JP6887344B2 - Molded product take-out machine - Google Patents

Description

The present invention relates to a molded article take-out machine in which the movement locus of an attachment attached to an approach frame becomes the movement locus of an arc.

According to Japanese Patent No. 2979404 (Patent Document 1) and Japanese Patent No. 5142242 (Patent Document 2), the movement locus of the take-out head is an arc when the take-out head (attachment) attached to the approach frame is used for the take-out operation. A molded product take-out machine that becomes a movement locus is disclosed.

Japanese Patent No. 2979404 Japanese Patent No. 5142242

The conventional technique aims to move the take-out head (attachment) quickly during the take-out operation. In the molded product take-out machine, in the operation other than the take-out operation, there is time to spare in relation to the molding operation of the molding machine, so it is not considered to positively shorten the cycle time. The current situation. In such a situation, in order to positively shorten the cycle time, the inventor has an arc of the movement locus when changing the movement direction even when performing an operation other than the main operation of the molded product take-out machine. We studied to control the movement of the movement locus. And in this study, the inventor found that when the attachment is moving in an arc motion trajectory, increasing the speed more than necessary may increase the vibration of the attachment during operation. .. When the vibration becomes large, the mechanical stress becomes large, which causes a problem that the life of parts such as bearings is shortened.

An object of the present invention is molding capable of suppressing vibration generated in an attachment when the movement locus of the attachment attached to the approach frame is changed to the movement locus of an arc in a movement other than the main movement. It is to provide a product take-out machine.

The molded product take-out machine to be improved by the present invention uses a fixed traversing frame, a drawing frame controlled by a first positioning servo device using a servomotor, and a drawing frame that moves on the traversing frame, and a servomotor. An approach frame that is controlled by the positioning servo device of 2 and moves on the extraction frame and moves in a direction intersecting the extraction frame by a third positioning servo device that uses a servomotor, an attachment attached to the entry frame, and a third. The positioning servo device 1, the second positioning servo device, and the third positioning servo device are provided with a control signal generator that gives a control signal for moving the extraction frame and the approach frame according to a predetermined sequence. The control signal generated by the control signal generator is defined so that the movement locus of the attachment becomes the movement locus of the arc at least when the movement direction of the attachment is changed in order for the attachment to perform the main operation. Moreover, the control signal is such that the maximum moving speed of the combined moving speed of the attachment when the moving locus of the attachment draws the moving locus of the arc is the first positioning servo device, the second, for drawing the moving locus of the arc. At least two positioning servo devices selected from the positioning servo device and the third positioning servo device are set to be faster than the maximum moving speed of the attachment when moving the pull-out frame and the approach frame independently. In the specification of the present application, "when the movement direction of the attachment is changed in order for the attachment to perform the main operation, the movement locus of the attachment becomes the movement locus of the arc" is the scope of the patent claim of Japanese Patent Application Laid-Open No. 2979404. As specified in FIG. 4, as "straight line region (S) and subsequent curved region (R)", and also specified as "curve movement" in FIG. 8 of Patent No. 5142242 (Patent Document 2). , Means that when the movement direction of the attachment is changed, the movement locus of the attachment becomes the movement locus of an arcuate curve. Further, in the present specification, "changing the moving direction" means changing the moving direction in different directions such as from the X direction to the Y direction or from the Y direction to the Z direction in the three-dimensional direction. For example, it does not include a change that only changes the direction in the X direction.

In the present invention, the control signal generator selectively generates a control signal so that the movement locus of the attachment becomes the movement locus of the arc when the movement direction of the attachment is changed when performing an operation other than the main movement. It is configured as follows. Here, "selectively generate a control signal so that the movement locus of the attachment becomes the movement locus of the arc" means that the movement of the arc is arbitrarily selected from a plurality of places where the attachment changes the movement direction. It means generating a control signal that moves the attachment so as to draw a trajectory. Further, in the control signal generator, when the movement locus of the attachment draws the movement locus of the arc when performing an operation other than the main movement, the maximum movement speed of the combined movement speed of the attachment draws the movement locus of the arc. Below the maximum moving speed of the attachment when the pull-out frame and the approach frame are moved independently by at least two positioning servo devices selected from the first positioning servo device, the second positioning servo device, and the third positioning servo device, respectively. It is configured to determine the control signal so as to be.

