JPH07195454A - Device for finishing molded piece - Google Patents

Abstract

PURPOSE:To obtain a device for finishing a molded piece, capable of positioning a molded piece rapidly and correctly with high accuracy while preventing occurrence of levitation thereof and capable of cutting a gate of a molded piece with high accuracy without occurrence of a crack. CONSTITUTION:A finishing device comprises a positioning device 11, a removing machine removing a molded piece from a molding machine and supplying it to the positioning device, and a multi-joint robot capable of controlling the attitude of an arm with a cutting tool with respect to a molded piece positioned on the positioning device. The positioning device 11 moves and positions a molded piece W within a horizontal plane while pressing it from above by an air clamp 113.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a molded product finishing apparatus which can perform gate cutting of an injection molded product with high accuracy without causing cracks.

[0002]

2. Description of the Related Art Conventionally, as a method of finishing a gate of an injection-molded article, a method of cutting the gate with a nipper or a shearing tool such as a pruning clip and then sanding the gate is widely used. However, residual stress is concentrated around the gate of the injection-molded product, so if an unskilled person cuts the gate poorly, the molded product may crack and become a defective product. If the stress is large, there is a problem that cracks may occur even if an expert cuts the gate.

In view of this problem, for example, the actual Kaihei 4-8
In Japanese Patent No. 3620, a gripper for conveying a molded product and a nipper of different types for cutting two or more kinds of gates are provided on a support shaft detachably provided at the tip of an arm of a robot, and a cutting method suitable for the type of gate is used. A gate cut cutting device for cutting work has been proposed.

Further, Japanese Patent Laid-Open No. 4-304996 discloses that
Positioning and fixing of plastic injection molded products, cutting of gate parts, transportation of cut gate parts, processing, inspection of cutters,
A gate cutting device has been proposed which can automatically replace the cutter.

Further, Japanese Patent Laid-Open No. 2-104467 discloses that
A method of cutting the unnecessary part of the molded product has been proposed in which the unnecessary part of the molded product is cut with a high-quality cut surface by cutting the cutting part that has a tapered surface that opens toward the product part with a cutter with two blades. .

Further, Japanese Patent Laid-Open No. 2-103112 discloses that
A holding mechanism, a cutter that cuts the gate of the held molded product, a cutter mechanism that moves the cutter to cut the gate, and a mechanism that moves the holding mechanism up and down between the receiving position and the cutting position of the molded product, There has been proposed a gate cutting device including a mechanism for carrying out a molded product whose gate has been cut and a control circuit for controlling the operation of these mechanisms.

[0007]

However, in any of the above cases, the molded product is likely to be lifted up, and it is difficult to finely adjust the position of the cutting tool with respect to the gate cutting portion of the molded product, and cracks are generated. There is a problem that it becomes a defective product and that the finish state varies for each molded product.

According to the present invention, it is possible to prevent the floating of the sequentially conveyed molded products and to position the molded products quickly and accurately with high accuracy, and to perform highly accurate gate cutting without causing cracks. The purpose of the invention is to provide a finishing device.

[0009]

SUMMARY OF THE INVENTION The present invention is directed to a molded product positioning device, a take-out device for taking a molded product out of a molding machine and supplying it to the positioning device, and a molded product positioned on the positioning device. A molding product finishing device for performing gate cutting of a molding product, comprising a multi-joint robot capable of controlling the attitude of an arm equipped with a cutting tool, wherein a positioning device controls the molding product supplied thereto. It is a molded product finishing device that can be moved in a horizontal plane while being pressed from above.

In the present invention, as a take-out device, a conventionally known holding device such as a suction device or a holding device is mounted, and the molded product is taken out from the mold of the injection molding device so that the molded product is held by the holding device and carried. Then, a material that can be supplied onto the positioning device is appropriately used.

As the articulated robot, a conventionally known one is appropriately used, a cutting tool is attached to the arm, and the gate of the molded product supplied to the positioning device is cut by the movement of the joint and the arm. The one that enables various posture control for the part to be performed is used.

In the articulated robot, a holding tool such as a suction tool is attached to the arm together with a cutting tool, and the finished molded product is held by the movement of the joint part and the arm and can be transported to the next step. Is preferred. As a result, the multi-joint robot used to cut the gate of the molded product can be used to transport the finished molded product to the next process at the same time, so there is no duplication of equipment and efficient finishing work. It can be performed.

