JPH0254209B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to an automatic molded product take-out device that automatically takes out an injection molded product (hereinafter referred to as a molded product) from an injection molding machine.

Conventionally, the above-mentioned type of automatic molded product ejecting device consists of a traveling body that can reciprocate in the longitudinal direction of the main body frame, and a stroke that is fixed to the traveling body and corresponds to the distance within the opened mold. Front and rear cylinders, and a holding member that is fixed to the rods of the front and rear cylinders and has a stroke corresponding to the distance from the outside of the mold to the inside of the mold, and that holds the injection molded product. The chuck part is configured to take out the molded product by moving at each predetermined stroke, and during injection molding, the chuck part is placed on standby at the upper and lower movement limit positions of the upper and lower cylinders, and the chuck part is Since the mold is moved downward by the predetermined stroke described above into the mold which is subsequently opened, it has the disadvantage that the ejection cycle becomes long.

Although the above-mentioned lowering time is in units of several seconds per cycle, the number of times taken out per day is in units of several tens of minutes, resulting in a decrease in removal efficiency.

In addition, in many molding factories, after the molded product taken out from the molding machine is gated in the take-out cycle as necessary, the molded product is directly stored as a product in a storage box, or the molded product is assembled. In order to transport the molded products to the line and inspection line, it is necessary to release the molded products to any three-dimensional position within the compartmentalized magazine to save labor and improve the efficiency of the molding work. It has been impossible to move two-dimensionally or three-dimensionally with an arbitrary stroke in the release position and store it in a predetermined position in a magazine or the like.

Purpose of the Invention In view of the above-mentioned drawbacks of the conventional art, the purpose of the present invention is to move the chuck part in any three-dimensional direction using a simple configuration to enable automatic accumulation of molded products, and to arbitrarily vary the amount of downward movement of the upper and lower cylinders. It is an object of the present invention to provide an automatic molded product take-out device that can shorten loss time during injection molding and improve the efficiency of take-out work.

Configuration of the Invention Hereinafter, the configuration of the present invention will be explained according to examples.

Fig. 1 is a front view schematically showing an automatic molded product take-out device according to the present invention, Fig. 2 is a plan view of Fig. 1, Fig. 3 is a right side view of Fig. 1, and Fig. 4 is a diagram of Fig. 1. 5 is a sectional view showing the stroke adjustment mechanism of the upper and lower cylinders. In the figure, the main body frame 1 includes a pedestal part 3 fixed to a molding machine 2 (indicated by a dashed line in the figure), and a frame part 3 shown in FIG. A running frame 4 extending in the left-right direction is integrally formed, and a pair of left and right rails 5a, 5b having an inversely tapered shape are fixed to the longitudinal direction of the running frame 4, and a rack gear 6 is fixed to the rail 5b side, respectively. has been done.

The traveling body 7 is fitted onto the left and right rails 5a and 5b so as to be able to reciprocate in the left and right directions, and has front and rear frames 8 integrally formed therein which extend in the front and rear directions in the drawing.

The traveling body 7 includes a first drive member constituting a first drive member.
An induction motor 9 is fixed, and a gear 9a that meshes with the rack gear 6 is attached to its rotor, and the traveling body 7 is moved in the left-right direction in accordance with the rotational drive of the first induction motor 9.

A pair of reversely tapered front and rear rails 10a and 10b are fixed to the front and rear frames 8 in the front and rear direction.

The front and rear running bodies 11 are arranged on the front and rear rails 10a, 10.
b, and a second induction motor 13 constituting a second driving member is fixed thereto via a bracket 12.

A bracket 14 is fixed to the side surface of the front and rear frames 8, and one end side of a screw shaft 15 is screwed to the bracket 14 so that it can be screwed.
A gear 16 is fixed to the other end of the screw shaft 15 which is supported by the bracket 12.
6 meshes with a gear 17 fixed to the rotor of the second induction motor 13, and rotates the front and rear traveling body 1 according to the rotational drive of the second induction motor 13.
1 reciprocates in the front and back direction.

Although the forward and backward movement mechanism is constructed by the screw shaft 15, the present invention is not limited to this embodiment. For example, a rack gear may be fixed to one rail side of the front and rear frames, and a second induction may be attached to the rack gear. A configuration in which a pinion gear fixed to a rotor of the motor 13 is engaged, etc.
Any mechanism that converts the rotational driving force of the induction motor 13 into reciprocating motion may be used.

The upper and lower cylinders 18 are fixed to the front and rear traveling body 11 by inserting rods thereof, and a pair of guide rods 19a and 19a are provided on both sides of the upper and lower cylinders 18.
9b is fitted in the front and rear traveling body 11 so as to be movable in the vertical direction.

