IE20170164A1 - Apparatus for taking out molded product - Google Patents

Abstract

Provided herein is an apparatus (1) for taking out a molded product that is capable of suppressing displacement vibration of a take-out head (23) in a shorter time than ever without using a large-scaled electric actuator. An active controller starts active control after the amplitude of displacement vibration of a take-out head (23) as an attachment has been attenuated to a predetermined setting by means of positioning control by a servomotor (13) or when the amplitude can be considered as having been attenuated to the predetermined setting. The positioning control is first performed by the servomotor (13), and then the active control is performed by the active controller using an electric actuator (25) which is light in weight and small in size. <Figure 1>

Description

APPARATUS EOR TAKING OUT MOLDED PRODUCT TECHNICAL El ELD The present invention re.1,ates t:o an apparatus for 5 taking out a molded product that is capable of reducing a displacement vibration of a take-out head in a short, time.

BACKGROUND ART JR 2010-111012 A discloses an apparatus for taking out a molded product. The apparatus is provided with a take-out head (a section operable to take out a molded product) driven, by a drive source to take out a molded product from a molding machine. The apparatus includes a table to which a vibration component of the take-out head is inputted, and control means for controlling the moving speed of the take-out head to suppress a displacement vibration of the take-out head, by driving a servomotor (drive source) by feedforward control using the table, thereby suppressing the vibration of the take-out head, JP 2 0 0 4 -2 2 3 79 S A discloses a v ibra t i on suppressing system for an apparatus for faking out a molded product. The apparatus is operable to control the movement of a chuck for holding a molded product between predetermined positions to take out the molded product from a resin molding machine. At least one of the chuck, and a mover for moving the chuck is provided with a dynamic vibration absorbing device operable to generate vibration for negating the .residual vibration of the mover when the movement of the chuck is stopped. The dynamic vibration absorbing device has a fluid sealed in a cοntainer such that the fluid can flow therein, and vibrates the fluid, and converges the v ί b r a t. i ο n a t a n a t ten u a t i ο n rate according to the viscosity of the fluid.

SUMMARY OF INVENTION TECHNICAL PROBLEM In an apparatus for taking out a molded product in which a take-out head (attachment) is attached to a leading end of a lift frame mounted to a movable base which is provided at: a pull-out frame to be driven by a servomotor, a displacement vibration occurs at the attachment even after the servomotor has completed positioning control. In the prior art as is disclosed in JP 2010-111012 A, it takes long time to suppress the displacement, vibration. To solve this problem, vibration suppression control may also be employed in addition to the function of positioning control of a servo device. It is difficult, however, to set conditions for the vibration suppression control.

In the prior art as is disclosed in JR 2004-223793 A, it is ne cess airy to separately prepare a dynamic vibration absorbing device that utilizes the viscosity of a fluid capable of generating an appropriate resonant vibration according to varied take-out conditions. Such dynamic absorbing device is only usable in particular conditions, lacking versatility. As an alternative solution, an electric actuator may be used as a. dynamic vibration absorbing device. In order to absorb all of the displacement vibrations, a large-scaled and heavy electric actuator is required. It; is not practical to mount such large-scaled electric actuator onto the take-out head.

Accordingly, /an object of the present invention is to provide an apparatus for taking out a molded product that is capable of suppressing a displacement vibration of a take-out head in a shorter time than ever without using a large-scaled electric actuator.

Another object of the present invention is to provide an apparatus for taking out a. molded product that is capable of suppressing a displacement vibration of a take-out head in a shorter time than ever by performing active control in cooperation with various vibration suppression controls such as positioning control by a servomotor.

SOLUTION TO PROBLEMS An apparatus for taking out a molded product, which the present invention aims at improving, includes a positioning servo device using a servomotor and an approach frame controlled by the positioning servo device and having an attachment mounted thereon. A servomotor to be used may be an AC servomotor, a DC servomotor, or a motor of any other types, provided that the motor is capable of performing servo control. The attachment refers to a take-out head, a cutter or the like that is used for taking out a molded product. The apparatus of the present invention includes a displacement vibration detector operable to detect a displacement, vibration of the attachment, arid an active controller including an electric actuator and configured to perform active control to suppress a displacement vibration of the attachment by causing the electric actuator to apply to the attachment a vibration having an antiphase to the di sp1acement vibration detected by the disp1acement vibration detector. In the present invention, the active controller performs the active control, after an amplitude of the displacement vibration of the attachment has been attenuated to a predetermined setting or a set value by at least a function of positioning control. of the positioning servo device or when the amplitude of the displacement vibration of the attachment can be considered as having been attenuated to the predetermined setting or the set value by the at least function of positioning control of the positioning servo device. The term amplitude1 used herein refers to an absolute value of the maximum displacement amount caused in one cycle of displacement vibration.

