JP4600986B2 - Extraction device for injection molding machine, injection molding system, and control method for extraction device - Google Patents

Description

  The present invention relates to an injection apparatus for an injection molding machine that takes out an injection-molded molded article, an injection molding system including the same, and a control method for the extraction apparatus.

  Generally, an injection molding machine is provided with a take-out device for taking out a molded product. This take-out device moves the chuck forward and backward between a chuck for holding a molded product molded by an injection molding machine and a fixed mold and a movable mold of an injection molding machine in a mold open state, and is movable by an ejector. And a moving mechanism for moving the chuck toward the molded product removed from the mold. In this take-out device, the chuck is moved between the fixed mold and the movable mold by the moving mechanism, and is further moved by the ejector to the molded article side which is protruded and removed from the movable mold. Grasp and take out.

  As this kind of take-out device, a detection sensor for detecting the position of the movable mold is provided, and based on the detection result from the detection sensor, the movable mold moves and the distance between the fixed mold and the movable mold is increased. A technique is known in which the movement of the chuck is started by a moving mechanism from the time when a predetermined amount is reached (see, for example, Patent Document 1).

JP-A-8-1728

  In the above-described take-out device, the chuck is moved before the fully opened state to shorten the take-out time of the molded product, but the timing of moving the chuck by this moving mechanism, the moving speed, the moving path, etc. Is set by teaching by an operator. For this reason, in order to smoothly perform a series of movement operations of the chuck and to shorten the time for taking out the molded product, skill of the operator is required. Therefore, depending on the level of skill of the operator, it may take an enormous amount of time to adjust the movement of the chuck, and if there is a problem with teaching, the chuck will come into contact with a part of the injection molding machine that is missing from the molded product. There was also a risk of failure.

Even if teaching is performed accurately, even when the operation on the injection molding machine side stops due to some problem, the chuck moved to the take-out position comes into contact with the injection molding machine.
In addition, teaching has to be performed for each type of molded product to be molded, and it takes a lot of time and effort to start up.

  The present invention has been made in view of the above circumstances, and does not require much labor and time, and without requiring skill, it is possible to safely reduce the time required for taking out a molded product as much as possible. It is an object of the present invention to provide a machine take-out device, an injection molding system including the same, and a control method for the take-out device.

In order to achieve the above object, an injection apparatus for an injection molding machine according to the present invention comprises a mold opening / closing mechanism for moving a movable mold forward and backward with respect to a fixed mold, and an ejector for releasing a molded product from the movable mold. The present invention relates to a take-out device for taking out a molded product from a movable mold of an injection molding machine. The take-out device includes a chuck capable of gripping a molded product, a moving mechanism for moving the chuck, a mold opening / closing mechanism, and an ejector. An extraction device control unit that controls the chuck and the moving mechanism based on the encoding information of the drive motor is provided.
In this way, the take-out device control unit controls the chuck that holds the molded product and the moving mechanism that moves the chuck based on the encoded information of the mold opening / closing mechanism on the injection molding machine side and the drive motor of the ejector. Teaching of the removal operation of the molded product by the need can be made unnecessary, a great amount of labor and time required for teaching requiring skill can be eliminated, and the molded product can be taken out without being missed.

