JPH11300762A - Apparatus for removing molded product and its controlling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To actuate an arm part and a hand part smoothly and continuously by a single driving source, to prevent the damage of a molded product, and to simplify the control of operation. SOLUTION: An apparatus for gripping a molded product and removing the molding from a mold is equipped with a motor 10 to be a driving source, a speed reducer 20 which reduces the rotational speed of the motor 10 and does transmission to two output shafts alternately and continuously, an arm part 40 which is rotated by one output shaft of the speed reducer 20, and a hand part 50 which is fitted freely rotatably to one end of the arm part 40 and moved vertically by the other of the speed reducer 20, the hand part 50 is moved vertically by a rack 52 and a pinion 54. When the hand part 50 which gripped the molded product is lifted, the rotational speed of the motor 10 is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a molding method which enables an arm portion and a hand portion to be smoothly and continuously operated by a single drive source, and also prevents damage to a molded product and simplifies operation control. The present invention relates to an article take-out device and a control method thereof.

[0002]

2. Description of the Related Art As a conventional molded product removing apparatus, for example, there is one proposed in Japanese Patent Application Laid-Open No. 62-201221. FIGS. 13A and 13B show a conventional molded product take-out apparatus. FIG. 13A is a side view and FIG. 13B is a front view.

In FIGS. 1 (a) and 1 (b), reference numeral 110 denotes a vertically arranged mold, and the mold 110 forms a molded product 130 in which a large number of products and burrs and sprue burrs 133 are integrated. It is formed. Reference numeral 120 denotes a molded product removal device which grips the sprue burr 133 and peels the molded product 130 from the mold 110.

[0004] More specifically, the molded article take-out device 120 includes an electric motor 121 and a drive shaft 121 a of the electric motor 121.
Arm 12 fixed to fixed belt wheel 123
2, an air cylinder 124 rotatably provided with a movable belt wheel 125 at a tip of the arm portion 122 via a support shaft 124a, and a hand portion 126 attached to a tip of a piston rod of the air cylinder 124. And a belt 127 for transmitting the rotation of the fixed belt wheel 123 to the movable belt wheel 125 to keep the air cylinder 124 in a vertical state.

Next, the operation of the conventional molded product take-out apparatus having the above-described configuration will be described with reference to FIG.

First, the drive shaft 121a of the electric motor 121
Rotates counterclockwise, the arm section 122 becomes horizontal on the mold 110 side, and the rotation of the drive shaft 121a is changed by the air cylinder 124 via the fixed belt wheel 123 → the belt 127 → the movable belt wheel 125. And the air cylinder 124 is in a vertical state above the mold 110.

Then, the air cylinder 124 is moved to the hand 1
26, the hand portion 126 grips the sprue burr 133 of the molded product 130. And the air cylinder 12
4 raises the hand part 126, and the sprue burr 133
Is pulled, and the molded product 130 is peeled off from the mold 110.

Next, the drive shaft 121 of the electric motor 121
a rotates clockwise, the arm portion 122 becomes horizontal on the opposite side of the mold 110, and the air cylinder 124
Becomes vertical outside the aircraft. Then, the air cylinder 124
Lowers the hand portion 126, and the hand portion 126 releases the molded product 130.

[0009]

The above-mentioned conventional molded product take-out apparatus 120 has two driving sources, an electric motor 121 and an air cylinder 124, and these two driving sources 1 are provided.
21 and 124 are electrically switched so that the rotation of the arm unit 122 and the elevation of the hand unit 126 are continuously performed.

However, by electrically switching the two driving sources 121 and 124, the arm unit 122 and the hand unit 126 are switched.
Of the arm 122
In addition, there is a problem that the hand unit 126 cannot be smoothly and continuously operated.

Further, the operation of the air cylinder 124, which is the driving source of the hand portion 126, is unstable, and there is a problem that the molded article 130 is damaged when the mold is released.

Further, when the two drive sources 121 and 124 are used, not only the device becomes complicated and large, but also the operation control of the two drive sources 121 and 124 becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and enables an arm and a hand to be smoothly and continuously operated by a single drive source, while preventing damage to a molded product and controlling operation. It is an object of the present invention to provide a molded product taking-out apparatus which can be simplified and a control method thereof.

[0014]

According to a first aspect of the present invention, there is provided a molded product removing apparatus for holding a molded product and removing the molded product from a mold, comprising: A speed reducer for decelerating the rotation of the motor and transmitting the output to two output shafts alternately and continuously; an arm portion rotated by one output shaft of the speed reducer; and one end of the arm portion rotatable And a hand unit that is moved up and down by another output shaft of the speed reducer.