A stopper 20 is fixed to the upper end side of the guide rods 19a, 19b, which abuts the upper end of a rotating shaft 22 of a vertical adjustment mechanism 21, which will be described later.

The vertical adjustment mechanism 21 includes a rotor 23 that rotatably meshes with a rotating shaft 22 having a screw threaded thereon, which constitutes an irreversible mechanism attached to the front and rear traveling body 11 corresponding to the stopper 20, and a rotor 23 that is energized to each pole tooth. This is an induction motor in which a stator 24 formed by winding a coil is integrally mounted in a casing 25, and these rotor 23 and stator 24
This constitutes the third driving member. Then, as the rotor 23 is driven to rotate, the rotating shaft 22 is moved in the vertical direction in the figure, and the vertical cylinder 18
When the stopper 20 moves downward, the contact position of the stopper 20 fixed to the guide rods 19a and 19b with respect to the upper end of the rotating shaft 22 is varied.

A holder 26 is fixed to the rod of the upper and lower cylinders 18 and the lower end of the guide rod.

The chuck part 27 has a posture control member 28 which converts the reciprocating motion of the air cylinder into a rocking motion with a link mechanism and reverses the chuck part 27 by about 90 degrees in the direction of the arrow as necessary with respect to the holder 26. A pair of air cylinders that hold the molded product P under pressure at a position corresponding to the molded product P (indicated by the broken line in the figure) on the chuck plate 29, or the molded product A holding member 30 such as a suction member that attracts and holds P is attached.

FIG. 6 is an electrical block diagram showing the control circuit of the automatic molded product take-out device, and in the figure, the first and second induction motors 9,
13. The vertical adjustment mechanism 21 has a traveling body 7, a front and rear traveling body 11, and a rotating shaft 2 corresponding to the respective rotation amounts.
Position detectors 31, 32, and 33 are installed to detect the moving positions of the two and the moving speeds of the two, respectively.

The position detectors 31, 32, 33 are fixed to the non-output side of each rotor, and have a large number of slits 34a, 35a, 36a at equal pitches in equicentric positions.
disks 34, 35, 36, which are perforated with
It consists of photodetectors 37, 38, 39 each consisting of a pair of light-emitting elements and a light-receiving element mounted at positions corresponding to the slits 34a, 35a, 36a. It consists of a rotary encoder type that outputs detection signals SSx, SSy, and SSz for detecting the moving position and moving speed, respectively.

It should be noted that the present invention is not limited to a rotary encoder type position detector, but can also be carried out with a type of position detector in which a Hall element detects magnetic material formed on a disk at regular pitches. It's watery.

The main control circuit 40 includes the running body 7, the front and rear running bodies 1
1. The vertically movable member 21, the vertical cylinder 18, the posture control member 28, and the holding member 30 in the chuck portion 27 are driven according to a predetermined program to sequentially perform the ejection and release operation of the molded product P.

In the release mode, the position setting circuit 41 sets, for example, the left movement limit position, the backward movement limit position, and the upper movement limit position of the chuck portion 27 as the origin positions X0, Y0, and Z0, respectively, and sets them at a desired distance from the origin positions X0, Y0, and Z0. Respective stopping positions X1~Xn, Y1~ in the three-dimensional direction across
Position data PX, PY, PZ regarding Yn, Z1 to Zn,
It also sets and inputs running data RUx, RUy, RUz such as high-speed drive range data and intelligent speed drive range data regarding the operation mode of the chuck section 26 leading to the stop positions X1 to Xn, Y1 to Yn, and Z1 to Zn, respectively. The above-mentioned position data Px, Py, Pz and travel data RUx, RUy, RUz are controlled by the right movement mode key 42, forward movement mode key 43, and downward movement mode key 44 arranged on the console.
After selecting the direction of movement 7, numerical values are entered using the numeric keys 45 on the console.

The input position data Px, Py, Pz and travel data RUx, RUy, RUz are stored in rewritable, backed-up, non-volatile memory whose storage positions are arranged in accordance with the stopping order of the chuck parts in the three-dimensional direction. Buffer memories 46x, 46y, 46 consisting of random access memories, etc.
z, respectively, the first and second induction motors 9, 1 via the bus line.
3. It is output to each sub-control circuit 47, 48, 49 which drives and controls the vertical adjustment mechanism 21.

Note that the travel data RUx, RUy, RUz are data related to the low-speed driving region, for example, at each stop position.
Any method of setting data unique to X1 to Xn, Y1 to Yn, and Z1 to Zn or as common data can be implemented.