When a belt transport mechanism or a rope transport mechanism that, is driven by a servomotor is used, displacement vibration of the attachment cannot be suppressed in a short time at the time of positioning control by the servomotor. Then, the inventors have come up with, an idea of performing vibration suppression control using an active controller. In the active control using a dynamic vibration absorbing device that utilizes the viscosity of a fluid as disclosed in J P 2004-2237 98 A, it is difficult, to control the start time of or the starting point of active control, and it becomes unable to perform appropriate vibration, suppression control merely due to a change in weight and the center of gravity of a molded product. Then, in the present invention, the active control is performed to suppress the displacement vibration of the take-out head by causing the e1ectric actuator to apply to the attachment a vibration having an antiphase to the displacement vibration detected by the displacement vibration detector . However, if the vi.bration suppression, control is early started by means of active control using an electric actuator, a large-scaled and heavy electric actuator is required, which is not practical. further, when active control is performed in addition to positioning control of the servomotor by the positioning servo device, if sufficient consideration is not given to the conditions for active control, the active control may hinder the positioning control by the servomotor and/or the displacement, vibration may temporarily become large. Thus, vibration suppression time cannot always be shortened.

Then, in the present invention, the active control is started after the amplitude of the displacement vibration has been attenuated to a predetermined setting or a set value or the amplitude can be considered as having been attenuated to the predetermined setting or the set value. If the active control is started after the amplitude of the displacement vibration has been attenuated to a predetermined setting or the amplitude can be considered as having been attenuated to the predetermined setting, the vibration suppression control is performed by the electric actuator in a condition that the amplitude of the di splacement vibration has been at tenuated for the electric actuator to demonstrate its capability. As a. result, the active control can be effectively utilized even using a small-scaled and light electric actuator, thereby practically applying the active contro 1, using an electric actuator to the apparatus for taking out a molded product. The electric actuator that is small in size and light in weight can be mounted to an attachment itself or other portions of the approach frame.

The present invention may be applied for the purpose of suppressing displacement vibrations not only in one axial direction but also in two or more axial directions.

To suppress the displacement vibrations in two or more axial directions, an electric actuator may be provided in each axial direction to suppress a displacement vibration in the corresponding axial direction by means of active contr¢5,1, , The active cοntrο1 may be app1ied not only when the positioning servo device carries out positioning control alone but also when the positioning servo device carries o u t p o s i t ί ο η i n g c on t r ο 1 and v i brat, i ο n s uppr e s s ί ο n c ο n t r ο 1 ό or damping control, or positioning control and jerk control, or positioning control and both of vibration suppression and jerk con t rο 1. s .

Specifically, the active controller may determine 5 whether or not the amplitude of the displacement vibration has been attenuated to the predetermined sotting by comparing an output from the displacement vibration detector with a threshold. The threshold for defining the predetermined setting should be determined in advance by testing. For example, the threshold is determined so as to detect a state in which the amplitude of the displacement vibration has been attenuated enough for the electric actuator to demonstrate its capability. When performing active control to suppress displacement vibrations in two or more axial directions, respective thresholds for the displacement vibrations in two or more axial directions may of course be changed according to the magnitude of the displacement vibration in each axial direction.

In performing the active control in addition to vibration suppression control or jerk control of the servomotor by the positioning servo device, the active controller may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, when a predetermined timer period elapses from a predetermined point of operation i n the pos i ti on i ng control by the servomotor. In this case, the timer period can also be determined in advance by testing. Alternatively, the timer period nosy appropriately be set on-site by an administrator of the apparatus for taking out a molded product .

The predetermined point of operation is preferably a starting point of the po s it i οni ng con tr ο1 by the servomotor, a point at which a completion command is outputted, or before or after the completion command is outputted. For actual setting of the timer period, the apparatus preferably includes a timer period adjusting section operable to adjust, the timer period.

