JPS60189412A - Automatic removing device of injection molded article - Google Patents

Abstract

PURPOSE:To improve in positioning accuracy of each of running units, by performing correction of a position of the running unit or the longitudinal running unit at a removing position and a releasing position by a detecting device in two-phase structure which is capable of detecting a moving speed and a moving direction. CONSTITUTION:Electric energy to be supplied to an induction motor is made variable by making PID operation through digital control of an angle of current flow of a first or second bidirectional opening and closing element 24 or 25 based on an actual moving speed of a running unit of the induction motor and a predetermined speed stored in a memory 31 beforehand by making use of a rotary encoder 26 as a detector in two-phase structure which is capable of detecting the moving speed and a moving direction. With this construction, speed control and position control of the running unit is performed. When an actual moving distance of the running unit 5 or the longitudinal running unit does not coincide with a predetermined value stored in a distance register 32, a position of the above running unit is corrected based on deviation data.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application This invention relates to an automatic take-out device for injection molded products (hereinafter referred to as molded products).

(b) Prior Art The present applicant first developed a capacitor running type induction motor for reciprocating a running body or a front and rear running body based on a speed data stored in a memory and an actual moving speed detected by a detection device. By digitally controlling the flow angle of the first or second bidirectional opening/closing element and performing PID calculation, reversible drive and variable speed drive are performed to achieve high accuracy in positioning the traveling body at the take-out position and the release position, or the constant traveling body after mt. We proposed an automatic molded product removal device.

(c) Problems to be solved by the invention However, in the conventional molded product automatic take-out device described above, the actual moving distance of the traveling body or the front and rear traveling bodies does not match the set distance data stored in the distance register. In this case, there was no position correction control, and the positioning accuracy of the traveling body or the front and rear traveling bodies at the take-out position and the release position was poor. In addition, the above-mentioned conventional molded product automatic take-out device corrects the slowdown start position based on the deviation data of the traveling body or the front and rear traveling bodies marked at the take-out position and release position, We tried to correct the position of the trailing object, but it was not effective.

(d) Means for Solving Problems In view of the above-mentioned conventional drawbacks, the object of the present invention is to correct the position of the traveling body or the front and rear traveling bodies at the take-out position and the release position by using at least a two-phase detection device. and
An object of the present invention is to provide an automatic take-out device for injection molded products having high positional accuracy.

The present invention also provides a traveling body that is supported so as to be reciprocally movable between an extraction position and a release position of the injection molded product, a front-rear traveling body that is supported by this traveling body so that it can be reciprocated in the front-rear direction, In an automatic take-out device that takes out an injection molded product using a chuck part that is attached to the front and rear moving body so as to be movable in the vertical direction by a vertically operating member, an induction motor that reciprocates the running body or the front and rear running body. , first and second bidirectional switching elements that supply alternating current power to the main coil and auxiliary coil to which capacitors are connected in parallel, and detect the moving speed and direction of the traveling body or the front and rear traveling bodies. a detection device that detects the first or second bidirectional switching element based on the actual moving speed of the traveling body or the front and rear traveling body calculated based on the input period of the detection signal and the speed data stored in the memory. The flow angle is calculated by PID using digital control, and when the actual moving distance of the traveling object or the forward and backward traveling object stored in the pointer matches the set distance data stored in the distance register, the first or second bidirectional movement is performed. Interrupts the flow of the opening/closing element and controls the traveling body or the front and rear traveling bodies to stop at the take-out position or release position, and the actual moving distance of the traveling body or the front and rear traveling bodies stored in the pointer and the distance stored in advance in the distance register. If the set distance data and the set distance data do not match, the first or second bidirectional opening/closing element is caused to flow based on both data to move the traveling body or the front and rear traveling body to the take-out position and the release position (Xi equipment supplementary It is composed of a control device for controlling.