According to the molded product take-out apparatus according to the first aspect of the present invention, by using a speed reducer having two output shafts, the arm and the hand can be mechanically controlled by a single drive source. The operation can be continuously performed, and the operation of the arm and the hand can be mechanically switched.

This eliminates the need for the conventional air cylinder, allows the arm and the hand to smoothly and continuously operate, and also prevents damage to the molded product and simplifies the operation control.

According to a second aspect of the present invention, the speed reducer includes an eccentric high-speed shaft, a curved plate, an output flange, an output frame, first and second stoppers, and first and second stopper release means. The eccentric high-speed shaft converts the rotational motion of the motor into eccentric motion, and the curved plate is provided on the eccentric high-speed shaft, and has arcuate teeth formed on the outer edge thereof, and the eccentric high-speed shaft. The output flange has a plurality of through-holes drilled at equal intervals on a center and a concentric circle, and the output flange has a plurality of inner pins inserted into the through-holes of the curved plate, and a second abutment with the second stopper. The output frame has a plurality of outer pins that mesh with the arc-shaped teeth of the curved plate erected on the inner periphery thereof, and a first rib that contacts the first stopper, The first stopper is provided when the output flange is rotating. Abuts on a rib to limit rotation of the output frame, and the second stopper, when the output frame is rotating, abuts on the second rib to limit rotation of the output flange; The first stopper release means releases the first stopper when the rotation of the output flange is restricted, and the second stopper release means releases the second stopper when the rotation of the output frame is restricted. When the rotation of the output frame is restricted, the eccentric high-speed shaft rotates the curved plate to rotate the output flange, and the rotation of the output flange is restricted. At this time, the eccentric high-speed shaft revolves the curved plate to rotate the output frame.

Alternatively, the speed reducer may include an eccentric high-speed shaft, a curved plate, an output flange, an output frame,
First and second stoppers, first and second stopper release means, wherein the eccentric high-speed shaft converts the rotational motion of the motor into eccentric motion, the curved plate is provided on the eccentric high-speed shaft, An arc-shaped tooth formed at the outer edge, and a plurality of inner pins erected at equal intervals on a circle concentric with the center of the eccentric high-speed shaft, and the output flange is inserted with the inner pin of the curved plate. A plurality of through holes, and a second rib abutting on the second stopper, wherein the output frame has a plurality of outer pins that mesh with the arc-shaped teeth of the curved plate erected on the inner periphery thereof, A first rib that abuts the first stopper, wherein the first stopper abuts on the first rib when the output flange is rotating to limit rotation of the output frame, The second stopper is provided when the output frame is rotating. Abut on the output flange to limit the rotation of the output flange, the first stopper release means releases the first stopper when the rotation of the output flange is restricted, and the second stopper release means When the rotation of the output frame is restricted, the second stopper is released, and when the rotation of the output frame is restricted,
The eccentric high-speed shaft rotates the output flange by rotating the curved plate, and when the rotation of the output flange is restricted, the eccentric high-speed shaft revolves the curved plate to rotate the output frame. You may do so.

The first and second stoppers abut against one end of the first or second rib to limit rotation of the output frame or the output flange in one direction. A stopper and a movable stopper that abuts on the other end of the first or second rib to limit rotation of the output frame or the output flange in another direction.

The first and / or second stopper releasing means may be a projection provided on the output frame and / or the output flange, and the projection may be brought into contact with the movable stopper. The first and / or second stopper is released.

The first and / or second stopper release means may be provided on a cam projection provided on the movable stopper and on the output flange and / or the output frame. A cam groove for guiding the cam projection to move the movable stopper and release the first and / or second stopper may be adopted.

[0022] The hand unit may be,
It is configured to be moved up and down by a rack and pinion. According to such a configuration, the hand portion can be mechanically moved up and down by one of the output shafts of the speed reducer, stabilizing the operation of the hand portion, and reliably preventing the molded article from being damaged during the release. can do.

Further, in order to achieve the above object, a control method of a molded product removal apparatus according to claim 8, wherein the rotation speed of the motor is reduced when the hand holding the molded product rises. It is like that.

According to such a method, the lifting speed of the hand portion when the molded product is peeled from the mold can be reduced, and the molded product can be reliably prevented from being damaged at the time of releasing the mold. . Also, the time cycle of the apparatus can be shortened by increasing the rotation speed of the motor except when the hand unit peels the molded product from the mold.

