JP4046179B2 - Molded product take-out machine - Google Patents

Molded product take-out machine Download PDF

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JP4046179B2
JP4046179B2 JP2002248335A JP2002248335A JP4046179B2 JP 4046179 B2 JP4046179 B2 JP 4046179B2 JP 2002248335 A JP2002248335 A JP 2002248335A JP 2002248335 A JP2002248335 A JP 2002248335A JP 4046179 B2 JP4046179 B2 JP 4046179B2
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negative pressure
compressed air
molded product
adsorption
pressure
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善幸 内田
英治 武井
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株式会社スター精機
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Description

【０００１】
【発明が属する技術分野】
本発明は、樹脂成形機から成型品を所定の位置に取出す際に該成型品を吸着保持する負圧吸着装置を備えた成型品取出機に関する。
【０００２】
【発明が解決しようとする課題】
樹脂成形機により成形された成型品を樹脂成形機外の所定位置に取り出す成型品取出機にあっては、チャックユニットに設けられた吸着部材により成型品を吸着保持した状態でチャックユニットを二次元方向または三次元方向へ移動制御して成型品を取り出している。
【０００３】
そしてチャックユニットの吸着部材を負圧にして成型品を吸着させる吸着装置には、例えば供給される圧縮空気を通過させる際にベルヌーイの法則に基づいて負圧を発生させる負圧発生装置を採用している。従来の吸着装置にあっては、例えば成型品取出機の保守点検作業の場合や成型品の移動途中に成型品が落下してチャックの移動を非常停止させた場合等のように長時間にわたる成型品の非吸着状態が見込まれる場合であっても、負圧発生装置に対する圧縮空気の供給を継続して負圧発生状態を保っている。
【０００４】
このように負圧発生状態を継続するには、負圧発生装置に対する圧縮空気の供給、従って圧縮空気を発生させるためのエアーコンプレッサーの運転を継続する必要があるが、成型品の非吸着状態が継続している、従って負圧を発生させる必要がない場合であっても、電動モータを駆動してエアーコンプレッサーの運転を継続しなければならず、電力消費の観点から無駄であった。
【０００５】
この欠点は、吸着部材による成型品の非吸着状態が長く継続することが見込まれる事態においては、作業者はエアーコンプレッサーから負圧発生装置に至る配管に設けられたバルブを閉操作して圧縮空気の消費、従ってエアーコンプレッサーの運転を抑制することにより回避できるが、その際には、作業者がバルブを閉操作する必要があり、作業に手間がかかっていた。
【０００６】
本発明は、上記した従来の欠点を解決するために発明されたものであり、その課題とする処は、吸着部材による成型品の非吸着状態が所定時間以上継続する場合には負圧発生装置に対する圧縮空気の供給を遮断制御して圧縮空気の消費量を低減して成型品の吸着コストを低減することができる吸着装置を備えた成型品取出機を提供することにある。
【０００７】
【課題を解決するための手段】
本発明の請求項１は、成型品を吸着して保持するチャックを移動制御して樹脂成形機から成型品を所定の解放位置に取り出す成型品取出機において、所定圧力の圧縮空気を供給する圧縮空気供給源と、供給される圧縮空気により負圧を発生させる負圧発生装置と、チャックに設けられる吸着部材とを配管にて接続し、圧縮空気供給源と負圧発生装置を接続する配管に設けられ、負圧発生装置に至る圧縮空気の流路を開閉する圧縮空気開閉部材と、圧縮空気供給源と圧縮空気開閉部材を接続する配管に設けられ、負圧発生装置に供給される圧縮空気量を、吸着する成型品に応じて可変する負圧調整器と、負圧発生装置と吸着部材を接続する配管に設けられ、該配管内の負圧を検出する負圧検出部材と、メモリに予め記憶された成型品の種類に応じた吸着圧データに基づいて負圧調整器を可変制御して負圧発生装置により発生する負圧を制御すると共に、負圧検出部材により検出される負圧が、メモリに記憶された吸着圧データ以上の場合には、吸着部材による成型品の吸着を検出して圧縮空気開閉部材の開状態を維持する一方、負圧検出部材により検出される負圧が、メモリに記憶された吸着圧データ以下になった際にタイマ手段を起動して計数し、吸着圧データ以下の負圧が所定時間以上、継続する場合には、圧縮空気開閉部材を閉作動して負圧発生装置に対する圧縮空気の供給を遮断制御する制御手段とを備えたことを特徴とする。
【０００８】
【発明の実施形態】
以下、本発明に係る成型品取出機を、実施形態に従って説明する。