(e) Effect of the Invention According to the present invention, a detection device having at least a two-phase structure capable of detecting the moving speed and the moving direction is used, and the induction value is stored in advance in the memory as the actual moving speed of the traveling body. The flow angle of the first or second bidirectional switching element is controlled by digital control based on the set speed.
By calculating the ID and varying the amount of electric power supplied to the induction motor, the speed and position of the traveling body can be controlled, and the traveling body can be stopped at the take-out position and the release position with high positioning accuracy. In addition, if the actual moving distance of the traveling body or the front and rear traveling bodies does not match the set distance data stored in the distance register, the traveling body or the front and rear traveling bodies are moved to the take-out position and the release position based on these deviation data. It is possible to perform position correction control and obtain high position accuracy.

(f) Effects of the Invention The automatic molded product take-out device of the present invention corrects the position of the traveling body or the front and rear traveling bodies at the take-out position and release position by using at least a two-phase detection device, and has high positional accuracy. are doing.

(S) Example Hereinafter, embodiments will be described according to the drawings.

In FIGS. 1 and 3, an injection molding machine 1 is fixed to a running frame 2 of an automatic take-out device 15. The running frame 2 is elongated in a direction perpendicular to the axis of an injection screw (not shown) in the injection molding machine 1, and a running rail 3 is fixed to the upper surface thereof in the longitudinal direction. Further, a rack gear 4 is fixed to the mI recording traveling frame 2 over its longitudinal direction.

A running body 5 is supported on the running rail 3 so as to be able to reciprocate in the longitudinal direction. A condenser running type induction motor 6 is mounted on the running body 5, and a pinion gear (not shown) that is meshed with the rack gear 4 is attached to the rotating shaft of the induction motor 6. Further, front and rear frames 7 are integrally attached to the traveling body 5, and an in71M rail 8 is fixed to the front and rear frames 7. The front and rear rails 8 support a front and rear running body 9 that is swingable in the front and back direction, which is the axial direction of the screw shaft. The front and rear cylinders 10 are connected to the front and rear frames 7 in this front and rear traveling body 9.
is fixed to. As a result, the front-back traveling body 9 is reciprocated in the front-back direction in the same direction as the axis of the injection screw as the mI rear cylinder 10 operates.

An upper and lower cylinder 11 is fixed to the rear traveling body 9 in a direction perpendicular to the axis of the screw shaft, and a chuck holder 12 is fixed to the working end of this upper and lower cylinder 11. Incidentally, a pair of guide rods 16 inserted through the fore-and-aft traveling body 9 are fixed to the chuck holder 12.

m1M own chuck holder "12 has chuck plate 1
3 is removably attached, and this chuck plate 13
includes at least a pair of chuck cylinders 14 for chucking the runner or sprue (none of which is shown) of the molded product.
is fixed.

The interaction motor 6 is driven and controlled as follows.

4 and 6, one end 7- of the main coil 20 and the auxiliary coil 21 of the induction motor 6 are commonly connected to a single terminal of an alternating current power source AC. Further, a phase advance capacitor 23 is connected in parallel to the other ends of the main coil 20 and the auxiliary coil 21, and one electrode of the first and second bidirectional switching elements 24 and 25 such as TRIAC (trade name). are connected to each other. This first
The other electrodes of the second bidirectional switching elements 24 and 25 are commonly connected to the other terminal of the alternating current power supply AC.

As shown in FIG. 5, a rotary encoder 26 as a detection device is attached to the rotation shaft of the induction motor 6. This rotary encoder 26 is fixed to a rotating shaft, and is arranged at a predetermined pitch Q on the outer circumferential side in the rotational direction.
A disk 27 having a large number of slits 27a perforated therein, and a disk 27 having the pitch Q1 opposite to each other through this disk 27.
Two pairs of light emitting elements 28a and 28 arranged every /2 pitch
b and light receiving elements 29a and 29b.

The rotary encoder 26 sends electrical signals K at a period corresponding to the rotation speed and in an order corresponding to each rotation direction.
Outputs SI/KS2 to electronic control value M38-0. Further, the traveling body 5 is drivingly connected to the rotating shaft via a pinion gear and a rack gear 4 at an appropriate gear ratio. A braking mechanism (not shown) is also attached to this rotating shaft. This braking mechanism is composed of a braking disc fixed to a rotating shaft and a braking member that compresses the braking disc when an electromagnetic solenoid is operated.