The sub-control circuits 47 to 49 receive input position data Px, Py, Pz, and running data RUx,
Check part 2 for RUy and RUz in three-dimensional direction
A detector for writing in each of memories 50 to 52 such as a rewritable, backed-up, non-volatile random access memory having storage positions corresponding to the stopping order of 6, and detecting the moving position of the chuck unit 27, respectively. The control signal Cx, Cy, and Cz are outputted in accordance with the take-out program that is switched based on the position signal outputted from the Transfer signal Lx, Ly,
Drive circuit 5 for Lz and reverse rotation signals Rx, Ry, and Rz
4 to 56, respectively.

Further, when the chuck section 27 is switched to the right movement mode, forward movement mode, or downward movement mode, the sub control circuits 47 to 49 store the respective memories corresponding to the code signal C regarding the stop order outputted from the main control circuit 40. Position data Px, Py, Pz regarding the respective stop positions X1 to Xn, Y1 to Yn, and Z1 to Zn from the memory positions at 50 to 52, as well as running data RUx,
In addition to accessing RUy and RUz, the detection signals SSx and RUz output from the respective position detectors 31 to 33 are
Referring to SSy, SSz and the running data RUx, RUy, RUz, speed instruction signals SIx, SIy, SIz are output to the respective drive circuits 54 to 56 to adjust the vertical movement of the first and second induction motors 9, 13. The chuck portion 27 is driven at high speed or low speed by the driving voltage applied to the mechanism 21.

Then, the number of signals (number of pulses) of the detection signals SSx, SSy, and SSz is determined by referring to the position data Px, Py, and Pz.
coincides with the position data Px, Py, Pz, a normal rotation signal for the drive circuits 54 to 56;
Lx, Ly, Lz, or reverse signal Rx, Ry, Rz,
In addition, the output of the speed instruction signals SIx, SIy, and SIz is prohibited, respectively, and the chuck section 27 is moved to the desired stop position X1~
Stop at Xn, Y1~Yn, Z1~Zn.

Next, the operation of this embodiment will be explained with reference to FIGS. 7 to 9.

First, the mode for taking out the molded product P will be explained. During injection molding, after the traveling body 7 is positioned above the molding part on the left end side in the figure, the vertical adjustment mechanism 21 moves the chuck part 2 when the vertical cylinder 18 is operated.
The rotor 2 is numerically controlled so that the rotor 7 is close to the mold.
The rotating shaft 22 is raised in accordance with the forward rotation of step 3.

When the vertical cylinder 18 is operated in the above state and the chuck part 27 is moved downward, the stopper 20 fixed to the guide rods 19a, 19b comes into contact with the upper end of the rotating shaft 22 as the chuck part 27 moves downward, as shown in FIG. As shown in FIG. 2, the chuck portion 27 is placed on standby at a location near the mold until the injection molding is completed.

After injection molding is completed, based on a molding end signal (not shown) output from the molding machine 2, the vertical adjustment mechanism 21 is reversely driven so that the chuck portion 27 is positioned within the mold.

In the above state, when the second induction motor 13 is numerically controlled so that the chuck portion 27 is positioned at the molded product P projected by the eject mechanism in the mold, the forward and backward traveling body 11 is driven by the normal rotation of the screw shaft 15. is advanced.

The holding member 30 is operated in the above state, and the molded product P
When holding the mold, the second induction motor 13 moves the screw shaft 1 so as to take out the molded product P from the mold.
5 is numerically controlled to retract the chuck portion 27.

After the above operation, when the main control circuit 40 switches to the release mode, it operates the upper and lower cylinders 18 to move the chuck portion 27 upward, and at the same time, it operates the upper and lower cylinders 18 to move the chuck portion 27 upwardly, and at the same time, it operates the upper and lower cylinders 18 to move the chuck portion 27 upward, and to move the chuck portion 27 upwardly, and to move the moving body 7 to the release position corresponding to the release order, e.g. The first electric member 9 has a position detector 3 attached to the first electric member 9 so as to reach each compartment of the storage magazine.
The chuck unit 27 is controlled numerically based on the number of signals output from
Move it to the right until it reaches 1.

After the above operation, the second induction motor 13 is numerically controlled based on the number of signals output from the position detector 32, which is determined by the distance from the origin position in the two-dimensional direction to each section. The front and rear traveling body 11 is moved forward, and the chuck portion 27 is moved to a stopping position Y1 in the two-dimensional direction of each section.
advance to.

