JPH0679440A - Device for removing runner part in formed product - Google Patents

Abstract

PURPOSE:To give only useful load to an arm in the case of removing a runner part from a product part by hitting and to precisely carry an intermediate formed product to a prescribed position with the arm by holding the intermediate formed product, which is formed by injection-forming, etc., to the arm of a robot. CONSTITUTION:In this device, a supporting means 9 for supporting either one between the product part 4 and the runner part 2 constituting the intermediate formed product 1 taken out from a forming part of a die cavity, etc., so as to be freely attached detached, the arm 53 of the robot 50 for supporting this supporting means 9 through a buffering body 65 so as to be freely attached/ detached, a fixed means 72 possible to fix or release from fixing the supporting means 9 and the arm 53 side and a hitting means 19 for hitting the supported product part 4 or the supported runner part 2, are arranged.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a removing device for removing a runner part from a product part of an intermediate molded product after taking out the intermediate molded product from a mold cavity after casting by an injection molding machine. Regarding

[0002]

2. Description of the Related Art An intermediate molded product taken out from a mold cavity after being molded by the above injection molding machine is usually composed of a product portion and a runner portion which is continuous with the product portion and corresponds to a passage of molten material. By removing the runner part from the product part, the product can be obtained. Conventionally, the removal is performed by hitting the product portion with a hammer, and by this impact, the gate portion, which is a portion where the runner portion is connected to the product portion, is impacted and broken.

[0003]

By the way, it has recently been desired to mechanically carry out the above removal without relying on human power. Therefore, it is conceivable that only one of the product portion and the runner portion is supported by the arm of the robot, the intermediate molded product is hit, and the runner portion is removed. However, in this case, the impact due to the impact is transmitted to the arm, and a useless load is applied to the robot. Thus, since the impact is wastefully consumed, it takes time to remove the runner portion. . Further, in order to deal with this problem, it is conceivable to support the intermediate molded product on the arm via a cushioning body. However, in this case, rattling occurs between the intermediate molded product and the arm, and The transfer of the intermediate molded product to the desired position by the arm may be inaccurate.

[0004]

SUMMARY OF THE INVENTION The present invention has been made by paying attention to the above circumstances. An intermediate molded product molded by injection molding or the like is supported by an arm of a robot, and the runner part is hit from the product part by hitting. In this case, it is possible to remove unnecessary load on the arm so that the runner portion can be removed quickly, and the arm can convey the intermediate molded product to a desired position. The goal is to be accurate.

[0005]

To achieve the above object, the present invention is characterized in that an intermediate molded product taken out from a molding part such as a mold cavity is melted in a product part and in a continuous manner with the product part. A runner part removing device for a molded product, which is formed with a runner part corresponding to the passage of the material and enables the removal of the runner part from this product part. Only one of the product part and the runner part can be removed. Support means for detachably supporting, a robot arm for detachably supporting the support means via a buffer, and a fixing means for fixing or releasing the support means and the arm side.
The same as the above, there is a striking means for striking the product section or the runner section.

The runner portion includes, for example, a sprue in casting, and a molten metal passage from the sprue to a product, and a stamp portion (resin pool) in resin molding. , And all that correspond to the path of the molten resin from the stamp part to the product part. The runner portion also includes what corresponds to a so-called air vent that prevents air from remaining in the mold when molten metal or molten resin is injected into the mold.

[0007]

[Operation] The operation of the above configuration is as follows. When removing the runner part 2 from the product part 4 in the intermediate molded product 1, first, the product part 4 or the runner part 2 is supported by the supporting means 9. Next, the product part 4 or the runner part 2 which is not supported by the support means 9 is hit by the hitting means 19 in the same as above. Then,
The runner section 2 and the product section 4, which is a heavy object, vibrate at different cycles, and the load due to the impact is concentrated on the gate section 3, which is the section where the runner section 2 connects to the product section 4, and the gate section 3 It will break easily. In this way, the product part 4 is separated from the runner part 2, that is, the product part 4
The runner portion 2 is removed from.