Preferably, the first or second rib abuts on the fixed stopper so that the output frame and the output flange of the speed reducer are rotated. Before switching, the rotation speed of the motor is reduced.

According to such a method, it is possible to reduce the impact when the first or second rib comes into contact with the fixed stopper, whereby the switching between the output frame and the output flange, which is the output shaft of the speed reducer, can be achieved. Can be performed smoothly, and the life of the device can be extended.

[0027]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a molded article take-out apparatus and a method for controlling the same according to the present invention. FIG. 1 is a front view showing a molded product removal apparatus according to one embodiment of the present invention. FIG. 2 is a side view showing the molded product removal device.

First, with reference to these drawings, the overall configuration of the molded product removal apparatus 1 according to the present embodiment will be briefly described.

The molded product take-out apparatus 1 includes a motor (servo motor) 10 as a single drive source, a speed reducer 20 for reducing the rotation of the motor 10 and transmitting the rotation to two output shafts alternately and continuously. An arm 40 that is turned by one output shaft of the speed reducer 20 and a hand unit 50 that is rotatably attached to one end of the arm 40 and that is raised and lowered by another output shaft of the speed reducer 20. It is provided with a configuration.

Such a molded product take-out apparatus 1 is installed on a base 2A of a vertically arranged mold 2, and a hand unit 50 grips a sprue burr of a molded product (not shown).
Peel off from mold 2.

Next, the reduction gear 20, the arm 40 and the hand 50, which are the main components of the molded product take-out apparatus 1, will be described in detail.

Since a known motor is used for the motor 10, detailed description will be omitted. However, the motor 10 is the only drive source in the present molded product unloading device 1, and the molded product unloading device 1 according to the present embodiment described later.
Is realized by the acceleration and deceleration of the motor 10 by the servo.

[Reducer] FIG. 3 is a side sectional view showing the internal structure of the reducer of the present molded product take-out apparatus. FIGS. 4 to 6 show the periphery of the speed reducer of the present molded product taking-out apparatus.
4 is a side view, FIG. 5 is a plan view, and FIG. 6 is a sectional view taken along the line ZZ of FIG.

First, the entire reduction gear 20 will be outlined.
3 and 4, the speed reducer 20 mainly includes an eccentric high-speed shaft 21 and three curved plates (planetary gears) 22, 22,.
22, inner cover 23, output frame 24, connecting board 27
And an output flange 26.

The eccentric high-speed shaft 21 is linked to the motor 10, and causes each curved plate 22 to eccentrically move. Each curved plate 22 includes an inner cover 23, an output frame 24, and an output flange 26.
The output frame 24 or the output flange 26 is alternately and continuously rotated by revolving or rotating while the curved plates 22 are eccentrically moved while being accommodated in the internal space formed by the connecting plate 27 and the connecting plate 27. ing.

Thus, the output frame 24 plays the role of the other output shaft, and moves the hand unit 50 up and down. The output flange 26 plays the role of the one output shaft, and rotates the arm 40.

Such a speed reducer 20 is provided on a substrate 20A together with the motor 10, as shown in FIGS. Specifically, the inner covers 23 located on both sides of the speed reducer 20 and the cylindrical sleeves 23A, 23 of the output flange 26 are provided.
6A is rotatably supported by side plates 20B and 20C erected on the substrate 20A via bearings 91 and 92, respectively.

Next, each component of the speed reducer 20 will be described in detail. As shown in FIGS. 3 and 4, the eccentric high-speed shaft 21 has a configuration in which an eccentric cam 21B is fixed to one end of a rotating shaft 21A. The eccentric cam 21B has a collar 21C.
, Each curved plate 22 is rotatably mounted.
Further, both sides of the eccentric cam 21B are rotatably supported by the inner cover 23 and the connecting plate 27 via bearings 93, 93.

On the other hand, the other end of the rotating shaft 21A has a pulley 6
2 is attached. The pulley 62 is linked to a pulley 61 attached to the rotating shaft 11 of the motor 10 via a belt 71, as shown in FIGS. Thereby, the driving force of the motor 10 is transmitted to the rotating shaft 21A,
As the rotating shaft 21A rotates, the eccentric cam 21B fixed to it rotates eccentrically.