Here, the take-out device controller determines the position of the molded product from the encoded information of the drive motors of the mold opening / closing mechanism and the ejector, and information on the moving speed and position of the movable mold in the front-rear direction, and in the front-rear direction of the chuck. Even if the movable die stops urgently from the information on the moving speed and position of the machine and the load inertia value of the take-out device that has been obtained in advance, the chuck that moves together with the movable die is surely stopped without colliding with the movable die. The safety distance that can be generated is calculated, and the chuck is controlled to follow or close to the molded product while maintaining the safe distance with respect to the molded product. In this way, the chuck operates while maintaining a safe distance in accordance with the movement on the injection molding machine side, so that even if there is a change in the operation on the injection molding machine side, the chuck contacts the injection molding machine side. Defects can be reliably eliminated.
In addition, the safety distance calculated by the take-out device control unit varies according to the operation of the mold opening / closing mechanism and the ejector, that is, the position of the fixed mold, the movable mold, the molded product, the operation speed of the movable mold and the ejector, etc. Is preferred. For example, if the moving speed at which the movable mold moves away from the fixed mold is fast, the chuck inertia becomes large, and if the moving mold moves slowly, the chuck inertia becomes small. In view of these, an appropriate safety distance that is not too small and not too large is calculated .
Here, the take-out device control unit keeps a safe distance with respect to the molded product during movement of the chuck that follows or approaches the molded product while keeping the safe movement distance within the range that does not exceed the safe distance. It is preferable to control to increase. Thereby, since the chuck moves without waste in accordance with the movable mold, it is possible to greatly reduce the take-out time and improve the productivity. In addition, a separate sensor for detecting the operation of the mold opening / closing mechanism and the ejector is not necessary, so that the equipment cost can be reduced and the take-out operation can be performed without wasted time such as sensor detection delay. .

An injection molding system of the present invention includes an injection molding machine that injects a resin into a cavity formed by a fixed mold and a movable mold, and an injection molding machine that includes a take-out device that takes out a molded product from the injection molding machine. The injection molding machine is a mold opening / closing mechanism for moving a movable mold forward and backward with respect to a fixed mold, an ejector for releasing a molded product from the movable mold, and controlling the driving of the mold opening / closing mechanism and the ejector. The take-out device includes a chuck capable of gripping a molded product, a moving mechanism that moves the chuck, and a take-out device control unit that controls driving of the chuck and the move mechanism. control unit draws each encoding information of the drive motor of mold opening and closing mechanism and the ejector from the injection molding machine controller, indexing the position of the molded article from the encoding information, before and after the movable mold Even if the movable mold stops urgently from the information on the moving speed and position in the direction, the information on the moving speed and position in the front and rear direction of the chuck, and the load inertia value of the take-out device that has been obtained in advance, together with the movable mold Calculate the safety distance that can reliably stop the moving chuck without colliding with the movable mold, and keep the chuck following or close to the molded product while maintaining the safe distance to the molded product. It is characterized by controlling .

In this way, the take-out device control unit extracts the encoding information of the mold opening / closing mechanism and the ejector drive motor from the injection molding machine control unit, and moves the chuck for gripping the molded product and the chuck based on the extracted encoding information. Since the moving mechanism to be controlled is controlled, teaching of the take-out operation of the molded product by the chuck can be made unnecessary, a great amount of labor and time required for teaching requiring skill can be eliminated, and the molded product is not overlooked. Can be taken out. Further, since the chuck operates in accordance with the movement on the injection molding machine side, even if the operation on the injection molding machine side fluctuates, it is possible to reliably eliminate the problem that the chuck contacts the injection molding machine side. .
Further, since the chuck moves without waste in accordance with the movable mold, the take-out time can be greatly shortened, and the productivity can be improved. In addition, a separate sensor is unnecessary, the equipment cost can be reduced, and the extraction operation can be performed without wasted time such as sensor detection delay.

The control method of the take-out apparatus of the present invention is provided in an injection molding machine including a mold opening / closing mechanism for moving a movable mold forward and backward with respect to a fixed mold and an ejector for releasing a molded product from the movable mold. A control method of a take-out device for gripping and removing a molded product of a movable mold by a chuck moved by a mechanism, wherein the position of the molded product is determined from the encoded information of the drive motors of the mold opening / closing mechanism and the ejector. Even if the movable mold stops urgently based on information on the movement speed and position of the mold in the front-rear direction, information on the movement speed and position of the chuck in the front-rear direction, and the load inertia value of the take-out device that has been obtained in advance. It calculates the safety distance can be stopped reliably without colliding the chuck moving together with the mold on the movable mold, while retaining the safety distance with respect to the molded article chuck Characterized in that to follow the molded article.