In the above case, the supporting means 9 is supported by the arm 53 of the robot 50 via the buffer 65, and at this time, the supporting means 9 and the arm 53 are fixed by the fixing means 72.
If they are not fixed to each other (shown by the solid line in FIG. 4), the shock when the product part 4 or the runner part 2 is hit is absorbed by the buffer body 65, and the shock is transmitted to the arm 53. Is prevented. Also, the robot 5
When the intermediate molded product 1 is to be conveyed by the zero arm 53, the supporting means 9 and the arm 53 are fixed to each other by the fixing means 72 (shown by phantom lines in FIG. 4). Then, the intermediate molded product 1 supported by the supporting means 9 accurately follows the operation of the arm 53 without rattling.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIGS. 1 to 4 show a first embodiment.
In the drawing, reference numeral 1 in the drawing is an intermediate molded product made of aluminum, and this intermediate molded product 1 is taken out from a mold cavity of an injection molding machine in casting. The intermediate molded product 1 is integrally molded with a product part 4 and a runner part 2 connected to the product part 4, and the product part 4 corresponds to a passage of a molten aluminum material which is a molten material in the mold. Is. Further, a portion where the runner portion 2 is connected to the product portion 4 is a gate portion 3 having a small cross-sectional area.

A runner portion removing device 6 for removing the runner portion 2 from the product portion 4 is provided. In addition,
For convenience of explanation, the direction indicated by arrow Fr in FIG. The runner removing device 6 is a robot 5
It has 0. The robot 50 includes a robot main body 52 rotatably supported on a base 7 about a vertical axis 51,
It has an arm 53 extending from the upper part of the robot main body 52. The arm 53 is supported by the robot body 52 so as to be vertically swingable and movable in the horizontal direction, and the supporting means 9 is attached to the protruding end of the arm 53.

On the other hand, the stamp portion 1 is supported by the supporting means 9 described above.
4 is gripped, the runner portion main body 1 from the stamp portion 14 to the gate portion 3 of the runner portion 2
Striking means 19 for striking 8 is provided. The striking means 19 has a vibrator 32, which is composed of a cylinder tube 33 and a vibration rod 34, and the cylinder tube 33 is mounted on a column 56 projecting from a mount 55. The vibrating rod 34 is slidably projected forward from the front end of the cylinder tube 33, and vibrates back and forth when pressurized air is supplied to the cylinder tube 33. Further, a belt conveyor 57 is arranged near the side of the hitting means 19.

The supporting means 9 will be described with reference to FIGS. 1 and 3. An arm end portion 59 extending in a direction orthogonal to the arm 53 is provided at a protruding end of the arm 53 through a known attachment / detachment mechanism, and a slide fixing base 60 is supported by the arm end portion 59, and the slide fixing base 60 is supported. The fixed base 60 is rotatable around a shaft center 61 of the arm end 59 up to a predetermined angle. A slide movable table 62 is slidably supported on the slide fixed table 60 in the radial direction of the shaft center 61, and the slide movable table 62 can slide to a predetermined position with respect to the slide fixed table 60. It is said that.

A box-shaped bracket 63 is attached to the slide movable table 62, and a bottom plate 64 of the box-shaped bracket 63 extends substantially parallel to the axis 61 of the arm end 59. A bracket 66 is attached to the bottom plate 64 via four rubber shock absorbers 65. The buffer 65 has a cylindrical shape, and its axis extends in a direction substantially orthogonal to the axis 61 of the arm end 59.

The hand chuck 6 is attached to the bracket 66.
7 is supported, and the hand chuck 67 can be opened and closed by a chuck cylinder 68 via a toggle mechanism 69. The hand chuck 67 includes
An outer chuck tooth 70 and an inner chuck tooth 71 are provided, and the stamp portion 14 of the runner portion 2 of the intermediate molded product 1 is held by the outer chuck tooth 70 of the hand chuck 67 that has closed. On the other hand, the inner chuck teeth 71 can hold another insertion hand or a spray for spraying a release agent.