先ず、本発明の吸着装置が採用される成型品取出機１の概略を説明すると、図１及び図２において、樹脂成形機の固定側取付盤３の上部には成型品取出機１の本体フレーム５の基部が固定される。該本体フレーム５は樹脂成形機の中心軸線（長手方向）と直交する方向で、金型上方と樹脂成形機外の操作側または反操作側へ延びる長さからなり、左右走行体７が軸線直交方向へ往復移動可能に支持される。
【０００９】
該左右走行体７には軸線方向へ延びる前後フレーム９が設けられ、前後フレーム９には前後走行体１１が軸線方向へ往復移動可能に支持される。前後走行体１１には昇降フレーム１３が上下方向へ移動可能に支持され、該昇降フレーム１３の下部には成型品を吸着する複数の吸着部材１５が設けられたチャック１７が取り付けられる。
【００１０】
本体フレーム５に対して左右走行体７、前後フレーム９に対して前後走行体１１及び前後走行体１１に対して昇降フレーム１３は、例えばサーボモータ等の電動モータ１９・２１・２３を駆動制御して往復移動される。電動モータ１９・２１・２３を使用した往復駆動機構としては、電動モータに連結されて回転する送りねじにナットを噛み合わせた送りねじ駆動機構、所定の長さからなる有端ベルトに電動モータの回転軸に設けられた歯付き回転体を噛み合わせた有端ベルト駆動機構、一方に電動モータが連結された一対の回転体に張設される無端ベルトの一部を可動部に固定した無端ベルト駆動機構の何れであってもよい。また、電動モータ１９・２１・２３自体を固定子と可動子から構成したリニアモータであってもよい。
【００１１】
上記した左右走行体７には負圧調整器２５、圧縮空気開閉部材としての圧縮空気開閉弁２７、負圧発生装置２９、吸着圧検出器３１、噴射空気圧調整器３３、噴射空気開閉弁３５が設けられる。
【００１２】
その内、負圧調整器２５はダイヤフラム、吸気用電磁弁及び排気用電磁弁等で、入力される電気信号に比例して空気圧を無段階に制御可能な構造からなり、成型品取出機１に接続された圧縮空気配管から供給される、例えば空気圧：５ｋｇ／ｃｍ2の圧縮空気を所望の圧力に可変調整する。
【００１３】
圧縮空気開閉弁２７は負圧調整器２５と負圧発生装置２９を接続する配管に設けられる電磁ソレノイドバルブにより構成され、負圧発生装置２９に対して圧縮空気を供給したり、遮断したりする。
【００１４】
負圧発生装置２９は供給された圧縮空気が通過する際に、ベルヌーイの法則に基づいて負圧を発生させる構造からなる。該負圧発生装置２９により発生する負圧（吸着圧）は負圧調整器２５により可変された圧縮空気圧に応じて調整される。
【００１５】
吸着圧検出器３１は、負圧発生装置２９と吸着部材１５を接続する配管途中に設けられ、例えばダイヤグラムに、ピエゾ素子やバイモルフ素子等の圧電素子としての歪みゲージを設けた構成で、負圧変化に伴う歪みゲージの変形量に対応する電気信号を出力する。
【００１６】
負圧調整器２５の前段側と吸着圧検出器３１の後段側には噴射用配管が分岐接続され、該噴射用配管には噴射空気圧調整器３３及び噴射空気開閉弁３５が直列に設けられる。そして噴射空気圧調整器３３は負圧調整器２５と同様な構造で、供給される圧縮空気圧を、吸着部材１５による成型品の吸着を解除する際に噴射される圧縮空気圧を所望の圧力に可変制御する。また、噴射空気開閉弁３５は電磁ソレノイドバルブ等により構成され、吸着部材１５に対して圧力調整された圧縮空気を供給したり、遮断したりする。
【００１７】
図４において、制御手段４１の中央演算処理装置（ＣＰＵ）４３はプログラムメモリ４５、作業メモリ４７及びタイマ４９を備えている。プログラムメモリ４５は成型品取出機１が成型品取出し動作を実行するためのプログラムデータ、成型品を吸着したり、所定条件において吸引を禁止するための吸引プログラムデータ等の各種プログラムデータを記憶する。タイマ４９は後述するように負圧発生装置２９に対する圧縮空気の供給を遮断させる際の所定時間を計時する。
【００１８】
作業メモリ４７は成型品取出し動作を実行するためのチャック１７を移動制御する各種位置データを記憶する位置記憶領域４７ａ、成型品の材質の硬柔、大きさや形状、重量等に応じて設定される最適吸着圧データを記憶する吸着圧領域４７ｂ、吸着部材１５による成型品の非吸着状態が継続する際に負圧発生を禁止するために設定される禁止時間データを記憶する禁止時間領域４７ｃ等を有している。
【００１９】
上記した禁止時間領域４７ｃに記憶される禁止時間データとしては、少なくとも成型品の取出しサイクル（時間）以上で、任意に設定される。
【００２０】
ＣＰＵ４３には設定装置５１及び吸着圧検出器３１がインターフェース５３を介して接続される。設定装置５１はチャック１７の各移動位置に関する位置データを設定入力するテンキーや実行キー等の位置設定手段５１ａ、各種成型品に応じた最適吸着圧データを設定入力するための吸着圧設定手段５１ｂ、成型品の非吸着状態が継続する際に負圧発生を禁止する禁止時間データを設定するための禁止時間設定手段５１ｃ、上記した各データの設定モードに切換えるモード切換手段５１ｄ及び各モードにおいて入力されるデータを表示するＬＣＤ等の表示部材５１ｅ等を有している。
【００２１】
上記した位置設定手段５１ａ、吸着圧設定手段５１ｂ及び禁止時間設定手段５１ｃは、実質的には共通のテンキー及び実行キー等により構成し、モード切換手段５１ｄにより夫々のモードを切換えて各種データを入力するようにすればよい。また、吸着圧検出器３１は吸着部材１５における負圧に応じた電気信号をＣＰＵ４３に出力する。
【００２２】
ＣＰＵ４３にはバルブ駆動制御回路５５が接続され、該バルブ駆動制御回路５５には負圧調整器２５、圧縮空気開閉弁２７等が接続される。