In the present invention, as the positioning device,
A product that is movable in a horizontal plane while pressing the molded product from above is used. To move the molded product in the horizontal plane while pressing it from above, for example, while pressing the molded product from above with a pressing tool provided with a large number of bearings and small rolls vertically and horizontally on the contact surface with the molded product, press it on the base plate. Those that can be sequentially moved in the horizontal plane by being pressed by the air cylinders for lateral and vertical movements to the standing lateral and vertical positioning blocks are preferably used.

[0014]

The molded product finishing apparatus of the present invention includes: a molded product positioning device; a take-out device that takes out the molded product from the molding machine and supplies it to the positioning device; and a molded product positioned on the positioning device. A molding product finishing device for performing gate cutting of a molding product, comprising a multi-joint robot capable of controlling the attitude of an arm equipped with a cutting tool, wherein a positioning device moves the molding product supplied upwards. Since it can be moved in the horizontal plane while holding it from the position, it is possible to perform positioning quickly and with high accuracy while preventing the rise of the molded product that cuts the gate. It can be performed with high accuracy without cracking.

[0015]

EXAMPLES The present invention will be described below with reference to examples. Figure 1
FIG. 1 is a front view showing the overall configuration of an example of a molded product finishing apparatus of the present invention. The molded product finishing device 1 is a positioning device 1
1, a take-out device 12, and an articulated robot 13. The positioning device 11 and the articulated robot 13 are fixed on a pedestal 16. A product conveyor 17 formed of an endless belt is provided adjacent to the frame 16.

The take-out device 12 takes out a molded product from an injection molding machine (not shown) based on a command from a take-out device control device (not shown) and descends onto the positioning device 11 to supply the molded product. ing.

As shown in FIG. 2, the positioning device 11 includes a positioning block 111, an air cylinder 112, and
It consists of an air clamp 113. The positioning device 11 includes, on the base plate 114, lateral positioning blocks 111a and 111a ′ for restricting lateral positions and vertical positioning blocks 111b and 111 for restricting vertical positions.
b'is erected.

In addition, the positioning device 11 has lateral movement air cylinders 112a and 112a 'for pressing the molded product W to move it in a horizontal plane toward the lateral positioning blocks 111a and 111a', and a vertical positioning block. 111
The air cylinders 112b and 112b 'for vertical movement that move in the horizontal plane toward b and 111b', and the air clamps 113 and 113 'that enable the movement in the horizontal plane while pressing the molded product W from above. It is provided.

As shown in FIG. 3, the air clamp 113 (113 ') has a bearing 11 on the surface which abuts the molded product W.
A large number of columns 3a ... Are provided vertically and horizontally, and the molded product W on the positioning device 11 can freely move in a horizontal plane while pressing the molded product W from above by the cylinder shaft 113b.

These air cylinders 112 for lateral movement
a, 112a ', air cylinders 112b, 1 for vertical movement
The operation of 12b 'and the air clamps 113, 113' is performed based on a command from a positioning device control device (not shown).

On the arm 131 of the articulated robot 13,
As shown in FIG. 4, a cutting tool 14 and a holding tool 15 are attached.

The cutting tool 14 comprises a fixed blade 141 and a movable blade 143 which can be moved back and forth with respect to the fixed blade 141 by an air cylinder 142. As shown in FIG. 1, the articulated robot 13 is capable of controlling the attitude of the arm 131 of the molded product on the positioning device 11.

By the operation of the articulated robot 13, the arm 131 whose posture is controlled is guided to the gate cutting portion of the molded product set on the positioning device 11, and the gate can be cut and finished. Also, the holder 15 is
By operating the articulated robot 13, the finished molded product can be held and conveyed to the product conveyor.

Hereinafter, an example of a mode of performing the gate cutting of the molded product W as shown in FIG. 5 by using the molded product finishing apparatus described with reference to FIGS. A description will be given with reference to the explanatory view showing the relationship between the positioning device shown in FIG. As shown in FIG. 5, in the molded product W for gate cutting, a molded product W1 and a molded product W2, which are taken in two, are connected by a runner portion R, and the boundary portion between them is a gate portion G,
It is designated as G '.

First, in step 1 (S ₁ ), as shown in FIG.
As shown in (a), the molded product W is taken out from the injection molding machine (not shown) by the take-out device 12 and supplied onto the positioning device 11.