In FIGS. 1, 3 and 4, there is provided a fixing means 72 for fixing or releasing the supporting means 9 and the box-shaped bracket 63 on the arm 53 side. The fixing means 72 is the box-shaped bracket 63.
Gripping cylinders 74 attached to the outer plate 73 of the
The gripping cylinders 74 are arranged around the bracket 66 at equal intervals. The piston rod 75 of each of the gripping cylinders 74 is capable of retracting and moving toward the bracket 66, and a corresponding fitting hole 76 is formed in the bracket 66 corresponding to the piston rod 75.
Are formed.

Then, as shown by the solid line in FIG. 4, when the grip cylinder 74 is contracted, the piston rod 75 is disengaged from the fitting hole 76, and the support means 9 and the box-shaped bracket 63 on the side of the arm 53 are separated from each other. Is fixed.

On the other hand, as shown by the phantom line in FIG. 4 above, if the grip cylinder 74 is extended, the piston rod 7
5 is fitted into the fitting hole 76, and the projecting end of the piston rod 75 is pressed against the bottom surface of the fitting hole 76, whereby the support means 9 and the box-shaped bracket 63 are fixed to each other.

When the runner portion 2 is removed from the product portion 4 of the intermediate molded product 1, the robot 50 is actuated to move the runner portion 2 to the vibrating rod 34 of the striking means 19.
To face. During the operation period of the robot 50, as shown in FIG.
3 and a solid line in FIG. 3 and a phantom line in FIG. 4, the piston rod 75 of each of the gripping cylinders 74 advances and the piston rod 75 fits into the fitting hole 76, and the piston rod 75 Presses the inner surface of the fitting hole 76 to fix the bracket 66 to the box-shaped bracket 63.

Therefore, during the operation period of the robot 50, the bracket 66, the hand chuck 67, and the intermediate molded product 1 supported by these are held by the holding cylinder 74.
Thus, it is supported on the arm end 59 side. Therefore, during operation of the robot 50, the bracket 6
6, the hand chuck 67, and the intermediate molded product 1 are supported against the arm end 59 side without rattling, and the intermediate molded product 1
Are accurately transported to a desired position by the robot 50.

Next, the runner portion 2 of the intermediate molded product 1 is made to face the vibrating rod 34 of the striking means 19, and the robot 5
When the operation of 0 is stopped, as shown by the solid line in FIG. 4, the piston rod 75 of each of the gripping cylinders 74 retracts, and the fixing of the bracket 66 is released. Therefore, thereafter, the bracket 66, the hand chuck 67, and the intermediate molded product 1 are supported on the arm end 59 side only via the buffer 65.

In this state, the vibrating rod 34 is vibrated by the operation of the striking means 19 to strike the vicinity of the gate portion 3 of the runner portion main body 18 of the runner portion 2. Then, the product portion 4 is separated from the runner portion 2. Then, the runner portion 2 removed from the product portion 4 as described above is put into a return material bucket (not shown) and recast.
On the other hand, the product section 4 is carried out to the next step by the belt conveyor 57.

In the above case, the vibration which is transmitted from the intermediate molded product 1 side to the arm end 59 side is absorbed by the buffer 65, that is, the vibration is prevented from being transmitted to the arm end 59 side. As described above, since the wasteful consumption of vibration is suppressed, the load due to the impact is effectively concentrated on the gate portion 3, and the runner portion 2 is easily removed.
Moreover, since the vibration is not transmitted to the arm end 59 side, the robot 50 is protected. Each of the shock absorbers 65 has a columnar shape, and the axial center of the shock absorber 65 extends in the front-rear direction.
The vibration direction of 4 is also the front-back direction. Therefore, the vibration that is transmitted from the intermediate molded product 1 side to the arm end portion 59 side is absorbed by the elastic deformation of the buffer body 65 in the axial direction.

The vibration rod 34 is attached to the runner portion 2 of the intermediate molded product 1 supported by the robot 50 as described above.
When the vibration is given by, the vibration may be given from the left and right directions. In addition, the stamp portion 14 of the intermediate molded product 1 is shown in FIG.
Alternatively, it may be supported as indicated by a virtual line in FIG. 3, and vibration may be applied to it from the left and right directions by the vibrating rod 34 as indicated by a virtual line in the same figure. In this case, the vibration that is transmitted from the intermediate molded product 1 side to the arm end portion 59 side is more effectively absorbed by the elastic deformation of the shock absorber 65 in the shearing direction.