The active controller may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, when any one of signals is outputted from a. molding machine, indicating that an ejector has retracted to a retraction position, or that the ejector should start ejection, or that a molding die is in an opening motion, or that the molding die has completed opened, or that the molding die has completely closed. These signals are outputted from the molding machine after the positioning control by the servomotor has started but before a completion command is outputted. These signals outputted from the molding machine can be used as the start time of the active controller. The use of these signals as the start time of operation will eliminate the need of performing special signal, processing or providing ά timer for setting t h e p ο i nt of time f o r s t a r t i, n g active co n t r: o 1 , T h i s simplifies the configuration of the active controller, When it is necessary to position the take-out head after the take-out head has tai ken out a molded product from the molding die, the active controller may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, based on a signal outputted from peripheral equipment of the apparatus for taking out a molded product. In this configuration, the active control can effectively be utilized for not only take-out motion but also direct ion-change motion and opening motion.

When the displacement vibration detector is configured to output a motor current signal of the servomotor or a torque signal of the servomotor, or a signal proportional to the motor current signal or the torque signal as a displacement vibration detection signal indicative of the detected displacement vibration, the active controller may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, based on the displacement vibration detection signal. When using the displacement vibration detection signal in this way, the start time of the active control can be set without installing a special sensor.

Alternatively, the active controller may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, based on a change in the number of digital signals or the signal width of the digital signals that are obtained when A/D conversion is performed on the displacement vibration detected by the displacement vibration detector. The effective number of digita 1 signals or the ratio of signal width of dig,i.ta 1 signals can appropriately be determined in advance by experiments .

BRIEF DESCRIPTION 0.E DRAWINGS Fig. 1 illustrates an overall configuration of an apparatus for taking out a molded product according to an embodiment of the present invention.

Eig. 2 is a schematically perspective view il.lus;trating a part of an example apparatus for taking out a molded product that is equipped with an electric a c t u a t. o r .

Fig. 3 is a block diagram, illustrating an example configuration of an active vibrator.

Figs. 4 A and 4B rare a perspective view and a cross sectional view, respectively, of an example electric actuator applicable to the embodiment of the present i n v e n t i ο n .

Fig. 5 is a n i. 11 u s t r a t, i ο n used to exp1a i n the fundamental configuration and operation of a phase correcting section, an additional vibration detector, and a d r 1 v e s i g n a. 1 generator o f F i. g . 3 .

Fig. 6A is a waveform comparison chart illustrating a w a v e f o r m of v i b r a t i ο η o f a take - o u t me c h a n i s m a s in e a s u r e d by a laser displacement gauge when the take-out mechanism is in a take-out motion, and a waveform of a torque command outputted from a servomotor; and Fig. 6B illustrates the comparisοn results of the vibration waveform and the to r que command waveform.

Fig. 7 illustrates waveforms of different types and partially enlarged waveforms during? a period from the time that the apparatus is ready to perform pull-out operation of a molded product till the completion time of vibration suppressing operation when not performing the active control by the active controller, but performing both of the positioning control by the servomotor and vibration suppression control of the servomotor by the servo positioning device, and when not performing the active control by the active controller, but performing only the positioning control by the servomotor, not performing the vibration suppression control of the servomotor by the servo p o s i t i ο n i n g dev i. c e .

Fig. 8 illustrates waveforms of different types and partially enlarged waveforms when using both of positioning control and vibration suppression control by the servomotor, and active control by the active controller, and when using only active control, by the active con t r ο 1.]. e r .

Fig, 9 illustrates waveforms of different types and partially enlarged waveforms when performing only positioning control by the servomotor and not performing the act ive cοn t ro 1.. by the act i ve cont r ο 11 er a nd wh en performing positioning control by the servomotor and also performing the active control by the active controller using a timer period which determines that can amplitude of displacement vibration can be considered as having been attenuated to a predetermined setting.

Fig. 10 illustrates conceptual w eave for ms of 10 displacement vibration of a take-out head when performing η o t only the p o s i t. ί ο η i n g control but also t h e v i b r a 11 ο n suppression control and/or the jerk control by the servo device, and the vibration suppression effect obtainable when the active control, is jointly used.

Fig. 11 is an illustration used to explain an operating state in which the take-out mechanism stops its motion at a .releasing position of the molded product. DESCRIPTION OF EMBODIMENT Now, an embodiment of the present invention will be described below in detail with reference to the accompanying drawi.ngs .

