JPH0624182Y2 - Injection molding machine take-out device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a take-out device of an injection molding machine for automatically performing work such as taking out a molded product from a mold.

[Prior Art] At present, the use of a take-out device (take-out robot) for automatically taking out a molded product from a mold is prevailing in an injection molding machine. In many cases, the take-out device has various functions in addition to taking-out the product, and performing a work associated with the product taking-out or a preparatory work for the next molding. Specifically, gate cutting work during product removal, sprue, runner, gate removal work (hereinafter referred to as scrap removal work), or insert molding, insert parts into the mold after product removal. , Assembling work and the like.

FIG. 4 shows an outline of an injection molding machine equipped with the latest traverse type take-out device as a conventional example. That is, in the injection molding machine configured by disposing the injection device 2 and the mold clamping device 3 on the bed 1, the fixed die plate 4 on the injection side is included.
The take-out device 6 is mounted on the top of the
Product removal from the mold gap 5 and associated work related to this are automatically performed.

The take-out device 6 includes a mounting base 7, a main frame 8 extending laterally from the base 7, a lateral traveling frame 9 supported by the main frame 8 and traveling along the main frame 8, and a lateral traveling frame 9. It is equipped with two arms (a product taking-out arm 10A and a cooperating arm 10B) hanging from the traveling frame 9, and a product taking-out chuck portion 11A is attached to the lower end of the product taking-out arm 10A. An attachment 11B such as a chuck portion is attached to the lower end of the cooperating arm 10B according to its work purpose. The two arms 10A and 10B are provided with a drive source (not shown) such as a servo motor, and the horizontal traveling frame 9 is provided.
Relative, longitudinal movement (arrow _{Y A, Y} B)
And vertical lifting operation (arrow Z _A, Z _B) with a can be performed independently, the lateral traveling frame 9 is positioned next to travel along the main frame 8 (arrow X), 5-axis as a whole The control operation is performed in the direction.

[Problems to be Solved by the Invention] However, even when the take-out device of the 5-axis operation system is used, the product take-out arm 10A and the cooperating arm 1
Since 0B and 0B are mounted on a common lateral traveling frame 9, in other words, since both arms 10A and 10B are arranged on the same axis in the lateral direction and there is no freedom in mutual movement,
It is pointed out that the operation of the product take-out arm 10A and the cooperating arm 10B are mutually restricted and cannot freely move, which limits the cycle time of injection molding.

This problem will be described with reference to the arm operation diagram of the conventional device shown in FIG. For example, when the above-mentioned take-out device is used in a three-plate mold injection molding machine, the arm 10A is used for taking out a product, while the arm 10B is used for scrap taking-out work. In this case, both arms 10A,
During injection molding, 10B waits at standby positions IA and IB near the upper part between the molds 5, and when the mold is opened after molding, it descends to the respective chuck positions IIA and IIB to chuck the product and scrap. Original standby position IIA,
After returning to IIB, the product is then moved to, for example, the open position IIIA on the conveyor 12 provided side by side with the injection molding machine, and the scrap is opened above the scrap receiver arranged between the conveyor 12 and the injection molding machine. It is transferred to IIIB, and after each opening operation, the operation cycle of returning to the standby positions IA and IB is carried out.

However, focusing on the operation at this time, first, regarding the cooperative arm 10B, even after the scrap is released at the scrap release position IIIB, the product taking-out arm 10A
At the same time, there is a waste of having to reciprocate to a position coaxial with the product release position IIIA, and it is not possible to use the time between these to perform another work. On the other hand, regarding the product take-out arm 10A, the cooperative arm 10B is provided at the scrap release position IIIB on the way to the product release position IIIA.
At the same time, it is necessary to stop the useless operation once, and it is difficult to speedily perform the traverse operation to the open position IIIA.

SUMMARY OF THE INVENTION In view of the above-mentioned problems of the present invention, the present invention provides an improved take-out device capable of efficiently using both arms for product take-out and a cooperating arm without wasteful operation. The purpose is to do.

[Means for Solving the Problem] The take-out device of the injection molding machine according to the present invention is provided with a product take-out arm for taking out a molded product from the mold when the mold is opened, and an accompanying work for the product take-out or a preparatory work for the next molding. A take-out device having a co-operating arm for performing, wherein the product taking-out arm and the co-operating arm are hung from two independent lateral traveling frames supported by a main frame so as to be movable laterally. And is configured to be movable back and forth and up and down.

[Operation] With the take-out device having the above-described configuration, the product take-out arm and the cooperative arm can freely operate in the directions of three axes in the front-rear direction, the vertical direction, and the lateral direction, that is, a total of six axes. Therefore, the operation of one arm is not restricted by the operation of the other arm, and it is possible to freely select a speedy movement that is efficient for the cycle operation of each arm.

[Examples] Examples will be illustrated and described below.

FIG. 1 shows the outline of the take-out device according to the present invention.

