抜き代以上になったとき、図7に示す状態になる。この図7に示す状態で、成形品10を掴んだチャック17を、矢印Dで示すように上方に引き上げることにより、成形品10を射出成形機の機外に取り出すことができる。このような成形品10の上昇取出動作を、図1に示す例では型開き動作完了後に行なっているが、可動型盤3の開移動(型開き動作)中に行なっても構わない。
【0051】
このように、本発明の一実施形態としての射出成形機の成形品取出方法および装置によれば、射出成形機の型開き動作と並行して成形品10の取出動作が実行される。つまり、図1に示すように、可動型盤3(可動側金型5)が低速で移動する型開き動作の途中(タイミングT1)から、相対的に速い移動速度で実行される成形品把持/取出動作を開始し、この成形品把持/取出動作の大部分(チャック17の下降動作やチャッキング動作など)と型開き動作とが重合されて実行される。
【0052】
これにより、射出成形機が型開き動作を終了した時点では成形品把持/取出動作の大半も完了しており、射出成形機の型開き動作と型閉じ動作との間には、例えば成形品10の上昇動作のみを行なえばよくなる。従って、次の型閉じ動作を開始するまでの射出成形機の停止期間は、従来技術で図8に示すタイミングt1〜t6の間であったのに対し、本実施形態では、図1に示すタイミングT5〜T6の間となって大幅に短縮され、成形品10の成形サイクルも大幅に短縮されるため、射出成形機の成形能力が大きく向上することになる。
【0053】
また、本実施形態のごとく、チャック17を停止させるだけでなく逆方向へ移動させることで、より速く成形品10の抜き出しを行なうことができ、成形サイクルのさらなる短縮に寄与している。
例えば大型の射出成形機(型締め力1300トン,成形品質量2.5kg)の成形品取出時間は、従来技術では約5秒であったが、本実施形態では約1秒まで短縮される。その結果、成形サイクルは約60秒から約56秒に短縮され、射出成形機の成形能力は、約7%向上することになる。
【0054】
なお、上述した実施形態では、チャック17を移動させるための移動機構として直交3軸型のものを用いているが、本発明は、これに限定されるものでなく、例えば6軸制御式のロボットなどをチャック17用の移動機構として用いてもよい。
また、上述した実施形態では、図1のタイミングT4で示すようにチャッキングを完了しチャック17の移動を停止すると同時に成形品エジェクタ25による突出し動作を行なっているが、本発明は、これに限定されるものではなく、例えば、取出機7のチャック17が可動側金型5とともに移動中の成形品10に追随している間(図1のタイミングT2〜T3)に、成形品エジェクタ25が可動側金型5から成形品10を押し出して緊締状態から解放してからチャック17で成形品10を掴み、チャック17を停止させて可動型盤3の型開き移動により成形品10を可動側金型5から分離させて抜き出した後、取出機7を操作して成形品10を取り出すように制御してもよい。このような成形品取出手順は、大型の成形品などのように可動側金型5への食いつきが極めて強い場合に特に有効である。
【0055】
さらに、上述した実施形態では、制御部40が、型盤位置検出器20からの検出結果に基づいて、チャック17の差し込み可能な間隔や、可動側金型5とチャック17との距離が抜き代以上になったことを判断しているが、型盤位置検出器20としては、可動型盤3が上記の間隔や抜き代に対応する位置に到達した時のみに信号を出力するもの(例えば、機械的に動作するリミットスイッチ等)を用いてもよい。
【0056】
【発明の効果】
以上詳述したように、本発明の射出成形機の成形品取出方法および装置によれば、成形品把持/取出動作と型開き動作とが並列的に実行されるので、型開き動作を完了した時点で成形品把持/取出動作の大半も完了しており、次の型閉じ動作を開始するまでの射出成形機の停止期間が大幅に短縮される。従って、成形品の成形サイクルも大幅に短縮され、射出成形機の成形能力が大きく向上するという効果がある。
把持機構による成形品の把持後に把持機構の移動を該追随移動方向とは逆の移動方向へ移動させるようにすれば、より速く成形品の抜き出しを行なうことができ、成形サイクルのさらなる短縮に寄与する。
【図面の簡単な説明】
【図1】本発明の一実施形態としての射出成形機の成形品取出方法を説明するためのタイミングチャートである。
【図2】本発明の一実施形態としての成形品取出装置とこの成形品取出装置を付設された射出成形機とを一部破断して示す側面図である。
【図3】本実施形態の成形品取出装置における制御部の動作を説明するためのフローチャートである。
【図4】本実施形態の成形品取出装置の動作を説明すべく、本実施形態における射出成形機の要部および把持機構(チャック)を一部破断して示す側面図である。
【図5】本実施形態の成形品取出装置の動作を説明すべく、本実施形態における射出成形機の要部および把持機構(チャック)を一部破断して示す側面図である。
【図6】本実施形態の成形品取出装置の動作を説明すべく、本実施形態における射出成形機の要部および把持機構(チャック)を一部破断して示す側面図である。
【図7】本実施形態の成形品取出装置の動作を説明すべく、本実施形態における射出成形機の要部および把持機構(チャック)を一部破断して示す側面図である。
【図8】射出成形機における従来の成形品取出手順を説明するためのタイミングチャートである。
【符号の説明】
1 ベース
2 固定型盤
3 可動型盤
4 固定側金型
5 可動側金型
6 射出ユニット
7 直交3軸型成形品取出機(成形品取出装置)
10 成形品
10a 孔(スプルー)
11 スライド型装置
12 支台
13 左右方向駆動機構(移動機構)
14 前後方向駆動機構(移動機構)
15 上下方向駆動機構(移動機構)
13a,14a,15a サーボモータ
13b,14b,15b 送りねじ
13c,14c ガイド
16 ロッド
17 チャック(把持機構)
17a 爪
18 型盤移動シリンダ
19 距離検出センサ(距離センサ)
20 位置検出器(位置センサ)
21 タイバー
22 型締めピストン
23 ハーフナット装置
24 ハーフナット
25 成形品エジェクタ
40 制御部
[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and an apparatus for taking out a molded product of an injection molding machine for automatically taking out a molded product injection molded by an injection molding machine from a mold after a cooling step.
[0002]
[Prior art]
Generally, in an injection molding machine, a molded product take-out device is provided in order to automatically take out a molded product formed by injecting molten resin into a mold. This molded product take-out device has a chuck (gripping mechanism) that holds a molded product fitted in one mold while the mold of the injection molding machine is open, and the chuck in the horizontal direction with respect to the injection molding machine. , And an orthogonal three-axis positioning mechanism for positioning with respect to the three axes in the front-rear direction and the vertical direction.
[0003]
The orthogonal three-axis positioning mechanism is installed on a fixed mold platen of an injection molding machine and usually has a left-right direction driving mechanism, a front-rear direction driving mechanism, and a vertical direction driving mechanism.