【００２３】
バルブ駆動制御回路５５は吸着圧領域４７ｂに記憶された吸着圧データに基づいて負圧調整器２５を作動制御して負圧発生装置２９に供給される圧縮空気圧を変更調整させる。
【００２４】
バルブ駆動制御回路５５は、通常は圧縮空気開閉弁２７を開動作させて負圧調整器２５により圧力調整された圧縮空気を負圧発生装置２９へ供給して吸着部材１５に負圧を発生させる一方、吸着部材１５による成型品の非吸着状態が禁止時間領域４７ｃに記憶された所定時間の間、継続した際には、圧縮空気開閉弁２７を閉動作して負圧発生装置２９に対する圧縮空気の供給を遮断させる。
【００２５】
尚、ＣＰＵ４３にはチャック１７を左右方向、前後方向及び上下方向へ夫々移動させる電動モータ１９、２１及び２３の各サーボドライバー回路（図示せず）が接続され、位置記憶領域４７ａに記憶された各位置データに基づいてチャック１７を夫々の位置へ移動させるように駆動制御させる。
【００２６】
次に、吸着部材１５による成型品の吸着作用及び負圧発生禁止作用を説明する。
【００２７】
先ず、成型品の吸着処理について説明すると、例えば負圧調整器２５の一次側に供給される圧縮空気圧が５ｋｇ／ｃｍ2の場合に、負圧発生装置２９の最大発生負圧：−６０ｋｐｓとすると、作業者は成型品の種類（硬柔、大きさ、重量、形状等）に応じて吸着部材１５による最適吸着圧を上記した−６０ｋｐｓ以内、例えば−４０ｋｐｓに設定して吸着圧領域４７ｂに記憶させる。
【００２８】
これによりバルブ駆動制御回路５５は吸着圧領域４７ｂに記憶された最適負圧データに基づいて負圧調整器２５を作動制御して負圧発生装置２９により発生する負圧が−４０ｋｐｓになるように圧縮空気圧を調整する。
【００２９】
そして樹脂成形機の金型間と、樹脂成形機の操作側（反操作側）との間でチャック１７を左右方向、前後方向及び上下方向へ夫々移動制御し、チャック１７の吸着部材１５に成型品を吸着保持させて取出し動作を実行させる。
【００３０】
その際、ＣＰＵ４３は吸着圧検出器３１により検出される吸着部材１５の負圧により吸着部材１５が成型品を吸着保持しているか否かを判断する。即ち、吸着部材１５が成型品を吸着保持している場合には吸着圧検出器３１により検出される負圧が−４０ｋｐｓに近くなり、反対に吸着部材１５が成型品を吸着保持していない場合には、吸着部材１５が大気に連通しているため、吸着圧検出器３１により検出される負圧が、例えば−１０ｋｐｓ以下になる。これにより吸着圧検出器３１により検出される吸着部材１５の負圧に基づいて吸着部材１５に成型品が吸着保持されているか否かを判断する。
【００３１】
尚、所定の開放位置で吸着部材１５に吸着保持された成型品を開放する際には、バルブ駆動制御回路５５は噴射空気開閉弁３５を開作動して噴射空気圧調整器３３により圧力調整された圧縮空気を吸着部材１５から噴射して成型品の吸着状態を強制的に解除させる。
【００３２】
上記した成型品の取出し動作時に、吸着部材１５から成型品が落下して取出し不良やチャック１７の動作を停止して保守点検を行う際には、以下のように負圧の発生を禁止処理させる。
【００３３】
即ち、図５に示すようにステップ６１により圧縮空気開閉弁２７が開作動して負圧発生装置２９に圧縮空気が供給されて吸着部材１５が負圧形成されているか否かを判断し、該ステップ６１がＮＯのとき、ステップ６２により圧縮空気開閉弁２７を開作動して負圧発生装置２９に圧縮空気を供給することにより吸着部材１５を負圧形成してステップ６１に戻る。
【００３４】
一方、負圧発生装置２９に圧縮空気が供給されて圧縮空気開閉弁２７の開度に応じた流量の圧縮空気に対応する負圧が発生してステップ６１がＹＥＳのとき、吸着部材１５による成型品の吸着保持が可能になる。
【００３５】
この状態でステップ６３において吸着圧検出器３１により検出される吸着部材１５の負圧が予め設定された−４０ｋｐｓの最適吸着圧付近に達しているか否かにより吸着部材１５が成型品を吸着保持しているか否かを判断する。
【００３６】
吸着圧検出器３１により検出される負圧が所定負圧以上になっているとき、吸着部材１５が成型品を吸着保持していると判断してステップ６１に戻る。
【００３７】
反対に、吸着圧検出器３１により検出される負圧が設定された最適負圧より低い場合には、上記ステップ６３がＮＯになり、次にステップ６４によりタイマ４９を起動して計時を開始させた後、ステップ６５により計測される時間が予め禁止時間領域４７ｃに記憶された所定の禁止時間に達したか否かを判断する。
【００３８】
今、タイマ４９により計測される時間が禁止時間に達せず、ステップ６４がＮＯのとき、ステップ６１に戻る。通常、成型品取出し動作が継続的に実行されている場合には、上記した所定時間以内に吸着部材１５が成型品を再び吸着保持することによりステップ６３の判定がＹＥＳまたはステップ６５の判定がＮＯになり、負圧発生装置２９に対して圧縮空気を継続的に供給して負圧発生状態を維持させる。このため、禁止時間は、少なくとも成型品の取出しサイクル（時間）以上に設定すればよい。
【００３９】
一方、例えば成型品取出し途中において吸着部材１５による吸着不良等により成型品が落下してチャック１７の移動を非常停止させた場合や保守点検作業によりチャック１７の移動を完全に停止させる場合には、タイマ４９により計測される時間が禁止時間以上になってステップ６５の判定がＹＥＳになる。
【００４０】