In this way, based on the encoded information of the mold opening / closing mechanism of the injection molding machine and the drive motor of the ejector, the chuck calculates the safe distance of the chuck that moves with the movable mold, and molds the chuck while maintaining this safe distance. Because it is made to follow the product, teaching of the take-out operation of the molded product by the chuck can be made unnecessary, a great amount of labor and time required for teaching requiring skill can be eliminated, and the molded product can be taken out without being overlooked. be able to. Further, even if there is a change in the operation on the injection molding machine side, it is possible to reliably eliminate the problem that the chuck contacts the injection molding machine side.
Further, since the chuck moves without waste in accordance with the movable mold, the take-out time can be greatly shortened, and the productivity can be improved. In addition, a separate sensor is unnecessary, the equipment cost can be reduced, and the extraction operation can be performed without wasted time such as sensor detection delay.

Moreover, it is preferable to use the load inertia information of the take-out device together with the encode information of the drive motors of the mold opening / closing mechanism and the ejector when calculating the safety distance.
As a result, even if the movable mold of the injection molding machine is urgently stopped, the chuck that follows the movable mold can be reliably stopped without being brought into contact with the injection molding machine side.

Furthermore, at least the thickness of the movable mold and the molded product by the ejector among the safety distance, the thickness of the movable mold, the mold opening speed setting value, the protruding amount of the molded product by the ejector, and the ejector speed setting value of the unloader It is desirable to determine the chuck position of the molded product by the chuck and the moving speed of the chuck by the moving mechanism from the setting information consisting of the protrusion amount.
Thereby, even if the type of the molded product molded by the injection molding machine is changed, the movement of the chuck can be controlled in accordance with the change.
Further, it is not necessary to set the mold dimensions and the mold opening amount on the take-out device side, and the operation can be performed without requiring skill.

  According to the present invention, it is possible to safely reduce the time for taking out a molded product as much as possible without requiring much labor and time and without requiring skill.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a side view showing an injection molding system according to the present invention, FIG. 2 is a block diagram showing a control system of the injection molding system, and FIG. 3 is a flowchart for explaining the flow of operation control in the injection molding system. These are graphs which show the relationship of the safe distance with respect to the moving speed of a movable metal mold | die.
As shown in FIG. 1, the injection molding system 1 includes an injection molding machine 2 and a take-out device 3 installed on the upper part of the injection molding machine 2.

  The injection molding machine 2 includes a base frame 11, and a fixed mold plate 12 formed in a rectangular plate shape is fixed to the base frame 11 on the right side of the upper surface thereof in a vertical direction. The fixed mold plate 12 has a fixed mold 13 attached to the center of the left side and an injection unit 14 attached to the right side. Four tie bars 15 extend from the four corners of the fixed mold plate 12 to the left side.

On the left side of the fixed platen 12, a movable platen 20 formed in a rectangular plate shape is arranged in parallel in the vertical direction. A movable mold 21 facing the fixed mold 13 is attached to the movable mold plate 20 at the center of the right side surface.
A linear bearing 22 is provided at the bottom of the movable platen 20, and the movable platen 20 is movably supported by a guide rail 23 laid on the base frame 11 via the linear bearing 22.

Further, the movable mold plate 20 has through holes formed in the four corners thereof at the front and back sides, and the tie bars 15 are slidably inserted into the through holes. The fixed mold 12 is supported so as to be able to advance and retreat in a parallel state.
The movable mold platen 20 is advanced and retracted with respect to the fixed mold platen 12 by an electric mold opening / closing mechanism 25.

  The mold opening / closing mechanism 25 includes a ball screw shaft 27 that is rotatably supported on the stationary mold plate 12 by, for example, a thrust bearing. The ball screw shaft 27 extends toward the movable mold plate 20 in parallel with the advancing / retreating direction of the movable mold plate 20 which is the axial direction of the tie bar 15, and is screwed into the ball screw nut 28 of the movable mold plate 20. ing.