When the moving speed of the attachment becomes high and the generated vibration becomes large, the vibration increases the mechanical stress and is likely to shorten the life of each component such as a bearing. According to the present invention, the movement locus of the arc is drawn when the movement locus of the attachment is determined to be the movement locus of the arc when the movement direction is changed in the movement other than the main movement in which the speed needs to be increased. Two positionings in which the maximum moving speed of the combined moving speed of the attachment when is selected from the first positioning servo device, the second positioning servo device and the third positioning servo device for drawing the movement locus of the arc. Since the moving speed of the attachment is lower than the maximum moving speed when moving the pull-out frame and the approach frame independently by the servo device, even if the attachment is moved so as to draw an arc movement locus in movements other than the main movement, it is added to the attachment. Vibration can be suppressed. As a result, it is possible to suppress a decrease in the life of the component due to vibration.

A control signal generator is configured to selectively generate a control signal so that the movement locus of the attachment becomes the movement locus of an arc when the movement direction of the attachment is changed regardless of the main operation. May be good. Also in this case, the control signal generator has a first positioning servo in which the maximum moving speed of the combined moving speed of the attachment when the moving locus of the attachment draws the moving locus of the arc draws the moving locus of the arc. The maximum moving speed of the attachment when the pull-out frame and the approach frame are moved independently by at least two positioning servo devices selected from the device, the second positioning servo device, and the third positioning servo device, respectively. It is configured to determine the control signal. In this way, the maximum moving speed of the combined moving speed of the attachment can be reduced in all cases where the moving locus of the attachment becomes the moving locus of the arc, so that it is possible to suppress a decrease in the life of the component due to vibration.

The control signal generator is preferably configured so that the curvature of the arc movement locus can be selected. In this way, when there is an obstacle around the path or range of movement of the attachment, it is possible to easily set to avoid collision with the obstacle.

The control signal generator includes, for example, a movement range in which the movement locus of the attachment draws an arc movement locus during teaching, during a test run after teaching, or during operation other than the main movement. It is preferable to have a setting unit for selectively setting the combined movement speed in the movement range. In this way, it is possible to easily set the movement range in which the movement locus of the attachment draws the movement locus of the arc and the setting and selection of the combined movement speed, so that there is an advantage that the setting is highly convenient.

A typical example of the attachment is an take-out head for taking out the molded product from the mold of the molding machine. In this case, the operation other than the main operation is an operation other than the take-out operation when taking out the molded product from the mold. From the viewpoint of improving the productivity of the molded product, it is desirable to shorten the operation time of the take-out operation as much as possible. In this case, it is necessary to give priority to the speed even if the vibration becomes a little large. ..

A displacement vibration detection unit that detects the displacement vibration of the attachment, and an active vibration suppression device that performs active control to suppress the displacement vibration of the attachment by adding vibration in the opposite phase to the displacement vibration detected by the displacement vibration detection unit from the electric actuator to the attachment. May be further provided. In this case, the active vibration suppression device suppresses the vibration generated in the attachment at least at the end of the movement locus of the arc. In this way, it is possible to suppress the vibration during movement by limiting the combined movement speed when drawing the movement locus of the arc, and further suppress the vibration at the end of the movement locus.