In FIG. 3, each curved plate 22 has arcuate teeth 22a on its outer edge, and a plurality of through holes 22b, 22b,... Formed at equal intervals on a circle concentric with the center of the eccentric high-speed shaft 21. It has become. Each such curved plate 2
2 is eccentrically moved within the output frame 24 by the eccentric cam 21B of the eccentric high-speed shaft 21.

3 to 5, the inner cover 23 has a structure in which a flange 23B is formed at one end of the cylindrical sleeve 23A.

Similarly, in FIG. 3 to FIG.
Are fixed to the flange 23B of the inner cover 23 with bolts, and a plurality of outer pins 24A that engage with the arcuate teeth 22a of each curved plate 22 are provided upright on the inner periphery thereof. A gear 81 and a disk 25 are fixed outside the output frame 24.

As shown in FIG. 4, the gear 81 is engaged with a gear 82 which is supported by frames 40A and 40B of the arm portion 40, which will be described later. The gear 82 is fixed to a pulley 63 also supported by the frames 40A and 40B. The pulley 63 is connected to a pulley 65 fixed to a rotating shaft 57 of the hand unit 50 via a belt 72, which will be described later. They are linked. On the other hand, as shown in FIG.
The first rib 25A and the cam groove 35 are provided.

In FIGS. 3 to 5, the output flange 26 is shown.
Has a configuration in which a flange 26B is formed on the cylindrical sleeve 26A. As shown in FIG. 3, the connection board 27 is fixed to the flange 26B with bolts.
A plurality of inner pins 27 </ b> A that are inserted into the respective through holes 22 b of the curved plates 22 are provided upright on the connection board 27.

The diameter of the inner pin 27A is smaller than the diameter of the through hole 22b, so that each curved plate 22 can revolve when rotation of the output flange 26 is restricted, as described later.

As shown in FIG. 4, the bearing 92 attached to the sleeve 26A of the output flange 26 is provided with a pulley 64. The pulley 64 is fixed to the side plate 20C with bolts, and is linked via a belt 72 to a pulley 66 fixed to a rotating shaft 56 of the hand unit 50 described later.

Further, as shown in FIG.
A second rib 26C is provided on the outer edge of the sixth flange 26B.

In FIG. 6, reference numerals 31A and 31B denote a fixed stopper and a movable stopper as first stoppers for restricting the rotation of the output frame 24. The fixed stopper 31A is the substrate 2
0A and the first rib 2 provided on the disk 25.
5A, the rotation of the output frame 24 is stopped.

As shown in FIGS. 5 and 6, the movable stopper 31B can move forward and backward in the longitudinal direction, and is biased toward the eccentric high-speed shaft 21 side. In addition, the movable stopper 3
A guide slope 31b for guiding the projection 33 described below is formed on the tip side of 1B. When the fixed stopper 31A contacts one end of the first rib 25A, the movable stopper 31B contacts the other end of the first rib 25A, and locks the first rib 25A.

In order to release the lock of the first rib 25A by the movable stopper 31B, the projection 33 is provided on the output flange 26 (flange 26B) as first stopper release means. The projection 33 rotates together with the output flange 26, and guides the slope 31b of the movable stopper 31B.
, The movable stopper 31B is pushed back to the opposite side of the eccentric high-speed shaft 21 to unlock the first rib 25A.

Similarly, in FIG. 6, 32A and 32B are
There are a fixed stopper and a movable stopper as second stoppers for limiting the rotation of the output flange 26. As a second stopper releasing means, as shown in FIGS. 3 to 6, a cam projection 34 is projected from the movable stopper 32B, and the cam groove 35 for guiding the cam projection 34 is connected to the output frame 24.
Is provided on a disk 25 fixed to the disk 25.

The fixed stopper 32A is erected on the substrate 20A and abuts one end of a second rib 26C provided on the output flange 26 to stop the rotation of the output flange 26. The movable stopper 32B is provided so as to be able to move up and down in the vertical direction, and is driven by a cam projection 34 that moves in the vertical direction along a cam groove 35 that rotates together with the output frame 24.

When the movable stopper 32B rises, it comes into contact with the other end of the second rib 26C to lock the second rib 26C, and when it moves down, it locks the second rib 26C. Cancel.

Next, the operation of the speed reducer 20 having the above configuration will be described. As described above, when the eccentric high-speed shaft 21 rotates under the driving force of the motor 10, the eccentric cam 2
Each curved plate 22 attached to 1B moves eccentrically in the output frame 24.