  The rear end portion of the ball screw shaft 27 is connected via a gear 29 and a pinion gear 30 to a mold opening / closing motor (drive motor) 31 including an electric servo motor attached to the fixed mold platen 12. The mold opening / closing mechanism 25 rotates the ball screw shaft 27 by rotating the mold opening / closing motor 31 in the normal direction or in the reverse direction, whereby the movable mold platen 20 is moved back and forth in parallel. As the movable mold plate 20 moves back and forth, the fixed mold 13 and the movable mold 21 are opened and closed, that is, the mold is opened and closed.

  The movable platen 20 is provided with fixing mechanisms 35 at its four corners. These fixing mechanisms 35 have half nuts (not shown) that can be engaged with ring grooves formed in the tie bars 15, and these half nuts are engaged with and disengaged from the ring grooves of the tie bars 15. 15 is fixed or released.

  The fixed mold platen 12 includes mold clamping cylinders 41 at the four corners thereof. A mold clamping ram 42 is slidably provided in the mold clamping cylinders 41, and one end of the tie bar 15 is connected to the mold clamping ram 42. Then, when pressure oil is supplied to the mold clamping cylinder 41, the mold clamping ram 42 is moved to the opposite side of the movable mold platen 20 and the tie bar 15 is pulled in, and is fixed to the tie bar 15 by the fixing mechanism 35. The movable mold platen 20 is drawn toward the fixed mold platen 12 side, and the fixed mold 13 and the movable mold 21 are clamped.

  Further, the movable mold plate 20 is provided with an ejector 51 for releasing the molded product S attached to the movable mold 21 from the movable mold 21. The ejector 51 has an eject motor (drive motor) 52 formed of a servo motor, and a ball screw shaft 55 is connected to the eject motor 52 via pinion gears 53 and 54. The ball screw shaft 55 passes through the movable platen 20, and a tip portion of the ball screw shaft 55 is screwed to the operation plate 56. Moved.

  The operation plate 56 is provided with a plurality of eject bars 57. When the operation plate 56 is moved by the rotation of the ball screw shaft 55, the eject bar 57 appears and disappears on the mold surface of the movable mold 21. . When the eject bar 57 protrudes from the mold surface of the movable mold 21, the molded product S attached to the movable mold 21 is pressed by the eject bar 57 and released from the movable mold 21.

  The take-out device 3 includes a guide rail 61 installed along the moving direction of the movable platen 20 at the upper part of the injection molding machine 2, and a rotary actuator (moving mechanism) 62 is provided on the guide rail 61. It is supported so as to be movable along the longitudinal direction of the guide rail 61 via a support block (not shown). An arm 63 is connected to the rotary actuator 62. A chuck 65 having a plurality of suction pads 64 is attached to the tip of the arm 63. The chuck 65 evacuates the suction pad 64 with the suction pad 64 in contact with the molded product S, thereby holding the molded product S on the suction pad 64 and holding it.

  The rotary actuator 62 rotates the arm 63 so that the chuck 65 is orthogonal to the front-rear direction (X direction in FIG. 1) of the injection molding machine 2 that is the moving direction of the movable mold platen 20 (FIG. 1). (Middle Y, Z direction).

  A chuck movement motor (movement mechanism) 66 is provided at one end of the guide rail 61, and a ball screw 67 provided along the guide rail 61 is rotated by the chuck movement motor 66. The ball screw 67 is screwed into the rotary actuator 62, and the rotary actuator 62 is moved along the guide rail 61 when the ball screw 67 is rotated by the chuck moving motor 66. When the rotary actuator 62 is moved, the chuck 65 supported by the rotary actuator 62 via the arm 63 is moved in the front-rear direction of the injection molding machine 2 (X direction in FIG. 1).

Next, the control system of the injection molding system 1 will be described.
As shown in FIG. 2, the injection molding machine 2 and the take-out device 3 constituting the injection molding system 1 include an injection molding machine control unit 71 and a take-out device control unit 72, respectively.
A mold opening / closing motor 31, an eject motor 52, a mold clamping cylinder 41 and a fixing mechanism 35 are connected to the injection molding machine controller 71. The injection molding machine control unit 71 controls each drive by outputting control signals to the mold opening / closing motor 31, the eject motor 52, the mold clamping cylinder 41, and the fixing mechanism 35.

A chuck moving motor 66, a rotary actuator 62, and a suction pad 64 are connected to the take-out device controller 72. The take-out device control unit 72 controls each drive by outputting a control signal to the chuck movement motor 66, the rotary actuator 62, and the suction pad 64.
The injection molding machine control unit 71 and the take-out device control unit 72 are connected to each other, and can transmit and receive various types of information such as speed information, position information, and set value information.

Next, the case where the molded product S is molded by injection molding using the injection molding system 1 having the control system will be described.
First, the mold opening / closing motor 31 of the mold opening / closing mechanism 25 is operated to rotate the ball screw shaft 27 forward. If it does in this way, the movable mold base 20 which was in the position away from the fixed mold base 12 will approach the fixed mold base 12 while maintaining a posture parallel to the fixed mold base 12 with the tie bar 15 as a guide.

  When the movable mold platen 20 moves to a mold clamping position where the fixed mold 13 and the movable mold 21 are close to each other and stops, the half nut of the fixed mechanism 35 of the movable mold platen 20 is closed, and the half nut is a tie bar. The movable mold platen 20 is fixed to the tie bar 15 by engaging with the 15 ring grooves.

In this state, pressure oil is supplied to the mold clamping cylinder 41, the mold clamping ram 42 is moved to the side opposite to the movable mold platen 20, and the tie bar 15 is drawn. Thereby, the movable mold plate 20 fixed to the tie bar 15 by the fixing mechanism 35 is drawn toward the fixed mold plate 12 side, and the fixed mold 13 and the movable mold 21 are clamped.
After the mold clamping is performed as described above, the injection unit 14 performs injection molding into the cavity between the fixed mold 13 and the movable mold 21, and the molded product S is molded.

Next, the case where the molded product S is taken out after injection molding will be described.
When the injection molding is completed, the tie bar 15 is pushed out to the movable mold platen 20 side by the mold clamping cylinder 41, and the mold clamping in the fixed mold 13 and the movable mold 21 is released.
In this state, the engagement state of the fixing mechanism 35 with the tie bar 15 by the half nut is released, and the fixing of the movable mold plate 20 to the tie bar 15 is released.

Thereafter, the mold opening / closing motor 31 of the mold opening / closing mechanism 25 is operated to reversely rotate the ball screw shaft 27. Accordingly, the movable mold platen 20 is released from the fixed mold platen 12 to a predetermined mold opening position while maintaining a posture parallel to the fixed mold platen 12.
Further, when the movable mold platen 20 is moved to open the mold, the eject motor 52 of the ejector 51 is driven, and the ball screw shaft 55 is rotated. As a result, the operation plate 56 to which the ball screw shaft 55 is screwed is moved to the fixed mold platen 12 side, whereby the eject bar 57 provided on the operation plate 56 projects from the mold surface of the movable mold 21. The molded product S adhered to the movable mold 21 is pressed by the eject bar 57 and released from the movable mold 21.

  Then, the molded product S released from the movable mold 21 is taken out by the take-out device 3, and the injection molding machine 2 forms the above-described molded product S to form the next molded product S. Perform the action.

Next, operation | movement of the taking-out apparatus 3 in the said injection molding operation | movement of the injection molding machine 2 is demonstrated along the flowchart figure of FIG.
When the mold opening operation in the injection molding machine 2 is started, the take-out device 3 has its take-out device control unit 72 take in the encode information of the mold opening / closing motor 31 and the eject motor 52 from the injection molding machine control unit 71, and these encode information. Then, the position of the molded product S is determined, and it is determined whether or not a space for inserting the chuck 65 is formed between the molded product S and the fixed mold 13 (step S1), and until an insertable space is formed. Then, the position of the chuck 65 is held (step S2).

