JPH02307717A - Unloading device of runner in injection molder - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a handling device for an industrial robot, and is particularly applicable to a runner take-out device of a vertical insert molding machine.

[Conventional technology]

Conventionally, handling devices for industrial robots have adopted various mechanisms depending on the purpose of use, and even though the handling mechanisms themselves are well known, it is still difficult to know how to apply these mechanisms to what kind of industrial machinery. This point was the highlight of the effectiveness of industrial Rohot.

FIGS. 5 and 6 show a handling device as a conventional industrial robot, which is used in a runner take-out device of a vertical injection molding machine. Figure 5 is its front view, Figure 6
The figure is a plan view for explaining the operation.

To briefly explain the configuration, 1 indicates the injection molding machine body;
2 shows a runner take-out device as a handling device.

In the runner extraction device 2, a direct-acting air cylinder 5 is attached to an arm 4 attached to a column 3, and a piston rod 6 of the air cylinder 5 is further connected to a cylinder of a direct-acting air cylinder 7. Bracket 12 has been removed.

A sliding guide rod 11 is slidably penetrated through the cylinder bracket 12 (Fig. 6), and a mounting plate 1 is attached to the tip of the cylinder bracket 12.
A rotary cylinder 9 for rotation of the hand 10 is fixed via 6. Therefore, the hand 10 slides from side to side in the drawing by the sliding guide rod 11 passing through the cylinder bracket together with the rotary cylinder 9 due to the operation of the direct-acting cylinder 7.

The injection molding machine main body 1 passes through the lower mold plate 15 4
The mold is clamped by an upper mold mounting plate 14 supported by tie rods 13.

17.18.19.20 is a well-known mold configuration called a three-plate mold, and 17 is an intermediate plate,
18 indicates a strimp plate, and 19.20 indicates an upper mold and a lower mold, respectively.

The operation of the conventional device shown in FIGS. 5 and 6 will be explained below.

(1) Use the four quirods 13 to make the stopper mold (" plate 1
4 is pulled downward, the mold is clamped, and molten resin (for molding) is injected into the cavity formed between the upper and lower molds.The mold is then opened after a predetermined process, and the runner for molding R is
It is suspended between the intermediate plate] 7 and the stripper plate 18 while being attached to the stripper plate I.18.

(2) The air cylinder 7 is activated, the hand 10 is moved to the left in the drawing, and as shown by the imaginary line, it enters between the intermediate plate 17 and the stripper plate 18, and the runner R is moved with the finger 10a. Grasp

(3) Air cylinder 5 starts and cylinder blank]
2 is pushed down, and the runner R is attached to the stripper plate 1.
Completely removed from 8.

(4) The air cylinder 7 starts up again, and this time the hand 10
Move it to the right to the falling point using "Drawing" 2 and stop.

(5) After the rotary cylinder 9 rotates 180 degrees and the hand 10 is turned over, the fingers open and the runner R falls onto the discharge chute 21.

(6) After that, the rotary cylinder 9 moves 1 in the opposite direction.
The hand rotates 80 degrees, and the hand 0 returns to its initial state, completing one cycle.

In the conventional device as described above, as is clear from the drawing, the sliding guide rod 11 of the runner take-out device and the direct-acting air cylinder 7 are connected to the machine base 1a of the injection molding machine main body.
It is dangerous because it protrudes outward, and the distance between the runner take-out device 2 and the injection molding machine main body 1 is large.
Installation within a factory also required a large installation area. Furthermore, since the chute 21 for discharging the runners does not need to span from the drop point of the runner R to the end of the machine base of the injection molding machine, the drop point of the runner R and the discharge end of the chute 21 become long. There was also the problem that the angle of inclination of the chute could not be made large, and as a result, the runners did not slide easily, which hindered the discharge operation.

[Problems to be Solved by the Invention] The present invention solves the problems of the prior art described above.
It is an object of the present invention to provide a runner take-out device which has few protrusions, a short runner discharge chute, a sufficient angle of inclination, is compact overall, and is optimal for an injection molding machine.

[Means to solve the problem]

The present invention does not use a horizontally extending sliding guide for the hand for taking out the runner, but instead uses a heald-driven direction changing link mechanism to move the hand forward and backward without protruding the arm from the machine base. By utilizing the rotational movement of the arm in the mechanism, it is possible to apply rotational movement to the runner removal hand in preparation for runner ejection.

[Operation] The basic operation of the present invention will be explained with reference to FIGS. 1 and 2.