In this take-out device 6, a horizontal main frame 8 extending from both sides of the injection molding machine is extended from a mounting base 7 fixed to a die plate of the injection molding machine, and each main frame 8 is cantilevered and supported. Two independent lateral traveling frames 9A and 9B project in the front-rear direction. These two lateral traveling frames 9A and 9B are engaged with rail grooves 7a and 7b provided on both sides of the main frame 8, respectively, so as to be laterally traversable along the main frame 8 and intersect. An appropriate separation distance is set up and down so that they do not interfere with each other at times. A product take-out arm 10A that slides on the side surface of the long transverse traveling frame 9A arranged above is provided.
Is oscillated so as to be able to move up and down, and from the short lateral traveling frame 9B arranged below, a cooperative arm 10B which is also slidable and ascendable is hung.

A product taking-out chuck part 11A is attached to the lower end of the product taking-out arm 10A, and an attachment (chucking part) 11B of a type according to the work purpose is attached to the lower end of the cooperating arm 10B. To be done.

In the take-out device 6, the product take-out arm 10A and the cooperating arm 10B are driven by drive sources (not shown) such as servo motors mounted on the horizontal traveling frames 9A and 9B, respectively. , longitudinal movement (arrow _Y a, _{Y B)} with vertical lifting operation (arrow _Z a, Z
_B ) independently of each other, and the lateral traveling frames 9A and 9B are independently laterally traversed by the mounting drive source (not shown) with respect to the main frame 8 (shown by arrows X _A ,
X _B ), so that each arm 10A, 10B can be moved in the 3 axis directions (X, Y, Z), and the movement in the 6 axis directions as a whole can be freely performed. Is configured.

In the take-out device 6 configured as described above, the degree of freedom of lateral movement of the arms 10A and 10B is 1 as compared with the existing device.
Therefore, it is possible to perform a control operation that has not been obtained in the past.

FIG. 2 shows an example of arm operation when the apparatus takes out a molded product by the product taking-out arm 10A from the mold when the mold is opened, and a scrap taking-out work by the cooperating arm 10B in FIG. It is shown in contrast to conventional operation.

That is, with the use of this device, it is sufficient for the cooperating arm 10B to reciprocate only between the chuck position IIB and the release position IIIB of the scrap with the standby position IB as the cycle starting point, and unnecessary operation is omitted. . Further, with respect to the product take-out arm 10A, after the product is gripped at the chuck position IIA, it can be transferred from the standby position IA to the product release position IIIA in a non-stop manner, and the operating speed can be increased. Thus, for the product take-out arm 10A, the cycle time is shortened, which directly contributes to the cycle up of injection molding, while for the cooperating arm 10B,
It is also possible to perform a composite operation used for another work during the waiting time.

Next, in FIG. 3, for example, when performing insert molding,
An operation example when the cooperating arm 10B is used for the work of attaching the insert part to the mold is shown. That is, in this case, the cooperating arm 10B runs backwards from the standby position IB above the mold between the product taking-out arm 10A, grips the insert part at the chuck position IVB of the insert part, and then returns to the standby position IB, After the product is taken out by the product take-out arm 10A when the mold is opened, the cycle operation of immediately setting the insert parts in the mold at the setting position VB is performed. That is, in this case, since the cooperating arm 10B can set the insert parts independently of the operation of the product taking-out arm 10A,
Insert time can be shortened and insert molding cycle can be improved.

In the case of insert molding, it is also possible to perform a combined operation in which the operation of the cooperating arm 10B is combined with the scrap extraction operation shown in FIG. 2 and the insert operation shown in FIG.

In addition, as mentioned above, the cooperating arm 10B can be used in various ways for accompanying work of product removal and preparatory work for the next molding. In any case, the conventional 5-axis operation system is used. It becomes possible to efficiently perform the required cycle operation in a short time as compared with the above.

It should be noted that the specific mechanism and drive means for independently moving the product take-out arm and the cooperative arm and moving them in the three-axis directions do not, of course, prevent the embodiment from being changed.

[Advantages of the Invention] As described above, in the take-out device of the present invention, the product take-out arm and the cooperating arm are configured so as to be able to run independently of each other not only in the front-rear and vertical directions but also in the lateral direction. Therefore, the work associated with product removal by the collaborative arm or the preparatory work for the next molding can be performed efficiently and quickly without being restricted by the operation of the product removal arm. The cycle time can be increased, and a further increase in productivity can be achieved.

[Brief description of drawings]

FIG. 1 is a schematic perspective view of a take-out device showing an embodiment of the present invention, and FIGS. 2 and 3 are arm operation diagrams showing the cycle operation of the arm by the embodiment device. FIG. 4 is a schematic perspective view of a main part of an injection molding machine equipped with a conventional take-out device, and FIG. 5 is an arm operation diagram showing a cycle operation of an arm by the conventional take-out device. 6 ... Take-out device 7 ... Mounting base 8 ... Main frame 9A .. Horizontal traveling frame 9B .. Horizontal traveling frame 10A .. Product take-out arm 10B .. Collaborative arm 11A .. (Chuck part)

Claims (1)

[Scope of utility model registration request] 1. A take-out device comprising a product take-out arm for taking out a molded product from a mold when a mold is opened, and a cooperating arm for performing a work associated with the product take-out or a preparatory work for the next molding. The take-out arm and the cooperating arm are hung from two independent horizontal traveling frames supported by a main frame so as to be movable in the lateral direction, respectively, and are provided so as to be movable in the front-rear direction and the vertical direction. Characteristic injection molding machine take-out device.