CN-115139470-B - Molded article extractor and teaching method for molded article extractor

CN115139470BCN 115139470 BCN115139470 BCN 115139470BCN-115139470-B

Abstract

The invention provides a molded article extractor and a teaching method thereof, which can reliably absorb molded articles even if a torque monitoring part is arranged, and can not damage structural components of the molded article extractor or deform the molded articles. The teaching execution unit includes a designated position determination unit and a stop position determination unit. The specified position determining unit is configured to move the 2 nd traveling body in a direction in which the suction unit is brought close to the molded article in the mold without performing a predetermined operation by the torque monitoring unit, and to determine the position of the 2 nd traveling body as the specified position when the suction unit has confirmed that the molded article is sucked by the suction pressure sensing unit. The stop position determining unit stops driving of the 2 nd traveling body before the driving torque sensed by the torque sensing unit reaches the allowable upper limit torque or reaches the allowable upper limit torque, and determines the position of the stopped 2 nd traveling body as the stop position.

Inventors

SHIRASAKI ATSUSHI
ANDO KAZUKI

Assignees

株式会社有信精机

Dates

Publication Date: 20260512
Application Date: 20220329
Priority Date: 20210331

Claims (6)

1. A teaching method for a molded article remover, the molded article remover comprising: a drawing frame disposed along a virtual center line extending in an opening and closing direction of a mold for molding a molded article; A traveling body disposed on the drawing frame and advancing and retreating in a longitudinal direction of the drawing frame; a driving motor driving the traveling body; an arm structure supported by the traveling body and movable; an adsorption part mounted on the arm structure for adsorbing the molded product in the mold; a torque sensing part for sensing the driving torque of the driving motor, and An operation control unit for controlling at least the traveling body and the arm structure to be operated in a predetermined operation sequence so as to take out the molded article from the mold, and for carrying the taken-out molded article to a predetermined position and releasing the molded article, The motion control unit includes: A torque monitoring unit for performing a predetermined operation when the detected value of the torque sensing unit exceeds an allowable upper limit torque at which the member constituting the arm structure is not damaged, and A teaching execution unit capable of teaching the operation sequence and determining parameters of the operation sequence, The teaching method of the molded article extractor is characterized in that, An adsorption pressure sensing part for sensing the adsorption pressure of the adsorption part and a travelling body position sensing part for detecting the position of the travelling body are arranged, With the use of the teaching execution section, The torque monitoring unit is configured to move the traveling body in a direction to bring the suction unit closer to the molded article in the mold without performing the predetermined operation, to determine a position of the traveling body when the suction unit has sucked the molded article as a predetermined position from a result of sensing by the suction pressure sensing unit, Then, the torque monitoring unit is set to a state in which the predetermined operation is performed, the traveling body is further moved toward the molded article side, the molded article is further pressed by the suction unit, driving of the traveling body is stopped before the driving torque sensed by the torque sensing unit reaches the allowable upper limit torque or reaches the allowable upper limit torque, the position of the stopped traveling body is determined as a stop position, The specified position and the stop position are determined as part of the parameters in the sequence of actions.
2. The teaching method for a molded article takeout machine according to claim 1, characterized in that, And judging whether the molded product is adsorbed by the adsorption part according to whether the sensing result of the adsorption pressure sensing part enters a stable state.
3. The teaching method for a molded article takeout machine according to claim 1 or 2, characterized in that, The molded article extractor further comprises a display unit for displaying the sensing result of the suction pressure sensing unit, the sensing result of the torque sensing unit, and the sensing result of the traveling body position sensing unit, And determining the specified position and the stop position based on a display result displayed on the display unit.
4. The teaching method for a molded article takeout machine according to claim 1, characterized in that, The motion control unit further includes: a specified position determining section for determining the specified position based on the sensing result of the suction pressure sensing section, and And a stop position determining unit that determines the stop position based on the result of the torque sensing unit.
5. The teaching method for a molded article takeout machine according to claim 1, characterized in that, The allowable upper limit torque is determined based on the characteristics of the drive motor used and the mechanical strength of the arm structure.
6. A molded article takeout machine is characterized by comprising: a drawing frame disposed along a virtual center line extending in an opening and closing direction of a mold for molding a molded article; A traveling body disposed on the drawing frame and advancing and retreating in a longitudinal direction of the drawing frame; a driving motor driving the traveling body; an arm structure supported by the traveling body and movable; an adsorption part mounted on the arm structure for adsorbing the molded product in the mold; a torque sensing unit that senses a driving torque of the driving motor; an adsorption pressure sensing unit that senses an adsorption pressure of the adsorption unit; a traveling body position sensing unit that detects a position of the traveling body; An operation control unit for controlling at least the traveling body and the arm structure to operate in a predetermined operation sequence, thereby taking out the molded article from the mold, conveying the taken-out molded article to a predetermined position, and releasing the molded article, The motion control unit includes: A torque monitoring unit for performing a predetermined operation when the detected value of the torque sensing unit exceeds an allowable upper limit torque at which the member constituting the arm structure is not damaged, and A teaching execution unit capable of teaching the operation sequence and determining parameters of the operation sequence, The teaching execution unit is provided with: A specified position determining unit configured to determine a position of the traveling body when the suction unit suctions the molded article as a specified position by a result of sensing by the suction pressure sensing unit by moving the traveling body in a direction in which the suction unit approaches the molded article in the mold in a state in which the torque monitoring unit does not perform the predetermined operation, and A stop position determining unit configured to, after the predetermined position is determined by the predetermined position determining unit, set the state in which the torque monitoring unit performs the predetermined operation, further move the traveling body toward the molded article, further press the molded article by the adsorbing unit, stop driving of the traveling body until the driving torque sensed by the torque sensing unit reaches the allowable upper limit torque or reaches the allowable upper limit torque, determine the position of the stopped traveling body as a stop position, The specified position and the stop position are determined as part of the parameters in the sequence of actions.