It is a perspective view which shows the whole structure of the molded article take-out machine of embodiment of this invention. It is a block diagram which shows the structure of the main part of the control device of the molded article take-out machine of FIG. It is a figure which shows the simple sequence in the case of taking out a molded product from the inside of a mold of a molding machine, and opening the taken out molded product at an open position. It is a figure which shows an example of an input interface. (A) to (C) are diagrams used for explaining the operation of the conventional and the embodiments of the present invention. It is a waveform diagram showing the difference in vibration generated in the pulling direction when the movement direction is changed, when the movement locus of the arc is drawn (with arc motion) and when the movement locus of the arc is not drawn (without arc motion). .. It is a block diagram which shows the structure of the 2nd Embodiment of this invention used together with active control.

Hereinafter, embodiments of the molded article take-out machine of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view of the overall configuration of the molded product take-out machine 1 of the present embodiment as viewed from different angles. The molded product take-out machine 1 is a traverse-type molded product take-out machine, and the base is supported by a fixed platen of a molding machine (not shown). The molded product take-out machine 1 shown in FIG. 1 includes a traverse frame 3, a control box 5, a drawing frame 7, a runner elevating unit 9, and a molded product adsorbing elevating unit 11. The traversing frame 3 has a cantilever beam structure extending in the X-axis direction horizontally orthogonal to the longitudinal direction of the molding machine (not shown). The control box 5 is supported by the traverse frame 3, and the traveling body 6 advances and retreats in the X-axis direction along the traverse frame 3 using an AC servomotor (not shown) included in the servo mechanism as a drive source. The drawing frame 7, which is a movable frame, has a base attached to the traveling body 6 and extends in the Y-axis direction parallel to the longitudinal direction of the molding machine (not shown). In the drawing frame 7, a runner elevating unit 9 and a molded product adsorption elevating unit 11 are supported so as to be movable in the Y-axis direction using an AC servomotor (not shown) included in the servo mechanism as a drive source. A control box 8 is attached to the base of the pull-out frame 7.

The runner elevating unit 9 has a structure in which a traveling body 15 movably supported by a pull-out frame 7 is provided with an elevating frame, that is, an approach frame 17, which elevates and elevates in the Z-axis direction. The traveling body 15 is driven by an AC servomotor (not shown) and moves in the Y-axis direction. The approach frame (elevating frame) 17 moves up and down in the vertical direction (Z-axis direction) by the AC servomotor 19. The elevating frame 17 includes a chuck 21 as an attachment for holding the runner to be discarded.

Further, the traveling body 23 included in the molded product suction elevating unit 11 moves on the drawing frame 7 in the Y-axis direction by an AC servomotor (not shown). The elevating unit 11 for adsorbing the molded product includes an approach frame (elevation frame) 25 that elevates and elevates in the vertical direction (Z-axis direction), and a reversing unit 27 that constitutes an attitude control device provided at the lower end of the approach frame 25. .. The reversing unit 27 is equipped with an attachment (taking-out head) 28 shown by a broken line.

As shown in FIG. 1, the pull-out frame 7 moves laterally along the transverse frame 3 extending in the lateral direction (X-axis direction). Then, approach frames (elevating frames) 17 and 25 that move in the vertical direction (Z-axis direction) and the front-rear direction (Y-axis direction) orthogonal to the lateral direction are mounted on the pull-out frame 7 so as to be movable in the front-rear direction. There is.

In this embodiment, the drawing frame 7 has a hollow structure formed of an iron-based material, and the outer wall of the drawing frame 7 has one side wall 29 and the other side wall 31 facing the one side wall 29. The upper connecting plate 33 and the lower connecting plate 35 that connect one side wall 29 and the other side wall 31 on the upper and lower sides are welded to each other to form four side surfaces. The tip 71, which is the free end of the drawing frame 7, is closed by the closing plate 37, and the control box 8 is attached to the rear end, which is the fixed end (base).