Here, the left / right direction drive mechanism is for moving the chuck in the left / right direction of the injection molding machine (the direction perpendicular to the mold opening / closing direction (longitudinal direction of the injection molding machine) in the horizontal plane). The chuck is moved in the front-rear direction of the injection molding machine [the mold opening / closing direction (longitudinal direction of the injection molding machine)], and the vertical drive mechanism is for moving the chuck up and down.
[0004]
The left and right direction driving mechanism, the front and rear direction driving mechanism, and the up and down direction driving mechanism are used to move the chuck to a required take-out position and release position, and position the chuck with respect to three orthogonal axes.
The left-right direction driving mechanism and the front-rear direction driving mechanism described above are usually an electric motor attached to the frame, a feed screw that is rotationally driven by the electric motor, and a drive target member that is screwed into the feed screw. And a nut (female screw) fixed on the side. Further, the vertical drive mechanism is constituted by, for example, an air cylinder or an electric motor, a feed screw, and a nut similar to those described above, and drives the chuck up and down via a lift arm.
[0005]
Further, the timing when the molded product take-out device as described above starts to operate is when the movable mold plate is fully opened with respect to the fixed mold plate by the mold opening operation, as will be described later with reference to FIG. A platen position sensor for detecting the position of the movable platen is provided to detect the timing when the movable platen reaches the open limit position.
Further, the movable mold plate is provided with an ejector that performs a protruding operation so that the molded product bitten in the movable mold is separated from the movable mold.
[0006]
In the injection molding machine having the molded product take-out device configured as described above, the molded product take-out device operates in the order of steps as shown in the timing chart of FIG. 8 in conjunction with the mold opening / closing process of the injection molding machine. The molded product is automatically taken out.
That is, as shown in FIG. 8, the mold opening operation is performed by moving the movable mold plate away from the fixed mold plate, and it is detected by the mold plate position sensor that the movable mold plate has reached the open limit position (or its vicinity). When confirmed, at the detection timing t1 (detected by “*” in FIG. 8), the mold opening operation is completed (the movable mold platen is stopped), and then the molded product take-out device is operated.
[0007]
At this time, the molded product take-out device first moves the chuck down to a predetermined height by the orthogonal three-axis positioning mechanism and then horizontally moves (closes) to the position facing the molded product at timing t2. Thereafter, at timing t3, an operation of gripping the molded product with the chuck (chucking) is performed, and simultaneously, an ejecting operation of the molded product by the ejector is performed. Then, by the orthogonal three-axis positioning mechanism, the chuck is moved horizontally (in the front-rear direction) by the amount of removal of the molded product at timing t4, and the molded product is extracted, and further, the chuck holding the molded product at timing t5. As it is raised, the molded product is taken out.
[0008]
In this way, the mold closing operation is started at the timing t6 when the removal of the molded product (molded product rise) is completed, and the movable mold platen is brought close to the fixed mold plate to perform the mold clamping.
[0009]
[Problems to be solved by the invention]
However, in the above-described take-out procedure by the conventional molded product take-out device, the movable mold platen is moved to the mold open limit position (or the vicinity thereof) on the injection molding machine side and stopped at that position, and then the molded product take-out device is used. After performing a series of molded product take-out operations and completing the take-out operation, the injection molding machine has started the next mold closing operation, so the injection molding machine performs the molded product take-out operation with the molded product take-out device. During this time (between timings t1 to t6), it must be completely stopped, and this is a factor that greatly reduces the molding efficiency of the injection molding machine.
[0010]
The present invention was devised in view of such problems, and by performing a mold opening operation and a molded product gripping / removing operation in parallel, shortening the stop period of the injection molding machine, It is an object of the present invention to provide a method and an apparatus for taking out a molded product of an injection molding machine, which shortens the molding cycle of the product and improves the molding capability.
[0011]
[Means for Solving the Problems]
  In order to achieve the above object, a method for taking out a molded product of an injection molding machine according to the present invention (Claim 1) uses a gripping mechanism for gripping a molded product and a moving mechanism for moving the gripping mechanism. A method of removing a molded product from a mold after a process, wherein a holding mechanism is inserted between molds by a moving mechanism during a mold opening operation of an injection molding machine, and the holding mechanism is moved by a moving mechanism along with the mold opening operation. While moving along with the moving productWhen it is determined that the gripping mechanism has reached the position of the molded product based on the distance from the gripping mechanism to the molded product.After gripping the molded product by the gripping mechanism, stop the follower movement of the gripping mechanism by the moving mechanism, and after separating the molded product from the mold by moving the mold accompanying the mold opening operation, move the gripping mechanism by the moving mechanism The molded product is taken out.
A method of taking out a molded product of an injection molding machine according to the present invention (Claim 2) uses a gripping mechanism for gripping a molded product and a moving mechanism for moving the gripping mechanism, and the molded product is molded after the injection molding cooling step. A method for removing a molded product from an injection molding machine, wherein the gripping mechanism is inserted between the molds by the moving mechanism during the mold opening operation of the injection molding machine, and the gripping mechanism is removed by the moving mechanism. Is moved along with the mold along with the mold opening operation of the injection molding machine, and the gripping mechanism moves the molded product based on the distance from the gripping mechanism to the molded product. When the molded product is gripped by the gripping mechanism when it is determined that the position has been reached, the movement of the gripping mechanism by the moving mechanism is switched to a moving direction opposite to the following moving direction, and the injection molding machine The molded product is moved by the movement of the mold accompanying the mold opening operation of the mold. After separation from the mold, to move the gripping mechanism is characterized by taking out the molded article by the moving mechanism.
In any method, a distance sensor for detecting the distance from the gripping mechanism to the molded product is provided, and the distance detected by the distance sensor is used to determine whether the gripping mechanism has reached the position of the molded product. It is preferable to carry out based on (Claim 3).
[0012]
  Further, a molded product take-out device for an injection molding machine according to the present invention (claims)4) Is a device comprising a gripping mechanism for gripping a molded product and a moving mechanism for moving the gripping mechanism in order to take out the molded product from the mold after the injection molding cooling process of the injection molding machine. A position sensor that detects the position of the mold that moves with the mold opening operation, a distance sensor that detects the distance from the gripping mechanism to the molded product, and the following items based on the detection results of these position sensors and distance sensors(1)~(5)As described above, a control unit that controls the gripping mechanism and the moving mechanism is provided.
[0013]
  (1)Moves so that the gripping mechanism is inserted between the molds when it is determined that the distance between the molds during the mold opening operation is the distance that the gripping mechanism can be inserted based on the position of the mold detected by the position sensor Control the mechanism.
  (2)Based on the distance detected by the distance sensor, the moving mechanism is controlled so that the gripping mechanism is moved along with the mold along with the mold in accordance with the mold opening operation.
[0014]
  (3)Based on the distance detected by the distance sensor, the gripping mechanism is controlled so as to grip the molded product when it is determined that the gripping mechanism has reached the position of the molded product.
  (4)The movement mechanism is controlled so that the following movement of the gripping mechanism is stopped after the molded product is gripped by the gripping mechanism.
  (5)The moving mechanism is controlled so that the gripping mechanism is moved and the molded product is taken out after the molded product is separated from the mold by the movement of the mold accompanying the mold opening operation.
In addition, a molded product take-out device for an injection molding machine according to the present invention (Claim 5) includes a gripping mechanism for gripping a molded product and a gripping mechanism for taking out the molded product from a mold after an injection molding cooling process of the injection molding machine. A position sensor that detects a position of a mold that moves in accordance with a mold opening operation of an injection molding machine, and a distance sensor that detects a distance from a gripping mechanism to a molded product. Based on the detection results of these position sensors and distance sensors, a control unit for controlling the gripping mechanism and the moving mechanism is provided as in the following items (1) to (4 ′) and (5). .
(1) The gripping mechanism is inserted between the molds when it is determined that the distance between the molds during the mold opening operation is the distance at which the gripping mechanism can be inserted based on the position of the mold detected by the position sensor. In addition, the moving mechanism is controlled.
(2) Based on the distance detected by the distance sensor, the moving mechanism is controlled so that the gripping mechanism is moved along with the mold along with the mold in accordance with the mold opening operation.
(3) The gripping mechanism is controlled so as to grip the molded product when it is determined that the gripping mechanism has reached the position of the molded product based on the distance detected by the distance sensor.
(4 ′) The movement mechanism is controlled so as to switch the movement of the gripping mechanism to a movement direction opposite to the following movement direction after gripping the molded product by the gripping mechanism.
(5) The moving mechanism is controlled so that the gripping mechanism is moved and the molded product is taken out after the molded product is separated from the mold by the movement of the mold accompanying the mold opening operation.
[0015]
In the method and apparatus for taking out a molded product of the injection molding machine according to the present invention as described above, the molded product taking-out operation is executed in parallel with the mold opening operation of the injection molding machine. That is, in the middle of the mold opening operation in which the mold (template) moves at a low speed, the molded product gripping / unloading operation executed at a relatively high moving speed is started. The operation is superposed and executed.
[0016]
As a result, most of the molded product gripping / removing process is completed when the injection molding machine finishes the mold opening operation, and the stop period of the injection molding machine until the next mold closing operation is started can be shortened. it can.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings (FIGS. 1 to 7).
FIG. 2 is a side view of the molded product take-out device as one embodiment of the present invention and an injection molding machine to which the molded product take-out device is attached, as shown in FIG. A fixed mold platen 2 is fixed on a base 1 serving as a main body base of the injection molding machine, and a movable mold platen 3 extends along a guide 1a on the base 1 in the longitudinal direction of the injection molding machine (in FIG. 2). Left and right direction). A fixed mold 4 is fixed on the fixed mold base 2, and a movable mold 5 is fixed on the movable mold base 3. An injection hole 4a for injecting molten resin is formed at the center of the fixed side mold 4.
[0018]
An injection unit 6 is provided on the fixed mold platen 2 side. The injection unit 6 plasticizes a resin material, and melts the molten resin in a mold cavity formed between the molds 4 and 5 when the fixed mold 4 and the movable mold 5 are clamped. To be injected. The molten resin injected from the nozzle 6a of the injection unit 6 is injected into the mold cavity through the injection hole 4a of the fixed mold 4 and cooled and solidified in the mold cavity to form a molded product 10. It has become so.
[0019]
Slide type apparatuses 11 and 11 are respectively installed on the upper and lower portions of the fixed mold 4. Each slide type device 11 is for forming a chucking hole (or depression; sprue) 10a on the side surface of the molded product 10, and is composed of a rod 11a and a cylinder 11b that drives the rod 11a to extend and contract. Yes. When the fixed mold 4 and the movable mold 5 are clamped and the molten resin is injected from the injection unit 6, the cylinder 11 b of each slide mold device 11 projects the rod 11 a into the mold cavity. (See FIG. 4) Chucking holes 10 a are formed at two locations in the molded product 10 at the tip of the rod 11 a.
[0020]
A hydraulic type platen moving cylinder 18 is attached to the fixed platen 2, and the tip of the operating rod 18 a of the platen moving cylinder 18 is coupled to the protruding member 3 a of the movable platen 3. The platen moving cylinder 18 moves the movable platen 3 in the front-rear direction along the guide 1a on the base 1 by hydraulic pressure, so that the movable platen 3 (movable) with respect to the fixed platen 2 (fixed side die 4). The side mold 5) is driven to open and close.
[0021]
In addition, a plurality of (only two are shown in FIG. 2) tie bars 21 are provided for the set of molds 2 and 3, and one end of each tie bar 21 is fixed to the fixed mold platen 2, while each tie bar A plurality of grooves 21a are formed on the outer periphery of the other end 21 at an equal pitch. The other end side of each tie bar 21 penetrates the movable mold plate 3 and reaches the half nut device 23 attached to the movable mold plate 3 when the mold is closed after the mold is closed by the mold plate moving cylinder 18. In the half nut device 23, a plurality of grooves 24a on the inner periphery of the half nut 24 and a groove 21a at the tip of the tie bar 21 are configured to engage (see FIG. 4).
[0022]
Further, a cylinder 3 b is formed in the outer periphery of the through portion of the tie bar 21 inside the movable mold platen 3, and a mold clamping piston 22 that can come into contact with the half nut 24 extends along the outer periphery of the tie bar 21. Built-in slidable in the front-rear direction. Therefore, at the time of mold clamping after mold closing by the mold moving cylinder 18, the mold clamping piston 22 in the cylinder 3b is engaged with the plurality of grooves 24a on the inner periphery of the half nut 24 and the grooves 21a at the tip of the tie bar 21. By applying hydraulic pressure to the rear oil chamber (the right oil chamber in FIG. 2), the tie bar 21 draws the movable mold plate 3 toward the fixed mold plate 2 via the mold clamping piston 22 and the half nut 24. A clamping force is generated.
[0023]
The injection molding machine of the present embodiment as described above is provided with an orthogonal three-axis molded product take-out machine (molded product take-out device) 7. This orthogonal three-axis molded product take-out machine 7 includes an abutment 12, a lateral drive mechanism (moving mechanism) 13, a longitudinal drive mechanism (moving mechanism) 14, a vertical drive mechanism (moving mechanism) 15, a rod 16, and a chuck. (Gripping mechanism) 17 is provided.
[0024]
Here, the abutment 12 is fixed on the fixed mold platen 2, and the left-right direction driving mechanism 13 is installed on the abutment 12.
The left-right direction driving mechanism 13 moves the chuck 17 in the left-right direction of the injection molding machine [a direction perpendicular to the front-rear direction shown in FIG. 2 in a horizontal plane; that is, a direction perpendicular to the paper surface shown in FIG. Direction)], and includes a servo motor 13a, a feed screw 13b that is rotationally driven by the servo motor 13a, and a guide 13c that guides the front-rear direction driving mechanism 14 in the left-right direction. ing. The feed screw 13b is screwed into a female screw (nut; not shown) fixed on the front / rear direction drive mechanism 14, and the feed screw 13b is rotationally driven in a predetermined direction by a servo motor 13a, thereby causing the front / rear direction. The drive mechanism 14, the vertical drive mechanism 15, the rod 16 and the chuck 17 are integrally driven in the left-right direction of the injection molding machine.
[0025]
The front-rear direction drive mechanism 14 is for moving the chuck 17 in the front-rear direction of the injection molding machine. The servo motor 14 a, the feed screw 14 b driven to rotate by the servo motor 14 a, and the vertical direction drive mechanism 15 are provided. And a guide 14c for guiding the guide in the front-rear direction. The feed screw 14b is screwed into a female screw (nut; not shown) fixed on the vertical drive mechanism 15 side, and the feed screw 14b is rotationally driven in a predetermined direction by a servo motor 14a, thereby moving up and down. The drive mechanism 15, the rod 16 and the chuck 17 are integrally driven in the front-rear direction of the injection molding machine.
[0026]
Further, the vertical drive mechanism 15 is for moving the chuck 17 in the vertical direction via the rod 16. The servo motor 15 a, the feed screw 15 b driven to rotate by the servo motor 15 a, and the rod 16 are moved up and down. It has a guide (not shown) for guiding in the direction. The feed screw 15b is screwed into a female screw (nut; not shown) on the rod 16 side, and the feed screw 15b is rotationally driven in a predetermined direction by a servo motor 15a, whereby the rod 16 and the chuck 17 are integrally formed. It is configured to be driven up and down in the vertical direction.
[0027]
The chuck 17 can be positioned with respect to the three orthogonal axes by moving the chuck 17 in each axial direction by the left-right direction driving mechanism 13, the front-rear direction driving mechanism 14, and the vertical direction driving mechanism 15. Yes.
The rod 16 extends downward from the vertical drive mechanism 15, and a chuck 17 is attached to the tip (lower end) thereof. The chuck 17 is for gripping the molded product 10 biting on the movable mold 5 after the injection molding cooling process, and is composed of a pair of upper and lower claws 17a and 17a arranged symmetrically. These claws 17a and 17a are driven to open and close by air from an air pressure source (not shown), and each of the claws 17a is engaged with a hole (sprue) 10a formed in the molded article 10 so that the molded article 10 is chucked ( (See FIGS. 6 and 7). As a mechanism for chucking the molded product 10, a suction pad using a vacuum state generated by a suction pump or the like may be used.
[0028]
The movable mold platen 3 is provided with a molded product ejector 25. The molded product ejector 25 is for detaching the molded product 10 in a state of being caught in the movable mold 5 from the movable mold 5 as shown in FIG. 2, and includes a hydraulic cylinder 26, a pressing rod 27, and an operating plate 28. , An eject bar 29 and a compression spring 30.
[0029]
Here, the hydraulic cylinder 26 is attached to the front side of the movable platen 3, and a plurality of pressing rods 27 (only two are shown in FIG. 2) are fixed to the operating rod 26 a of the hydraulic cylinder 26. ing. Each pressing rod 27 is disposed so as to pass through the movable mold plate 3 so as to be slidable in the front-rear direction, and when driven rearward by the hydraulic cylinder 26, its front end (rear end) is the rear surface of the movable mold plate 3. It arrange | positions so that it may protrude to the side.
[0030]
Further, a recess 5a is formed in the front end surface of the movable mold 5 (the portion facing the rear surface of the movable mold platen 3), and the operation plate 28 is slidably housed in the recess 5a. In addition, a compression spring 30 that urges the operation plate 28 toward the movable mold platen 3 is interposed between the operation plate 28 and the movable mold 5.
Further, a plurality of eject bars 29 (only two are shown in FIG. 2) are fixed to the operation plate 28. Each eject bar 29 is arranged so as to penetrate the movable mold 5 so as to be slidable in the front-rear direction, and when driven rearward, its tip (rear end) is directed to the rear surface side of the movable mold 5. It arrange | positions so that it may protrude and the molded article 10 may be extruded.
[0031]
Therefore, in the molded product ejector 25 of the present embodiment, as will be described later with reference to FIGS. 6 and 7, the pressing rod 27 is driven backward by the hydraulic cylinder 26 via the operating rod 26 a, so that the pressing rod 27 is It abuts against the front surface of the working plate 28 and pushes the working plate 28 backward while resisting the biasing force of the compression spring 30. As a result, the eject bar 29 is moved rearward together with the operation plate 28, and the tip of the eject bar 29 protrudes toward the rear surface side of the movable mold 5 so as to push the molded product 10 backward while contacting the molded product 10. It has become.
[0032]
Here, the operating stroke of the molded product ejector 25 (the operating rod 26a of the hydraulic cylinder 26) is required to push out the molded product 10 that bites the movable mold 5 in a cooled state after being injection molded. Very small dimensions are set. Further, after the molded product 10 is pushed out, the operating rod 26a of the hydraulic cylinder 26 is returned to the original position (position shown in FIG. 2), whereby the urging force of the compression spring 30 acts and the operating plate 28 and the ejector are moved. The bar 29 is also returned to its original position (position shown in FIG. 2).
[0033]
Further, in this embodiment, the servo motor 14a in the front-rear direction drive mechanism 14 can freely rotate so that the feed rate (feed rate in the front-rear direction) of the chuck 17 can be freely changed and controlled by the control device 40 described later. It is comprised by the AC servo motor which can be controlled to.
A distance detection sensor (distance sensor) 19 is attached to the lower end of the rod 16. This distance detection sensor 19 detects the distance to the molded product 10 attached to the movable mold 5 as shown in FIG. 2 during the chucking operation by the chuck 17, and as the distance detection sensor 19, For example, a potentiometer that senses the expansion and contraction of a detection bar that can directly contact the molded product 10 or a device that detects the distance to the molded product 10 in a non-contact manner using an ultrasonic reflected wave or the like is used. In the present embodiment, an example in which the latter non-contact type sensor is employed is illustrated.
[0034]
Furthermore, the base 1 includes a mold platen position detector (position sensor) for detecting the position in the front-rear direction of the movable mold platen 3 (that is, the movable mold 5) that moves with the mold opening operation of the injection molding machine. 20 are provided.
Detection signals from the distance detection sensor 19 and the platen position detector 20 are input to the control unit 40. Based on the detection signals from the distance detection sensor 19 and the platen position detector 20, the control unit 40 of the present embodiment follows the flowchart described later with reference to FIG. The drive mechanisms 13 to 15), the chuck 17 and the molded product ejector 25 are controlled. Basically, the following control operations (1) to (5) are performed.
[0035]
(1) Based on the position of the movable mold platen 3 (movable side mold 5) detected by the mold platen position detector 20, the interval between the molds 4 and 5 during the mold opening operation is set to the interval at which the chuck 17 can be inserted. The take-out machine 7 (vertical drive mechanism 15) is controlled so that the chuck 17 is inserted between the dies 4 and 5 when it is determined that it has become.
(2) Molding while moving the chuck 17 together with the movable mold 5 along with the mold opening operation while calculating the relative speed of the chuck 17 with respect to the molded product 10 based on the distance detected by the distance detection sensor 19. The take-out machine 7 (rotational speed of the servo motor 14a in the front-rear direction drive mechanism 14) is controlled so as to follow the product 10.
[0036]
(3) When it is determined that the chuck 17 has reached the position of the molded product 10 based on the distance detected by the distance detection sensor 19, the unloader 7 moves so that the chuck 17 moves at the same speed as the movable mold plate 3. The chuck 17 is controlled so as to grip (chuck) the molded product 10 while controlling (the rotational speed of the servo motor 14a in the front-rear direction drive mechanism 14).
[0037]
(4) Control of the unloader 7 (servo motor 14a in the longitudinal drive mechanism 14) and molding so that the follow-up movement of the chuck 17 is stopped (or moved in the reverse direction) after the molded article 10 is gripped by the chuck 17. The product ejector 25 is operated to control the molded product 10 to protrude.
(5) The movable mold 3 (movable mold) detected by the mold position detector 20 after the molded product 10 is separated from the movable mold 5 by the movement of the movable mold 5 in accordance with the mold opening operation. 5) When it is determined that the distance between the movable mold 5 and the chuck 17 is equal to or greater than the removal allowance of the molded product 10 based on the position of 5), the chuck 17 is moved upward so that the molded product 10 is taken out. The unloader 7 (vertical drive mechanism 15) is controlled.
[0038]
In FIG. 2, reference numeral 3 'indicates the position of the movable mold platen 3 or the like when the mold is clamped, while reference numeral 3 "indicates the position of the movable mold platen 3 or the like when the mold opening operation is completed. In the embodiment, the positioning in the left-right direction of the chuck 17 is described as being already completed by the left-right direction driving mechanism 13. Further, the operation of the pattern moving cylinder 18 is controlled by the take-out machine 7. It is controlled by a control device (not shown) for the injection molding machine provided separately from the unit 40.
[0039]
Next, the operation of the molded product taking-out apparatus of the injection molding machine as an embodiment of the present invention configured as described above will be described with reference to FIGS. 1 and 3 to 7. Here, FIG. 1 is a timing chart showing the timing of the mold opening operation and the molded product gripping / removing operation in order to explain the molded product taking-out method according to the present embodiment. FIG. 3 is a timing chart of the control unit 40 in the present embodiment. FIGS. 4 to 7 are flowcharts for explaining the operation, and FIG. 4 to FIG. 7 are side views showing a part of the main part of the injection molding machine and the chuck 17 in this embodiment in order to explain the operation of the unloader 7 in this embodiment. FIG.
[0040]
First, according to the flowchart (steps S1 to S9) shown in FIG. 3, the operation of the control unit 40 in the present embodiment will be described with reference to FIG. 1. As shown in FIG. When the machine operates the mold platen moving cylinder 18 to start the mold opening operation (in the case of YES determination in step S1; timing T0 in FIG. 1), the movable mold platen 3 (movable side mold) from the mold platen position detector 20 is used. Based on the position of 5), it is determined whether or not the distance between the molds 4 and 5 during the mold opening operation has become the distance at which the chuck 17 can be inserted (step S2).
[0041]
If it is determined that the distance between the molds 4 and 5 during the mold opening operation is such that the chuck 17 can be inserted (YES determination in step S2; timing T1 in FIG. 1), the vertical drive mechanism 15 of the unloader 7 The servo motor 15a is controlled so that the chuck 17 is inserted between the dies 4 and 5, and the chuck 17 is lowered to a predetermined height at which the chuck 17 can face the molded product 10 as shown in FIGS. (Step S3; timings T1 to T2 in FIG. 1).
[0042]
Servo motors in the longitudinal drive mechanism 14 of the unloader 7 while calculating the relative speed of the chuck 17 with respect to the molded product 10 based on the distance to the molded product 10 detected by the distance detection sensor 19 at the height position. By feedback control of the rotational speed of 14a, the chuck 17 is moved in the forward direction (longitudinal direction) of the injection molding machine, and is moved along with the movable mold 5 in accordance with the mold opening operation. (Step S4; timings T2 to T3 in FIG. 1).
[0043]
In this way, it is determined whether the chuck 17 has caught up with the position of the molded product 10 based on the distance to the molded product 10 detected by the distance detection sensor 19 while moving the chuck 17 following the molded product 10. (Step S5) When it is determined that it has caught up (in the case of YES determination; timing T3 in FIG. 1), the rotational speed of the servo motor 14a in the front-rear direction drive mechanism 14 of the unloader 7 is controlled to make the chuck 17 and the movable mold 3 While moving at the same speed and controlling the operation of the chuck 17 by controlling the air supply system (not shown) to the chuck 17, the claws 17 a and 17 a are engaged with the holes 10 a and 10 a of the molded product 10 and molded. The product 10 is chucked (step S6; timings T3 to T4 in FIG. 1).
[0044]
After chucking the molded product 10 by the chuck 17, the follower movement of the chuck 17 is stopped (and moved in the reverse direction) by controlling the servo motor 14 a in the longitudinal drive mechanism 14 of the unloader 7, and at the same time, molding is performed. The operation of the product ejector 25 is controlled to project the molded product 10 (step S7; timings T4 to T5 in FIG. 1). Thereby, the movable mold 5 is moved along with the mold opening operation, and the molded product 10 is separated from the movable mold 5 and extracted.
[0045]
Then, the movable mold 5 is continuously moved by the mold opening operation, and the distance between the movable mold 5 and the chuck 17 is equal to or longer than the removal allowance of the molded product 10 based on the detection result by the mold platen position detector 20. (Step S8), if it is determined that the removal allowance is exceeded (in the case of YES determination; timing T5 in FIG. 1), by controlling the servo motor 15a in the vertical drive mechanism 15 of the unloader 7, The chuck 17 is raised and the molded product 10 is taken out (step S9; timings T5 to T6 in FIG. 1). When the removal of the molded product 10 is completed in this way (timing T6 in FIG. 1), the injection molding machine starts the next mold closing operation. Note that “*” in FIG. 1 indicates the detection operation timing of the distance detection sensor 19 and the platen position detector 20.
[0046]
Furthermore, a specific state during the molded product gripping / removing operation of the injection molding machine of the present embodiment according to the control operation as described above by the control unit 40 will be described with reference to FIGS. 4 to 7, the same reference numerals as those described above with reference to FIG. 2 indicate the same parts.
FIG. 4 shows a state where the fixed side mold 4 and the movable side mold 5 are closed (clamped state). In the state shown in FIG. 4, the groove 21 a at the tip of the tie bar 21 and the half nut 24 are engaged. By strongly pulling the movable mold platen 3, the molds 4 and 5 are in a clamped state, and in this state, molten resin is injected from the injection unit 6 into the mold cavity and molded. At this time, the chuck 17 of the molded product take-out machine 7 is pulled up to a position above the injection molding machine so as not to interfere with the injection molding machine. Further, the tip of the rod 11 a of the slide type device 11 is in a protruding state so as to form a chucking hole 10 a in the molded product 10.
[0047]
In FIG. 5, the half nut 24 is opened, the tie bar 21 is released from the restraint of the half nut 24, and the movable platen 3 is moved forward by applying hydraulic pressure to the platen moving cylinder 18. Shows a state where is opening. At this time, the position of the movable mold platen 3 is detected by the mold platen position detector 20, and the distance between the fixed mold 4 and the movable mold 5 has moved to a position where it does not interfere even when the chuck 17 is lowered and inserted. Is confirmed, the controller 40 instructs the unloader 7 to lower the chuck 17. At this time, the movable platen 3 is moving forward as indicated by an arrow A, and the chuck 17 follows the same direction as indicated by an arrow B faster than the movable platen 3.
[0048]
The distance detection sensor 19 continuously measures the distance from the chuck 17 to the molded product 10 and sends the signal to the control unit 40. In the control unit 40, the relative position of the chuck 17 to the molded product 10 as described above. The speed is calculated, the speed of the chuck 17 is adjusted, and after the chuck 17 catches up with the molded product 10, the rotational speed of the servo motor 14 a is controlled so as to be the same speed as the movable mold platen 3. The movable platen 3 is heavy and the mold opening speed is slow, whereas the up-down direction drive mechanism 15 including the chuck 17 of the relatively light weight unloader 7 can catch up with the molded product 10 sufficiently quickly.
[0049]
FIG. 6 shows that the chuck 17 catches up with the molded product 10, the chuck 17 engages each claw 17 a with each hole 10 a to chuck the molded product 10, and the molded product ejector 25 (hydraulic cylinder 26) operates to eject. The bar 29 has shown the state which protruded the molded article 10 from the tightening position. As soon as the molded product ejector 25 is operated, the chuck 17 is stopped, and then the chuck 17 is moved in the reverse direction (rearward) as indicated by the arrow C (the movable mold plate is kept stopped). 3 may continue to move in the direction of arrow A).
[0050]
When the movable mold platen 3 still moves to increase the distance between the molds 4 and 5, and the chuck 17 moves in the reverse direction, the distance from the movable mold 5 becomes more than the allowance for removing the molded product. The state shown in FIG. In the state shown in FIG. 7, the molded product 10 can be taken out of the injection molding machine by pulling up the chuck 17 holding the molded product 10 as indicated by an arrow D. Such an upward take-out operation of the molded product 10 is performed after the mold opening operation is completed in the example shown in FIG. 1, but it may be performed during the opening movement (mold opening operation) of the movable mold platen 3.
[0051]
As described above, according to the method and apparatus for taking out a molded product of an injection molding machine as an embodiment of the present invention, the take-out operation of the molded product 10 is executed in parallel with the mold opening operation of the injection molding machine. That is, as shown in FIG. 1, the molded product gripping / running performed at a relatively high moving speed from the middle of the mold opening operation (timing T1) in which the movable mold platen 3 (movable side mold 5) moves at a low speed. The unloading operation is started, and most of the molded product gripping / unloading operations (such as the lowering operation and chucking operation of the chuck 17) and the mold opening operation are superposed and executed.
[0052]
Thus, most of the molded product gripping / removing operation is completed when the injection molding machine finishes the mold opening operation. For example, the molded product 10 is between the mold opening operation and the mold closing operation of the injection molding machine. It is only necessary to perform the ascending operation. Therefore, the stop period of the injection molding machine until the next mold closing operation is started is between the timings t1 to t6 shown in FIG. 8 in the prior art, whereas in this embodiment, the timing shown in FIG. Since it is greatly shortened between T5 and T6 and the molding cycle of the molded product 10 is also greatly shortened, the molding capability of the injection molding machine is greatly improved.
[0053]
Further, as in this embodiment, not only the chuck 17 is stopped but also moved in the reverse direction, whereby the molded product 10 can be extracted more quickly, which contributes to further shortening of the molding cycle.
For example, the molded product take-out time of a large injection molding machine (clamping force 1300 tons, molding quality amount 2.5 kg) is about 5 seconds in the prior art, but is shortened to about 1 second in this embodiment. As a result, the molding cycle is shortened from about 60 seconds to about 56 seconds, and the molding capability of the injection molding machine is improved by about 7%.
[0054]
In the above-described embodiment, an orthogonal three-axis type moving mechanism for moving the chuck 17 is used. However, the present invention is not limited to this, for example, a six-axis control type robot Etc. may be used as a moving mechanism for the chuck 17.
In the above-described embodiment, as shown by the timing T4 in FIG. 1, the chucking is completed and the movement of the chuck 17 is stopped, and at the same time, the protruding operation by the molded product ejector 25 is performed. However, the present invention is limited to this. For example, the molded product ejector 25 is movable while the chuck 17 of the unloader 7 follows the moving molded product 10 together with the movable mold 5 (timing T2 to T3 in FIG. 1). After the molded product 10 is pushed out from the side mold 5 and released from the tightening state, the molded product 10 is grasped by the chuck 17, the chuck 17 is stopped, and the movable mold 3 is opened to move the molded product 10. It may be controlled so that the molded product 10 is taken out by operating the take-out machine 7 after being separated from 5 and extracted. Such a molded product take-out procedure is particularly effective when the biting to the movable mold 5 is extremely strong, such as a large molded product.
[0055]
Further, in the above-described embodiment, the control unit 40 determines whether the distance at which the chuck 17 can be inserted and the distance between the movable mold 5 and the chuck 17 are based on the detection result from the mold position detector 20. Although it has been determined that the above has been reached, the mold position detector 20 outputs a signal only when the movable mold 3 reaches a position corresponding to the above-described distance or allowance (for example, A mechanically operated limit switch or the like may be used.
[0056]
【The invention's effect】
  As described above in detail, according to the method and apparatus for taking out a molded product of an injection molding machine of the present invention, the mold holding / unloading operation and the mold opening operation are executed in parallel, so the mold opening operation is completed. At that time, most of the molded product gripping / removing operation is completed, and the stop period of the injection molding machine until the next mold closing operation is started is greatly shortened. Therefore, the molding cycle of the molded product is greatly shortened, and the molding capability of the injection molding machine is greatly improved.
  If the movement of the gripping mechanism is moved in the direction opposite to the following movement direction after gripping the molded product by the gripping mechanism, the molded product can be extracted more quickly, contributing to further shortening of the molding cycle. To do.
[Brief description of the drawings]
FIG. 1 is a timing chart for explaining a method of taking out a molded product of an injection molding machine as one embodiment of the present invention.
FIG. 2 is a side view showing a partially cutaway view of a molded product take-out device and an injection molding machine provided with the molded product take-out device as an embodiment of the present invention.
FIG. 3 is a flowchart for explaining the operation of a control unit in the molded product removal apparatus of the present embodiment.
FIG. 4 is a side view partially broken away showing a main part of an injection molding machine and a gripping mechanism (chuck) in the present embodiment in order to explain the operation of the molded product removing apparatus of the present embodiment.
FIG. 5 is a partially cutaway side view showing a main part of an injection molding machine and a gripping mechanism (chuck) in the present embodiment in order to explain the operation of the molded product taking-out apparatus of the present embodiment.
FIG. 6 is a partially cutaway side view showing a main part of an injection molding machine and a gripping mechanism (chuck) in the present embodiment in order to explain the operation of the molded product taking-out device of the present embodiment.
FIG. 7 is a side view partially broken away showing a main part and a gripping mechanism (chuck) of the injection molding machine according to the present embodiment in order to explain the operation of the molded product removing apparatus according to the present embodiment.
FIG. 8 is a timing chart for explaining a conventional molded product take-out procedure in the injection molding machine.
[Explanation of symbols]
1 base
2 Fixed platen
3 Movable type board
4 Fixed mold
5 Movable mold
6 Injection unit
7 Orthogonal 3-axis molded product take-out machine (molded product take-out device)
10 Molded products
10a Hole (Sprue)
11 Slide type device
12 Abutment
13 Left-right direction drive mechanism (moving mechanism)
14 Longitudinal drive mechanism (moving mechanism)
15 Vertical drive mechanism (moving mechanism)
13a, 14a, 15a Servo motor
13b, 14b, 15b Lead screw
13c, 14c guide
16 rod
17 Chuck (gripping mechanism)
17a nails
18 Cylinder moving cylinder
19 Distance detection sensor (distance sensor)
20 Position detector (position sensor)
21 Tie Bar
22 Clamping piston
23 Half nut device
24 Half nut
25 Molded product ejector
40 Control unit

Claims (5)

  1. 成形品を把持する把持機構と該把持機構を移動させる移動機構とを用いて、射出成形冷却工程後に該成形品を金型から取り出す、射出成形機の成形品取出方法であって、
    該射出成形機の型開き動作中に、該移動機構により該把持機構を該金型の間に差し込み、
    該移動機構により、該把持機構を、該射出成形機の型開き動作に伴って該金型とともに移動中の該成形品に追随移動させながら、該把持機構から該成形品までの距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で該把持機構により該成形品を把持してから、
    該移動機構による該把持機構の移動を停止させ、該射出成形機の型開き動作に伴う該金型の移動により該成形品を該金型から分離した後、
    該移動機構により該把持機構を移動させて該成形品を取り出すことを特徴とする、射出成形機の成形品取出方法。
    A method of taking out a molded product of an injection molding machine, wherein a molding mechanism for gripping a molded product and a moving mechanism for moving the gripping mechanism are used to take out the molded product from a mold after an injection molding cooling step.
    During the mold opening operation of the injection molding machine, the gripping mechanism is inserted between the molds by the moving mechanism,
    Based on the distance from the gripping mechanism to the molded product while the gripping mechanism is moved along with the mold in accordance with the mold opening operation of the injection molding machine by the moving mechanism. After gripping the molded product by the gripping mechanism when it is determined that the gripping mechanism has reached the position of the molded product,
    After stopping the movement of the gripping mechanism by the moving mechanism and separating the molded product from the mold by moving the mold accompanying the mold opening operation of the injection molding machine,
    A method of taking out a molded product of an injection molding machine, wherein the moving mechanism moves the gripping mechanism to take out the molded product.
  2. 成形品を把持する把持機構と該把持機構を移動させる移動機構とを用いて、射出成形冷却工程後に該成形品を金型から取り出す、射出成形機の成形品取出方法であって、  A method of taking out a molded product of an injection molding machine, wherein a molding mechanism for gripping a molded product and a moving mechanism for moving the gripping mechanism are used to take out the molded product from a mold after an injection molding cooling step.
    該射出成形機の型開き動作中に、該移動機構により該把持機構を該金型の間に差し込み、  During the mold opening operation of the injection molding machine, the gripping mechanism is inserted between the molds by the moving mechanism,
    該移動機構により、該把持機構を、該射出成形機の型開き動作に伴って該金型とともに移動中の該成形品に追随移動させながら、該把持機構から該成形品までの距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で該把持機構により該成形品を把持してから、  Based on the distance from the gripping mechanism to the molded product while the gripping mechanism is moved along with the mold in accordance with the mold opening operation of the injection molding machine by the moving mechanism. After gripping the molded product by the gripping mechanism when it is determined that the gripping mechanism has reached the position of the molded product,
    該移動機構による該把持機構の移動を該追随移動方向とは逆の移動方向へ切り替えて、該射出成形機の型開き動作に伴う該金型の移動により該成形品を該金型から分離した後、  The movement of the gripping mechanism by the movement mechanism is switched to a movement direction opposite to the following movement direction, and the molded product is separated from the mold by the movement of the mold accompanying the mold opening operation of the injection molding machine. rear,
    該移動機構により該把持機構を移動させて該成形品を取り出すことを特徴とする、射出成形機の成形品取出方法。  A method of taking out a molded product of an injection molding machine, wherein the moving mechanism moves the gripping mechanism to take out the molded product.
