WO2023166732A1

WO2023166732A1 - Injection molding system

Info

Publication number: WO2023166732A1
Application number: PCT/JP2022/009511
Authority: WO
Inventors: 拓人山脇
Original assignee: ファナック株式会社
Priority date: 2022-03-04
Filing date: 2022-03-04
Publication date: 2023-09-07

Abstract

Provided is an injection molding system that is small, lightweight, and capable of simplifying work for linking an injection device and an external device.　The injection molding system 1 comprises: at least one injection device 2 that injects a molding material from an injection port 12 provided to a barrel 11; and an injection drive device 5 that provides driving force to each site during a plurality of steps in a molding cycle. The injection device 2 comprises a driven member 15 that injects the molding material inside the barrel from the injection port 12 as a result of being driven inside the barrel 11. The injection drive device 5 provides the driving force to a site other than the driven member during the step in the molding cycle, and provides the driving force to the driven member 15 and injects the molding material from the injection port 12 during the injection step in the molding cycle.

Description

injection molding system

The present invention relates to an injection molding system.

Conventionally, thermoplastic resins (for example, general-purpose plastics) are often used as molding materials for injection molding. In recent years, thermosetting resins (for example, liquid silicone resins) suitable for injection molding have been developed, and injection molding is performed in the same manner as for general thermoplastic resins. In injection molding using thermosetting resin, it has been proposed to use an injection device for thermoplastic resin as it is or to change some parts (see Patent Documents 1 and 2).

WO2021/157503A1 JP 2015-85667 A

In injection molding using thermosetting resin, depending on the application, the injection amount of the molding material is about several grams, and an injection pressure of 20 MPa or less may be sufficient. Further, when multicolor molding is performed using a thermosetting resin, the injection device is disassembled and cleaned each time the colorant is changed, or the injection device is used differently for each colorant. In such applications, it is desirable that the injection device be small and lightweight, and that connection work (wiring work, software update man-hours, etc.) between the injection device and the external device can be simplified.

An object of the present invention is to provide an injection molding system that is compact, lightweight, and capable of simplifying the connection work between the injection device and the external device.

The present invention comprises at least one injection device that injects a molding material from an injection port provided in a barrel, and an injection drive device that supplies driving force to each part in a plurality of steps during a molding cycle, and the injection The apparatus includes a driven member that is driven in the barrel to inject the molding material in the barrel from the injection port, and the injection drive device is driven in a step during the molding cycle to operate other than the driven member. and supplying the driving force to the driven member in the injection process of the molding cycle to inject the molding material from the injection port.

According to the present invention, it is possible to provide an injection molding system that is compact, lightweight, and capable of simplifying the connection work between the injection device and the external device.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the structure of the injection molding system 1 in 1st Embodiment. 4A and 4B are diagrams for explaining an injection process performed in the injection molding system 1; FIG. FIG. 2 is a diagram for explaining a holding pressure process performed in the injection molding system 1; 4 is a diagram explaining a weighing process performed in the injection molding system 1; FIG. 4 is a diagram explaining a weighing process performed in the injection molding system 1; FIG. It is a figure explaining the structure of 1 A of injection molding systems in 2nd Embodiment. It is a figure explaining the 1st composition of injection molding system 1B in a 3rd embodiment. It is a figure explaining the 2nd composition of injection molding system 1B in a 3rd embodiment. It is a figure explaining the structure of 1 C of injection molding systems in 4th Embodiment. It is a figure explaining the structure of injection molding system 1D in 5th Embodiment. It is a figure explaining the structure of the injection molding system 1E in 6th Embodiment. It is a figure explaining the structure of the injection molding system 1F in 7th Embodiment. It is a figure explaining the structure of the injection molding system 1F in 7th Embodiment. It is a figure explaining the structure of the injection molding system 1G in 8th Embodiment.