When the rotary air cylinder 106 attached to the bracket 103 rotates, the runner R hanging from the end of the runner extraction hand 110 provided at the end of the arm 104 is grasped and extracted, and the rotary air cylinder 10
The reversal of 6 causes it to move backwards to the right. When the tip of the arm approaches the runner ejecting chute, the hand 110 rotates 180° around the horizontal axis, flipping the runner inside out and dropping it onto the chute at the drop point. It has become.

In this case, the tip of the arm 104 has moved beyond the center of the runner take-out device to near the right end of the machine base 101a.

The detailed structure and operation of the present invention will be explained with reference to the following examples.

10 is a front view of an injection molding machine having a runner take-out device of the present invention, FIG. 2 is a plan view explaining the operation of the runner take-out device, FIG. 3 is a sectional view of the main parts of the runner take-out device, and FIG. 4 is a hand rotation This is an exploded view of the main parts of the mechanism.

A bracket 103 is provided on the upper mold mounting plate 114 of the injection molding machine 101, and a direct-acting air cylinder 105 for driving in the vertical direction is fixed to the bracket 103. Piston rod 11 of the air cylinder 105
A rotary air cylinder 106 is attached to the tip of 5 by a cylinder plate 117.

Cylinder plate 117 of rotary air cylinder 106
, the eleventh pulley 11 fixed to the pulley holder 118
9 is fixed (Figure 3).

At the center of the pulley holder 118 and the first pulley 119,
Through holes 120 and 121 are provided, and these through holes 12
0.121, a rotary connecting shaft 123 is fitted to the rotary shaft 122 of the rotary air cylinder 106, and the box-shaped rotary arm 104 rotates around the through hole of the 11th reel 119 by the hair ring 126. It looks like this.

122a is a keyway provided in the rotating shaft 122. The box-shaped rotating arm 104 is fixed to the tip of the rotating connecting shaft 123 via a bush 125.

Therefore, the arm 104 rotates about the first pulley 119 in response to the rotation of the rotary air cylinder 106. 127 is a second pulley fixed to a hollow drive shaft 128 at the tip of the arm 104;
A timing belt 129 is placed between the timing belt 119 and the timing belt 119.

The ratio of the effective diameters of the pulleys 119 and 127 is 2:1, and the arm 104 rotates around the rotary connecting shaft 123 at a ratio of 2:1.
During the 80″ rotation, the second pulley 127 rotates 360°.

FIG. 4 is a main exploded view of the hand rotation mechanism. The drive shaft 128 fixed to the second pulley 127 is rotatably supported by the arm 104 with a bearing 130 (FIG. 3).
, a portion indicated by 145 in FIG. 4 constitutes a timing clutch mechanism that determines the timing at which the arm 104 rotates and the hand (FIG. 3) rotates to reverse the runner R.

Reference numeral 131 denotes a first beher gear which is rotatably provided on the drive shaft 128. A regulation pin 139a is implanted on the lower surface of the first beher gear, and a clutch shaft 13B is formed on the upper surface thereof with a clutch portion having a fan-shaped notch 139. There is. A push pin 141 fixed to the arm 104 engages with the fan-shaped notch 139 of the clutch shaft 138 . Reference numeral 133 denotes a connecting block, which has a gear attachment shaft portion 133a on its right side surface to which the second bevel gear 123 is rotatably attached, and a partial circumferential groove 136 on its upper surface into which the regulation pin 139a of the first bevel gear 131 is inserted. A regulator 142 is provided.

A torque spring 140 has its ends fixed between the lower surface of the arm 104 and the first bevel gear 131, and presses the push pin 141 against the wall surface 138a of one end of the fan-shaped notch 139 of the first bevel gear 131. I'm here.

134 is a hand fixed to the second bevel gear 132, and a finger 13'I is provided at the tip (FIG. 3).

In the embodiment of the present invention having the following two configurations, all necessary timing operations are performed by a control device (not shown), and electrical wiring and air vibration piping for control are connected to the hollow space inside the arm. This is done by using hollow holes in the parts, drive shafts, and fixed shafts. 135 in Figure 3 is the cover, screw 1
36 is attached to the connecting hook 133.

Embodiments of the invention operate as follows.

First, the explanation will begin with the predetermined injection molding process completed and the mold opened.

(1) When the mold is opened, the runner R is separated from the upper mold by the stripper plate, and the stripper plate 1
Hand 1 was waiting when it was hung attached to 8.
10 approaches and grasps the runner R with fingers 137 (see imaginary lines in FIGS. 1 and 2).

