JPH0763976B2 - Equipment for taking out molded products - Google Patents

Description

TECHNICAL FIELD OF THE INVENTION The present invention relates to a molded product take-out device for taking out a molded product from a molding die by moving a hand to a desired position by sequence control.

[Technical Background of the Invention] Conventionally, in this type of device, a movable base is provided horizontally movable relative to a base so that the movable base can be driven by an air cylinder, and the movable base also has an air cylinder. The hand was attached to the lower end of the rod, and the movable table, the hand, etc. were sequentially moved by sequence control. Specifically, initially, the movable table is located above the opened mold, and in this state, the air cylinder of the movable table is first driven to lower the hand between the fixed mold and the movable mold. Next, the air cylinder of the base is driven to move the movable table in the horizontal direction toward the molded product side, and the movable table is stopped when the hand reaches a grip position where the molded product can be gripped. Then, the molded product is gripped by the hand, and then the moving base is returned to the original position by the air cylinder of the base again, and the hand is further raised by the air cylinder of the moving base. After that, the entire base is moved laterally to lower the hand, the molded product is released there, and the hand and the movable base are returned to their original positions.

Thus, conventionally, the movement limit position of the movable table, that is, the positioning between the original position and the gripping position, has been conventionally performed by fixing a stopper to the base and bringing the movable table into contact with the stopper.

[Problems of the Background Art] By the way, if the type of the molded product to be molded by the molding die is different, it is necessary to change the gripping position of the hand accordingly. However, in the above-mentioned conventional configuration, since the movable table is positioned at the gripping position and the original position by the stopper with which the movable table abuts, it is necessary to adjust the position of the stopper according to the different types of molded products. is there. This position adjustment work is considerably troublesome and requires a long time because the stopper is firmly fixed with bolts and the like.

[Object of the Invention] An object of the present invention is to provide a device for taking out a molded product that can easily and quickly change the moving position of the hand according to the type of the molded product.

[Summary of the Invention] The present invention relates to a motor that drives a moving table via a speed reducer,
The origin switch that detects the origin position of the moving base, the encoder that operates based on the rotation of the output shaft of the reduction gear to output a pulse according to the moving amount of the moving base, and the pulse from the encoder based on the signal from the origin switch. And a counter that outputs a position confirmation signal when the count value matches a preset value according to the type of molded product, and stops the motor by the output of the position confirmation signal and shifts to the next operation. By configuring so that the mobile platform can be moved to a position corresponding to the value set in advance on the counter, and the position of the mobile platform can be changed by changing the set value. I have.

Embodiments of the Invention One embodiment of the present invention will be described below with reference to the drawings.

First, in FIG. 2 showing the overall structure, 1 is a fixed die plate, 2 is a fixed die that constitutes one of, for example, a two-divided mold, and 3 is movably penetrated to the outer periphery of the fixed die plate 1. It is four guide bars. A movable die plate 4 is fixed to the tip end portion of the guide bar 3, and a movable die 5 constituting the other of the molding dies is fixed to the movable die plate 4 so as to face the fixed die 2. The base end of the guide bar 3 is connected to a piston of a hydraulic cylinder (not shown), and the movable mold 5 is driven by driving the hydraulic cylinder.
Can be moved between the mold closed state and the mold opened state. 6 is a fixed base fixed on the fixed die plate 1,
This is the direction orthogonal to the moving direction of the movable die 5 (the arrow in the figure).
X _1, and forms a rectangular tube extending indicated by X _2), a pair of rails 7 and 7 along the longitudinal direction is fixed to the upper surface. 8 is a rectangular frame-shaped base, which is provided on the fixed base 6 so that its longitudinal direction is along the moving direction of the movable mold 5, and along the rail 7 in the directions of arrows X ₁ and X ₂ . Can be moved. Further, a reversible motor 9 and a speed reducer 10 are provided on the upper surface of one end of the fixed base 6, and a drive pulley 11 provided on the output shaft of the speed reducer 10 and the other end of the fixed base 6 are provided. A drive belt 12 is stretched between a driven pulley (not shown). The drive belt 12 is fixed to the base 8, so that when the motor 9 is rotated to drive the drive belt 12, the base 8 is moved in the arrow X ₁ or arrow X ₂ direction according to the rotation direction of the motor 9. be able to.