F i g . '1 i 11 u s t rates t h e overall configurat i ο η o £ a n apparatus 1 for taking out a. molded product according to an embodiment of the present invention. Fig. 2 is a schema t i ca11y perspective view i1 lust rating a par t of an example apparatus for taking out a molded product, that is equipped with an electric actuator. The apparatus 1 is a traverse-type apparatus for taking out a molded product. A base p o r t i ο η o f t h e a p p a r a t u s 1 i s s u p p o r t e d by a f i zing p 1 a ten of a mo1d i nq maohi ine , ηot i 11 ust rated, The app3.rat us 1 illustrated in Fig. 1 includes a lateral frame 3, a control box 5, a first travelling body 6, a pull-out; frame 7, a runner lift unit; 8, and a molded product-suctioning lift, unit 9. The lateral frame 3 has a cantilever beam structure in which the lateral frame 3 extends in an X direction that. is h o r i z ο n t a 11 y orthogonal t o a longitudinal direction of the molding machine, not illustrated. The first travelling body 6 is supported by the lateral frame 3, and. is advanced and retracted in the X direction along the lateral frame 3 as driven by a drive source which is an AC servomotor 11 included in a servo device. The pull-out frame 7 is disposed at the first, travelling body 6, and extends in a Y direction that is parallel to the longitudinal direction of the molding machine. The molded product™suetioning lift unit 9 is supported by the pull-out. frame 7 to be movable in the Y direction as driven by a drive source which is an AC servo motor 13 included in the positioning servo device. In the present, embodiment, a second travelling body 1,7, which is included in the molded product-suet ioning lift, unit; 9 and supported by the pull-out frame 7 to work as a base, moves i n t h e Y d i r ect i ο n a s a belt 15 is driven to rotate by t h e servomotor 13. In the present embodiment, the second travelling body 17 is caused to move by a belt transport mechanism using the belt. '15. A rope may be used as a force transport means in place of the belt transport mechanism.

The molded product-suctioning lift unit. 9 includes a lift frame 19 operable to move up and down in a 2 direction as an approach frame as driven by a drive source 18, a reverse unit 21 operable to rotate centering on a frame line of the lift frame 19, and a take-out: head 23 provided at the reverse unit 21 as an attachment. In the present embodiment, the reverse unit 21 and the take-out head 23 constitute a take-out mechanism 24, If the reverse unit 1.,s not provided, only the take-out head 23 constitutes the take-out mechanism 24. Further, in the present embodiment, an electric actuator 25, which includes an excitation coil and a mover provided with a permanent magnet and operable to be driven by the excitation coil, is attached to the take-out head 23. The mover of the electric actuator 25 is attached with a first: acceleration sensor 27 . In theory, the mounting position of the electric actuator 25 is not limited t: o the take-out head 2 3. It is a matter of course that the electric actuator 25 may be mounted on the reverse unit. 21, the lift frame 19, or the second travel 1 i, n g body 1Ί .

The apparatus 1 according to the present embodiment includes an active controller 31 illustrated in fig. 3 in a control section, not illustrated in Fig. I. The active controller 31 includes a displacement vibration detector 3 3 , a phase correc t ing section 3 4, t he e 1 ect r i c ac tuator 25 to be attached to the take-out head 23 for suppressing the vibration of the take-out head 23 in the horizontal or vertical direction, an additiona1 vi b r a t i on d e t ect o r 3 5, and a drive signal generator 3 '7 .

The electric actuator 25? may be of any strueture, provided that the actuator is ca p a b 1 e of app 1 ying vibrat iοn of any power and any frequency to the take-out head within the capability of the actuator. In the present embodiment, an electromagnetic actuator manufactured by Sinfonia Technology Co,, Ltd. under the product number of RM040-021 is used. In the present embodiment, since the take-out mechanism 24 is constituted from the reverse unit 21 mounted to the lift frame 19 and take-out head 23 attached to the reverse unit 21, the electric actuator 25 is mounted on the take-out head. 23 as discussed above. This is because the reverse unit 21 has predetermined rigidity, and therefore can effectively suppress the vibration. In order to suppress the vibration as caused in the horizontal direction, the electric actuator 25 should be mounted to generate a v ibra t ion in the hor i zonta1 diraction. 1η order to suppress the vibration as caused in the vertical direction, the electric actuator 2,5 should be mounted to generate a vibration in the vertical direction. The present invention may, of course, be applied to the configuration in which a p1ura 1ity of e1ectric actuators are used to suppress vi bra.t ions caused in a p 1 ura I i t y of axia 1 d i r e c t i ο n s , Figs. 4A and iB are a perspective view and a cr oss sectional view, respectively, of an example electric actuator 25' applicable to the present embodiment. The e 1 ectric actuator 25' includes a cy,1,. 1,,ndr ica 1 st a tor 2 5' A and a mover 25'B disposed in a central portion of the stator 25' A and supported by three p,1,a te springs 2 5' C on the stator 25'A. The movable range of the mover 25'13 is regulated by a stopper 45'D. The electric actuator 25' operates on the same principles as a so-called cylindrical linear motor. The stator 2 5' A is fixed onto the take-out head 23 and the vibration of the mover 25'B is transmitted to the stator 'A, thereby performing the active control. The afore-mentioned acceleration sensor 27 is attached to the mover 2 5'B.