An embodiment of an injection molding system according to the present invention will be described below. The drawings attached to this specification are all schematic diagrams, and the shapes, scales, length-to-width dimensional ratios, etc. of each part are changed or exaggerated from the actual ones in consideration of ease of understanding. In addition, in the drawings attached to this specification, the vertical (vertical) direction of the injection device 2 shown in FIG. 1 is defined as the X direction. In the X direction, the upward direction is defined as the X1 direction, and the downward direction is defined as the X2 direction. In this specification, "direction" is also referred to as "side" as appropriate.

(First embodiment)
FIG. 1 is a diagram illustrating the configuration of an injection molding system 1 according to the first embodiment. As shown in FIG. 1 , an injection molding system 1 includes an injection device 2 , a mold 3 , an injection control device (external device) 4 , a robot (injection driving device) 5 and a robot control device 6 .
The injection device 2 is a device that supplies a fixed amount of molding material to a mold 3 (described later). The injection device 2 includes a barrel holding portion 10 (barrel 11), a nozzle 12, a molding material inlet 13, a channel valve 14, a plunger (driven member) 15, a pushing member 16, a material channel 17, and a material supply portion 18. Prepare. Although the injection device 2 is installed on the base, illustration of the base and the mold clamping device is omitted in FIG.

The barrel holding part 10 is a housing with a barrel 11 inside. The barrel 11 is a space filled with molding material. A plunger 15 is inserted inside the barrel 11 . The barrel holder 10 has a nozzle (ejection port) 12 at the lower (X2 side) end. The nozzle 12 is a portion through which the molding material filled in the barrel 11 is injected, and communicates with the barrel 11 . The tip of the nozzle 12 is in contact with the mold 3 .

The barrel holding part 10 has a molding material inlet (hereinafter also referred to as "inlet") 13 near the nozzle 12 . The inlet 13 is an opening for allowing molding material to flow into the barrel 11 . The inflow port 13 communicates with the barrel 11 via a flow path valve 14 . One end of a material flow path 17 is connected to the inlet 13 . The material flow path 17 is a flow path that communicates between the barrel 11 and the material supply section 18 . The other end of material flow path 17 is connected to material supply section 18 .

The flow path valve 14 is an electric valve provided inside the barrel 11, and is composed of, for example, an electric three-way valve. When the channel valve 14 is opened, the material channel 17 and the barrel 11 are communicated with each other, so that the molding material can be supplied from the material channel 17 to the barrel 11 through the inlet 13 . On the other hand, when the flow path valve 14 is closed, communication between the material flow path 17 and the barrel 11 is interrupted, and the molding material can be injected from the nozzle 12 . The passage valve 14 may have any configuration as long as it can switch communication/non-communication between the material passage 17 and the barrel 11 . Alternatively, the barrel 11 may be configured without the passage valve 14 .

The plunger 15 is a member provided inside the barrel 11 so as to be able to advance/retreat along the axial direction (X direction). Here, "advancing" means that the plunger 15 moves downward (X2 direction). "Retreat" means that the plunger 15 moves upward (X1 direction). A portion of plunger 15 is inserted into barrel 11 . When the plunger 15 is driven to move forward while the barrel 11 is filled with the molding material, the molding material filled in the barrel 11 is injected from the nozzle 12 .

The pushing member 16 is a member that transmits the driving force supplied by the robot 5 to the plunger 15 . The pushing member 16 may or may not be connected to the plunger 15 . In this embodiment, a configuration in which the pushing member 16 is connected to the plunger 15 will be described. In the form in which the pushing member 16 is connected to the plunger 15 , the pushing member 16 constitutes a driven member together with the plunger 15 .

The material supply unit 18 is a device that supplies molding material to the barrel 11 . In this embodiment, the molding material is liquid silicone resin (thermosetting resin). A molding material is supplied to the barrel 11 from the material supply unit 18 through the material flow path 17 and the inlet 13 . The material supply unit 18 generates supply pressure using hydraulic pressure, a servomotor, or the like, and supplies the molding material toward the barrel 11 . In the material supply section 18, the supply and stoppage of the molding material is controlled by an injection control device 4 (described later). Note that the material supply unit 18 itself may include a control device, or the material supply unit 18 may be configured such that its operation is controlled based on an input signal from another control device.