(2) The air cylinder 105 for vertical drive operates, and the arm 104 is activated together with the rotary air cylinder 106 of the extractor.
By pushing down the whole runner R is separated from the stripper plate 18.

(3) The rotary air cylinder 106 is activated, the arm 104 rotates, and the movement to move to the position shown in the actual battle in the first circle and FIG. 2 is started.

(4) When the arm 104 rotates, the pulley 12
7 rotates, and the first bevel gear 13 is rotated by the drive shaft 128.
] and the connecting block 133 rotate together, so the hand 134 swings its head in response to the rotation of the drive shaft (FIG. 3).

(5) When the arm 104 rotates about 135 degrees, the wall surface 138a of the fan-shaped cutout 139 of the first beher gear 131
When the press pin 141 comes into contact with the press pin 141, the end 133 of the partial circumferential groove 133b formed in the regulator 142 of the connecting block 133
c leaves the regulation bin 139a, and only the connecting block 133 continues to rotate (FIGS. 3 and 4).

(6) Then, the first bevel gear 131 and the connecting block 1
33, and the second bevel gear rotates. As a result, hand 134 rotates around the horizontal axis, and fingers 137 also rotate.

(7) Finger 137 rotates 180° and runner R
When the rotation of the arm 104 is just reversed, the rotation of the arm 104 is stopped and the fingers 137 are opened to move the runner R to the chute 21.
drop it on top.

(8) After the vertical drive air cylinder 105 operates and raises the entire arm to the initial position, the rotary air cylinder 106 rotates in the reverse direction and moves the hand to the standby position between the molds, completing the cycle. do.

In the above operation, position control conditions such as the standby position of the hand and the rotation angle of the arm can be arbitrarily determined.

Furthermore, by changing the ratio of the lengths of the arm and hand, it is possible to change the trajectory of the tip of the finger into either a straight line or an arc.

〔Effect of the invention〕

Since the present invention is configured as described above, it produces the effects described below.

(1) Since the direct-acting guide rod used in conventional technology is not used, there is no need to provide an arm branch on the machine base, and the space can be used to place other automatic mechanisms and devices. I can do it.

Furthermore, since the guide rod does not protrude outward from the machine base, there is less danger and the machine installation interval can be reduced.

(2) When removing or gripping a workpiece such as a runner, even when gripping is difficult due to the protrusion of the workpiece, the trajectory to the gripping point can be freely changed, making adjustments to improve work efficiency easy. It is.

(3) The mechanism of the present invention has a slow movement speed of the workpiece near the starting point and stop point, and a fast movement speed in the middle, so it has an optimal speed distribution as a workpiece take-out device.

(4) The movement mechanism of the arm is used to rotate the hand and set its timing, so there is no need for a motor to rotate the hand, and a series of movements can be performed automatically according to the rotation of the arm. can be done.

Therefore, it can be widely applied as a handling device for an industrial robot, and has excellent effects on workability and placement, especially as a runner take-out device for an injection molding machine.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a front view of an injection molding machine having a runner take-out device of the present invention, FIG. 2 is a plan view illustrating the operation of the runner take-out device,
FIG. 3 is a sectional view of the main parts of the runner take-out device, and FIG. 4 is an exploded view of the main parts of the hand rotation mechanism. 5 and 6 show a conventional injection molding machine and a handling device, FIG. 5 is a front view thereof, and FIG. 6 is a plan view for explaining the operation. 105... Direct acting air cylinder 106... Rotary air cylinder 121... Through hole 122... Rotary shaft 104 of rotary air cylinder.
...Arm 119...First pulley 127...21st pulley 129...Timing belt 131...First bevel gear 132...Second bevel gear 134...Hand

Claims (1)

[Claims] A direct-acting air cylinder fixed to a bracket protruding from the upper mold mounting plate, a first pulley fixed to a rotary air cylinder attached to the tip of the piston rod of the air cylinder, and a first pulley formed on the first pulley. An arm is provided integrally with the rotating shaft of the rotary air cylinder through a concentric through-hole, and a second pulley having an effective diameter of 1/2 of the first pulley is rotatably provided at the tip of the arm. The first pulley and the second pulley are interlocked by a timing belt, and a first bevel gear that rotates integrally with the second pulley is provided, and the first bevel gear is meshed with a second bevel gear attached to a connecting block constituting a timing clutch mechanism. A runner take-out device for an injection molding machine, characterized in that a runner take-out hand is linked to the tip of the second bevel gear.