The displacement vibration detector 33 outputs a displacement vibration detection signal Ξ1 including information on a displacement vibration frequency component proportional to the displacement vibration of the take-out, head 23 in the horizontal direct ion, based on an output from a second acceleration sensor 38 attached to the take.....out head 23. The displacement vibration includes a plurality of vibration frequency components based on first-order vibration, second-order v ibration, and so forth caused by motions of the 1i£t frame 19 and the take-out head 23. The vibration frequency components included in the displacement vibration are varied d e pending ο n fc h e s t r u c t ϋ r e of a belt transport m e c h a n i. s in or a rope transport mechanism that is provided between the servomotor 13 and. the lift frame 19. The take-out mechanism of the apparatus for taking out a molded product needs to get into between two molding dies of the molding machine. For this reason, the electric actuator used should be light in weight and small in size in order to suppress the vibration of the take-out heard 23 by the electric actuator attached to the take-out mechanism 24.

As the displacement vibration detector 33, a vibration sensor' other than the acceleration sensor or a vibration detector such as a laser displacement gauge may be used.

In the present embodiment, also when a light and small-sized electric actuator is used, the positioning control, vibration suppression control, and/or jerk control by the servomotor are jointly used with the active control in order to make most of the vibration suppressing capability of the electric actuator. In t h e pre s e n t embodiment, the positioning control by the servomotor and. the active control by the active controller are jointly used. Fig. 5 is an illustration used to explain the fundamental configuration and operation of a phase correcting section 34, an additional vibration detector 3 5, and a drive signal generator 37 of Fig, 3, In Fig. 5, for ease of underslanding, the positioning control by the servomotor is not performed and only the active control is performed. The joint use of the positioning control by the servomotor and the active control by the active controller will be discussed 1aterThe phase correcting section 34 corrects a phase shift of the displacement vibration detection signal Si outputted from the displacement, vibration detector 33 that has received an output from the second acceleration sensor 38, based on phase shift information that has been obtained in advance, and generates a corrected displacement vibration detection signal 31'. A phase s hi f t occurs between the displacement vibration detection signal Si and the actual displacement vibration due to various factors such as the configuration of the displacement vibration detector 33. In the apparatus for taking out a molded product, the respective shapes and weights of the take-out head and a molded product to be taken out do not change once they are set. Therefore, the phase shift can be obtained in advance by performing prior measurement before the take-out operation is started. Then, in the present, embodiment, the phase shift of the displacement vibration detection s i g n a 1 Si is cor reeled based ο n t h e pr edet erm i n e d phase shift information and the corrected displacement v1b r a t i ο n detection s ig na1 S1' is generated, thereby preventing vibration from being caused due to the phase s h 1. f t.

The additional vibration detector 3 5 receives an output from the first acceleration sensor 27 as an input; detects additional v i b r at ion as caused in the hor i zοn. tai directiοn and generated by the elect,ric actuator 2 5; and outputs an additional vibration detection signal 82' including information on an additional vibration frequency component of the additional vibration. If vibration suppressing operation is performed by causing the electric actuator 25 to operate using only the corrected 10 displacement vibration detection signal SI ' , an additional vibration frequency component of the electric actuator 25 in. the horizontal direction is included in the displacement vibration frequency component , If the additional vibration frequency component is not taken into consideration, 15 however, the vibration cannot, be quickly suppressed using the electric actuator 25 without causing oscillation. In the present embodiment, the additional vibration detector 35 is constituted from an acceleration sensor 27 attached to a mover of the electric actuator 25 and operable to 20 detect an acceleration of the mover. Currently, a semiconductor acceleration sensor, for example, may be used as the first and second accelerat ion sensors 27 and 38, Semiconductor acceleration sensors sized to be attachable to the mover are commercially available. In. 25 the present embodiment, an acceleration sensor available from Kionix, Inc. under the product name, of KXR94-2050 is used.