The mold 3 is a metal housing that can be opened and closed. In FIG. 1 and the like, the mold 3 is shown in a simplified manner. A cavity formed inside the mold 3 is filled with a molding material injected from the injection device 2 . The mold 3 has a mold clamping device (not shown) that opens and closes. The mold clamping device is a device that presses and heats the molding material filled in the cavity of the mold 3 to manufacture a molded product. In addition, the robot 5 (described later) performs the work of removing the molded product from the mold 3 in the open state in the molded product removing process.

The injection control device 4 is electrically connected to the passage valve 14 and the material supply section 18 via wiring, and is a device that controls the operations of these sections. The injection control device 4 is composed of, for example, a microprocessor unit including a CPU (Central Processing Unit), a memory, and the like. The injection control device 4 controls the operation of each piece of hardware based on an application program that controls the operation of the injection device 2, and controls the operation of each part in each step included in the molding cycle.

The robot 5 is a device that supplies driving force to each part in multiple steps of the molding cycle. A molding cycle generally refers to one continuous process of a weighing process, an injection process, and a holding pressure process. A mold closing process, a mold opening process, a molded product taking-out process, a mold closing process, and the like are widely included. Therefore, the robot 5 of the present embodiment is used not only in the weighing process, the injection process, and the holding pressure process, but also, for example, in the process of taking out the molded product, the robot 5 is driven to suck the molded product by vacuum suction and separate it from the mold. supply power. A work arm 25 (described later) of the robot 5 is appropriately equipped with devices suitable for work in each process. These devices may be configured to be replaced with respect to the working arm 25 for each process, or may be configured to be switched for each process while attached to the working arm 25 . Each step of the molding cycle described above is an example, and is not necessarily limited to the example of the embodiment. For example, depending on molding conditions, the pressure holding process may not be included.

In this embodiment, the robot 5 is an articulated robot. The robot 5 includes a robot base 21, a swing body 22, a first arm 23, a second arm 24, a working arm 25, and shafts 26-28. The robot base 21 is fixed to an installation surface (not shown) of the robot 5 . The swing body 22 is provided on the robot base 21 so as to be swingable around a vertical axis parallel to the X direction. The first arm 23 is rotatably connected to the robot base 21 at the shaft portion 26 . The second arm 24 is rotatably connected to the tip of the first arm 23 at the shaft portion 27 .

The working arm 25 is a part that contacts an object (for example, the plunger 15 or the pushing member 16) to supply a driving force and holds the object (for example, the power section 31). The working arm 25 is rotatably connected to the tip of the second arm 24 at the shaft portion 28 . The working arm 25 can rotate about three axes on the shaft portion 28 . As will be described later, various devices (for example, a motor) are attached to the distal end portion 25a of the working arm 25 according to the content of the work. The working arm 25 also has a pressure sensor 29 . The pressure sensor 29 is a device that indirectly measures the pressure of the molding material in the weighing process (described later). The pressure sensor 29 is electrically connected with the robot controller 6 .

The robot control device 6 is electrically connected to the robot 5 via wiring, and is a device that controls the operation of each part that constitutes the robot 5 . Specifically, the robot control device 6 controls the operation of a servomotor (not shown) built in each part of the robot 5 to rotate each part about the rotation axis. The robot control device 6 is composed of, for example, a microprocessor unit including a CPU (Central Processing Unit), memory, and the like. The robot control device 6 controls the operation of each piece of hardware based on an application program that controls the operation of the robot 5, and performs operations in a plurality of steps included in the molding cycle. As will be described later, the injection driving device is not limited to the robot 5 (articulated robot).

Next, the injection process and the holding pressure process performed in the injection molding system 1 of the first embodiment will be described with reference to FIGS. 2A to 2D. In the actual molding cycle, as described above, operations are performed in the order of the weighing process, the injection process, the holding pressure process, and the molding process, but here, the injection process and the holding pressure process will be explained first. .