Description

Molded article extractor and teaching method for molded article extractor Technical Field The present invention relates to a molded article takeout machine and a teaching method for a molded article takeout machine, and more particularly, to a molded article takeout machine capable of reliably holding a molded article by suction by a suction unit, and a teaching method for a molded article takeout machine. Background Conventionally, a transverse-type extractor has been known as an apparatus for extracting molded articles produced in a resin molding machine. The molded article takeout machine includes a head portion for holding a molded article molded by a die of a resin molding machine, a drawing frame disposed along an opening/closing direction of the die to move the head portion in a drawing direction of the molded article from the die, a lifting arm to move the head portion in a vertical direction, and a traverse frame disposed along a direction orthogonal to the opening/closing direction and the vertical direction of the die to move the head portion to a predetermined position outside the resin molding machine (for example, patent documents 1 and 2). In such a molded article extractor, a head is inserted between the molds that are opened by the lowering of the lifting arm, and the head is moved along the drawing frame in the direction of the molded article side that is molded by the molds. When the molded article is held by the head portion, the head portion moves along the drawing frame in the drawing direction of the molded article, and the head portion is moved out of the die by the lifting of the lifting arm. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 2002-283357 Patent document 2 Japanese patent laid-open publication No. 2003-080529 Problems to be solved by the invention In such a molded article takeout machine, teaching of a movement path (operation sequence) of the head portion stored in advance is performed in order to realize a molded article takeout operation. Specifically, for example, a moving path of the head is stored, which is (a) a horizontal movement of the head from outside the molding machine to above an opening space when the mold is opened, (b) a lowering of the head by lowering of the lift arm to the opening space when the mold is opened, (c) a horizontal movement (forward movement) of the head along the drawing frame to the molded article suction position, (d) a horizontal movement (backward movement) of the head along the drawing frame to the raisable position, (e) a raising of the head by raising of the lift arm, and (f) a horizontal movement of the head to outside the molding machine. In the above teaching, the position at which the head can more reliably hold the molded article to be taken out can be set during the horizontal movement of (c) the head along the drawing frame to the molded article suction position. Therefore, in order to reliably suck the molded article in the head portion that holds the molded article by suction, the molded article suction position is set to a position where the molded article is pressed by the suction tray of the head portion. The teaching as described above is often performed by a human hand. Therefore, there is a case where the press-fit of the head to the molded article is judged only by the feeling of the operator. The state in which the head is pressed against the molded article is a state in which the head is moved in the direction of the molded article side along the traveling body in which the drawing frame is moved more than necessary, and an excessive load is applied to the lift arm supporting portion of the traveling body. Such excessive load is repeatedly applied in a normal operation (molded article removal operation) after teaching, and therefore, the excessive load becomes a factor of damage to the lift arm support portion. In addition, since a load is also applied to the molded article molded in the mold, there is also a possibility that the molded article may be damaged. As a method for solving such a problem, patent document 1 discloses a structure in which a head is movable to a side opposite to a molded article and a biasing means for biasing the head to the molded article side is provided. According to this structure, when the head is excessively pressed against the molded article, the head moves to the opposite side of the molded article against the urging force of the urging means. As a result, an excessive load can be prevented from being applied to the lift arm support portion, and damage to the lift arm support portion and damage to the molded article can be prevented. However, in such a structure, a special mechanism needs to be provided on the head, and the structure becomes complicated, so that the cost becomes high. On the other hand, by adopting a configuration in which a torque monitoring unit capable of sensing the driving torque of the driving motor is provided as di