When the rotation of the output frame 24 is restricted by the fixed stopper 31A and the movable stopper 31B as the first stoppers, as shown in FIG. 22a engages with the outer pin 24A of the output frame 24, and each curved plate 22 rotates.
Then, the connecting plate 27 in which the inner pin 27A is inserted into the through hole 22b of each curved plate 22 rotates, and the output flange 26 fixed to this rotates.

On the other hand, the fixed stopper 3 as the second stopper
2A and the movable stopper 32B, the output flange 26
3, the rotation of each curved plate 22 is restricted by each inner pin 27A inserted into each through hole 22b, and each curved plate 22 revolves while eccentrically moving, as shown in FIG. I do. Then, the arc-shaped teeth 22 of each curved plate 22
a engages with the outer pin 24A of the output frame 24, and the output frame 24 rotates.

[Arm part] In FIG.
Is a frame 40C connecting the upper ends of the opposite frames 40A, 40B and both frames 40A, 40B.
Consists of The frame 40A is fixed to the sleeve 26A of the output flange 26 constituting the speed reducer 20 with bolts. The frame 40B is rotatably attached to a bearing 91 of a sleeve 23A of the inner cover 23 constituting the speed reducer 20. As shown in FIG. 1, such an arm portion 40 is rotated by the rotation of the output flange 26,
It is rotated to the mold 2 side and the opposite side.

[Hand part] FIGS. 7 to 9 show a series of operations of the present molded product take-out apparatus.
The hand unit 50 will be described with reference to FIG.

In FIG. 7, reference numeral 51 denotes a mounting plate, and a rack 52 and a guide shaft 53 movable in the longitudinal direction are provided in parallel with each other. In the center of the mounting plate 51, a pinion 54 that meshes with the rack 52 is provided rotatably. A hand 55 for holding the sprue burr of the molded product is attached to the tip of the rack 52 and the guide shaft 53.

The mounting plate 51 is fixed to the tip of the rotating shaft 56 shown in FIG. The rotating shaft 56 is rotatably supported by a frame 40A constituting the arm section 40, and the pulley 66 is fixed to a rear end.

As described above, the rotation shaft 56 is linked to the output flange 26 of the speed reducer 20 via the pulley 66, and the rotation of the arm 40 by the output flange 26 causes the mounting plate 51 to rotate. Rotates. As a result, as shown in FIG. 8, when the arm 40 rotates toward the mold 2, the hand 55 is positioned vertically above the mold 2.

The pinion 54 is connected to the rotating shaft 5 shown in FIG.
7 is fixed to the tip. The rotation shaft 57 is connected to the arm 4
0 is rotatably supported by a frame 40B, and the pulley 65 is fixed to the rear end. The rotation shaft 57 is inserted through the center of the rotation shaft 56,
And rotate independently.

As described above, the rotating shaft 57 is linked to the output frame 24 of the speed reducer 20 via the pulley 65, and the pinion 54 rotates with the rotation of the output frame 24. Thereby, as shown in FIG. 9, the rack 52 (and the guide shaft 5) meshing with the pinion 54
3) is moved in the longitudinal direction, and the hand 55 is moved up and down.

Next, the operation of the above-mentioned molded product removal apparatus, and
One embodiment of a method for controlling a molded product removing apparatus according to the present invention will be described with reference to FIGS.

FIGS. 10 and 11 are explanatory views showing a series of operations of the speed reducer in the above-mentioned molded product take-out apparatus. In addition,
In these drawings, the curved plate 22 in the output frame 24 cannot be shown. For this reason, the shaft shown at the center of the output flange 26 (actually, the eccentric high-speed shaft 21 is shown in FIGS. 10 and 11). The operation will be described with reference to FIG.

FIG. 12 is a timing chart for explaining a control method of the molded article removing apparatus according to one embodiment of the present invention. Here, U0 to U3 in FIG. 12 are the acceleration of the motor, D0 and D1 are the deceleration of the motor, V1
V7 indicates a constant speed of the motor, PX indicates a switching point of rotation of the output frame and output flange of the speed reducer, and P0 to P5 indicate positions of the hand unit (or hand).

In the initial state of the molded product take-out apparatus 1 shown in FIG. 7, the arm portion 40 is rotated to the opposite side of the mold 2, and the hand portion 50 is located outside the machine (see P0 in FIG. 12). . At this time, as shown in FIG. 10A, the first rib 25A has a fixed stopper 31A and a movable stopper 31B.
And the rotation of the output frame 24 is restricted.