FIG. 2A is a diagram illustrating an injection process performed in the injection molding system 1. FIG. FIG. 2B is a diagram illustrating a holding pressure process performed in the injection molding system 1. FIG.
Prior to starting the injection process, the barrel 11 is filled with molding material. The molding material is filled into the barrel 11 in a metering process (described later) prior to the injection process. In the injection process, the injection control device 4 closes the flow passage valve 14 . As a result, the material flow path 17 and the barrel 11 are disconnected, and the barrel 11 and the nozzle 12 are connected.

Next, the robot control device 6 positions the working arm 25 of the robot 5 above the injection device 2, and then controls the robot 5 so that the working arm 25 descends downward (X2 direction). 2A, the pushing member 16 advances together with the plunger 15, and the molding material filled in the barrel 11 is injected from the nozzle 12 toward the mold 3. As shown in FIG. In the subsequent pressure holding process, as shown in FIG. 2B, pressure control is performed by the driving force (pressure) applied from the working arm 25 of the robot 5 moving the pushing member 16 forward to the pushing completion position. In the pressure holding process, the filling of the molding material is completed by performing this pressure control over a predetermined time.

2C and 2D are diagrams illustrating the weighing process performed in the injection molding system 1. FIG.
After completing the filling of the molding material, the robot controller 6 raises the working arm 25 of the robot upward (X1 direction), as shown in FIG. 2C. As the working arm 25 rises, the plunger 15 can be retracted together with the pushing member 16 . Next, the injection control device 4 opens the channel valve 14 to allow communication between the material channel 17 and the barrel 11 . As a result, the molding material is supplied from the material supply unit 18 to the barrel 11 through the inlet 13, and weighing of the molding material is started.

When the molding material is supplied to the barrel 11, the plunger 15 and the pushing member 16 are retracted by the material pressure of the molding material, as shown in FIG. 2D. After that, the pushing member 16 comes into contact with the distal end portion 25 a of the working arm 25 . Since the molding material is supplied to the barrel 11 even after the pushing member 16 abuts against the tip 25 a of the working arm 25 , the material pressure of the molding material acts on the pressure sensor 29 provided on the working arm 25 . do. When the pressure of the molding material measured by the pressure sensor 29 of the work arm 25 (robot 5) reaches a specified value, the robot control device 6 notifies the injection control device 4 of this. The injection control device 4 closes the passage valve 14 and stops the supply of the molding material from the material supply section 18 to the barrel 11 . This completes the metering of the molding material into the barrel 11 . The material pressure of the molding material may be measured by a pressure sensor (not shown) provided inside the barrel 11, or indirectly measured based on the position of the plunger 15 detected by a position sensor (not shown). may The pressure sensor 29 measurements can also be used for other control applications. In the injection molding system 1 of the first embodiment, the configuration in which the robot 5 and the injection device 2 are provided with pressure sensors can also be applied to other embodiments.

According to the injection molding system 1 of the first embodiment, the injection device 2 does not require a dedicated and fixed driving device for injecting the molding material, so the number of parts can be reduced. Therefore, the injection device 2 can be made compact and lightweight. In addition, the initial cost and operating cost of the injection device 2 can be reduced, and maintainability such as disassembly and cleaning can be improved. In addition, since it becomes easier to secure an installation space due to the miniaturization, it becomes easier to install a plurality of injection devices 2 when using different injection devices for each colorant. Furthermore, according to the injection molding system 1 of the embodiment, since the robot control device 6 can set the operation of the weighing process, the injection process, etc., the connection work ( wiring work, man-hours for software update, etc.) can be simplified.

In the injection molding system 1 of the first embodiment, since the working arm 25 of the robot 5 directly applies pressure to the pushing member 16, the driving force generated by the robot 5 is supplied to the pushing member 16 more efficiently. can.
In the injection molding system 1 of the first embodiment, since the robot 5 is configured by an articulated robot, it is possible to move and supply driving force to each process more quickly and smoothly.
In the injection molding system 1 of the first embodiment, the working arm 25 of the robot 5 is equipped with a pressure sensor 29 . Therefore, the cost can be reduced compared to the case where a sensor for measuring the material pressure is provided for each injection device. Especially when installing a plurality of injection devices, more cost reduction is possible.