One side wall 29 of the pull-out frame 7 has one flat side surface to allow the entry frames (elevating frames) 17, 25 to move in the front-rear direction. Further, the other side surface of the other side wall 31 has an inclined surface 39 that is inclined so as to approach one side surface 30 of the one side wall 29 from the middle toward the tip 71. A pair of guide rails 41, 41 for guiding the movement of the approach frames (elevating frames) 17, 25 are provided along the upper and lower edges of the flat side surface 30 of one side wall 29. Between the guide rails 41 and 41, a linear movement mechanism using a belt 43 for moving the elevating frames 17 and 25 along the pull-out frame 7 is arranged. The belt 43 is partially covered with the belt cover 45.

FIG. 2 is a block diagram showing a configuration of a main part of the control device of the molded product take-out machine of FIG. Note that FIG. 2 shows only the approach frame 17 to which the take-out head 28 is mounted for simplification of the description. As shown in FIG. 2, in this control device, the first positioning servo device SS1 for driving the servomotor SB1 for moving the extraction frame 7 on the traverse frame 3 and the approach frame 17 are moved onto the extraction frame 7. A second positioning servo device SS2 for driving the servomotor SB2 for driving the servomotor SB3 and a third positioning for driving the servomotor SB3 for moving the approach frame 17 in a direction orthogonal to the extraction frame 17 (intersection direction). It is equipped with a servo device SS3. Further, in this control device, a control signal for moving the extraction frame 7 and the approach frame 17 to the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo device SS3 according to a predetermined sequence. The control signal generator CSS is provided.

The control signal generator CSS has a sequence storage unit SM that stores the sequence, and the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo according to the sequence stored in the sequence storage unit SM. A control signal generator CSG that outputs control signals CS1 to CS3 to the device SS3, a setting unit SU that sets a sequence and various operations, and a display unit DP that is also used as a part of the setting unit SU. It has.

FIG. 3 shows a simple sequence in which a molded product is taken out from the inside of the mold of the molding machine and the taken out molded product is opened in the open position. The simple sequence is a sequence in which control signals CS1 to CS3 are independently given to the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo device SS3 to move the attachment only by linear movement. Is. In this sequence, the position of the code 1 is the standby position, the codes 2 to 4 are the movement range of the extraction operation, and the codes 7 and 9 indicate the open position. In this sequence, the movement range in which the movement direction changes is the range in which the movement locus of the attachment can be made into the movement locus of the arc.

In the present embodiment, the control signal generated by the control signal generator CSS is a movement that changes the moving direction of the attachment 28 so that at least the attachment 28 performs the main operation (when the attachment 28 is the take-out head, the take-out operation). In the range, the movement locus of the attachment 28 is defined to be the movement locus of the arc. Looking at the sequence of FIG. 3, in the movement range MR1 before and after the position indicated by the sign 2 and the movement range MR2 before and after the position indicated by the sign 4, the movement locus of the attachment 28 becomes the movement locus of the arc. A control signal CS2 to the second positioning servo device SS2 and a control signal CS3 to the third positioning servo device SS3 are defined. Specifically, in the take-out operation, in order for the movement locus of the attachment (take-out head) 28 to be the movement locus of the arc, the approach frame 17 is moved in the Y direction with the second positioning servo device SS2. The control signals CS2 and CS3 to the third positioning servo device SS3 that moves the frame in the Z direction are gradually changed at the same time. When the two positioning servo devices are operated at the same time, the speed of the attachment 28 becomes the combined moving speed of the moving speeds of the two servo motors. In the present embodiment, when performing the main operation (the operation of moving the attachment into the mold of the molding machine for the taking-out operation and moving the attachment closer to and away from the molded product inside the mold), that is, in the main operation, the attachment 28 The maximum moving speed of the combined moving speed of the attachment when the moving locus draws the moving locus of the arc is independently determined by the second positioning servo device SS2 and the third positioning servo device SS3 in order to draw the moving locus of the arc. It is set to be faster than the maximum moving speed of the attachment when moving the approach frame 17 with. This speeds up the take-out operation and shortens the take-out time.