T he drive signal generator 37 goner a t e s a d r iv e signs!, required for- active contrq 1 of the electric actuator 2 5 so a s t o s u p press t h e v i b r a t, i ο η o £ the take- o u t h e a d 2 3 of the take-out mecha.nism 2 4 as caused in t he hiori zοnta 1 direction, based on the displacement vibration frequency component included in the corrected displacement, vibration detection signal 51' and the additional vibration frequency component included in the additional vibration detection signal 32' . Only with a drive .signal for driving the act u a t o r that is generated b a s e d only ο n t h e displacement vibration detection signal. 31 including information on the displacement vibration frequency component, vibration may not be fully suppressed in some cases. This is because the additional vibration (additional vibration frequency component) generated by vibration of the actuator is included in the displacement vibration frequency component. Then, a drive signal 3a is used. The drive signal Sa is obtained as follows: the corrected displacement, vibration detection signal 31' is obtained by correcting the phase of the detection signal 31 including information on the displacement vibration frequency component; the additional vibration detection signal 32' is proportional to the speed obtained by integrating an acceleration signal 52 from the acceleration sensor 27 including information on the additional vibration frequency component due to the addit ίοna1 vibration of the vibrator of the electr ic a e t u a tor 2 5 operable to generate a vi b rati ο n fo t suppressing vibration of tho take-out head 2 3 as caused in the horizont a 1 direct ion; and the addi t iοna 1 vibrat iοn detection signal 32' is removed, from the corrected displacement vibration detection signal 31', Consequently, it is possib1e to increase attenuafcίοη of the additional, vibration to prevent oscillation, thereby making the active control using the electric actuator 25 more effective. As a result, it is possible to reliably suppress the vibration of the take-out head 23 in a shorter time compared to the related art.

Fig. 5 illustrates, together with waveforms, the configuration and process o f generating the drive signal Ξa for the electric actuator 25 when only active control is performed by using the electric actuator 25 to suppress vibration without performing positioning control by the servomotor for vibration suppression. As illustrated in Fig. 5, the drive signal generator 37 includes a first ga in adjusting section 3 7 A, a second gain adjusting section 3 7 B, and a computing section 37C. The first gain adjusting section 37A adjusts the gain of the corrected displacement vibration detection signal 31' outputted from the phase correcting s ec t i ο n 3 4 . The second gain adjusting s e c t ίοn 3 7 B adjusts the g a i n. oft h e a. d d i t ί on a 1 vibration d e t e c t i ο n signal 52' outputted from the additional vibration detector 3 5 . The firs t ga in adjusting section 3 7 A a nd t h e second gain adjusting section 37 β enable computation by adjusting the difference in dimension and amplitude between the corrected di sp1acement vibrat i on detect ion signal 31' and the additional vibration detection signal 32' . The computing section 37C executes computation to remove the additional vibration detection signal 32', which has been subjected to the gain adjustment, from the corrected displacement vibration detection signal S1 ' which has been subjected to the gain adjustment in order to reduce or remove the effect due to the additional 10 vibration frequency component generated by the additional vibration of the actuator and included in the. displacement vibration frequency component. If the polarity of the output from the acceleration sensor 27 is negative, the computing section 37C performs an addition. The computing section 37 has a function of determining the start time of the active control when the positioning control performed by the servomotor and the active control are jointly used. In an example illustrated in Fig. 5, this function is not used.

Further, the active? vibration controller 31 may be operating when the take-out head 23 is being stopped at a releasing position or is being stopped to change the moving direction. With this arrangement, it is possible to prevent the molded product, which has not been completely cured, from being deformed.

Control> In the present e mb odime n t, the po s i t i ο η i n g control by the servomotor 13 and the active control by the active controller are jointly employed. The active controller 31 starts the active control after the amplitude of displacement vibration of the take-out head 23 has been attenuated to a predetermined setting or a set value by means of the positioning control by the servomotor 13 or when the amplitude can be considered as having been attenuated to the predetermined setting or the set value.