(Second embodiment)
FIG. 3 is a diagram illustrating the configuration of an injection molding system 1A according to the second embodiment.
In the description and drawings of the second embodiment, members and the like that are the same as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted. In addition, in FIG. 3 and drawings of each embodiment described later, illustration of the control system (the injection control device 4, etc.) shown in FIG. 1 is omitted.

The robot 5 of the injection molding system 1A shown in FIG. The power unit 31 is a device that contacts the plunger 15 and the pushing member 16 and supplies driving force downward (X2 direction). The power unit 31 is composed of, for example, a motor and a mechanism that converts the rotary motion of the motor into linear motion. In the second embodiment, the working arm 25 of the robot 5 holds the power section 31 and is controlled so as to be maintained in the vertical direction (X direction) of the power section 31 . In the injection molding system 1</b>A of the second embodiment, the driving force supplied by the power section 31 can advance the pushing member 16 together with the plunger 15 . Note that the power unit 31 may be configured by an air cylinder, a gas cylinder, a hydraulic cylinder, or the like.

(Third Embodiment)
FIG. 4A is a diagram illustrating a first configuration of an injection molding system 1B according to the third embodiment. FIG. 4B is a diagram illustrating a second configuration of the injection molding system 1B according to the third embodiment. In FIGS. 4A and 4B, illustration of the ejection mechanism 32 (described later) is simplified.
In the description and drawings of the second embodiment, members and the like that are the same as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted.

In the injection molding system 1B (first configuration) shown in FIG. 4A, the injection device 2 includes an injection mechanism section 32. The injection mechanism section 32 is a structure that transmits the driving force supplied by the working arm 25 of the robot 5 to the plunger 15 and the pushing member 16 . The injection mechanism 32 is configured by a mechanism, such as a ball screw, that converts rotary motion of the screw shaft 32a into linear motion. 4A (and FIG. 4B), the screw shaft 32a of the injection mechanism 32 is engaged with a ball nut 32b fixed to the upper portion of the injection device 2. As shown in FIG. Note that the configuration of the injection mechanism section 32 is not limited to the example shown in FIG. 4A, and may be any configuration as long as it can function in the same manner.

As shown in FIG. 4A, when the distal end portion 25a of the working arm 25 turns about the shaft portion 28, the driving force (rotational movement) supplied by the working arm 25 causes the screw shaft 32a to rotate. The rotation of the screw shaft 32a is converted into linear motion by engagement with the ball nut 32b, and the pressing portion 32c is pushed downward (X2 direction). The pushing member 16 can be advanced together with the plunger 15 by pushing the pressing portion 32c downward.

The injection molding system 1B (second configuration) shown in FIG. 4B includes the same injection mechanism 32 as the first configuration in the injection device 2 . The robot 5 also includes a power section (power source) 33 at the tip 25 a of the working arm 25 . The power unit 33 is configured by, for example, a motor. A rotating shaft (not shown) of the power section 33 is connected to the screw shaft 32 a of the injection mechanism section 32 . As shown in FIG. 4B, when the rotation shaft of the power section 33 provided in the working arm 25 rotates, the driving force (rotational force) supplied by the power section 33 causes the screw shaft 32a to rotate. The rotation of the screw shaft 32a is converted into linear motion by engagement with the ball nut 32b, and the pressing portion 32c is pushed downward (X2 direction). The pushing member 16 can be advanced together with the plunger 15 by pushing the pressing portion 32c downward.

Note that in the injection molding system 1B (first configuration and second configuration) of the third embodiment, after the molding material is injected into the mold 3, the pressing portion 32c retreats to a predetermined position. By appropriately setting the position at which the pressing portion 32c is retracted, the measurement completion position of the plunger 15 can be changed according to the molding conditions. The same applies to a configuration including a connecting mechanism portion 34 as in a fourth embodiment to be described later.

(Fourth embodiment)
FIG. 5 is a diagram illustrating the configuration of an injection molding system 1C according to the fourth embodiment. 4th Embodiment demonstrates the injection molding system 1 (refer FIG. 1) of 1st Embodiment as an example.
In the description and drawings of the fourth embodiment, members and the like equivalent to those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted.

