JPH08132487A - Revolving type resin molding taking-out apparatus - Google Patents

Abstract

PURPOSE: To avoid the taking-out mistake of a resin molding caused by vibration by suppressing the vibration of a revolving arm at a stop point where a taking-out head reaches the positioned opposed to the resin molding while enhancing working efficiency by avoiding that the taking-out cycle time of the resin molding becomes long. CONSTITUTION: A first drive signal is outputted to a first drive souse from a control means to revolve the revolving arm 9 standing by at the outside standby position of a mold 1 in a forward direction on the basis of moving characteristics having an acceleration region, a high spied region, a first deceleration region, a fine speed region and a second deceleration region to stop the taking-out head 11 attached to the leading end part of the revolving arm 9 at the objective stop position opposed to the resin molded product 10 held to a movable mold in a non-vibration state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swirl type resin molded product takeout device for taking out a resin molded product molded by an injection molding machine.

[0002]

2. Description of the Related Art A conventional swirl type resin molded product take-out apparatus of this type is generally constructed as shown in FIGS. That is, it has the fixed side platen 2 to which the fixed mold 1 is attached and the movable side platen 4 to which the movable mold 3 is attached, and the movable side platen 4 and the movable mold 3 guide the tie bar 5 to the fixed mold. In a plastic injection molding machine 6 configured to move forward and backward with respect to 1, it is installed on the stationary platen 2. When the movable mold 3 is opened, the first drive source formed by the servo motor with the axis C along the longitudinal direction of the injection molding machine 6 outside the fixed mold 1 and the movable mold 3 as the center of rotation. Fixed mold 1 by 7
And the movable mold 3 is rotated in forward and reverse directions on a plane F parallel to the mating surfaces 1A and 3A of the molds, and at the same time, in the direction of the axis C by the second drive source 8 composed of a servo motor and a forward / backward mechanism (not shown). Equipped with a swing arm 9 that moves back and forth to
The take-out head 11 for taking out the resin molded product 10 molded by the injection molding machine 6 and held by the movable mold 3 is provided at the tip of the turning arm 9.

In the swivel type resin molded product take-out device having the above-mentioned construction, the resin molded product 10 is taken out in the following manner. The procedure will be described based on FIGS. 7 (A) to 7 (F). ． As shown in FIG. 7 (A), when the fixed mold 1 and the movable mold 3 are molding the resin molded product 10 in the mold closed state, the revolving arm 9 moves between the fixed mold 1 and the movable mold 3. It is at the outside standby position (dashed line in FIG. 5) and waits for the fixed mold 1 and the movable mold 3 to open. ． When the molding of the resin molded product 10 is completed, the movable platen 4 and the movable mold 3 are retracted to be in the mold open state (see FIG. 7).
(B)). ． The swivel arm 9 swivels in the forward direction by the first drive source 7 composed of a servo motor, and stops when the take-out head 11 reaches a position facing the resin molded product 10 (FIG. 7).
(See (C)). ． The revolving arm 9 advances toward the movable mold 3 side by the second drive source 8 formed of a servo motor to reach the take-out position. At this position, the take-out head 11 comes into contact with the resin molded product 10 and sucks or mechanically holds the resin molded product 10 (see FIG. 7C). ． The revolving arm 9 is retracted from the take-out position and separated from the movable mold 3 by the second drive source 8 composed of a servo motor (see FIG. 7D). ． The swivel arm 9 swivels in the opposite direction by the first drive source 7 composed of a servo motor, and the swivel arm 9 and the take-out head 11 are opened outside the fixed mold 1 and the movable mold 3 (two-dot chain line in FIG. 5). Move to, where the resin molded product 10
Is opened (see FIG. 7E). Hereinafter, the above-mentioned operations are repeated to form the resin molded product 10
Are continuously taken out.

As described above, in the conventional device for taking out a resin molded product, the first drive source 7 shown in the characteristic chart of FIG. 8 has the trapezoidal wave W1 including the acceleration region w1, the high speed region w2 and the deceleration region w3. A corresponding drive signal is output to the first drive source 7 to cause the revolving arm 9 to perform the above operation.
However, when the revolving arm 9 is operated by the trapezoidal wave W1 that is stopped from the high speed region w2 through the deceleration region w3, at the stop point where the take-out head 11 reaches the position facing the resin molded product 10, the revolving arm 9 is rotated. Due to the inertia of 9, vibration occurs at the tip portion thereof, that is, the take-out head 11. If this vibration remains when the take-out head 11 comes into contact with the resin molded product 10 in the above-described operation, the take-out head 11 does not properly correspond to the resin molded product 10, and the resin generated by the take-out head 11 does not move. There is a possibility that the suctioned state or the mechanically held state of the molded product 10 may be impaired, and the resin molded product 10 may drop from the take-out head 11 during the above-mentioned operation or during the operation.

The occurrence of such inconvenience is caused by a. Trapezoidal wave W
The speed of the high speed region w2 in 1 is decreased. b. The deceleration in the deceleration region w3 is moderated. c. After the above operation is completed, a predetermined stop time is secured to wait for the vibration to disappear. It can be prevented by such means. However, if these means are adopted, the cycle time for taking out the resin molded product 10 becomes long and the work efficiency is lowered.

[0006]

The problem to be solved is that the take-out head vibrates due to the inertia of the turning arm at the stop point where the take-out head reaches the position facing the resin molded product by the operation of the turning arm. The remaining vibrations hinder the proper handling of the take-out head and the resin molded product, impairing the adsorption state or mechanical holding state of the resin molded product by the take-out head, and the resin molded product is removed from the take-out head during operation. If you try to prevent such inconvenience,
This is a point that the cycle time for taking out the resin molded product becomes long and the work efficiency is reduced.

[0007]

SUMMARY OF THE INVENTION According to the present invention, a first driving source is arranged parallel to the mating surface of the mold outside the mold of the injection molding machine with an axis along the longitudinal direction of the injection molding machine as the center of rotation. A swivel arm that swivels in the forward and reverse directions on a flat surface and that moves forward and backward in the axial direction by a second drive source. The swivel arm is molded at the tip of the swivel arm by the injection molding machine and is held by a movable mold. In the device for taking out a revolving type resin molded product provided with a take-out head for taking out the resin molded product, the revolving arm at a standby position outside the mold is set to an acceleration region, a high speed region, a first deceleration region, A control signal is output from the control means to the first drive source by causing the take-out head to reach a position facing the resin molded product by rotating in the positive direction with a movement characteristic having a speed region and a second deceleration region. like The vibration of the swivel arm at the stop point where the take-out head reaches the position facing the resin molded product is suppressed, and the mistake of taking out the resin molded product due to the vibration is avoided and Achieved the purpose of improving work efficiency by avoiding long take-out cycle time.

[0008]

According to the present invention, the trapezoidal wave including the high speed region, the first deceleration region, the fine speed region and the second deceleration region is generated by the first drive signal output from the control unit to the first drive unit. The take-out head can be stopped in a vibration-free state at a target stop point when the take-out head reaches a position facing the resin molded product by turning the turn arm with a corresponding operation characteristic.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of the present invention, and FIG. 2 is a plan view.
The same or corresponding parts as those in the conventional example and the comparative example are designated by the same reference numerals, and detailed description thereof will be omitted. In this figure, 20 indicates a microcomputer (control means), which is basically a CPU 21, a ROM 22 and a RAM.
23, and a program for controlling the CPU 21 is recorded in the ROM 22. The RAM 23 stores the position / position data necessary for the take-out operation of the resin molded product 10, that is, the revolving arm 9 outside the molds 1 and 3. Standby position (above), revolving arm 9 advances to movable mold 3 side, and takeout position (above) at which adsorbing or mechanically holding resin molded product 10 by takeout head 11 and revolving arm 9
Moves to the outside of the dies 1 and 3, and the open position (the above) at which the resin molded product 10 is opened is recorded. Therefore, based on the position data recorded in the RAM 23 and the signal from the turning axis position detecting section 24, the CPU 21 sends a first driving signal to the first driving source 7, which is a servo motor, that is, the turning axis motor driving section 25. Based on the signal output from the pull-out shaft position detection unit 28, the second drive signal is output to the second drive source 8 including the servo motor, that is, the pull-out shaft motor drive unit 26. Also, CPU2
Reference numeral 1 denotes an output of a signal for operating the suction mechanism of the ejection head 11, an input of a signal of a sensor of the ejection head 11 and an input of a signal between the ejection device according to the present invention and the plastic injection molding machine 6 through the input / output signal unit 27. Used for output, etc.

The program recorded in the ROM 22 is shown in the flow chart of FIG. 3, and the operating characteristics of the present invention obtained by this procedure are shown in FIG. In these figures and FIGS. 1 and 2. At the time when the program starts, the revolving arm 9 is at the start position (standby position) shown by the alternate long and short dash line in FIG. 1 (step 1). CP
U21 outputs a first drive signal to the swing shaft motor drive unit 25 to activate the first drive source 7 to accelerate and swing the swing arm 9 in the forward direction (acceleration region w1, step 2). It is determined whether or not the turning speed of the turning arm 9 has reached a predetermined high speed (step 3). When the turning speed of the turning arm 9 reaches the high speed, the operation is performed at this speed (high speed region w2, step 4). It is determined whether the turning axis position detector 24 has reached the first deceleration position (step 5). When the first deceleration position is reached, the first drive source 7
The output is suppressed to decelerate (first deceleration region w3, step 6). It is determined whether or not the turning speed of the turning arm 9 has reached the first deceleration (step 7). Swivel arm 9
When the turning speed of No. 1 reaches the first deceleration, the operation is performed at this speed (fine speed region w4, step 8). It is determined whether the turning axis position detector 24 has reached the second deceleration position (step 9). When the second deceleration position is reached, the output of the first drive source 7 is further suppressed to decelerate (second
Deceleration region w5, step 10). The take-out head 11 reaches a position facing the resin molded product 10, that is, a target position (target stop point) (step 11).

As described above, according to the present invention, the revolving arm 9 located at the standby position outside the molds 1 and 3 has the acceleration region w1, the high velocity region w2, the first deceleration region w3, the fine velocity region w4 and the second velocity region w4. Since the take-out head 11 is made to reach the position facing the resin molded product 10 by swiveling in the positive direction with the movement characteristic having the deceleration region w5, the inertia of the swivel arm 9 is reduced and the swivel arm 9 is made smaller. Further, the vibration of the take-out head 11 attached to the tip of the swivel arm 9 can be effectively suppressed and the vibration can be stopped in a non-vibrating state.
Therefore, in the above operation, vibration does not remain when the take-out head 11 comes into contact with the resin molded product 10, and the take-out head 11 appropriately corresponds to the resin molded product 10. As a result, the resin molded product 10 can be appropriately adsorbed or mechanically held by the take-out head 11, and the resin molded product 10 does not drop off from the take-out head 11 during the operation described above or during the operation. Moreover, it is possible to improve the work efficiency while avoiding a long cycle for taking out the resin molded product 10.

[0012]

As described above, according to the present invention, the first drive signal output from the control means to the first drive means
By rotating the swivel arm with operating characteristics corresponding to a trapezoidal wave including the high speed region, the first deceleration region, the fine speed region, and the second deceleration region, the inertia of the swivel arm is reduced and the take-out head is made of resin. Since it is stopped without vibration at the target stop point when it reaches the position facing the molded product, vibration does not remain when the take-out head comes into contact with the resin molded product, and the take-out head is molded with the resin. Appropriateness can be applied to the product. As a result, the resin molded product can be properly adsorbed or mechanically held by the take-out head, and the resin molded product does not drop off from the take-out head during the subsequent operation. In addition, the work efficiency can be improved by avoiding a long cycle time for taking out the resin molded product.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an embodiment of the present invention.

FIG. 3 is a flowchart showing an operation procedure of the present invention.

FIG. 4 is an operation characteristic chart of the present invention.

FIG. 5 is a front view of a conventional example.

FIG. 6 is a plan view of a conventional example.

7 (A) to 7 (E) are explanatory views showing an operation procedure.

FIG. 8 is a chart of operating characteristics of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF REFERENCE NUMERALS 1 fixed mold 1A fixed mold mating surface 3 movable mold 3A movable mold mating surface 6 resin molding machine 7 first drive source 8 second drive source 9 swivel arm 10 resin molded product 11 ejection head 20 control means w1 Acceleration area w1 w2 High speed area w3 First deceleration area w4 Fine speed area Third rail w5 Second deceleration area

[Procedure amendment]

[Submission date] March 14, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Figure 7

[Correction method] Change

[Correction content]

7 (A) to (F) are explanatory views showing an operation procedure.

Claims (1)

[Claims] 1. A first drive source is provided outside the mold of the injection molding machine in the forward and reverse directions on a plane parallel to the mating surface of the mold with the axis of rotation as the center of rotation. A swivel arm that swivels and moves back and forth in the axial direction by a second drive source is provided, and a resin molded product that is molded by the injection molding machine at the tip of this swivel arm and is held in a movable mold is taken out. In a revolving-type resin molded product takeout device provided with a takeout head, the revolving arm at a standby position outside the mold is provided with an acceleration region, a high speed region, and a first region.
A drive signal that causes the take-out head to reach a position facing the resin molded product by rotating in the positive direction with a movement characteristic having a deceleration region, a fine velocity region, and a second deceleration region is given by the control means to drive the first drive. A take-out device for a swirl type resin molded product, which is configured to be output to a power source.