  3. 把持機構から該成形品までの距離を検出する距離センサをそなえ、上記の把持機構が成形品の位置に到達したか否かの判断を、該距離センサで検出された距離に基づいて行なうことを特徴とする、請求項1又は2記載の射出成形機の成形品取出方法。  A distance sensor for detecting the distance from the gripping mechanism to the molded product is provided, and whether or not the gripping mechanism has reached the position of the molded product is determined based on the distance detected by the distance sensor. The method for taking out a molded product of an injection molding machine according to claim 1 or 2, characterized in that
  4. 射出成形機の射出成形冷却工程後に成形品を金型から取り出すべく、該成形品を把持する把持機構と、該把持機構を移動させる移動機構とをそなえてなる、射出成形機の成形品取出装置において、  A molded product take-out device for an injection molding machine comprising a gripping mechanism for gripping the molded product and a moving mechanism for moving the gripping mechanism in order to take out the molded product from the mold after the injection molding cooling process of the injection molding machine. In
    該射出成形機の型開き動作に伴って移動する該金型の位置を検出する位置センサと、該把持機構から該成形品までの距離を検出する距離センサと、該位置センサおよび該距離センサによる検出結果に基づいて該把持機構および該移動機構を制御する制御部とをそなえ、  A position sensor that detects the position of the mold that moves in accordance with the mold opening operation of the injection molding machine, a distance sensor that detects a distance from the gripping mechanism to the molded product, and the position sensor and the distance sensor. A control unit for controlling the gripping mechanism and the moving mechanism based on a detection result;
    該制御部が、  The control unit
    該位置センサにより検出された該金型の位置に基づいて該射出成形機の型開き動作中の該金型の間隔が該把持機構の差し込み可能な間隔になったと判断した時点で該把持機構を該金型の間に差し込むように、該移動機構を制御し、  When it is determined that the distance between the molds during the mold opening operation of the injection molding machine is the distance at which the gripping mechanism can be inserted based on the position of the mold detected by the position sensor, the gripping mechanism is Controlling the moving mechanism to insert between the molds;
    該距離センサにより検出された前記距離に基づいて、該把持機構を、該射出成形機の型開き動作に伴って該金型とともに移動中の該成形品に追随移動させるように、該移動機構を制御し、  Based on the distance detected by the distance sensor, the gripping mechanism is moved in accordance with the mold opening operation of the injection molding machine so as to follow the molded product being moved together with the mold. Control
    該距離センサにより検出された前記距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で該成形品を把持するように、該把持機構を制御し、  Controlling the gripping mechanism to grip the molded product when it is determined that the gripping mechanism has reached the position of the molded product based on the distance detected by the distance sensor;
    該把持機構による該成形品の把持後に該把持機構の追随移動を停止させるように、該移動機構を制御し、  Controlling the movement mechanism to stop the following movement of the gripping mechanism after gripping the molded product by the gripping mechanism;
    該射出成形機の型開き動作に伴う該金型の移動により該成形品が該金型から分離された  The molded product was separated from the mold by the movement of the mold accompanying the mold opening operation of the injection molding machine. 後に該把持機構を移動させて該成形品を取り出すように、該移動機構を制御することを特徴とする、射出成形機の成形品取出装置。An apparatus for taking out a molded product of an injection molding machine, wherein the moving mechanism is controlled so that the gripping mechanism is moved later to take out the molded product.
  5. 射出成形機の射出成形冷却工程後に成形品を金型から取り出すべく、該成形品を把持する把持機構と、該把持機構を移動させる移動機構とをそなえてなる、射出成形機の成形品取出装置において、  A molded product take-out device for an injection molding machine comprising a gripping mechanism for gripping the molded product and a moving mechanism for moving the gripping mechanism in order to take out the molded product from the mold after the injection molding cooling process of the injection molding machine. In
    該射出成形機の型開き動作に伴って移動する該金型の位置を検出する位置センサと、該把持機構から該成形品までの距離を検出する距離センサと、該位置センサおよび該距離センサによる検出結果に基づいて該把持機構および該移動機構を制御する制御部とをそなえ、  A position sensor that detects the position of the mold that moves in accordance with the mold opening operation of the injection molding machine, a distance sensor that detects a distance from the gripping mechanism to the molded product, and the position sensor and the distance sensor. A control unit for controlling the gripping mechanism and the moving mechanism based on a detection result;
    該制御部が、  The control unit
    該位置センサにより検出された該金型の位置に基づいて該射出成形機の型開き動作中の該金型の間隔が該把持機構の差し込み可能な間隔になったと判断した時点で該把持機構を該金型の間に差し込むように、該移動機構を制御し、  When it is determined that the distance between the molds during the mold opening operation of the injection molding machine is the distance at which the gripping mechanism can be inserted based on the position of the mold detected by the position sensor, the gripping mechanism is Controlling the moving mechanism to be inserted between the molds;
    該距離センサにより検出された前記距離に基づいて、該把持機構を、該射出成形機の型開き動作に伴って該金型とともに移動中の該成形品に追随移動させるように、該移動機構を制御し、  Based on the distance detected by the distance sensor, the gripping mechanism is moved in accordance with the mold opening operation of the injection molding machine so as to follow the molded product being moved together with the mold. Control
    該距離センサにより検出された前記距離に基づいて該把持機構が該成形品の位置に到達したと判断した時点で該成形品を把持するように、該把持機構を制御し、  Controlling the gripping mechanism to grip the molded product when it is determined that the gripping mechanism has reached the position of the molded product based on the distance detected by the distance sensor;
    該把持機構による該成形品の把持後に該把持機構の移動を該追随移動方向とは逆の移動方向へ移動させるように切り替えるように、該移動機構を制御し、  Controlling the movement mechanism so as to switch the movement of the gripping mechanism to a movement direction opposite to the following movement direction after gripping the molded product by the gripping mechanism;
    該射出成形機の型開き動作に伴う該金型の移動により該成形品が該金型から分離された後に該把持機構を移動させて該成形品を取り出すように、該移動機構を制御することを特徴とする、射出成形機の成形品取出装置。  Controlling the moving mechanism such that the gripping mechanism is moved and the molded product is taken out after the molded product is separated from the mold by the movement of the mold accompanying the mold opening operation of the injection molding machine. An apparatus for taking out a molded product of an injection molding machine.
JP27937996A 1996-10-22 1996-10-22 Method and apparatus for taking out molded product of injection molding machine Expired - Fee Related JP3659754B2 (en)

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DE19847740C1 (en) 1998-10-16 2000-03-23 Richard Herbst Controlling pressure injection molding machine displacements to prevent clash between molding grip and dies, sets interval of tolerance for path overlap and modulates accelerations for extreme speed
JP4654053B2 (en) * 2005-02-28 2011-03-16 株式会社ユーシン精機 Mold take-out device
JP2007083489A (en) * 2005-09-21 2007-04-05 Yushin Precision Equipment Co Ltd Molding takeoff machine
JP2008230125A (en) * 2007-03-22 2008-10-02 Konica Minolta Opto Inc Injection molding machine and molding method
JP5280091B2 (en) * 2008-04-24 2013-09-04 住友重機械工業株式会社 Injection molding system and injection molding method
DE102009018308B4 (en) * 2009-04-22 2014-06-12 Renate KEINATH Peripheral device for an injection molding machine
EP2324983A1 (en) * 2009-11-18 2011-05-25 Honda Motor Co., Ltd. Method of ejecting molded article, apparatus of the same, and molding apparatus
KR101299435B1 (en) * 2012-04-17 2013-08-29 주식회사 유테크 Robot for picking up injection-molding product
JP6651717B2 (en) * 2015-06-23 2020-02-19 凸版印刷株式会社 Method for manufacturing needle-like body
KR102035625B1 (en) * 2019-05-16 2019-10-23 유명일 Injection mold for forming core semi-product

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