  When it is determined that the chuck 65 can be inserted, the take-out device control unit 72 controls the rotary actuator 62 and the chuck movement motor 66 to start the movement of the chuck 65.

  Here, the take-out device control unit 72 moves the movable mold 21 pulled out from the injection molding machine control unit 71 in the front-rear direction (X direction in FIG. 1) (die opening F / B speed) every predetermined time. And information on the position of the movable mold 21 in the front-rear direction (die opening F / B position), the moving speed of the chuck 65 of the unloading device 3 in the front-rear direction (X direction in FIG. 1) (the unloader F / B speed), The safe distance of the chuck 65 with respect to the movable mold 21 is calculated from the information on the position of the chuck 65 in the front-rear direction (the position of the unloader F / B) and the load inertia value of the unloader 3 that has been obtained in advance (step S3). ).

  The calculation of the safety distance of the chuck 65 with respect to the movable mold 21 is derived from the relationship with the moving speed of the movable mold 21 in FIG. As shown in FIG. 4, the safety distance is increased as the moving speed of the movable mold 21 increases, and even if the movable mold 21 is urgently stopped in consideration of the load inertia of the take-out device 3, the movable mold 21 The distance is such that the chuck 65 can be surely stopped without colliding with 21.

Further, the take-out device control unit 72 is set by the mold thickness, the mold opening speed setting value, the ejector protrusion amount, and the take-out device preset by the injection molding machine control unit 71 together with the calculated safety distance. Based on the information of the take-out machine speed setting value, the chuck position, which is the take-out position of the molded product S by the chuck 65, and the moving speed of the chuck 65 by the chuck moving motor 66 and the rotary actuator 62 are determined (step S4). At this time, the take-out device control unit 72 preferably calculates the moving speed of the take-out machine as high as possible within a range not exceeding the safety distance.
Then, the take-out device controller 72 controls the rotary actuator 62 and the chuck moving motor 66 to move the chuck 65 to the chuck position at the moving speed determined as described above.

The take-out device control unit 72 performs the above-described calculation of the safety distance (step S3) and the chuck position and take-out machine moving speed determination (step S4) until the molded product S can be taken out by the suction pad 64 of the chuck 65. Repeat (step S5).
As a result, the chuck 65 follows the maximum moving speed within a range not exceeding the safe distance while maintaining a safe distance from the molded product S. The chuck 65 is disposed at a chuck position where the molded product S can be sucked by the suction pad 64 with respect to the molded product S projected by the ejector 51 when the movable mold 21 is stopped.

  In this state, the take-out device control unit 72 controls the suction pad 64 to take out the molded product S by holding it by the chuck 65.

After the molded product S is taken out, when the movable mold 21 of the injection molding machine 2 starts to move toward the fixed mold 13, the take-out device control unit 72 controls the rotary actuator 62 and the chuck moving motor 66 to control the chuck 65. Start moving.
Here, the take-out device controller 72 again returns information on the mold opening F / B speed and the mold open F / B position, information on the take-out machine F / B speed and the take-out machine F / B position of the take-out device 3, and The safe distance of the chuck 65 with respect to the movable mold 21 is calculated from the load inertia value of the take-out device 3 obtained in advance (step S8).

Further, the take-out device control unit 72 includes information on the calculated safety distance, the mold thickness on the injection molding machine 2 side, the mold opening speed setting value, the ejector protrusion amount, and the take-out machine speed setting value on the take-out device 3 side. Based on this, the chuck position which is the delivery position of the molded product S held on the chuck 65 to the next process and the moving speed of the chuck 65 by the chuck moving motor 66 and the rotary actuator 62 are determined (step S9).
Then, the take-out device controller 72 controls the rotary actuator 62 and the chuck moving motor 66 to move the chuck 65 to the delivery position at the moving speed determined as described above.