In this state, the motor 10 (see FIG. 7) is rapidly accelerated (U0) as shown in FIG.
High-speed rotation in one direction at a constant speed (V1).

Then, the driving force of the motor 10 is transmitted to the respective curved plates 22 via the eccentric high-speed shaft 21 (see FIG. 3), and as shown in FIG. The output flange 26 rotates. Thus, the arm 40 shown in FIG. 7 starts rotating toward the mold 2 at a high speed.

When the output flange 26 rotates, as shown in FIG. 10C, the second rib 26C approaches the fixed stopper 32A, and the projection 33 starts to slide on the guide slope 31b of the movable stopper 31B. This is a state before the rotation of the output flange 26 and the rotation of the output frame 24 are switched.

Here, as shown in FIG.
Is rapidly decelerated (D0), and before the second rib 26C comes into contact with the fixed stopper 32A, the motor 10 is driven at a constant speed (V2).
To rotate at low speed.

Then, as shown in FIG. 10D, the output flange 26 rotates at a low speed, the second rib 26C gently abuts the fixed stopper 32A, and the rotation of the output flange 26 is restricted. At the same time, the protrusion 33 gently slides on the guide slope 31b of the movable stopper 31B to release the lock of the first rib 25A.

Thus, the output flange 26 and the output frame 2
4 is switched (see PX in FIG. 12), each curved plate 22 revolves, and the output frame 24 starts rotating.

Also, by rotating the output frame 24,
As shown in FIG. 10E, the cam projection 34 follows the cam groove 35, and the movable stopper 32B rises. As a result, the second rib 26C is locked by the fixed stopper 32A and the movable stopper 32B. At this time, as shown in FIG. 8, the arm 40 rotates toward the mold 2 and the hand 5
0 is located above the mold 2 (P1 in FIG. 12).
reference).

Here, as shown in FIG.
Is slightly accelerated (U1) and rotated at a high speed at a constant speed (V3).

Then, as shown in FIG. 10 (f), the output frame 24 rotates at high speed, and as shown in FIG.
Hand 55 descends at high speed.

Next, as shown in FIG.
Is slowly decelerated (D1). Then, FIG.
As shown in (2), the rotation speed of the output frame 24 is reduced, whereby the lowering speed of the hand 55 is also reduced. Then, when the descending speed becomes 0, the hand 55 is positioned in front of the mold 2 (see P2 in FIG. 12) and grips the sprue burr of the molded product.

Thereafter, as shown in FIG.
Is gently reversely rotated (U3), and is rotated at a low speed at a constant speed (V4). Then, as shown in FIG. 11B, the output frame 24 reversely rotates at a low speed, the hand 55 slowly rises, and the molded product is peeled from the mold 2.

Then, as shown in FIG.
At the same time that the molded product was peeled off from the mold 2 (P
3) The motor 10 is slightly accelerated (U2) and rotated at a high speed at a constant speed (V5).

Then, as shown in FIG. 11C, the output frame 24 rotates at high speed, and the hand 55 rises rapidly. Further, the rotation of the output frame 24 causes the first rib 25
A approaches the fixed stopper 31A and the cam groove 3
5, the cam projection 34 follows the movable stopper 32B.
Is in a state before falling. That is, it is in a state before the rotation of the output frame 24 and the output flange 26 is switched.

Here, as shown in FIG.
Is rapidly decelerated (D0), and the motor 10 is driven at a constant speed (V6) before the first rib 25A comes into contact with the fixed stopper 31A.
To rotate at low speed.

Then, as shown in FIG. 11D, the output frame 24 rotates at a low speed, the first rib 25A gently comes into contact with the fixed stopper 31A, and the rotation of the output frame 24 is restricted. At the same time, the movable stopper 32B descends to unlock the second rib 26C.

Thus, the output frame 24 and the output flange 2
6 is switched (see PX in FIG. 12), each curved plate 22 rotates, and the output flange 26 rotates. When the output flange 26 rotates, the protrusion 33 separates from the movable stopper 31B as shown in FIG. As a result, the first rib 25A is locked by the fixed stopper 31A and the movable stopper 31B. At this time, as shown in FIG. 8, the hand 55 holding the molded product is completely lifted (see P4 in FIG. 12), and the arm 40 starts rotating to the opposite side of the mold 2.

Here, as shown in FIG.
Is slightly accelerated (U1) and rotated at a high speed at a constant speed (V7). As a result, the arm 40 shown in FIG.
Rotates at high speed to the opposite side of.