The electronic control device 30 is mainly composed of a microprocessor and a storage member (ROM-RAM), and drives and controls the induction motor 6 based on a predetermined program.

In the ROM 31 constituting a storage member, various speed data corresponding to the travel patterns of the traveling body 5 (acceleration travel, constant speed travel, and deceleration travel) are written. This ROM 31 can be replaced as appropriate depending on the traveling distance and traveling pattern of the traveling body 5. In addition, a part of the memory member is changed, and a rewritable distance register 32 is used to move the molded product in the traveling body 5 from the take-out position a to the release position (in this embodiment, the travel body 11 is moved from the release position to the take-out position). The operation will be explained, but the explanation will be omitted since it is the same even when moving from the take-out position to the release position.] Set distance data is written.

Further, the pointer 33 is sequentially incremented in accordance with the input of the electric signals KSI and KS2,
Remember lt. The first register 34 has written therein position data regarding the slow town start position where the traveling pattern of the vehicle changes from constant speed traveling to decelerated traveling. Further, the second register 35 stores position data for causing the traveling body 5 to be moved at a slow speed by half-wave circulation of the first or second bidirectional switching element traveling bodies 24 and 25.

Then, the electronic control unit 30 calculates the actual moving speed of the traveling body based on the input period of the electric signals KSI and KS2, and sequentially increments the pointer 33 according to the input of the electric signals KSI and KS2 to determine the actual traveling path 8It of the traveling body. Make me remember. Further, the electronic control unit 30 controls a PID constant [P is a proportional constant, (■ is an integral constant, and D is a differential constant), for example, the pulse width of the timing signal that determines the flow angle of the first bidirectional switching element 24 is calculated by PID using digital control, and After setting the frequency of the AC type ttiAc using the detection signal of When this occurs, a timing signal consisting of a pulse width up to the next cello cross f(n+1)·τ) is output to the drive circuit 36. As a result, when the traveling body 5 is running at an accelerated speed, the speed data is set higher than the actual moving speed, and the PID calculation result becomes, for example, a positive predetermined value or less. The traveling body 5 is accelerated and driven by flowing the bidirectional opening/closing element 24. On the contrary, when the traveling body 5 is running at a constant speed, the actual moving speed and the speed data are set to be approximately equal, and the PID calculation result is, for example, less than a positive predetermined value.
The electronic control device 30 drives the traveling body 5 at a constant speed by causing the first twin 11 unidirectional switching elements 24 to flow at a small flow angle.

Then, as the traveling body 5 travels at a constant speed, the electronic control unit 30 inputs an electric signal in the same manner as described above, except that the traveling body 5 reaches the slowdown start position stored in the first register 34. The actual moving speed of the traveling object 5 calculated according to the period and the speed data accessed from the ROM 31 are compared. At this time, immediately after the start of slowdown, the speed data stored in the slow town table is set to a lower speed than the actual moving speed of the traveling object 5, so the electronic control unit 30 sets a predetermined value in which the result of the PID calculation is negative. When f- is exceeded, the second bidirectional switching element 25 having an opposite phase is made to flow and performs a braking operation. As a result, the induction motor 1 is decelerated and braked.

When the traveling body 5 reaches the slow feed position C written in the second register 35 before the take-out position 8 after the actual moving speed of the traveling body 5 decreases rapidly due to the above operation, the electronic control device 30 1 bidirectionality 12- The phase angle is controlled to allow half-wave flow through the switching element 4. As a result, a half-wave voltage is supplied to the main coil 20 and the auxiliary coil 21, so that the traveling body 5 is fed at a slow speed with low rotational torque. When the actual travel distance stored in the pointer 33 and the set distance stored in the distance register 32 match, the electronic control device 30 interrupts the flow of the first bidirectional switching element 24 and moves the traveling body 5. Stop at take-out position a. still,
If the electric signals KSI to KS3 are not input for a predetermined period of time, the electronic control device determines that the traveling body 5 has been stopped.