Next, 13 is a moving base provided on the base 8 so as to be reciprocable in the longitudinal direction, 14 is a reversible motor provided on the upper surface of one end of the base 8, and 15 is a speed reducer. A drive pulley 16 is provided on the output shaft of the speed reducer 15, and a timing belt 18 is stretched between the drive pulley 16 and a driven pulley 17 provided at the other end of the base 8. The timing belt 18 is the moving base 13
Therefore, the movable base 13 can be moved in the longitudinal direction (indicated by Y ₁ and Y _{2 in the} figure) of the base 8 by rotating the motor 14 and driving the timing belt 18. 1
9 is a rotary encoder provided on the base 8,
This is connected to the output shaft of the speed reducer 15 and outputs a number of pulses corresponding to the number of rotations of the output shaft and thus the moving amount of the moving table 13.

Reference numeral 20 designates two support posts provided on the movable base 13 so as to be movable up and down, and a hand 21 is detachably attached to the lower ends of the support posts. The hand 21 has a pair of air cylinders 23, 2 on the substrate 22.
3 are attached in an opposed state, and the rods 23a are made to project in a direction in which they approach each other, so that a molded product (not shown) molded by the molding die can be held. Reference numeral 24 is an air cylinder provided on the moving table 13, and a rod 24a of the air cylinder is vertically movable, and a lower end portion of the rod 24a is connected to a substrate 22 of the hand 21. As a result, when the air cylinder 24 is operated to move the rod 24a up and down, the hand 21 can be moved in the up-down direction (indicated by arrows Z ₁ and Z _{2 in the} figure). Reference numeral 25 denotes a cable duct connected to the base 8, and inside thereof, a cable and an air hose connected to a motor 14 of the base 8 and an air cylinder 24 provided on the moving base 13 are housed.

Now, FIG. 1 shows a control system. In the figure, reference numeral 26 is a sequencer, which controls the motors 9 and 14 and the air cylinders 23 and 24 to operate in a predetermined order to execute a molded product taking-out operation described later. 27 is a counter for counting the number of pulses from the encoder 19. 28,2
Reference numeral 9 denotes an origin switch provided near each end of the base, which closes when the actuator is pressed when the moving base 13 is moved to a predetermined origin position. Origin switch 28,2
The reference numeral 9 is connected to the counter 27 via the switch 30, and gives a signal from one of the origin switches to the counter 27 according to the origin setting signal So given from the sequencer 26.
The counter 27 is configured to start counting the number of pulses from the encoder 19 when receiving a signal from the origin switch, and the amount of movement of the moving base 13 from the origin position according to the counted number of pulses. Is detected. Further, the counter 27 is preset with a plurality of pulse numbers (hereinafter referred to as preset values) corresponding to a plurality of moving target positions of the moving table 13 according to the type of molded product, and the counted pulse number is the preset value. Position confirmation signal Sp
To the sequencer 26, and the sequencer 26 stops the motor 14 based on this. Here, the preset value to be compared with the count value in the counter 27 is selected from a plurality of preset values set in advance according to the selection signal Ss from the sequencer 26. Reference numeral 30 denotes a motor driving device, which receives a driving signal from the sequencer 26 to drive the motor 14 for driving the moving base 13 and receives a stop signal to stop the motor 14. In addition, 31 and 31 are limit switches provided in the vicinity of both ends of the base 8, respectively.
When 13 is moved to both ends from the origin position, it operates to give an emergency stop signal to the sequencer 26,
Emergency stop 14