As shown in FIG. 5, the injection molding system 1C of the fourth embodiment includes a connecting mechanism section 34 between the working arm 25 of the robot 5 and the pushing member 16. As shown in FIG. The connecting mechanism part 34 is a structure for connecting the working arm 25 that supplies the driving force and the pushing member 16 . In the injection molding system 1</b>C of the fourth embodiment, the driving force of the working arm 25 is transmitted to the pushing member 16 via the connecting mechanism section 34 . The connection mechanism part 34 is configured by, for example, a coupling mechanism. The coupling mechanism may be separable or non-separable. In addition, in 1 C of injection molding systems of 4th Embodiment, the structure provided with the connection mechanism part 34 is applicable also to other embodiment.

(Fifth embodiment)
FIG. 6 is a diagram illustrating the configuration of an injection molding system 1D according to the fifth embodiment. In the fifth embodiment, the configuration of the injection molding system 1A (see FIG. 3) of the second embodiment will be described as an example.
In the description and drawings of the fifth embodiment, members and the like that are the same as those of the second embodiment are denoted by the same reference numerals as those of the second embodiment, and overlapping descriptions are omitted.

As shown in FIG. 6, the injection molding system 1D of the fifth embodiment includes a fixing mechanism 35 in the injection device 2. As shown in FIG. The fixing mechanism part 35 is a structure that fixes the injection device 2 and the part to which the robot 5 supplies driving force (in this example, the power part 31). When the driving force generated by the power unit 31 held by the robot 5 exceeds the force that the robot 5 can withstand, the force that the robot 5 cannot withstand is applied as a repulsive force. Therefore, position control of the robot 5 may become difficult. On the other hand, in the injection molding system 1</b>D of the fifth embodiment, the injection device 2 and the power section 31 are fixed to each other by the fixing mechanism section 35 . Therefore, even if the driving force generated by the power unit 31 exceeds the force that the robot 5 can withstand, the fixing mechanism unit 35 can receive the force that the robot 5 cannot withstand. Therefore, in the injection molding system 1D of the fifth embodiment, the influence on the position control of the robot 5 can be reduced. In addition, in the injection molding system 1D of the fifth embodiment, the configuration in which the injection device 2 is provided with the fixing mechanism section 35 can also be applied to other embodiments. Moreover, in the fifth embodiment, the configuration of the fixing mechanism portion 35 is not limited to the example shown in FIG.

(Sixth embodiment)
FIG. 7 is a diagram illustrating the configuration of an injection molding system 1E according to the sixth embodiment. In the sixth embodiment, the injection device 2 and the robot 5 (see FIG. 1) of the first embodiment will be described as examples. In addition, in FIG. 7, the illustration of the injection device is simplified.
In the description and drawings of the sixth embodiment, members and the like equivalent to those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted.

The injection molding system 1E of the sixth embodiment has a plurality of injection devices 2A to 2C for one robot 5. In the injection molding system 1E of the sixth embodiment, the robot 5 is configured to be movable in the direction of arrow A along guide rails (not shown). Also, the injection devices 2A to 2C are arranged along this guide rail. As shown in FIG. 7, according to the injection molding system 1E of the sixth embodiment, one robot 5 is set in a predetermined order (for example, the

injection devices

2A, 2B, By moving in 2C), the injection process of each injection device and other processes (for example, molding product ejection process) can be executed in order. In addition, in the injection molding system 1E of the sixth embodiment, the number of injection devices may be two, or four or more. Moreover, in the injection molding system 1E of the sixth embodiment, the configuration in which one robot 5 is sequentially moved with respect to a plurality of injection devices can also be applied to other embodiments.

(Seventh embodiment)
8A and 8B are diagrams illustrating the configuration of an injection molding system 1F according to the seventh embodiment. 7th Embodiment demonstrates the structure of the injection molding system 1 (FIG. 1) of 1st Embodiment as an example.
In the description and drawings of the seventh embodiment, members and the like equivalent to those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted.