(Second Embodiment) FIGS. 5 and 6 show a second embodiment. According to this, the bottom plate 6 of the box-shaped bracket 63
4 extends in a direction orthogonal to the axis 61 of the arm end 59. The axis of each cushion 65 is substantially parallel to the axis 61. The stamp part 14 of the intermediate molded product 1 is held by the hand chuck 67, and the runner part 2 of the intermediate molded product 1 is hit by the vibration of the vibrating rod 34 of the hitting means 19. At this time, while the axial center of each buffer 65 extends in the left-right direction, the vibration direction of the vibrating rod 34 is in the front-back direction, so that the vibration is transmitted from the intermediate molded product 1 side to the arm end 59 side. The attempting vibration is more effectively absorbed by the buffer 65 elastically deforming in the shearing direction. Since other configurations and operations are similar to those of the first embodiment, common components are denoted by common reference numerals in the drawings, and description thereof will be omitted.

(Third Embodiment) FIGS. 7 and 8 show a third embodiment. According to this, the outer chuck teeth 70 of the hand chuck 67 are outward teeth, and the outer chuck teeth 70 are opened by the opening operation of the hand chuck 67.
Comes into pressure contact with the inner peripheral surface of the inner hole 4a of the product portion 4, whereby the product portion 4 is supported by the hand chuck 67. In addition, 77 is a return material bucket, and the removed runner portion 2 is put into the return material bucket 77. Further, reference numeral 78 is a product bucket, and the product section 4 is put into the product bucket 78. Since other configurations and operations are similar to those of the first embodiment, common components are denoted by common reference numerals in the drawings, and description thereof will be omitted.

Fourth Embodiment FIGS. 9 and 10 show a fourth embodiment. According to this, the fixing means 72 has the support base 80 provided upright on the slide movable base 62.
A fixed cylinder 81 whose axial center extends back and forth is supported at 0. The fixed cylinder 81 is a cylinder tube 8
2, a piston 84 axially slidably fitted in a pressure chamber 83 in the cylinder tube 82, and a piston extending rearward from the piston 84 and projecting rearward from a rear end of the cylinder tube 82. It is composed of a rod 85. The projecting end of the piston rod 85 penetrates a through hole 86 formed in the support 80, and the same projecting end of the piston rod 85 has a truncated cone-shaped locking portion 87 attached thereto.

Locking projections 88 projecting rearward from the upper, lower, left and right corners of the rear end surface of the cylinder tube 82 are provided. The locking projections 88 are attached to the cylinder tube 82 by bolts 89. It is screwed on. Each of the locking protrusions 88 has a circular cross section,
The midway part before and after that is the slide hole 9 formed in the support base 80.
0 is slidably fitted back and forth, so that the fixed cylinder 81 is supported by the support base 80 as described above. A front stopper 91 and a rear stopper 92 are provided on the front and rear portions of the outer peripheral surface of each of the locking projections 88 so as to project therefrom.

On the other hand, a bracket 66 of the support means 9 is attached to the support base 80 via a buffer 65, and the buffer 65 is seen from the front side and the fixed cylinder 8 is attached.
Four are provided so as to surround 1. Above bracket 6
A locking concave portion 94 having a conical surface into which the locking portion 87 is fitted is formed in 6. Also, the same as above bracket 6
A locking hole 95 into which the protruding end of the locking projection 88 is removably fitted is formed in the member 6.

Then, as shown above the center line in FIG. 9, when compressed air is supplied to the pressure chamber 83 of the fixed cylinder 81 to the front side of the piston 84, the fixed cylinder 81 is extended and locked. The portion 87 presses the bottom surface of the locking recess 94 to move the cylinder tube 82 forward. Then, along with this, the locking projection 88 also moves forward, the protruding end of the locking projection 88 is disengaged from the locking hole 95, and the fixing between the support means 9 and the arm 53 side is released. At this time, the forward movement of the cylinder tube 82 is performed until the rear stopper 92 contacts the support base 80.