Next, the operation of the above configuration will be described. First, the base 8 and the moving base
It is assumed that 13 and the hand 21 are in the initial position. In this specification,
The initial position means that the base 8 is located above the molding die as shown in FIG. 2 and the moving base 13 is the origin switch 28 on the right side in FIG.
The hand 21 is at the origin position and is in the state where the hand 21 is raised as shown in FIG. Now, when the molding is completed in the molding die, the movable die plate 4 is moved to open the die. Then, based on the signal from the sequencer 26, the motor drive circuit 30 drives the motor 14 to move the movable table 13 from the origin position in the arrow Y ₁ direction. At this time, since the output shaft of the speed reducer 15 rotates according to the rotation of the motor 14, the encoder 19 rotates, and the counter 27 is provided with a number of pulses corresponding to the amount of movement of the moving table 13 from the origin position. Selection signal from the sequencer 26 to the counter 27
The first preset value corresponding to the position close to the movable die 5 is validated in advance by Ss. And counter 27
When the count value in 8 coincides with the first preset value, the counter 27 outputs a position confirmation signal Sp to the sequencer 26, and based on this, the sequencer 26 gives a stop signal to the motor drive device 30 to stop the motor 14. After this, the air cylinder 24 is operated based on the signal from the sequencer 26 to lower the hand 21 in the direction of arrow Z ₁ , and when reaching the lower limit position, the air cylinder 23 of the hand 21 is operated to cause the rod 23a to project, This holds a molded product (not shown). Next, the selection signal Ss is given from the sequencer 26 to the counter 27, and the second preset value corresponding to the position returned to the origin position is validated in the counter 26. After that, the motor 14 is rotated in the reverse direction, and the moving table 13 moves in the direction of the arrow Y ₂ , so that the molded product is extracted from the movable die 5. Since the pulse from the encoder 19 is given to the counter 27 as the moving base 13 moves in the direction of the arrow Y ₂ , a position confirmation signal is sent from the counter 27 to the sequencer 26 when the count value of the counter 27 matches the second preset value. Sp is output, and the sequencer 26 stops the motor 14 based on this. Next, the air cylinder 24 of the moving table 13 is operated, and the hand 21 moves up in the arrow Z ₂ direction while holding the molded product. Then, the motor 9 of the fixed base 6 is driven, the base 8 moves in the direction of the arrow X ₂ and stops at a predetermined position, the hand 21 further descends, and the air cylinder 23 moves the rod.
23a is operated to retreat and the molded product is released. After that, the hand 21 moves up, the base 8 moves in the direction of the arrow X ₁ ,
Further, the motor 14 moves the movable table 13 in the direction of the arrow Y ₂ . Then, when the movable table 13 comes into contact with the right-side origin switch 28 to operate, a stop signal is given from the sequencer 26 to the motor drive device 30, so that the movable table 13 stops at the origin position and the base 8 and the movable table 13 are moved. And the hand 21 returns to the initial position. After that, the above cycle is repeated every time the molding is completed in the molding die, and the molded articles are continuously taken out from the molding die to a predetermined position. Also, when taking out a molded product of a type different from the one described above from the mold, the sequencer 26
When the information about the type of molded product is input to, a new molded product is replaced with the preset value set in the counter 27 based on the selection signal Ss from the sequencer 26, in place of the first and second presets. Third corresponding to the type
And the fourth preset value is activated, and the position of the hand 21 in the directions of the arrows Y ₁ and Y ₂ is changed accordingly.

As described above, in this embodiment, the moving table 13 is driven by the motor 14 instead of the conventional air cylinder driving method, and the moving amount of the moving table 13 is detected by the encoder 19 and the motor is set at the preset position. Since 14 is stopped, a moving table can be used depending on the difference in the type of molded product.
To change the stop position of 13, it suffices to operate the sequencer 26 to validate one of the preset values set in the counter 27 according to the type of the new molded product. Therefore, in the present embodiment, while the stop position of the movable table has to be changed by adjusting the fixed position of the stopper in the conventional air cylinder drive system, the work is troublesome and requires a long time. It can be performed extremely easily and in a short time. As a result, it is possible to significantly reduce the adjustment time when changing the type of the molded product, and it is possible to significantly improve the productivity. Moreover, the stop position of the moving table 13 is different from the type where it is stopped by a stopper.
Since it is possible to freely set any number of types without being restricted by the structure of the moving base 13 or the base 8, the moving path of the moving base 13 or the hand 21 can be set so that the hand 21 reaches the molded product in the shortest time. Can be set, and thus productivity can be further improved.