In the present embodiment, when the control signal generator CSS changes the moving direction of the attachment 28 when performing an operation other than the main operation, that is, when viewed in the sequence shown in FIG. 3, before and after the position indicated by the sign 2. In the other movement ranges MR3 to MR8 except for the movement range MR2 before and after the position indicated by the movement range MR1 and the code 4, when the movement direction of the attachment 28 is changed, the movement locus of the attachment 28 selectively moves in an arc. The control signal generation unit CSG generates the control signals CS1 to CS3 so as to be a locus. In the present embodiment, when the control signal generator CSS performs an operation other than the main operation (operation including the movement ranges MR3 to MR8 in FIG. 4), the movement locus of the attachment 28 draws an arc movement locus. At least the maximum moving speed of the combined moving speed of the attachment 28 is selected from the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo device SS3 in order to draw the movement locus of the arc. The control signals CS1 to CS3 are configured so as to be equal to or less than the maximum moving speed of the attachment 28 when the pull-out frame and the approach frame are moved independently by the two positioning servo devices.

In the present embodiment, in order to selectively generate a control signal so that the movement locus of the attachment becomes the movement locus of the arc, the interface shown in FIG. 4 (on the display unit DP used in the setting unit SU of FIG. 2). (Displayed on the touch panel to be used) is adopted so that the attachment 28 can select to move the attachment according to the movement locus of the arc from a plurality of places where the movement direction is changed. In the interface of FIG. 4, by entering a number for selecting the curvature of the arc in the selection field of "Arc motion", the place to be moved by the movement locus of the arc and the curvature of the arc are selected. The part marked with "-" in the "Arc Motion" selection field is a place that is not selected or cannot be selected. The number "3" in the "arc motion" at the "5 inversion position" indicates that the arc movement locus is set to be drawn with the largest radius of curvature in the movement range including the inversion position. In the present embodiment, the curvature can be selected at the level of 1 to 3, and the larger the number, the larger the radius of curvature. Further, "speed (%)" in FIG. 4 indicates a limit of the maximum moving speed of the combined moving speed of the attachment. When performing the take-out operation (the operation including the movement ranges MR1 and MR2 in FIG. 3), the speed is set to 100%, which is the maximum in order to increase the take-out time, but the speed is the combined movement speed in other movement ranges. The maximum movement speed of is limited.

The setting using the setting unit SU provided with the interface of FIG. 4 can be performed, for example, during teaching, during a test run after teaching, or during operation. By using such a setting unit SU, it is possible to easily set a movement range in which the movement locus of the attachment draws an arc movement locus and to set and select a combined movement speed, so that there is an advantage that the setting is highly convenient.

FIG. 5A shows the control signal CS2 so that when the movement direction of the attachment 28 is changed, the movement locus does not draw an arc movement locus, that is, the movement locus draws a right-angled movement locus as before. It also shows the change in the tip speed of the attachment (take-out head) when the CS3 is controlled so as not to overlap in time. In this case, relatively large vibration is generated when the control signals CS2 and CS3 are switched. FIG. 5B shows, in the present embodiment, that the movement locus draws an arc movement locus when the movement direction of the attachment 28 is changed during the take-out operation, but the combined movement speed. When the maximum moving speed of the attachment 28 is set to be faster than the maximum moving speed of the attachment 28 when the approach frame 17 is moved independently by the second positioning servo device SS2 and the third positioning servo device SS3, respectively. It shows the tip speed of the head. In this case, the maximum moving speed of the combined moving speed is faster than the maximum moving speed of the attachment 28 when the approach frame 17 is moved independently by the second positioning servo device SS2 and the third positioning servo device SS3. It has become. FIG. 5C shows, in the present embodiment, that the movement locus draws an arc movement locus when the movement direction of the attachment 28 is changed when an operation other than the take-out operation is performed. When the maximum moving speed of the combined moving speed is set to be equal to or less than the maximum moving speed of the attachment 28 when the approach frame 17 is moved independently by the second positioning servo device SS2 and the third positioning servo device SS3, respectively. , Indicates the tip speed of the take-out head. In this case, the maximum moving speed of the combined moving speed is equal to or less than the maximum moving speed of the attachment 28 when the approach frame 17 is moved independently by the second positioning servo device SS2 and the third positioning servo device SS3. Therefore, the speed of the attachment (take-out head) and its change are smaller than in the case of FIG. 5 (B).