As shown in FIG. 8A, in the injection molding system 1F of the seventh embodiment, the working arm 25 of the robot 5 reaches a preset pressing speed (hereinafter also referred to as "set speed") at the start of the injection process. is accelerated. Then, as shown in FIG. 8B, when the acceleration of the working arm 25 is completed and the moving speed of the working arm 25 reaches the set speed, the plunger 15 and the pushing member 16 are pushed downward (X2 direction). Start. Thereby, in the injection molding system 1F of the seventh embodiment, the plunger 15 and the pushing member 16 can be advanced at a predetermined speed from the start of injection. FIG. 8B shows a state in which the plunger 15 and the pushing member 16 are advanced downward (X2 direction) by the working arm 25 whose movement speed has reached the set speed.

(Eighth embodiment)
FIG. 9 is a diagram illustrating the configuration of an injection molding system 1G according to the eighth embodiment.
In the description and drawings of the eighth embodiment, members and the like equivalent to those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and overlapping descriptions are omitted.

As shown in FIG. 9, the injection molding system 1G of the eighth embodiment includes a screw assembly 36 in the injection device 2 instead of the plunger 15 and the pushing member 16 (see FIG. 1). The robot 5 also has a power unit 33 at the tip 25 a of the working arm 25 . The screw assembly 36 includes a mechanism portion 36a, a screw 36b, and a screw head 36c. The mechanism portion 36 a is connected to a rotating shaft (not shown) of the power portion 33 . Note that a connecting mechanism portion 34 (see FIG. 5) may be provided instead of the mechanism portion 36a.

In the embodiment in which the injection device 2 is provided with the screw assembly 36, several operation patterns are conceivable for injection of the molding material. Examples of these operation patterns will be described as operation patterns 1 to 3 below.

(Operating pattern 1)
In the screw assembly 36, the rotation of the power section 33 is converted into linear motion of the screw 36b, and the molding material is injected toward the mold 3 by advancing the screw 36b.

(Operating pattern 2)
The inlet 13 for the molding material is provided on the base side (X1 side) of the screw 36b. In the screw assembly 36, the rotation of the power section 33 is converted into rotational motion of the screw 36b, and the molding material is injected toward the mold 3 by rotating the screw 36b. In addition, in the configuration for converting the rotation of the power section 33 into the rotational motion of the screw 36b, a configuration without a component such as a speed reducer may be employed, or a configuration may be employed in which the power section 33 and the screw 36b are only connected.

(Operating pattern 3)
The robot 5 is controlled so that the working arm 25 descends downward (X2 direction), and the molding material is injected toward the mold 3 by advancing the screw 36b. In this case, the rotation of the power section 33 is not used for injection of molding material.

The configuration of the eighth embodiment can also be applied to other embodiments. For example, in the injection molding system 1B of the third embodiment (see FIGS. 4A and 4B), instead of the plunger 15 and the pushing member 16, the screw assembly 36 of the eighth embodiment may be provided. In that case, a configuration in which a connecting mechanism section 34 (see FIG. 5) is provided between the working arm 25 (power section 33) of the robot 5 and the screw assembly 36 may be employed.

Although the embodiments (first to eighth embodiments) of the injection molding system according to the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications such as those described below are possible. can be modified and changed, and they are also included in the technical scope of the present invention. Moreover, the effects described in the embodiments are merely enumerations of the most suitable effects produced by the present invention, and are not limited to those described in the embodiments. Although the above-described embodiment and modified embodiments described later can be used in combination as appropriate, detailed description thereof will be omitted.

(deformed form)
In the first to seventh embodiments, the molding material may be a form in which molten thermoplastic resin is supplied from the material supply section 18 to the barrel 11 (for example, a form corresponding to a pre-plunger type injection molding machine). In this embodiment, the molten thermoplastic resin may be supplied from the material supply unit 18 to the barrel 11 by the driving force supplied by the robot 5 . Further, in the case of a form corresponding to a pre-plunger type injection molding machine, the robot 5 may supply a driving force to the material supply section 18 to measure pellet-shaped thermoplastic resin.