Thereafter, as shown in FIG.
Is rapidly decelerated (D0). Then, when the rotation speed of the motor 10 becomes 0, the hand unit 50 is positioned outside the machine (see P5 in FIG. 12), and the hand 55 releases the molded product.

At this time, the speed reducer 20 is in the state shown in FIG. 11 (f) (the same state as in FIG. 10 (a)), and the molded article removing apparatus 1 returns to the initial state shown in FIG. And FIG.
As shown in (1), the motor 10 is rapidly reversely rotated in one direction again (U0) to repeatedly perform the above-described molded product removal operation.

According to the above-described molded product take-out apparatus of the present embodiment, the two output shafts (output frame 24, output flange 26)
By using the speed reducer 20 having
0 and the hand unit 50 can be mechanically continuously operated by a single drive source, and the operation of the arm unit 40 and the hand unit 50 can be mechanically switched.

Thus, the conventional air cylinder 1
24 (see FIG. 13) becomes unnecessary, and the arm unit 40 and the hand unit 50 can be smoothly and continuously operated, and at the same time, it is possible to prevent the molded article from being damaged and to simplify the operation control.

In particular, the hand unit 50 can be mechanically moved up and down by the rack and pinion, so that the operation of the hand unit 50 can be stabilized, and the molded article can be reliably prevented from being damaged at the time of mold release.

On the other hand, according to the control method of the molded product take-out apparatus of the present embodiment, when the hand unit 50 peels the molded product from the mold 2, the motor 10 is rotated at a low speed, and 50 rises slowly, and it is possible to reliably prevent the molded article from being damaged at the time of mold release.

When the first or second rib 25A, 26C abuts against the fixed stopper 31A or 32A, the motor 10 is rotated at a low speed, so that the impact of both can be relieved. 24 and the output flange 26 can be switched smoothly, and the life of the device can be extended.

Further, when the hand unit 50 peels the molded product from the mold 2 and when the first or second rib 25
Since the motor 10 is rotated at high speed except when A and 26C abut against the fixed stopper 31A or 32A, the time cycle of the apparatus can be shortened.

The molded product take-out apparatus of the present invention is not limited to the above embodiment. For example, the speed reducer 20
Is not limited to the configuration of the above-described embodiment, and may be another configuration. In the above embodiment, each curved plate 22, 2
2, 22 are provided with the through-holes 22b, and the connecting plate 27 of the output flange 26 is provided with the inner pins 27A. On the contrary, the inner pins are provided on the curved plates 22, 22, 22, respectively. The connecting board 27 may be provided with a through hole.

Further, as long as it has two output shafts, a reduction gear completely different from that of the above embodiment can be applied to the molded product take-out apparatus of the present invention.

[0095]

As described above, according to the molded product taking out apparatus of the present invention, the arm portion and the hand portion can be smoothly and continuously operated by a single drive source, and the molded product can be prevented from being damaged and operated. Control can be simplified

Further, according to the method for controlling a molded product take-out apparatus of the present invention, it is possible to reliably prevent the molded product from being damaged at the time of release from the mold, and to smoothly switch the output shaft of the reduction gear. It is possible to extend the life of the device and shorten the time cycle.

[Brief description of the drawings]

FIG. 1 is a front view showing a molded product removal device according to an embodiment of the present invention.

FIG. 2 is a side view showing the molded product removal device.

FIG. 3 is a side sectional view showing an internal structure of a speed reducer of the molded product take-out apparatus.

FIG. 4 is a side view showing the periphery of a speed reducer of the molded product take-out apparatus.

FIG. 5 is a plan view showing the periphery of a speed reducer of the molded product removal device.

FIG. 6 is a sectional view taken along the line ZZ of FIG. 4;

FIG. 7 shows a series of operations of the molded product take-out apparatus.

FIG. 8 shows a series of operations of the molded product take-out apparatus.

FIG. 9 shows a series of operations of the molded product removal device.

FIGS. 10A to 10F are explanatory views showing a series of operations of a speed reducer in the molded product take-out apparatus.

FIGS. 11A to 11F are explanatory views showing a series of operations of a speed reducer in the molded product take-out apparatus.

FIG. 12 is a timing chart for explaining a control method of the molded product take-out apparatus according to one embodiment of the present invention.