この場合にあっては、ステップ６６により圧縮空気開閉弁２７を閉動作制御して負圧発生装置２９に対する圧縮空気の供給を中断させる。これにより長時間にわたって成型品を吸着保持することが見込まれない状態においては、負圧発生装置２９に対する圧縮空気の供給を中断して負圧発生を規制することにより、圧縮空気の消費、従って圧縮空気を発生させるエアーコンプレッサーの運転を停止させる。
【００４１】
次に、ステップ６７において作業者が手動により吸着部材１５による成型品保持を解除する操作や成型品取出しの自動運転時に成型品保持解除動作を行うため、圧縮空気開閉弁２７を開作動させる指示信号が入力されたか否かを判断し、指示信号が入力された場合には成型品の吸着動作を実行するためにステップ６１に戻る。反対に、指示信号が入力されず、吸着部材１５による成型品の非吸着状態が継続している場合にはステップ６７に戻り、指示信号が入力されるまで負圧発生装置２９に対する圧縮空気の供給を中断させる。
【００４２】
上記実施形態の成型品取出機は、吸着装置に接続される吸着部材が設けられるチャック１７を左右方向、前後方向及び上下方向の三次元方向へ移動制御して成型品を取出す構造としたが、成型品取出機としてはこれに限定されるものではなく、チャックを二次元方向、旋回移動させる形式であればよい。
【００４３】
【発明の効果】
本発明は、吸着部材によるワークの非吸着状態が所定時間以上継続する場合には負圧発生装置に対する圧縮空気の供給を遮断制御して圧縮空気の消費量を低減してワークの吸着コストを低減することができる。
【図面の簡単な説明】
【図１】本発明の吸着装置が採用される成型品取出機の概略を示す全体斜視図である。
【図２】左右走行体の背面側を示す略体斜視図である。
【図３】吸着系を示す説明図である。
【図４】吸着系の制御概略を示す電気的ブロック図である。
【図５】負圧発生禁止処理を示すフローチャートである。
【符号の説明】
１−成型品取出機、１５−吸着部材、１７−チャック、２５−負圧調整器、２７−圧縮空気開閉部材としての圧縮空気開閉弁、２９−負圧発生装置、３１−吸着圧検出器[0001]
[Technical field to which the invention belongs]
The present invention relates to a molded product take-out machine provided with a negative pressure adsorbing device that sucks and holds a molded product when the molded product is taken out from a resin molding machine to a predetermined position.
[0002]
[Problems to be solved by the invention]
In a molded product take-out machine that takes out a molded product molded by a resin molding machine to a predetermined position outside the resin molding machine, the chuck unit is two-dimensionally held while the molded product is adsorbed and held by an adsorption member provided in the chuck unit. The molded product is taken out by controlling the movement in the direction or three-dimensional direction.
[0003]
For the suction device that sucks the molded product by making the suction member of the chuck unit negative pressure, for example, a negative pressure generator that generates negative pressure based on Bernoulli's law when passing the supplied compressed air is adopted. ing. In the case of the conventional suction device, for example, in the case of maintenance and inspection work of a molded product take-out machine, or when the molded product falls during the movement of the molded product and the movement of the chuck is stopped, the molding takes a long time. Even when a non-adsorption state of the product is expected, the supply of compressed air to the negative pressure generator is continued to maintain the negative pressure generation state.
[0004]
In order to continue the negative pressure generation state in this way, it is necessary to continue the supply of compressed air to the negative pressure generator, and hence the operation of the air compressor for generating the compressed air. Even if it is continued and therefore it is not necessary to generate a negative pressure, the electric motor must be driven to continue the operation of the air compressor, which is wasteful from the viewpoint of power consumption.
[0005]
This disadvantage is that, in a situation where the non-adsorption state of the molded product by the adsorption member is expected to continue for a long time, the operator closes the valve provided in the pipe from the air compressor to the negative pressure generator to compress the compressed air. However, in this case, it is necessary for the operator to close the valve, which takes time and effort.
[0006]
The present invention has been invented in order to solve the above-described conventional drawbacks, and a problem to be solved by the present invention is that the negative pressure generating device is used when the non-adsorption state of the molded product by the adsorption member continues for a predetermined time or more. An object of the present invention is to provide a molded product take-out machine equipped with an adsorption device capable of reducing the consumption of compressed air by cutting off the supply of compressed air to the molded product and reducing the cost of adsorption of the molded product.
[0007]
[Means for Solving the Problems]
Claim 1 of the present invention is a compression for supplying compressed air of a predetermined pressure in a molded product take-out machine that takes out a molded product from a resin molding machine to a predetermined release position by controlling the movement of a chuck that adsorbs and holds the molded product. A pipe connecting an air supply source, a negative pressure generating device that generates negative pressure with supplied compressed air, and an adsorption member provided on the chuck, and connecting the compressed air supply source and the negative pressure generating device to a pipe Compressed air that is provided on a compressed air opening / closing member that opens and closes a flow path of compressed air that reaches the negative pressure generator, and a pipe that connects the compressed air supply source and the compressed air open / close member, and is supplied to the negative pressure generator A negative pressure regulator that varies the amount in accordance with the molded product to be adsorbed, a negative pressure detecting member that is provided in a pipe connecting the negative pressure generating device and the adsorbing member, detects negative pressure in the pipe, and a memory Depending on the type of molded product stored in advance Based on the suction pressure data, the negative pressure regulator is variably controlled to control the negative pressure generated by the negative pressure generator, and the negative pressure detected by the negative pressure detection member is stored in the memory. In the above case, the adsorption of the molded product by the adsorption member is detected and the open state of the compressed air opening / closing member is maintained, while the negative pressure detected by the negative pressure detection member is equal to or less than the adsorption pressure data stored in the memory. When the negative pressure below the adsorption pressure data continues for a predetermined time or longer, the compressed air opening / closing member is closed to supply the compressed air to the negative pressure generator. And a control means for controlling the shut-off.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a molded product take-out machine according to the present invention will be described according to an embodiment.
First, the outline of the molded product take-out machine 1 in which the suction device of the present invention is adopted will be described. In FIGS. 1 and 2, the main body frame of the molded product take-out machine 1 is placed on the fixed side mounting plate 3 of the resin molding machine. The base of 5 is fixed. The main body frame 5 is formed in a direction orthogonal to the central axis (longitudinal direction) of the resin molding machine and has a length extending upward from the mold and to the operation side or the non-operation side outside the resin molding machine, and the left and right traveling bodies 7 are orthogonal to the axis. It is supported so that it can reciprocate in the direction.
[0009]
The left and right traveling bodies 7 are provided with front and rear frames 9 extending in the axial direction, and the front and rear traveling bodies 11 are supported on the front and rear frames 9 so as to be capable of reciprocating in the axial direction. A lift frame 13 is supported on the front and rear traveling body 11 so as to be movable in the vertical direction, and a chuck 17 provided with a plurality of suction members 15 for sucking a molded product is attached to the lower part of the lift frame 13.
[0010]
The left and right traveling bodies 7 with respect to the main body frame 5, the front and rear traveling bodies 11 with respect to the front and rear frames 9, and the lifting frame 13 with respect to the front and rear traveling bodies 11 drive and control electric motors 19, 21, and 23 such as servo motors, for example. Is reciprocated. The reciprocating drive mechanism using the electric motors 19, 21, and 23 includes a feed screw drive mechanism in which a nut is engaged with a feed screw that is connected to the electric motor and rotates, and an endless belt having a predetermined length is attached to an endless belt. An endless belt driving mechanism in which a toothed rotating body provided on a rotating shaft is meshed, and an endless belt in which a part of an endless belt stretched between a pair of rotating bodies connected to an electric motor is fixed to a movable portion. Any of driving mechanisms may be used. Moreover, the linear motor which comprised electric motor 19,21,23 itself from the stator and the needle | mover may be sufficient.
[0011]
The left and right traveling bodies 7 include a negative pressure regulator 25, a compressed air on / off valve 27 as a compressed air on / off member, a negative pressure generating device 29, an adsorption pressure detector 31, an injection air pressure adjuster 33, and an injection air on / off valve 35. Provided.
[0012]
Among them, the negative pressure regulator 25 is a diaphragm, an intake solenoid valve, an exhaust solenoid valve, etc., and has a structure capable of steplessly controlling the air pressure in proportion to the input electric signal. For example, compressed air supplied from a connected compressed air pipe, for example, air pressure: 5 kg / cm 2 is variably adjusted to a desired pressure.
[0013]
The compressed air opening / closing valve 27 is constituted by an electromagnetic solenoid valve provided in a pipe connecting the negative pressure regulator 25 and the negative pressure generator 29, and supplies or blocks compressed air to the negative pressure generator 29. .
[0014]
The negative pressure generator 29 is configured to generate a negative pressure based on Bernoulli's law when supplied compressed air passes. The negative pressure (adsorption pressure) generated by the negative pressure generator 29 is adjusted according to the compressed air pressure varied by the negative pressure regulator 25.
[0015]
The adsorption pressure detector 31 is provided in the middle of a pipe connecting the negative pressure generating device 29 and the adsorption member 15, for example, a configuration in which a strain gauge as a piezoelectric element such as a piezo element or a bimorph element is provided in a diagram, An electric signal corresponding to the deformation amount of the strain gauge accompanying the change is output.
[0016]
An injection pipe is branchedly connected to the upstream side of the negative pressure regulator 25 and the downstream side of the adsorption pressure detector 31, and an injection air pressure regulator 33 and an injection air on-off valve 35 are provided in series on the injection pipe. The injection air pressure regulator 33 has the same structure as that of the negative pressure regulator 25, and variably controls the supplied compressed air pressure to a desired pressure when the compressed air pressure injected when the suction of the molded product by the suction member 15 is released. To do. The blast air opening / closing valve 35 is constituted by an electromagnetic solenoid valve or the like, and supplies or blocks compressed air whose pressure is adjusted to the adsorbing member 15.
[0017]
In FIG. 4, the central processing unit (CPU) 43 of the control means 41 includes a program memory 45, a work memory 47 and a timer 49. The program memory 45 stores various program data such as program data for the molded product take-out machine 1 to execute a molded product take-out operation, suction program data for sucking a molded product and prohibiting suction under a predetermined condition. As will be described later, the timer 49 measures a predetermined time when the supply of compressed air to the negative pressure generator 29 is shut off.
[0018]
The work memory 47 is set in accordance with a position storage area 47a for storing various position data for controlling the movement of the chuck 17 for executing the molded product take-out operation, the hardness of the molded product material, the size, shape, weight, and the like. An adsorption pressure area 47b for storing optimum adsorption pressure data, a prohibition time area 47c for storing prohibition time data set to prohibit the generation of negative pressure when the non-adsorption state of the molded product by the adsorption member 15 continues, and the like. Have.
[0019]
The prohibition time data stored in the prohibition time region 47c is arbitrarily set at least in the molded product take-out cycle (time) or more.
[0020]
A setting device 51 and an adsorption pressure detector 31 are connected to the CPU 43 via an interface 53. The setting device 51 is a position setting means 51a such as a numeric keypad and an execution key for setting and inputting position data relating to each movement position of the chuck 17, an adsorption pressure setting means 51b for setting and inputting optimum adsorption pressure data according to various molded products, The prohibition time setting means 51c for setting the prohibition time data for prohibiting the generation of negative pressure when the non-adsorption state of the molded product continues, the mode switching means 51d for switching to the above-described data setting mode, and the respective modes are input. A display member 51e such as an LCD for displaying data to be displayed.
[0021]
The above-described position setting means 51a, adsorption pressure setting means 51b and prohibition time setting means 51c are substantially composed of a common numeric keypad and execution key, etc., and each mode is switched by the mode switching means 51d to input various data. You just have to do it. Further, the adsorption pressure detector 31 outputs an electric signal corresponding to the negative pressure in the adsorption member 15 to the CPU 43.
[0022]
A valve drive control circuit 55 is connected to the CPU 43, and a negative pressure regulator 25, a compressed air on-off valve 27, etc. are connected to the valve drive control circuit 55.
[0023]
The valve drive control circuit 55 controls the operation of the negative pressure regulator 25 based on the adsorption pressure data stored in the adsorption pressure region 47b to change and adjust the compressed air pressure supplied to the negative pressure generator 29.
[0024]
The valve drive control circuit 55 normally opens the compressed air opening / closing valve 27 and supplies the compressed air pressure-adjusted by the negative pressure regulator 25 to the negative pressure generator 29 to generate a negative pressure in the adsorption member 15. On the other hand, when the non-adsorption state of the molded product by the adsorbing member 15 continues for a predetermined time stored in the prohibition time region 47 c, the compressed air on / off valve 27 is closed and the compressed air to the negative pressure generating device 29 is closed. Shut off the supply.
[0025]
The CPU 43 is connected to servo driver circuits (not shown) of electric motors 19, 21, and 23 that move the chuck 17 in the left-right direction, the front-rear direction, and the up-down direction, and each stored in the position storage area 47 a. Based on the position data, drive control is performed to move the chuck 17 to each position.
[0026]
Next, the adsorption action of the molded product and the negative pressure generation inhibition action by the adsorption member 15 will be described.
[0027]
First, the adsorption process of a molded product will be described. For example, when the compressed air pressure supplied to the primary side of the negative pressure regulator 25 is 5 kg / cm 2 , the maximum generated negative pressure of the negative pressure generator 29 is −60 kps. The operator sets the optimum adsorption pressure by the adsorption member 15 within the above −60 kps, for example, −40 kps according to the type (hardness, size, weight, shape, etc.) of the molded product and stores it in the adsorption pressure area 47b. Let
[0028]
Thus, the valve drive control circuit 55 controls the operation of the negative pressure regulator 25 based on the optimum negative pressure data stored in the adsorption pressure region 47b so that the negative pressure generated by the negative pressure generator 29 becomes −40 kps. Adjust the compressed air pressure.
[0029]
The chuck 17 is controlled to move in the left-right direction, the front-rear direction, and the up-down direction between the molds of the resin molding machine and the operation side (reverse operation side) of the resin molding machine. The product is picked up and held and the removal operation is executed.
[0030]
At that time, the CPU 43 determines whether or not the suction member 15 holds the molded product by suction based on the negative pressure of the suction member 15 detected by the suction pressure detector 31. That is, when the suction member 15 holds the molded product by suction, the negative pressure detected by the suction pressure detector 31 is close to −40 kps, and conversely, the suction member 15 does not hold the molded product by suction. Since the adsorption member 15 communicates with the atmosphere, the negative pressure detected by the adsorption pressure detector 31 is, for example, −10 kps or less. Thus, it is determined whether or not the molded product is sucked and held on the suction member 15 based on the negative pressure of the suction member 15 detected by the suction pressure detector 31.
[0031]
When opening the molded product sucked and held by the suction member 15 at a predetermined opening position, the valve drive control circuit 55 opens the spray air on-off valve 35 and the pressure is adjusted by the jet air pressure regulator 33. The compressed air is jetted from the adsorbing member 15 to forcibly release the adsorbed state of the molded product.
[0032]
When taking out the molded product as described above, the molded product falls from the adsorbing member 15 so that the removal failure or the operation of the chuck 17 is stopped and maintenance inspection is performed. .
[0033]
That is, as shown in FIG. 5, it is determined whether or not the compressed air opening / closing valve 27 is opened by step 61 and compressed air is supplied to the negative pressure generating device 29 so that the suction member 15 is formed with negative pressure. When step 61 is NO, the compressed air opening / closing valve 27 is opened by step 62 and compressed air is supplied to the negative pressure generating device 29 to form a negative pressure on the adsorbing member 15 and the process returns to step 61.
[0034]
On the other hand, when the compressed air is supplied to the negative pressure generating device 29 and a negative pressure corresponding to the compressed air having a flow rate corresponding to the opening degree of the compressed air opening / closing valve 27 is generated and the step 61 is YES, the molding by the adsorption member 15 is performed. The product can be held by suction.
[0035]
In this state, the adsorbing member 15 adsorbs and holds the molded product depending on whether or not the negative pressure of the adsorbing member 15 detected by the adsorbing pressure detector 31 in step 63 has reached the vicinity of a preset optimum adsorption pressure of −40 kps. Judge whether or not.
[0036]
When the negative pressure detected by the adsorption pressure detector 31 is equal to or higher than the predetermined negative pressure, it is determined that the adsorption member 15 is adsorbing and holding the molded product, and the process returns to step 61.
[0037]
On the other hand, when the negative pressure detected by the adsorption pressure detector 31 is lower than the set optimum negative pressure, the above step 63 becomes NO, and then the timer 49 is started at step 64 to start the time measurement. After that, it is determined whether or not the time measured in step 65 has reached a predetermined prohibition time stored in advance in the prohibition time area 47c.
[0038]
If the time measured by the timer 49 has not reached the prohibition time and step 64 is NO, the process returns to step 61. Normally, when the molded product removal operation is continuously performed, the determination in step 63 is YES or the determination in step 65 is NO because the suction member 15 again holds the molded product by suction within the predetermined time described above. The compressed air is continuously supplied to the negative pressure generating device 29 to maintain the negative pressure generating state. For this reason, the prohibition time may be set to at least the removal cycle (time) of the molded product.
[0039]
On the other hand, for example, when the molded product falls due to an adsorption failure by the adsorption member 15 in the middle of taking out the molded product and the movement of the chuck 17 is stopped urgently, or when the movement of the chuck 17 is completely stopped by maintenance and inspection work, The time measured by the timer 49 becomes equal to or longer than the prohibited time, and the determination in step 65 is YES.
[0040]
In this case, the compressed air opening / closing valve 27 is controlled to be closed in step 66 to interrupt the supply of compressed air to the negative pressure generator 29. As a result, in a state where it is not expected that the molded product is adsorbed and held for a long time, the supply of compressed air to the negative pressure generating device 29 is interrupted to restrict the generation of negative pressure, thereby reducing the consumption of compressed air and hence the compression. Stop the operation of the air compressor that generates air.