In the screw assembly 36 shown in the eighth embodiment, when a pellet-shaped thermoplastic resin is used as the molding material, it can be configured so that the molding material can be weighed. For example, in the injection device 2 shown in FIG. 9, the molding material inlet 13 is provided on the base side (X1 side) of the screw 36b, and while the molding material is supplied to the barrel 11 by the material supply unit 18, the power unit 33 rotates. By raising the working arm 25 together with the power unit 33 and the screw assembly 36 while rotating the shaft, the molding material in the form of pellets can be weighed. In addition, in this configuration, the material supply unit 18 may be configured by a member (for example, a hopper) that does not have a mechanical unit. Also, a configuration in which the passage valve 14 is not provided in the barrel 11 may be adopted. In the above configuration, a pressure sensor (not shown) may be provided in the working arm 25 or the barrel 11, and the metering operation of the screw assembly 36 may be controlled based on the measured value of the pressure sensor. Further, in this configuration, the molding material can be injected toward the mold 3 by lowering the working arm 25 .

In the embodiment, as a means for detecting the load that the robot 5 receives from the injection device 2, for example, a sensor that detects an increase in motor torque, a sensor that detects an increase in hydraulic pressure, a strain sensor, or the like may be provided. In this configuration, the robot 5 performs speed control (injection speed control), position control (injection position control), stroke control, pressure control ( At least one of injection pressure control and holding pressure control) may be controlled. The robot 5 may perform the above control based on the measured value of the pressure sensor 29 (see FIG. 1) provided on the working arm 25 of the robot 5 .

In the embodiment, an example in which the robot (injection drive device) 5 is an articulated robot has been described, but it is not limited to this. The injection driving device supplies driving force to a portion other than the plunger 15 (driven member) in a process during the molding cycle, and supplies driving force to the plunger 15 in an injection process during the molding cycle to operate the nozzle 12. Any device can be used as long as it injects the molding material from. As the injection drive device, for example, a molded product take-out device for taking out the molded product from the mold 3 may be used in the molded product take-out process. Further, the injection control device 4 (injection device 2) may control the operation of the injection drive device, or the control device of the injection drive device may control part or all of the operation of the injection device 2. may

In the embodiment, the working arm 25 of the robot 5 may be provided with a robot hand. According to this configuration, for example, in the injection molding system 1A (see FIG. 3) of the second embodiment, the power section 31 can be supported by the robot hand.
In the embodiment, the configuration in which the molding material is injected from the injection device 2 in the vertical direction (X direction) has been described, but a configuration in which the molding material is injected from the injection device 2 in the horizontal direction is also possible.

1, 1A to 1G: injection molding system, 2, 2A to 2C: injection device, 3: mold, 4: injection control device, 5: robot, 6: robot control device, 11: barrel, 12: nozzle (injection port ), 15: plunger (driven member), 16: pushing member, 25: working arm, 31, 33: power section, 32: injection mechanism section, 34: connection mechanism section, 35: fixing mechanism section, 36: screw assembly

Claims

at least one injection device for injecting molding material from an injection port provided in the barrel;
an injection drive device that supplies driving force to each part in a plurality of steps during the molding cycle,
The injection device is
a driven member that is driven in the barrel to inject the molding material in the barrel from the injection port;
The injection drive device
In a step during the molding cycle, a driving force is supplied to a portion other than the driven member, and in an injection step during the molding cycle, the driving force is supplied to the driven member to inject the molding material from the injection port. injection molding system.
The injection molding system according to claim 1, wherein the injection driving device includes a power source for driving the driven member at a portion of the injection device that supplies driving force to the driven member.
The injection molding system according to claim 1 or 2, wherein the injection device comprises an injection mechanism section for transmitting the driving force supplied by the injection drive device to the driven member.
The injection molding system according to any one of claims 1 to 3, wherein the injection device comprises a connection mechanism portion for connecting a portion to which the injection driving device supplies driving force and the driven member.
The injection molding system according to any one of claims 1 to 4, further comprising a fixing mechanism portion for fixing the injection device and a portion to which the injection driving device supplies driving force.
The injection molding system according to any one of claims 1 to 5, wherein the injection drive device is an articulated robot.