13 (a) is a side view and FIG. 13 (b) is a front view.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 molded product take-out device 10 motor 20 reduction gear 21 eccentric high-speed shaft 22 curved plate (planetary gear) 22a arcuate teeth 22b through hole 23 inner cover 24 output frame 24A outer pin 25 disk 25A first rib 26 output flange 26C second rib 27 Connecting board 27A Inner pin 31A Fixed stopper (first stopper) 31B Movable stopper (first stopper) 32A Fixed stopper (second stopper) 32B Movable stopper (second stopper) 33 Projection (first stopper release means) 34 Cam projection (Second stopper releasing means) 35 Cam groove (second stopper releasing means) 40 Arm part 50 Hand part 51 Mounting plate 52 Rack 53 Guide shaft 54 Pinion 55 Hand 56 Rotation axis 57 Rotation axis

Claims (9)

[Claims] 1. A molded product take-out device for gripping and removing a molded product from a mold, comprising: a motor serving as a driving source; and a speed reducer for reducing the rotation of the motor and transmitting the rotation to two output shafts alternately and continuously. An arm that is rotated by one output shaft of the speed reducer;
A hand portion rotatably attached to one end of the arm portion and raised and lowered by another output shaft of the speed reducer. 2. The speed reducer includes an eccentric high-speed shaft, a curved plate, an output flange, an output frame, first and second stoppers, and first and second stopper release means. The rotary motion is converted into an eccentric motion. The output flange has a plurality of inner pins inserted into the through holes of the curved plate, and a second rib abutting on the second stopper. It has a plurality of outer pins that mesh with the arcuate teeth of the curved plate erected on the inner periphery thereof, and a first rib that abuts the first stopper, wherein the first stopper rotates the output flange. Is in contact with the first rib when the output frame is turned. The second stopper contacts the second rib when the output frame is rotating to limit the rotation of the output flange. When the rotation of the output frame is restricted, the first stopper is released, and the second stopper release means is configured to release the second stopper when the rotation of the output frame is restricted. When the rotation of the frame is limited, the eccentric high-speed shaft rotates the curve plate to rotate the output flange,
2. The molded product removal apparatus according to claim 1, wherein when the rotation of the output flange is restricted, the eccentric high-speed shaft revolves the curved plate to rotate the output frame. 3. The speed reducer includes an eccentric high-speed shaft, a curved plate, an output flange, an output frame, first and second stoppers, and first and second stopper release means. The rotary motion is converted to an eccentric motion. The output flange has a plurality of through holes into which the inner pins of the curved plate are inserted, and a second rib abutting on the second stopper. It has a plurality of outer pins that mesh with the arcuate teeth of the curved plate erected on the inner periphery thereof, and a first rib that abuts the first stopper, wherein the first stopper rotates the output flange. Is in contact with the first rib when the output frame is turned. The second stopper contacts the second rib when the output frame is rotating to limit the rotation of the output flange. When the rotation of the output frame is restricted, the first stopper is released, and the second stopper release means is configured to release the second stopper when the rotation of the output frame is restricted. When the rotation of the frame is limited, the eccentric high-speed shaft rotates the curve plate to rotate the output flange,
2. The molded product removal apparatus according to claim 1, wherein when the rotation of the output flange is restricted, the eccentric high-speed shaft revolves the curved plate to rotate the output frame. 4. A fixed stopper, wherein the first and second stoppers contact one end of the first or second rib to limit rotation of the output frame or the output flange in one direction.
4. The molded product removal device according to claim 2, further comprising a movable stopper that abuts on the other end of the first or second rib to limit rotation of the output frame or the output flange in another direction. 5. 5. The method according to claim 5, wherein the first and / or second stopper releasing means is a projection provided on the output frame and / or the output flange, and the projection is brought into contact with the movable stopper to thereby form the first and / or second stopper. 5. The molded product removal device according to claim 4, wherein the second stopper is released. 6. The first and / or second stopper releasing means is provided on a cam projection provided on the movable stopper and on the output flange and / or the output frame, and guides the cam projection to move the movable projection. The molded product take-out device according to claim 4, further comprising a cam groove that moves a stopper and releases the first and / or second stopper. 7. The molded product take-out apparatus according to claim 1, wherein the hand portion is moved up and down by a rack and pinion. 8. The method according to claim 1, wherein the rotation speed of the motor is reduced when the hand holding the molded product rises. 9. The rotation speed of the motor is reduced before the rotation of the output frame and the output flange of the speed reducer is switched by the first or second rib abutting on the fixed stopper. Item 9. A method for controlling a molded product removal device according to Item 8.