When the moving speed of the attachment 28 becomes high and the generated vibration becomes large, it is highly possible that the vibration increases the mechanical stress and shortens the life of each component such as a bearing. According to the present embodiment, in the case where the movement locus of the attachment 28 is determined to be the movement locus of the arc when the movement direction is changed in the movement other than the main movement (take-out movement) in which it is necessary to increase the speed. , The maximum moving speed of the combined moving speed of the attachment when drawing the moving locus of the arc is the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning to draw the moving locus of the arc. The two positioning servo devices selected from the servo device SS3 are set so as to be equal to or lower than the maximum moving speed of the attachment 28 when the pull-out frame 7 and the approach frame 17 are moved independently. Therefore, even if the attachment 28 is moved so as to draw an arc movement locus in an operation other than the main operation, the vibration applied to the attachment 28 can be suppressed. As a result, it is possible to suppress a decrease in the life of the component due to vibration.

FIG. 6 shows the difference in vibration generated in the pulling direction when the movement trajectory of the arc is drawn (with arc motion) and when the movement trajectory of the arc is not drawn (without arc motion) when the movement direction is changed. It is a waveform diagram. In particular, the period T indicates a period including a switching point between the control signal CS2 and the control signal CS3. In this period, it can be seen that the vibration is smaller when the arc movement locus is drawn (with arc motion) than when the arc movement locus is not drawn (without arc motion).

[Different embodiments]
In the above embodiment, the maximum movement speed of the combined movement speed is not limited in the main movement (take-out movement), but the attachment is selectively attached when the movement direction of the attachment is changed regardless of the main movement. The control signal generator may be configured to generate a control signal so that the movement locus of the arc becomes the movement locus of the arc. Also in this case, the control signal generator CSS has the first movement speed of the combined movement speed of the attachment 28 when the movement locus of the attachment 28 draws the movement locus of the arc. The maximum moving speed of the attachment when the pull-out frame and the approach frame are moved independently by at least two positioning servo devices selected from the positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo device SS3. The control signals CS1 to CS3 are configured to be defined as follows. In this way, the maximum moving speed of the combined moving speed of the attachment 28 can be reduced in all cases where the moving locus of the attachment 28 becomes the moving locus of the arc, so that it is possible to suppress a decrease in the life of the component due to vibration.

FIG. 7 is a block diagram showing a configuration of a second embodiment of the present invention used in combination with active control. In FIG. 7, the same parts as those of the first embodiment shown in FIG. 2 are given the same signs as those given in FIG. 2, and the description thereof will be omitted. In the present embodiment, the displacement vibration detection unit VS that detects the displacement vibration of the attachment 28 and the vibration of the opposite phase to the displacement vibration detected by the displacement vibration detection unit VS are added from the electric actuator EA to the attachment 28 to displace the attachment. It is further equipped with an active vibration suppression device ACS that performs active control to suppress vibration. In the case of the present embodiment, the active vibration suppression device ACS suppresses the vibration generated in the attachment 28 at least at the end of the movement locus of the arc. In this way, it is possible to suppress the vibration during movement by limiting the combined movement speed when drawing the movement locus of the arc, and further suppress the vibration at the end of the movement locus. As for active control, as shown in FIG. 4, it is preferable that the execution of active control can be arbitrarily set.