[0041]
Next, in step 67, an instruction signal for opening the compressed air on-off valve 27 in order to perform an operation of manually releasing the holding of the molded product by the suction member 15 or an operation of releasing the molded product during automatic operation of taking out the molded product. Is input, and if an instruction signal is input, the process returns to step 61 in order to execute a molded product suction operation. On the contrary, when the instruction signal is not input and the non-adsorption state of the molded product by the adsorption member 15 continues, the process returns to step 67, and the compressed air is supplied to the negative pressure generator 29 until the instruction signal is input. Interrupt.
[0042]
The molded product take-out machine of the above embodiment has a structure in which the chuck 17 provided with the suction member connected to the suction device is controlled to move in the three-dimensional direction of the left-right direction, the front-rear direction, and the vertical direction to take out the molded product. The molded product take-out machine is not limited to this, and any type may be used as long as the chuck is rotated in a two-dimensional direction.
[0043]
【The invention's effect】
In the present invention, when the non-adsorption state of the workpiece by the adsorption member continues for a predetermined time or more, the supply of compressed air to the negative pressure generator is cut off to reduce the consumption of compressed air, thereby reducing the adsorption cost of the workpiece. can do.
[Brief description of the drawings]
FIG. 1 is an overall perspective view showing an outline of a molded product take-out machine in which an adsorption device of the present invention is adopted.
FIG. 2 is a schematic perspective view showing the back side of the left and right traveling bodies.
FIG. 3 is an explanatory view showing an adsorption system.
FIG. 4 is an electrical block diagram showing an outline of control of the adsorption system.
FIG. 5 is a flowchart showing a negative pressure generation prohibition process.
[Explanation of symbols]
1-molded product take-out machine, 15-adsorption member, 17-chuck, 25-negative pressure regulator, 27-compressed air on-off valve as compressed air on-off member, 29-negative pressure generating device, 31-adsorption pressure detector

Claims (1)

成型品を吸着して保持するチャックを移動制御して樹脂成形機から成型品を所定の解放位置に取り出す成型品取出機において、In the molded product take-out machine, which controls the movement of the chuck that sucks and holds the molded product and takes the molded product from the resin molding machine to a predetermined release position.
所定圧力の圧縮空気を供給する圧縮空気供給源と、A compressed air supply source for supplying compressed air of a predetermined pressure;
供給される圧縮空気により負圧を発生させる負圧発生装置と、A negative pressure generator that generates negative pressure by the supplied compressed air;
チャックに設けられる吸着部材と、A suction member provided on the chuck;
を配管にて接続し、Are connected by piping,
圧縮空気供給源と負圧発生装置を接続する配管に設けられ、負圧発生装置に至る圧縮空気の流路を開閉する圧縮空気開閉部材と、A compressed air opening / closing member that is provided in a pipe connecting the compressed air supply source and the negative pressure generator, and that opens and closes a flow path of the compressed air that reaches the negative pressure generator;
圧縮空気供給源と圧縮空気開閉部材を接続する配管に設けられ、負圧発生装置に供給される圧縮空気量を、吸着する成型品に応じて可変する負圧調整器と、A negative pressure regulator that is provided in a pipe connecting the compressed air supply source and the compressed air opening / closing member, and that varies the amount of compressed air supplied to the negative pressure generator according to the molded product to be adsorbed;
負圧発生装置と吸着部材を接続する配管に設けられ、該配管内の負圧を検出する負圧検出部材と、A negative pressure detecting member provided in a pipe connecting the negative pressure generating device and the adsorbing member, and detecting a negative pressure in the pipe;
メモリに予め記憶された成型品の種類に応じた吸着圧データに基づいて負圧調整器を可変制御して負圧発生装置により発生する負圧を制御すると共に、負圧検出部材により検出される負圧が、メモリに記憶された吸着圧データ以上の場合には、吸着部材による成型品の吸着を検出して圧縮空気開閉部材の開状態を維持する一方、負圧検出部材により検出される負圧が、メモリに記憶された吸着圧データ以下になった際にタイマ手段を起動して計数し、吸着圧データ以下の負圧が所定時間以上、継続する場合には、圧縮空気開閉部材を閉作動して負圧発生装置に対する圧縮空気の供給を遮断制御する制御手段と、The negative pressure regulator is variably controlled based on the adsorption pressure data corresponding to the type of molded product stored in advance in the memory to control the negative pressure generated by the negative pressure generator, and is detected by the negative pressure detection member. When the negative pressure is equal to or greater than the adsorption pressure data stored in the memory, the adsorption of the molded product by the adsorption member is detected and the open state of the compressed air opening / closing member is maintained, while the negative pressure detected by the negative pressure detection member is maintained. When the pressure falls below the adsorption pressure data stored in the memory, the timer means is started and counted, and when the negative pressure below the adsorption pressure data continues for a predetermined time or longer, the compressed air opening / closing member is closed. Control means for operating and controlling the supply of compressed air to the negative pressure generator;
を備えた成型品取出機。Molded product take-out machine equipped with
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