JP3663169B2 - Molded product take-out machine - Google Patents

Description

[0001]
[Technical field to which the invention belongs]
The present invention relates to a molded product take-out machine for taking out a molded product from a resin molding machine, and more particularly to a molded product take-out machine provided with safety means for ensuring the safety of an operator who has entered a release area of a molded product.
[0002]
[Problems to be solved by the invention]
In the molded product take-out machine, the molded product taken out by the conveyor conveyer arranged at the release position of the molded product is automatically carried out, or the molded product taken out by the arranged boxing device is accommodated in the container. Although it is being carried out, an operator needs to enter the release area of the molded product in order to check the carrying out state and the boxed state and to maintain and inspect these devices.
[0003]
In this case, a safety fence that surrounds the entire release area is used to prevent the operator who has entered the release area from coming into contact with the operator when the chuck moves to the release position, the unloading position, and the boxing position. And stop the movement of the chuck based on the signal from the detector that detects that the safety fence door has been opened when an operator enters the safety fence, or use a servo motor as the moving member of the chuck. If it is, the vehicle is decelerated to avoid contact with the worker, to sound the buzzer, or to turn on a warning light to notify the worker to ensure safety.
[0004]
However, the conventional safety means described above requires the installation of a safety fence on the factory floor corresponding to the release area of the molded product take-out machine and a detector for detecting the opening of the safety fence door. However, there is a problem that the work area of the worker is narrowed and the workability is deteriorated or the walking is disturbed.
[0005]
The present invention has been invented in order to solve the above-mentioned conventional drawbacks, and the subject of the present invention is that within the release area of the molded product without narrowing the worker's work area and walking area. An object of the present invention is to provide a molded product take-out machine that can reliably ensure the safety of an operator who has entered the factory.
[0006]
Another object of the present invention is to provide a molded product take-out machine capable of reducing the equipment cost for ensuring the safety of the operator.
[0007]
[Means for Solving the Problems]
According to the first aspect of the present invention, in the direction orthogonal to the longitudinal direction of the resin molding machine, on the main body frame extending over the mold and the release position set outside the resin molding machine on either the operation side or the non-operation side. A traveling body that reciprocates and an elevating frame that is supported by the traveling body so as to be movable up and down and that has a chuck attached to a lower part thereof and that holds a molded product, are moved vertically and vertically by moving the traveling body and the elevating frame. In the molded product take-out machine that moves in the direction and takes out the molded product in the mold to the release position, the body frame on the release position side is provided with a human detection member having a predetermined human detection area outside the resin molding machine, and the chuck When the human detection member transitions from the human non-detection state to the human detection state while entering the release area at the release position, the movement of the chuck is controlled to be decelerated. , When continued, characterized in that a control means for stopping controlling the movement of the chuck.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 2, the main body frame 3 of the molded product take-out machine 1 extends from the upper side of the mold of the resin molding machine 2 to the operation side or the non-operation side in a direction orthogonal to the longitudinal direction of the resin molding machine 2. The base portion is fixed to the upper surface of the fixed-side mounting board 5. The above-described resin molding machine 2 is a conventionally known injection molding machine, and a detailed description thereof will be omitted.
[0011]
A traveling body 9 provided with front and rear frames 7 extending in the longitudinal direction of the resin molding machine 2 is supported on the main body frame 3 so as to be movable in the longitudinal orthogonal direction. The traveling body 9 is longitudinally orthogonal by a numerically controllable servo motor 11. Reciprocated in the direction.
[0012]
A front / rear traveling body 13 is supported on the front / rear frame 7 so as to be reciprocally movable in the longitudinal direction. The front / rear traveling body 13 is reciprocated in the longitudinal direction by a servo motor 15 capable of numerical control.
[0013]
An elevating frame 19 provided with a chuck 17 at the lower portion is supported on the front and rear traveling body 13 so as to be movable up and down, and the elevating frame 19 is reciprocated in the vertical direction by a servo motor 21 that can be controlled numerically.
[0014]
The driving mechanism of the traveling body 9 connected to the servo motor 11, the driving mechanism of the front and rear traveling body 13 connected to the servo motor 15, and the driving mechanism of the elevating frame 19 connected to the servo motor 21 include each servo motor 11. 15 and 21 are connected to the feed screw and the traveling body 9, the front and rear traveling body 13, and the elevating frame 19, and the feed screw driving mechanism comprising the nuts engaged with the respective feed screws, the main body frame 3, the front and rear frames 7 Ended belt drive mechanism in which pulleys provided on servo motors 11, 15 and 21 provided on the traveling body 9 and the front and rear traveling bodies 13, respectively, are engaged with the endless belt fixed to the elevating frame 19, and a main body frame 3. The upper and lower frames provided on the front and rear frames 7 and the front and rear traveling bodies 13 are rotatably supported, and one of the servo modules is provided on one side. Each servo motor is like an endless belt drive mechanism in which a part of an endless belt stretched between a pair of rotating bodies to which the rollers 11, 15, and 21 are connected is fixed to the traveling body 9, the front and rear traveling body 13, and the lifting frame 19. Any driving mechanism that converts the rotational motions of 11, 15, and 21 into a reciprocating linear motion may be used.
[0015]
Further, the servo motors 11, 15, and 21 may be linear motors composed of a stator and a movable element, and the traveling body 9, the front and rear traveling body 13, and the lifting frame 19 are fixed to the respective movable elements. Good.
[0016]
The chuck 17 attached to the lower part of the lift frame 19 is provided with a number of suction members for sucking and holding a molded product and a number of cylinders for clamping the molded product. An inversion drive member that inverts and rotates the holding surface 17 between a vertical surface and a horizontal plane that faces downward, and a horizontal rotation member that horizontally rotates the holding surface with respect to the longitudinal orthogonal direction (not shown). )
[0017]
A human detector 23 is attached to the main body frame 3 on the release position side of the molded product in a non-interfering state with the moving chuck 17. The human detector 23 includes an infrared sensor that detects infrared rays emitted from the worker, and the detection area is set to cover the entire release area. As a means for changing the detection region by the human detector 23, the detection region can be appropriately changed by combining a plurality of optical lenses (not shown). At that time, it is necessary to set so that a heating element such as an injection device, a mold, and a motor is not located in the detection region of the human detector 23. Alternatively, a filter may be provided in the human detector 23 so that the operator is detected by selecting only infrared rays emitted from the human body.
[0018]
An unloading device 25 (showing the unloading conveyor) such as a unloading conveyor or an automatic boxing device is arranged on the floor surface corresponding to the release position side of the molded product unloader 1, and the taken-out molded product is unloaded to the next process. Or automatic boxing in a container.
[0019]
In FIG. 3, a program memory 33 and a work memory 35 are connected to the CPU 31. The program memory 33 is composed of ROM, HDD, DVD, etc., and takes out program data for executing the molded product take-out operation of the molded product take-out machine 1, alarm program data for safety processing when the operator enters the release area, etc. Remember. The work memory 35 uses RAM or a partial area of the program memory 33 described above, and stores various movement position data of the chuck 17 and the like.
[0020]
The CPU 31 is connected to servo drivers 37a, 37b, and 37c for controlling the servo motors 11, 15, and 21. The servo motors 11, 15, and 21 are connected to the servo drivers 37a, 37b, and 37c. The servo motors 11, 15, and 21 are numerically controlled based on detection signals from the rotational position sensors 11a, 15a, and 21a such as a rotary encoder and movement position data stored in the work memory 35.
[0021]
A human detector 23 is connected to the CPU 31 via an interface 39, and safety processing is executed based on alarm program data stored in the program memory 33 when a human detection signal is input from the human detector 23.
[0022]
A warning operation circuit 41 is connected to the CPU 31. When a human detection signal is input from the human detector 23, the buzzer 43 connected to the warning operation circuit 41 is sounded or a warning lamp 45 is lit to notify the operator. The notification process is executed.
[0023]
Next, the alarm processing operation will be described.
First, the outline of taking out a molded product by the molded product take-out machine 1 will be described. As shown in FIG. 4, the servo motors 11, 15 and 21 are driven and controlled so that the chuck 17 is in a standby position above the mold in the resin molding machine 2. When a mold opening completion signal is input from the resin molding machine 2 to the molded product take-out machine 1 after being moved to the servomotor 21, the servomotor 21 is driven to move the chuck 17 to a lower position in the mold where the mold is opened. Then, the servo motor 15 is driven and controlled so that the chuck 17 is opposed to the movable mold holding the molded product.
[0024]
Then, after the molded product protruding by the operation of an ejector mechanism (not shown) in the movable mold is held by the chuck 17, the servo motor 15 is driven in reverse to return to the lowered position, and then the servo motor 21 is driven in reverse. Then, the chuck 17 is returned to the standby position. Next, the servo motor 11 is driven and controlled, and after the chuck 17 is moved to the release position set on the operation side or the non-operation side of the resin molding machine 2, the servo motors 11, 15, and 21 are selectively driven and controlled. After moving the chuck 17 to the carry-out device 25 such as a transport conveyor or a container (not shown) of the boxing device arranged in the release area, the holding of the molded product by the chuck 17 is released and the take-out operation is finished.
[0025]
Then, the servo motors 11, 15, 21 are selectively driven in reverse to return the chuck 17 to the release position, and then the servo motor 11 is driven in reverse to return the chuck 17 to the standby position to complete the mold opening from the resin molding machine 2. Wait until a signal is input.
[0026]
The alarm process and the safety process in the take-out operation will be described. In FIG. 5, it is determined whether or not the chuck 17 holding the molded product has moved to a position reaching the release area set at the release position in step 51, and the determination is made. Is NO, step 52 holds the invalidation state of the detection signal from the human detector 23 and the process returns to step 51. Therefore, when the chuck 17 is not moved into the release area, the detection signal from the human detector 23 is invalidated, so that alarm processing and safety processing described later are performed even if an operator enters the release area. Not performed.
[0027]
On the contrary, when step 51 is YES, after enabling the detection signal from the human detector 23 at step 53, an operator enters the release area at step 54 and the human detector 23 is turned on (human detection state). ) Is determined. If the operator has not entered the release area in the above state and the human detector 23 is in the non-detection state, step 54 becomes NO, and the movement and release position of the chuck 17 with respect to the release position described above in step 55. The release operation of the molded product is executed, and the process returns to step 51.
[0028]
On the other hand, as shown in FIG. 6, when an operator enters the release area and the human detector 23 transitions from OFF (human non-detection state) to ON (human detection state), the human detector 23 starts from step 56. An alarm signal is output to the warning operation circuit 41 based on the human detection signal to cause the buzzer 43 to sound, or the warning lamp 45 is turned on to notify the worker who has entered the release area that it is dangerous. .
[0029]
Next, in step 57, in addition to the alarm processing described above, the following safety processing is executed based on the alarm program data stored in the program memory 33.
[0030]
That is, when a human detection signal is input from the human detector 23, the CPU 31 changes the drive of the corresponding servo motors 11, 15, and 21 moving the chuck 17 during the movement of the chuck 17 from the normal drive to the slow speed. When the human detection state of the human detector 23 continues for a predetermined time while switching to driving and moving at a slow speed, the driving is interrupted and the chuck 17 is stopped.
[0031]
In the above-described safety processing, after the human detection state by the human detector 23 transitions to the human non-detection state, if the human non-detection state continues for a predetermined time, the servo motors 11, 15, and 21 are automatically restarted. When the reset switch is pressed on the condition that the movement of the chuck 17 is resumed by driving or the human detector 23 is shifted to the human non-detection state, the servo motors 11, 15 and 21 are re-driven to restart the chuck 17 You just have to resume moving.
[0032]
The present embodiment has the following operational effects.
1. The human detector 23 which is a human detection member provided on the release position side of the molded product take-out machine 1 is in a human detection state without providing a safety fence surrounding the release area or a detector for detecting release on the door of the safety fence. It is possible to ensure the safety of the operator by controlling the movement of the chuck 17 at the time of transition to.
[0033]
2. When a worker enters the release area, the buzzer 43 can be sounded or a warning light 45 can be turned on to notify the worker of the danger, thereby ensuring the safety of the worker.
[0034]
3. When the human detector 23 transitions to the human detection state, the chuck 17 can be prevented from coming into contact with the operator by controlling the servo motors 11, 15, and 21 at a very low speed.
[0035]
The present invention can be modified as follows.
1. As the movement type of the chuck 17, in addition to the movement type in the three-dimensional direction described above, a lateral traveling type in which the chuck 17 is moved at least in the longitudinal orthogonal direction of the resin molding machine, the chuck 17 is swung between the mold and the release position. Any of the turning forms which move may be sufficient.
[0036]
2. The human detection means may be any of an ultrasonic sensor and an image sensor based on imaging data of the entire open area in addition to the above infrared sensor. In the case of the image sensor, the image data at the release position where the operator has not entered is used as the reference data, and the reference image data is compared with the imaging data input from the image sensor to change the imaging data. Based on this, alarm processing and safety processing may be executed.
[0038]
【The invention's effect】
The present invention can ensure the safety of an operator who has entered the release area of a molded product without narrowing the worker's work area or walking area. Moreover, the equipment cost for ensuring a worker's safety can be reduced.
[Brief description of the drawings]
FIG. 1 is an overall perspective view of a molded product take-out machine.
FIG. 2 is an explanatory diagram showing an operator detection area.
FIG. 3 is an electrical block diagram showing an outline of control.
FIG. 4 is a diagram of an extraction operation.
FIG. 5 is a flowchart of alarm processing and safety processing.
FIG. 6 is an explanatory diagram showing a human detection state.
[Explanation of symbols]
1-molded product take-out machine, 2-resin molding machine, 17-chuck, 23-person detector