The take-out device control unit 72 performs the above-described safe distance calculation (step S8), chuck position and unloader moving speed determination (step S9), and the mold closing operation in which the movable mold 21 and the fixed mold 13 are closed. Repeat until completion (step S10).
Accordingly, the chuck 65 is moved to the delivery position while maintaining a safe distance from the movable mold 21.

As described above, according to the above-described embodiment, molding that moves together with the movable mold 21 based on the encoding information of the mold opening / closing mechanism 25 of the injection molding machine 2, the mold opening / closing motor 31 of the ejector 51, and the eject motor 52. Since the safety distance of the chuck 65 with respect to the product S is calculated, and the chuck 65 follows the molded product S while maintaining this safe distance, teaching of the take-out operation of the molded product S by the chuck 65 can be made unnecessary. Therefore, a great amount of labor and time required for teaching can be eliminated, and the molded product S can be taken out without being missed. Further, even if the operation on the injection molding machine 2 side is fluctuated, it is possible to reliably eliminate the problem that the chuck 65 comes into contact with the injection molding machine 2 side, thereby improving safety.

  Further, since the chuck 65 moves without waste in accordance with the movable mold 21, the take-out time can be greatly shortened, and the productivity can be improved. In addition, a separate sensor is unnecessary, the equipment cost can be reduced, and the extraction operation can be performed without wasted time such as sensor detection delay.

Further, since the safety distance is calculated in consideration of the load inertia information on the take-out device 3 side, even if the movable mold 21 of the injection molding machine 2 is stopped urgently, the chuck that follows the movable mold 21 is used. 65 can be reliably stopped without contacting the injection molding machine 2 side.

Further, the chuck 65 uses the setting information including the preset thickness of the movable mold 21, the moving speed setting value of the movable mold 21, the setting value of the moving speed of the chuck 65, and the protrusion amount of the molded product S by the ejector 51. Since the chuck position of the molded product S and the moving speed of the chuck 65 are determined, even if the type of the molded product S to be molded by the injection molding machine 2 is changed, the movement of the chuck 65 can be controlled in accordance with the change. it can.
This eliminates the need for setting the mold dimensions, mold opening amount, etc. on the take-out device 3 side, and allows operation without requiring skill.

  In the above embodiment, the movement of the chuck 65 is controlled considering only the load inertia on the take-out device 3 side. However, the load inertia on the injection molding machine 2 side may be considered together with the load inertia on the take-out device 3 side. Of course.

  Further, the chuck 65 is kept on the upper side on the fixed mold 13 side slightly from the position where the ejector 51 starts to project the molded product S, and the molded product S passes under the chuck 65 when the mold is opened. At that time, the chuck 65 may be brought close to the molded product S while being followed. Thereby, the taking-out operation of the molded product S by the take-out device 3 can be performed more quickly.

  Further, during the mold opening operation, the molded product S is adsorbed by the suction pad 64 of the chuck 65 while making the chuck 65 follow and come close to the molded product S, and thereafter, the driving force to the chuck 65 is turned off and free. It may be in a run state, the chuck 65 may be moved along with the molded product S, and the molded product S may be taken out after the ejection of the molded product S by the ejector 51 is completed.