In step 2 (S ₂ ), as shown in FIG. 7B, the lateral positioning block 111 is moved by the lateral movement air cylinders 112 a and 112 a ′ of the positioning device 11.
a, 111a 'by advancing toward the molded product W
Is moved in the horizontal plane to perform lateral positioning.
In step 3 (S ₃ ), as shown in FIG. 7C, one of the side-moving air cylinders 112a ′ is retracted.

In step 4 (S ₄ ), as shown in FIG. 7D, one air clamp 113 holds one molded product W1 from above. In step 5 (S ₅ ), as shown in FIG. 7E, one air clamp 113 holds one molded product W1 from above, and one molded product W1 is held by one vertical movement air cylinder 112b. The vertical positioning block 111b is pressed and moved in a horizontal plane to perform vertical positioning.

In step 6 (S ₆ ), as shown in FIG. 7 (f), the cutting tool 14 attached to the arm 131 of the articulated robot 13 operates the articulated robot 13 to move the molded article W 1 side. The gate G is cut off. Step 7 (S ₇ )
Then, as shown in FIG. 7F, the air clamp 113 is removed, and the vertical movement air cylinder 112b is retracted.

In step 8 (S ₈ ), as shown in FIG. 7 (g), the other molded product W2 is moved to the other side positioning block 11 by the other side moving air cylinder 112a '.
It is pressed toward 1a 'and moved in a horizontal plane to perform lateral positioning.

In step 9 (S ₉ ), as shown in FIG. 7 (h), the other molded product W2 is pressed from above by the other air clamp 113 '. In step 10 (S ₁₀ ), as shown in FIG. 7I, the other air clamp 11
While pressing the other molded product W2 from above at 3 ', the molded product W2 is pushed toward the other vertical positioning block 111b' by the other vertical movement air cylinder 112b 'and moved in the horizontal plane, and Stop the directional position.

In step 11 (S ₁₁ ), as shown in FIG. 7 (j), the cutting tool 14 attached to the arm 131 of the articulated robot 13 operates the articulated robot 13 to move the molded article W2 side. The gate G'is cut off. Step 12
At (S ₁₂ ), as shown in FIG. 7J, the air clamp 113 ′ is removed, and the vertical movement air cylinder 112 b ′ is removed.
Retreat.

These series of steps 1 (S ₁ ) to 12
Molded products W1 and W2 whose gates are cut by (S ₁₂ ).
To get Each of the molded products W1 and W2 is held by a holder attached to the arm 131 of the articulated robot 13 and conveyed to the product conveyor.

[0033]

Since the molded product finishing apparatus of the present invention is constructed as described above, the molded product can be cut with high precision without causing cracks in the gate.

[0034]

[Brief description of drawings]

FIG. 1 is a front view showing the overall configuration of an example of a molded product finishing apparatus of the present invention.

FIG. 2 is a plan view showing an example of a positioning device in the device of FIG.

FIG. 3 is a front view showing an example of an air clamp in the positioning device shown in FIG.

4A and 4B show a state in which a cutting tool and a holding tool are attached to an arm of an articulated robot in the apparatus shown in FIG. 1, FIG. 4A being a side view and FIG. 4B being a front view.

FIG. 5 is a perspective view showing an example of a molded product for cutting a gate using the apparatus shown in FIGS.

FIG. 6 is a flow chart of an example of cutting a gate of a molded product using the apparatus shown in FIGS.

7A to 7J are plan views sequentially showing the relationship between the positioning device and the molded product in a mode of cutting the gate of the molded product by using the device shown in FIGS. .

[Simple explanation of symbols]

 1 Molded Product Finishing Device 11 Positioning Device 12 Extracting Device 13 Articulated Robot 14 Cutting Tool 15 Adsorption Tool 111 Positioning Blocks 111a, 111a ′ Side Positioning Blocks 111b, 111b ′ Vertical Positioning Block 112 Air Cylinders 112a, 112a ′ For Lateral Movement Air cylinder 112b, 112b 'Vertical movement air cylinder 113, 113' Air clamp

Claims (1)

[Claims] 1. A positioning device for a molded product, and a take-out device for taking out the molded product from the molding machine and supplying it to the positioning device.
A molded product finishing device for performing gate cutting of a molded product, comprising a multi-joint robot capable of controlling the posture of an arm equipped with a cutting tool, with respect to a molded product positioned on a positioning device. A molded product finishing apparatus, wherein the positioning device is movable in a horizontal plane while pressing the molded product supplied thereon from above.