The vertical adjustment mechanism 21 is numerically controlled based on the number of signals output from the position detector 33 determined by the distance corresponding to the three-dimensional position in each section, and the contact position of the upper end of the rotating shaft 22 with respect to the stopper 20 is controlled numerically. After changing the movement, or in conjunction with the movement, operate the vertical cylinder 18 to move the chuck part 27 to the stop position in accordance with the upward movement distance of the rotating shaft 22.
Move down to Z1.

After the above operation, the chuck part 27 is reversed by about 90 degrees by operating the posture control member 28 as necessary, and with the molded product P side facing downward, the holding of the molded product P by the holding member 30 is released, The molded products P are accumulated in each section of the magazine corresponding to the release order.

After the above operation, the main control circuit 40 switches to the extraction mode, and the vertical cylinder 18, the vertical adjustment mechanism 21,
first and second induction motors 9, 13;
The front and rear running bodies 11 and the running bodies 7 are returned to their original positions,
By repeating the above operations, the chuck portion 27 is numerically controlled to the respective stop positions X2 to Xn, Y2 to Yn, and Z2 to Zn, and the molded product P is removed and released.

In this embodiment, the rotation shaft 2 of the induction motor is
2 is a screw shaft, and the distance of contact with the stopper is varied according to the rotational drive of the rotor 23. However, in the present invention, the induction motor and the screw shaft as a non-reversible mechanism are separate bodies, and the screw shaft It is also possible to implement a structure in which the nut member is engaged with the stopper, and the screw shaft is moved up and down in accordance with the rotational drive of the induction motor, thereby varying the contact distance of the nut member with the stopper.

Effects of the Invention As explained above, the present invention includes a traveling body supported movably in the longitudinal direction on a main body frame fixed to an injection molding machine, and numerical control to move the traveling body by an arbitrary distance in the longitudinal direction. a possible first driving member, a front-rear traveling body supported so as to be movable in the front-rear direction on front and rear frames fixed to the traveling body and extending in a front-rear direction perpendicular to the longitudinal direction, and a front-rear traveling body moving in the front-rear direction. A second drive member that can be numerically controlled to move by an arbitrary distance, a vertical cylinder and a guide rod that are fixed to the front and rear traveling body and have an axis in the vertical direction perpendicular to the front and rear direction, and a second drive member that is attached to the vertical cylinder and the guide rod. , a chuck member that holds and releases the injection molded product, a feed screw that is rotatably supported by the front and rear traveling bodies and whose one end can come into contact with a stopper provided on the guide rod, and a numerical value that measures the amount of rotation of the feed screw. The chuck part is moved in any three-dimensional direction by a simple structure that moves the chuck part in any three-dimensional direction to take out and release the injection molded product. This is an automatic molded product take-out device that enables automatic stacking of molded products and can arbitrarily vary the amount of downward movement of the upper and lower cylinders to reduce loss time during injection molding and improve the efficiency of take-out work.

[Brief explanation of the drawing]

FIG. 1 is a front view schematically showing an automatic molded product retrieval device according to the present invention, FIG. 2 is a plan view of FIG. 1, and FIG.
The figure is a right side view of Fig. 1, Fig. 4 is a left side view of Fig. 1, Fig. 5 is a sectional view showing the stroke adjustment mechanism of the upper and lower cylinders, and Fig. 6 is a control circuit of the automatic molded product removal device. The electrical block diagrams shown in FIGS. 7 to 9 are explanatory diagrams showing the operating states, respectively. In the figures, 1 is the main body frame, 2 is the molding machine, 4 is the running frame, 7 is the running body, and 8 is the front and rear parts. frame, 11
18 is a traveling body, 18 is an upper and lower cylinder, 19a, 19b
20 is a guide rod, 20 is a stopper, 21 is a vertical adjustment mechanism, 27 is a chuck portion, and P is a molded product.

Claims (1)

[Scope of Claims] 1. A traveling body supported movably in the longitudinal direction on a main body frame fixed to an injection molding machine, and a numerically controllable first part that moves the traveling body by an arbitrary distance in the longitudinal direction. a driving member; a front and rear running body supported so as to be movable in the front and rear directions on front and rear frames fixed to the running body and extending in a front and rear direction perpendicular to the longitudinal direction; a second drive member that can be numerically controlled and moved by the front and back; a vertical cylinder and a guide rod that are fixed to the front and rear traveling bodies and have axes in the vertical direction perpendicular to the front and back direction; a chuck member that holds and releases the molded product; a feed screw that is rotatably supported by the front and rear traveling bodies and whose one end can come into contact with a stopper provided on the guide rod; and a third member that numerically controls the amount of rotation of the feed screw. An automatic extraction device for injection molded products, comprising: a driving member;