It is a side view which shows the injection molding system of this invention. It is a block diagram which shows the control system of an injection molding system. It is a flowchart figure explaining the flow of operation control in an injection molding system. It is a graph which shows the relationship of the safe distance with respect to the moving speed of a movable metal mold | die.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Injection molding system, 2 ... Injection molding machine, 3 ... Extraction device, 13 ... Fixed mold, 21 ... Movable mold, 25 ... Mold opening / closing mechanism, 31 ... Mold opening / closing motor (drive motor), 51 ... Ejector, 52 ... Eject motor (drive motor), 62 ... Rotary actuator (movement mechanism), 65 ... Chuck, 66 ... Chuck movement motor (movement mechanism), 71 ... Injection molding machine control section, 72 ... Take-out apparatus control section, S ... Molded product

Claims (5)

A take-out device for taking out a molded product from the movable mold of an injection molding machine comprising a mold opening / closing mechanism for moving a movable mold forward and backward with respect to a fixed mold and an ejector for releasing the molded product from the movable mold. And
A chuck capable of gripping the molded product, a moving mechanism for moving the chuck, and a take-out device controller for controlling the chuck and the moving mechanism,
The take-out device controller is
The position of the molded product is determined from the encoded information of the drive motors of the mold opening / closing mechanism and the ejector,
From the information on the moving speed and position of the movable mold in the front-rear direction, the information on the moving speed and position of the chuck in the front-rear direction, and the load inertia value of the take-out device determined in advance, the movable mold is urgent. Even if stopped, the safety distance that can be surely stopped without colliding the chuck moving with the movable mold without colliding with the movable mold,
A take-out device for an injection molding machine, wherein the chuck is controlled to follow or close to the molded product while maintaining the safety distance with respect to the molded product.   The take-out device control unit keeps the safety distance with respect to the molded product during movement of the chuck that follows or approaches the molded product and moves the chuck within a range not exceeding the safety distance. 2. The take-out device for an injection molding machine according to claim 1, wherein control is performed to increase the moving speed of the injection molding machine. An injection molding system comprising an injection molding machine for injecting resin into a cavity formed from a fixed mold and a movable mold, and a take-out device for taking out the molded product from the injection molding machine,
The injection molding machine controls a mold opening / closing mechanism for moving the movable mold forward and backward with respect to the fixed mold, an ejector for releasing the molded product from the movable mold, and driving of the mold opening / closing mechanism and the ejector. An injection molding machine controller
The take-out device includes a chuck capable of gripping the molded product, a moving mechanism that moves the chuck, and a take-out device control unit that controls driving of the chuck and the moving mechanism.
The take-out device control unit extracts encode information of the drive motors of the mold opening / closing mechanism and the ejector from the injection molding machine control unit, and determines the position of the molded product from the encode information,
From the information on the moving speed and position of the movable mold in the front-rear direction, the information on the moving speed and position of the chuck in the front-rear direction, and the load inertia value of the take-out device determined in advance, the movable mold is urgent. Even if stopped, the safety distance that can be surely stopped without colliding the chuck moving with the movable mold without colliding with the movable mold,
An injection molding system that controls the chuck so as to follow or approach the molded product while maintaining the safety distance with respect to the molded product. Provided in an injection molding machine having a mold opening / closing mechanism for moving a movable mold forward and backward with respect to a fixed mold and an ejector for releasing a molded product from the movable mold, the movable is moved to a chuck moved by a moving mechanism. A method for controlling a take-out device that grips and removes the molded product of a mold,
The position of the molded product is determined from the encoded information of the drive motors of the mold opening / closing mechanism and the ejector,
From the information on the moving speed and position of the movable mold in the front-rear direction, the information on the moving speed and position of the chuck in the front-rear direction, and the load inertia value of the take-out device determined in advance, the movable mold is urgent. Even if stopped, the safety distance that can be surely stopped without colliding the chuck moving with the movable mold without colliding with the movable mold,
A control method for a take-out apparatus, wherein the chuck follows the molded product while maintaining the safety distance with respect to the molded product. Among the safety distance, the preset thickness of the movable mold, the mold opening speed setting value, the protruding amount of the molded product by the ejector, and the unloader speed setting value of the unloading device, at least the movable mold thickness and claim 4, characterized in that to determine the moving speed of the chuck according to the molded article of the chuck position and the moving mechanism by the chuck from the setting information comprising the amount of protrusion of the molded article by the ejector Control method of the take-out device.

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