Further, according to the present embodiment, the encoder 19 is provided on the output shaft of the speed reducer 15 that reduces the rotation of the motor 14,
19 and the mere counter 27 that counts the pulses from the encoder 19 are used to control the stop position of the moving table 13, so it is possible to control the stop position of the moving table 13 with a relatively simple device. Can be achieved.

Moreover, since the encoder 19 is provided on the output shaft of the speed reducer 15, even if a failure occurs between the motor 14 and the speed reducer 15, the speed of the speed reducer 15 is reduced even if the motor 14 is rotating. If the output shaft does not rotate and the moving table 13 does not move, the encoder 19 does not operate and the counter 27 does not count the pulses from the encoder 19. Therefore, when the movable table 13 does not move despite the motor 14 rotating in this way, this can be detected by the fact that the counter is not operating.

Furthermore, if the movable table 13 is returned to the origin position at the end of the operation (origin switch 28 or 29 is closed),
Next, when the power is turned on to start the operation, it is possible to immediately start the operation because it is known that the movable table 13 is at the origin position in the state of the origin switches 28 and 29.

[Effects of the Invention] As described above, according to the present invention, the movable table is driven by the motor, and a pulse corresponding to the moving amount of the movable table is input to the counter from the encoder and is preset in the counter. The feature is that the motor is stopped when the value and the count value of the pulse from the encoder are compared and the two coincide with each other, so that the stop position of the moving table can be changed freely and easily. Therefore, the preparatory work for changing the type of the molded product can be remarkably facilitated, and moreover, the efficient operation can be performed and the productivity can be remarkably enhanced. In addition, an encoder is provided on the output shaft of the speed reducer that reduces the rotation of the motor.
Since the stop position of the moving table is controlled by a simple counter that counts the pulses from the encoder, the stop position of the moving table can be controlled by a device having a relatively simple structure. Moreover, because the encoder is installed on the output shaft of the reduction gear, a failure may occur between the motor and the reduction gear, and the output shaft of the reduction gear may not rotate even though the motor is rotating. When the mobile table does not move, there is an advantage that this can be detected by the fact that the counter is not operating. Furthermore, if the mobile base is returned to the home position at the end of the operation, when the power is turned on to start the next operation, the mobile base will know that the home switch is in the home switch position, so it will operate immediately. It has an excellent effect that it can start the process.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a control system diagram,
FIG. 2 is a perspective view of the whole. In the drawing, 2 is a fixed die (molding die), 5 is a movable die (molding die), 8 is a base, 13 is a moving base, 14 is a motor, 15 is a reducer, 19 is an encoder, 21 is a hand, and 23 is An air cylinder, 26 is a sequencer, 27 is a counter, and 28 and 29 are origin switches.

Claims (1)

[Claims] 1. A moving table is provided so as to reciprocate with respect to a base, and a hand reciprocating in a direction substantially orthogonal to the moving direction is provided on the moving table, and the movement of the moving table and the hand is sequenced. In the one controlled to take out the molded product from the mold in the mold open state by the hand,
A motor that drives the moving table via a speed reducer, an origin switch that detects the origin position of the moving table, and a pulse that operates based on the rotation of the output shaft of the speed reducer and that corresponds to the amount of movement of the moving table. And a counter that outputs a position confirmation signal when the count value of the encoder counts the pulse from the encoder based on the signal from the origin switch and the count value matches a preset value according to the type of the molded product. Is provided, and the motor is stopped to shift to the next operation by the output of the position confirmation signal.