Claims (3)

A traveling body that reciprocally moves on a main body frame extending across a mold and a release position set outside the resin molding machine on one of the operation side and the non-operation side in the longitudinal orthogonal direction of the resin molding machine, The lifting frame is supported by the traveling body so that it can be moved up and down, and has a lifting frame attached with a chuck for gripping the molded product at the bottom. The chuck is moved in the longitudinal direction and the vertical direction by the movement of the traveling body and the lifting frame. In the molded product take-out machine that takes out the molded product to the release position, a human detection member having a predetermined human detection area outside the resin molding machine is provided on the main body frame on the release position side, and the chuck is in the release area at the release position. When the human detection member transitions from the human non-detection state to the human detection state in the approached state, the movement of the chuck is controlled to be decelerated, and when the human detection state continues for a predetermined time in the deceleration state, Tsu molded product removing machine provided with a control means for stopping controlling the movement of the click. The control means according to claim 1, wherein the chuck is in the release area at the release position, and when the human detection member transits from the human non-detection state to the human detection state, the molded article take-out that controls the alarm means is operated. Machine. The human detection member according to claim 1 is an imaging device, and imaging data in a state where there is no person in the imaging area is used as reference imaging data, and human detection is performed by comparing the reference imaging data and imaging data from the imaging device. Molded product unloader that makes it possible.

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