After determining the stop operation, the electronic control device 30 outputs an excitation signal to the solenoid drive circuit 38 to drive the electromagnetic solenoid. As a result, the brake disc is compressed by the brake member, so that the traveling body 5 is maintained in its stopped state at this take-out position a.

Next, referring to FIG. 7, a case where the traveling body 5 overruns or makes a short stop from the take-out position a will be explained.

The electronic control unit 30 has a pointer 33 and a distance translation [register 32
Based on the data, the deflection distance over which the traveling body 5 overruns or makes a short stop is calculated. Then, the electronic control device 30 outputs a rotation direction indicating signal of forward rotation or reverse rotation based on the distance 8II overrun or short stop from the take-out position a, and in the case of overrun, the second
The bidirectional opening/closing element 25 is caused to flow in a half wave to cause the traveling body 5 to move backward. In addition, in the case of a short stop, a half wave is passed through the first bidirectional switching element 24 to cause the traveling body 5 to
move back and forth. Then, the electronic control device 30 uses a pointer 33
is sequentially decremented or decremented, and when the count value of this pointer 33 and the set distance data stored in the distance register 32 match, the flow of the first or second bidirectional switching elements 24 and 25 is interrupted. By doing so, the traveling body 5 is stopped at the take-out position a. Then, the electronic control device 30 outputs an excitation signal to the solenoid drive circuit 37 to actuate the electromagnetic solenoid, similarly to the operation described in fr11, thereby pinching the brake disk. As a result, the traveling body 5 is maintained in its stopped state at the take-out position a.

[Brief explanation of the drawing]

Figure 1 is a perspective view showing the outline of the molded product automatic extraction device, Figure 2
3 is a perspective view of the road body showing the front and rear running parts, FIG. 4 is an electronic block diagram, FIG. 5 is an explanatory diagram showing the outline of the detection device, and FIG. The figure is a diagram showing the running state after the start of slowdown, and FIG. 7 is an explanatory diagram showing the position correction operation. In the figure, 1 is an injection molding machine, 15 is an automatic take-out device, 5 is a running body, 6 is an induction motor, 9 is a front and rear running body, 11 is a -L lower cylinder, 12 is a chuck holder, 20 is a main coil, and 21 is an auxiliary Coil, 23 is a capacitor, 24 is the first
, 25 is a second bidirectional switching element,
26 is a rotary encoder as a detection device, 30 is an electronic control device, 31 is a memory, 32 is a distance register, 3
3 is a pointer, a is an extraction position, and AC is an alternating current power source. Boatman (ga1 to a -c +(

Claims (1)

[Scope of Claims] 1. A traveling body supported so as to be reciprocally movable between the take-out position and the release position of the injection molded product, and a back-and-forth traveling body supported by this traveling body so as to be movable back and forth in the front and rear directions. In an automatic take-out device that takes out an injection molded product using a body and a chuck part that is mounted to be movable in the vertical direction by a vertically operating member attached to the front-back moving body, the running body or the front-back moving body is reciprocatingly driven. an induction motor that supplies AC power to a main coil and an auxiliary coil to which capacitors are connected in parallel; first and second bidirectional switching elements that detect the moving speed and direction of the traveling body or the front and rear traveling bodies; Flow of the first or second bidirectional opening/closing element based on the detection device, the actual moving speed of the traveling body or the forward and backward traveling body calculated based on the input cycle of the detection signal, and the speed data stored in the memory. The angle is calculated by PID using digital control, and the first or second bidirectional opening/closing is performed when the actual moving distance of the running object or the forward and backward moving object stored in the pointer matches the set distance data stored in the distance register. Interrupting the flow of the elements and controlling the traveling body or the front and rear traveling bodies to stop at the take-out position or the release position, and the actual moving distance of the traveling body or the front and rear traveling bodies stored in the pointer and the set distance stored in advance in the distance register. a control device that corrects and controls the position of the traveling body or the front and rear traveling body to a take-out position and a release position by circulating the first or second bidirectional opening/closing element based on both data when the data do not match; An automatic extraction device for injection molded products, comprising: