JPS60189413A - Automatic removing device of injection molded article - Google Patents

Abstract

PURPOSE:To improve lowering of the cost of a driving system and positioning accuracy of a chuck part, by making use of a low-cost capacitor-running induction motor as a driving source of an automatic removing device of a molded article. CONSTITUTION:A low-cost capacitor-running induction motor 6 is used as a driving source of a running unit 5 and a longitudinal running unit 9 making a chuck part 12 of an automatic removing device of a molded article move in an longitudinal and crossing directions. Electric energy to be supplied to the induction motor 6 is made variable by making PID operation through digital control of an angle of current flow of a first or second bidirectional opening and closing element based on an actual moving speed of a running unit of the induction motor 6 and a predetermined speed stored in a memory beforehand by making use of the induction motor 6. With this construction, the control of the speed and a position of the running units 5, 9 is performed effectively.

Description

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

(b) Prior Art Conventional automatic take-out devices have used capacitor running type induction motors as the driving source for the traveling body or the front and rear traveling bodies in order to reduce the cost of the device. Then, in order to position the chuck part for chucking the molded product at a predetermined molded product take-out position and release position with high positional accuracy, a traveling body or a front-back travel body is pressed against the dock attached to these take-out positions and release positions. The positioning accuracy of the chuck part was obtained.

(c) Problems to be Solved by the Invention However, in the conventional automatic molded product retrieval device described above, the device, especially the chuck part, vibrates due to the collision between the dock and the traveling body or the front and rear traveling bodies at the time of pushing. This has led to problems such as poor chucking of molded products.

In addition, the impact during the pressing process causes a decrease in mechanical strength, resulting in a problem that the durability of the device deteriorates. These drawbacks can be solved by using a numerically controllable servo or the like as a drive source, but the device has the drawback of increasing cost.

(d) Means for Solving the Problems In view of the above-mentioned conventional drawbacks, the object of the present invention is to use a low-cost capacitor running type interaction motor as a drive source, and to reduce the electric power supplied to the induction motor. It is an object of the present invention to provide an automatic take-out device for injection molded products in which the positioning accuracy of the chuck part at the take-out position and the ``release position'' is high through digital control.

The present invention also provides a take-out position of an injection molded product and a release material body,
The forward and backward traveling body is supported by this traveling body so as to be able to reciprocate in the front and back direction, and the up and down operation member attached to the mI constant traveling body is used to control the injection molded product. In the automatic take-out device for taking out, a capacitor-running type induction motor that reciprocates the traveling body or... 1 and 2nd bidirectional opening/closing element, a detection device that detects the moving speed of the running body or the front and rear running body, and a detection device that detects the moving speed of the running body or the front and rear running body, which is calculated based on the input period of the detection signal in mJ. The traveling body or the front and rear traveling body is stopped at the take-out position or the release position by digitally controlling the flow angle of the first or second bidirectional opening/closing element by PID calculation based on the moving speed and the speed data stored in the memory. It is composed of a control device for controlling.

3- (e) Effect of the invention According to the invention, a low-cost capacitor traveling type induction is used as a drive source of a drive system that reciprocates the chuck part in the axial direction of the screw shaft or in the direction perpendicular to the axis of the screw shaft. Using a motor, the induction motor calculates the flow angle of the first or second bidirectional switching element by digital control based on the actual moving speed of the traveling body and the set speed stored in advance in the memory, By varying the amount of electric power supplied to the induction motor, the speed and position of the traveling body can be controlled, and the traveling body can be stopped at a take-out position or a release position with high positioning accuracy.

(f) Effects of the Invention The automatic molded product retrieval device of the present invention uses a low-cost capacitor drive type induction motor as the drive source, so it is possible to reduce the cost of the drive system for the traveling body or the front and rear traveling bodies. At the same time, the amount of electric power supplied to this interaction motor is calculated by PID using digital control to drive the traveling body or the front and rear traveling bodies at variable speed and reversibly, and the chuck at the take-out position and the release position of the molded product is This has the effect of providing high positioning accuracy.

(g) Examples Hereinafter, embodiments will be described according to the drawings.

1 and 3, a running frame 2 of an automatic take-out device 15 is fixed to an injection molding machine 1. As shown in FIGS. This traveling frame 2 is an injection screw (
(not shown) is elongated in the direction orthogonal to the axis thereof, and a traveling rail 3 is fixed to the upper surface thereof in the longitudinal direction.

Further, a rack gear 4 is fixed to the traveling frame 2 along its longitudinal direction. A running body 5 is supported on the running rail 3 so as to be able to reciprocate in left and right directions perpendicular to the axis of the injection screw. A condenser running type induction motor 6 is mounted on this running body 5, and a pinion gear (
(not shown) is attached. Further, front and rear frames 7 are integrally attached to the traveling body 5, and front and rear rails 8 are fixed to the front and rear frames 7. The front and rear rails 8 support a front and rear running body 9 that can reciprocate in the front and back direction in the same direction as the axis of the screw shaft. A front and rear cylinder 10 is fixed to this front and rear traveling body 9, and an operating end of this front and rear cylinder 10 is fixed to the ILJ rear frame 7. As a result, the front and rear traveling bodies 9 are reciprocated in the same direction as the axis of the injection screw as the front and rear cylinders 10 operate.

i? iI The front and rear running body 9 has a screw shaft lll1l.
The upper and lower cylinders 11 are fixed in the direction perpendicular to the line, and this
A chuck holder 12 is fixed to the working end of the lower cylinder 11. Incidentally, a pair of guide rods 16 that are inserted through the front and rear traveling body 9 are fixed to the chuck holder 12.

A chuck plate 13 is detachably attached to the chuck holder 12, and at least a pair of chuck cylinders 14 for chucking a runner or sprue (not shown) of a molded product are fixed to the chuck plate 13. There is.

The induction motor 6 is driven and controlled as follows.

In FIGS. 4 and 5, one ends of the main coil 20 and the auxiliary coil 21 of the induction motor 6 are commonly connected to one terminal of an alternating current power supply AC. Also, main coil 2
A phase advancing capacitor 23 is connected in parallel to the other ends of the 0 and auxiliary coils 21, and first and second bidirectional switching elements 24 and 25, such as TRIAC (trade name), are connected in parallel.
are connected to one electrode of each. The other electrodes of the first and second bidirectional switching elements 24 and 25 are connected to an AC power source AC.
The other terminals of the two are commonly connected.

A rotary encoder 26 as a detection device is attached to the rotation shaft of the induction motor 6. This rotary encoder 26 is fixed to a rotating shaft, and has a large number of slits 2 at predetermined pitches Q on the outer circumferential side in the rotation direction.
A disk 27 with holes 7a and this disk 27
+1 is also formed from the light emitting element 28 and the light receiving element 29 which are arranged opposite to each other via the light emitting element 28 and the light receiving element 29. This rotary encoder 26 generates an electrical signal K with a period corresponding to the rotational speed.
7- Output S to the electronic control device 30. Also, on the rotating shaft...1
The traveling body 5 is drivingly connected via a pinion gear and a rack gear 4 at an appropriate gear ratio.

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

In the ROM 31 constituting a storage member, various speed data corresponding to the travel pattern (acceleration travel, constant speed travel, and deceleration travel) of the traveling body 5 is written. This ROM 31 can be replaced as appropriate depending on the traveling distance and traveling pattern of the traveling body 5. In addition, the distance register 32, which constitutes a part of the memory member and is rewritable, has a molded product removal position f of the traveling body 5.
ia to the release position M (In this embodiment, the operation of moving the traveling body from the release position to the take-out position a will be explained, but the case where the traveling body is moved from the take-out position to the release position is the same even if it exists, so it will be omitted.) Setting distance data up to is written. In addition, the pointer 33 indicates the nM electrical signal KS.
It is sequentially incremented in response to the input of , and stores the actual distance traveled by the 11 vehicles. In the first register 34, position data relating to a slowdown start position at which the running pattern of the traveling object changes from constant speed running to decelerated running is written.

Then, the electronic control device 30 calculates the actual moving speed of the traveling object based on the input period of the electric signal KS, and
In accordance with the input of S, the pointer 33 is sequentially incremented to store the actual distance traveled by the traveling body 5. Further, the electronic control device 30 determines a PID constant based on the actual moving speed of the running object calculated by the constant operation and the speed data accessed from the ROM 31 according to the actual moving distance of the running object stored in the pointer 33. (P is a constant of proportionality, ■ is a constant of integration, D
is a differential constant), the pulse width of the timing signal that determines the flow angle of the first bidirectional switching element 24 is subjected to PID calculation by digital control. The electronic control device 30 sets the power frequency by the power frequency detection device 40 and then sets the PI.
Based on the result of the D calculation, the phase angle counter 37 is decremented from the cello cross nπ (TI is an arbitrary integer) of the power supply frequency, and when the count value becomes 0, the next cello cross fCn+1 is decremented. ) and τ) is output to the drive circuit 35. As a result, when the traveling body 5 is running at an accelerated speed, the speed data is set higher than the actual moving speed, and the PID calculation result becomes, for example, a positive predetermined value or more. The traveling body 5 is accelerated and driven by flowing the bidirectional opening/closing element 24. On the other hand, when the traveling body 5 is running at a constant speed, the actual moving speed and the speed data are set to be approximately equal, and the PID calculation result is, for example, a positive predetermined value or more. The traveling body 5 is driven at a constant speed by circulating the one bidirectional opening/closing element 24.