According to the present invention, when the movement locus of the attachment is determined to be the movement locus of the arc when the movement direction is changed, the maximum movement speed of the combined movement speed of the attachment when the movement locus of the arc is drawn is determined. , The extraction frame 7 and the extraction frame 7 independently by at least two positioning servo devices selected from the first positioning servo device SS1, the second positioning servo device SS2, and the third positioning servo device SS3 to draw the movement locus of the arc. In order to make the moving speed of the attachment 28 or less when moving the approach frame 17, even if the attachment is moved so as to draw an arc movement locus, the vibration applied to the attachment can be suppressed. As a result, it is possible to suppress a decrease in the life of the component due to vibration.

1 Molded product take-out machine 3 Traverse frame 5 Control box 6 Traveling body 7 Pulling frame 8 Control box 9 Runner lifting unit 11 Molded product suction lifting unit 13 AC servomotor 15 Traveling body 17 Entry frame (elevating frame)
19 AC Servo Motor 21 Chuck 25 Entry Frame (Elevating Frame)
28 Attachment (take-out head)
SS1 1st positioning servo device SS2 2nd positioning servo device SS3 3rd positioning servo device SB1 to SB3 Servo motor CSS control signal generator SM sequence storage unit CSG control signal generator SU setting unit DP display unit

Claims (5)

With a fixed traverse frame,
A drawing frame controlled by a first positioning servo device using a servomotor and moving on the traversing frame, and a drawing frame.
An approach frame that is controlled by a second positioning servo device that uses a servomotor and moves on the extraction frame and that moves in a direction that intersects the extraction frame by a third positioning servo device that uses a servomotor.
The attachment to which the entry frame is attached and
A control signal generator that gives a control signal for moving the pull-out frame and the approach frame to the first positioning servo device, the second positioning servo device, and the third positioning servo device according to a predetermined sequence. With
The control signal generated by the control signal generator is determined so that the movement locus of the attachment becomes the movement locus of the arc at least when the attachment changes the movement direction of the attachment in order to perform the main operation of the attachment. Moreover, when the movement locus of the attachment draws the movement locus of the arc, the maximum movement speed of the combined movement speed of the attachment is the first positioning servo for drawing the movement locus of the arc. The maximum moving speed of the attachment when the pull-out frame and the approach frame are moved independently by the device, the second positioning servo device, and at least two of the positioning servo devices selected from the third positioning servo device, respectively. It is a molded product take-out machine that is specified to be faster than
When the control signal generator changes the moving direction of the attachment when performing an operation other than the main operation, the control signal generator selectively generates the control signal so that the moving locus of the attachment becomes the moving locus of the arc. Configured to occur,
Further, in the control signal generator, the maximum moving speed of the combined moving speed of the attachment when the moving locus of the attachment draws the moving locus of the arc when performing an operation other than the main movement is the arc. The withdrawal frame and the approach are independently made by at least two positioning servo devices selected from the first positioning servo device, the second positioning servo device, and the third positioning servo device for drawing a movement locus. A molded product take-out machine characterized in that a control signal is determined so as to be equal to or lower than the maximum moving speed of the attachment when moving the frame. The molded product take-out machine according to claim 1, wherein the control signal generator is configured so that the curvature of the movement locus of the arc can be selected. The control signal generator has a setting unit that selectively sets a movement range in which the movement locus of the attachment draws the movement locus of the arc and the combined movement speed in the movement range when performing an operation other than the main operation. The molded product take-out machine according to claim 1, wherein the machine is provided. The attachment is a take-out head that takes out a molded product from the mold of the molding machine.
The molded product take-out machine according to claim 1, wherein the operation other than the main operation is an operation other than the take-out operation when the molded product is taken out from the mold. The displacement vibration detection unit that detects the displacement vibration of the attachment and the vibration of the opposite phase to the displacement vibration detected by the displacement vibration detection unit are added from the electric actuator to the attachment to perform active control to suppress the displacement vibration of the attachment. It is equipped with an active vibration suppression device.
The molded product take-out machine according to claim 1, wherein the active vibration suppression device suppresses vibration generated in the attachment at least at the end of the movement locus of the arc.

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