On the other hand, as shown in the lower side of the center line in FIG. 8 above, when compressed air is supplied to the rear side of the piston 84 in the pressure chamber 83 of the fixed cylinder 81, the fixed cylinder 81 shrinks. At this time, the locking portion 87 is brought into pressure contact with the inner peripheral surface of the locking recess 94, and the front stopper 91 is fixed to the support base 80.
The cylinder tube 82 is pulled rearward until it comes into contact with. Then, at this time, the protruding end of the locking projection 88 is fitted into the locking hole 95, and is pressed against the opening edge of the locking hole 95, whereby the support means 9 and the arm 53 side are fixed to each other. . Since other configurations and operations are similar to those of the first embodiment, common components are denoted by common reference numerals in the drawings, and description thereof will be omitted.

[0031]

According to the present invention, the supporting means for detachably supporting only one of the product portion and the runner portion constituting the intermediate molded product taken out from the molding portion such as the mold cavity, and the like. An arm of the robot that removably supports the support means via a buffer, a fixing means that can fix or release the support means and the arm side, and a hitting means that hits the product part or the runner part of the same. Therefore, when removing the runner part from the product part in the intermediate molded product, first, one of the product part and the runner part is supported by the supporting means, and the other is hit by the hitting means. Then, the product part is separated from the runner part by the load due to the impact, that is, the runner part is removed from the product part.

In the above case, the supporting means is supported by the arm of the robot via the buffer, and at this time, if the fixing means cancels the mutual fixing of the supporting means and the arm, the product part or the runner is released. The shock when the part is struck is absorbed by the shock absorber, and the shock is prevented from being transmitted to the arm. Therefore, even if the runner section is removed by striking, unnecessary load is prevented from being applied to the robot arm, the load is concentrated on the connection section between the runner section and the product section, and removal of the runner section is prevented. It will be done promptly. Further, when the intermediate molded product is to be conveyed by the arm of the robot, the supporting means and the arm may be fixed to each other by the fixing means. In this way, the intermediate molded product supported by the supporting means is The operation of the arm is accurately followed without rattling, so that the intermediate product can be accurately conveyed to the desired position by the arm.

[Brief description of drawings]

FIG. 1 is a partially enlarged view of FIG. 2 in the first embodiment.

FIG. 2 is an overall side view of the first embodiment.

FIG. 3 is a view taken along line 3-3 of FIG. 1 in the first embodiment.

4 is a partially enlarged cross-sectional view of FIG. 3 in Embodiment 1. FIG.

FIG. 5 is a diagram corresponding to FIG. 1 in the second embodiment.

FIG. 6 is a view taken along line 6-6 of FIG. 5 according to the second embodiment.

FIG. 7 is an overall side view of the third embodiment.

8 is a partially enlarged view of FIG. 7 in Embodiment 3. FIG.

FIG. 9 is a diagram corresponding to FIG. 1 in Example 4.

FIG. 10 is a diagram of the embodiment shown in FIG. 9 seen from the rear side in the fourth embodiment.

[Explanation of symbols]

 1 Intermediate Molded Product 2 Runner Part 3 Gate Part 4 Product Part 6 Runner Part Removal Device 9 Support Means 14 Stamp Part 18 Runner Part Main Body 19 Hitting Means 50 Robot 53 Arms 65 Buffers 72 Fixing Means

Claims (1)

[Claims] 1. An intermediate molded product taken out from a molding part such as a mold cavity is formed of a product part and a runner part connected to the product part and corresponding to the passage of the molten material. The runner part from the product part A device for removing a runner portion of a molded product, which enables the removal of a product, comprising a support means for detachably supporting only one of the product portion and the runner portion, and the support means being detachable via a cushioning body. A runner portion removing device for a molded article, comprising: a robot arm for supporting; a fixing means for fixing or unlocking the supporting means and the arm side; and a hitting means for hitting the product part or the runner part.