When the traveling body 5 reaches the slowdown start position stored in the first register 34 as the traveling body 5 travels at a constant speed, the electronic control unit 30 outputs the electrical signal KS in the same way as in the above operation. The actual moving speed of the traveling object 5 calculated according to the input cycle is compared with the speed data accessed from the ROM 31.

At this time, immediately after the start of slowdown, the speed data stored in the slow town table is set to a lower speed than the actual moving speed of the traveling object 5, so the electronic control device 30
When the PID calculation result exceeds a negative predetermined Ml, a braking operation is performed by causing half-wave flow through the second bidirectional switching element 25 having an opposite phase. As a result, the induction motor 1 is decelerated and braked.

When the actual travel distance stored in the pointer 33 and the set distance stored in the ROM 31 coincide with the deceleration operation, the electronic control unit 30 interrupts the flow of the first bidirectional switching element 24 and travels. The body 5 is stopped at the removal position a. still,
The electronic control device determines that the traveling body 5 has been stopped when the electric signal KS is not manually input for a predetermined period of time.

In addition, although the above-mentioned operation was explained as a forward movement from the release position of the molded product to the take-out position a, in the backward movement from the take-out position a to the release position, the electronic control unit 30 performs the same operation as described above. Next, the traveling body 5 is caused to move backward by calculating the flow angle of the second bidirectional switching element 25 using PID control 11-.

Next, the position correction operation will be explained according to FIG.

When the traveling body 5 overruns or makes a short stop with respect to the take-out position a, the electronic control device 30 changes the pointer 3
Actual travel distance of the traveling object 5 stored in 3 and distance register 3
The deviation distance ±C of the overrun or short stop of the traveling body 5 is calculated based on the set distance data stored in the first register 34.
The slowdown start position stored in ``S'' is rewritten to the slowdown start position b±C. When the traveling body 5 overruns, the electronic control device 3o controls the traveling body 5 during the next forward movement.
is decelerated from the slowdown start position b-c. Further, when the traveling body 5 makes a short stop, the electronic control device 30 causes the traveling body 5 to decelerate from the slowdown start position b+c. As a result, the traveling body 5 is controlled to be positioned at the take-out position a.

In this embodiment, the detection device is of the rotary encoder type, but the present invention can be implemented even if the detection device is of any type, such as a magnetic detection device or an alternating current generator (tacho generator).

[Brief explanation of the drawing]

Figure 1 is a perspective view showing the outline of the molded product automatic extraction device, Figure 2
Figure 3 is a road body perspective view showing the front and rear running parts, Figure 3 is a road body perspective view showing the running body part, Figure 4 is an electronic block diagram, and Figure 5 is a diagram showing the running state after the start of slowdown. FIG. 6 is an explanatory diagram showing the position correction operation. In the figure, 1 is an injection molding machine, 15 is an automatic take-out device, 5 is a traveling body, 6 is an induction motor, 9 is a front and rear traveling body, 11 is an upper and lower cylinder, 12 is a chuck holder, 20 is a main coil, 21 is an auxiliary coil, 23 is a capacitor, 24 is a first bidirectional switching element, 25 is a second bidirectional switching element, 2
6 is a rotary encoder as a detection device, 3o is an electronic control device, 31 is a memory, a is a take-out position, and AC is an alternating current power source. 1 (-1tan style 6 works 1b -raq

Claims (1)

[Scope of Claims] 1. A traveling body supported so as to be reciprocally movable between the take-out position and the release position of the injection molded product, and a back-and-forth traveling body supported by this traveling body so as to be movable back and forth in the front and rear directions. In an automatic take-out device that takes out an injection molded product by means of a body and a chuck part which is attached to be movable in the vertical direction by a vertically operating member attached to the front-back moving body, the moving body or the front-back moving body is reciprocated. A capacitor running type induction motor, first and second bidirectional switching elements that supply alternating current power to a main coil and an auxiliary coil to which capacitors are connected in parallel; a detection device that detects the first or second bidirectional switching element based on the actual moving speed of the traveling object or the forward and backward traveling object calculated based on the input cycle of the detection signal and the speed data stored in the memory; 1. An automatic injection molded product take-out device, comprising: a control device that controls the traveling body or the front and rear traveling bodies to stop at a take-out position or a release position by digitally controlling the flow angle of the body and performing PID calculation.