The positioning control by the servomotor is a control function that is generally installed in a commercially available servo amplifier 39. When a stop command is outputted, the positioning control function performs positioning of the servomotor while suppressing vibration of the drive frame. Generally, the commercially available servo amplifier 39 is provided with a vibration suppression function and a jerk, control function. The servo amplifier 39 is configured to output a completion command once it has completed positioning.

In some cases where a belt transport mechanism to be driven by the servomotor 13 is employed, the vibration of the take-out. head 23 cannot be suppressed in a short time only with the positioning control by the servomotor. For t his reason, the active control, by the active control 1 e r 31 is used jointly with the positioning control by the servomotor. In the present embodiment, when taking out a molded product, the displacement vibration of the take-out head 2 3 is suppressed by causing the e 1 ectric a c t u ator 2 5 t o apply to the ta ke-out, head 2 3 a vibrat iοn h a v i n. g a n a n t i p h a s e t: o t h e d i s p 1 a c eme n t v i b r a t. i ο n dot e c t. e d by the displacement vibration detector 33. In the present embodiment, the active controller 31 starts performing the active control after the amplitude of the displacement vibration of the take-out head 23 has been attenuated to the predetermined setting by means of the positioning control, by the servomotor or when the amplitude can be considered as having been attenuated to the predetermined setting. In the above arrangement, specifically, the positioning control is first performed by the servomotor, and then the active control is performed by the active controller using the electric actuator 25. For; this reason, an electric actuator, which is 1 ight in weight and small in size, can be employed. Of course, the active control can be performed not only at the time of taking out a molded product but also at any time while performing the positioning control by the servomotor.

Specifically, when the positioning control by the servomotor and the active control by the active controller are jointly used, the active co nt, roller 31 st a r t s performing the active control after the amplitude of the displacement vibration of the take-out head 23 has been attenuated to the predetermined setting by means of the positioning control by the servomotor or when the amplitude can be considered as having been a 1t enuated to the predetermined setting. Here, it is determined based on an output from the displacement vibration detector 33 whether or not the amplitude of the displacement vibration of the take-out he aid 2 3 has been attenuated to the predetermined setting (the start time of the active contrο1) . Specifically, the computing section 37C is provided with a means for comparing an output from the first gain adjusting section 3 7 A of Eig, 5 w i t h a t h r e s h ο 1 d corresponding to a positive or negative predetermined setting to generate a start timing signal indicative, of the start time of the active control. This comparing means generates a start timing signal when it is determined that an output from the first gain adjusting section 37a falls within the threshold corresponding to the positive or negative predetermined setting. Then, the computing section 37Coutputs an actuator drive signal Sa in response t o the start timing signal, indicating that the e 1 e c t r. i c actuator should be driven. The threshold should be determined in advance by testing.

A timer means for counting a timer period may be provided in the computing section 37 C and the active controller 31. may be configured to determine that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, when a predetermined timer period elapses from a predetermined point of operation in the positioning control by the servomotor. The predetermined point of operation may be a start ing point of the pos i t ion i ng con t ro1 by the servomotor, a p o .1 n t at which a comp let ion command i s outputted, or bef ore or a f ter the complet ion command i s o ut putted . He r e a g a i. n , the timer period 1 s determined in advance by testing. To actually set the timer period, a timer period adjusting section is preferably provided to adjust the timer period. With the timer adjusting section, the timer period setting can appropriately be done on-site by an administrator for the apparatus for taking out a molded product.

The active controller 31 may include, in the computing section 37, a filter circuit operable to cut an output from the displacement, vibration detector 33 (in the. present embodiment, an output from the phase correcting section 34) when the amplitude of the displacement is more than the predetermined setting. While an output is coming out of the filter circuit, the computing section 37C performs computation, assuming that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting. The cut frequency of the filter circuit is determined in advance by testing. Here again, there is no need of providing a special sensor. If a cut frequency a dj u st ing s e c t i ο n ope rab1e t o a d ju s t the cut frequency is provided., versatility of the apparatus can be increased.

The active controller 31 may be configured to determine that the amplitude of the displacement vibration can be considered as having been at tenuated to the predetermined setting, based on a change in the number of digi ta I signals or the s i gna I widt h of the digit a 1 signals that are obtained when A/D convers ion is performed on the displacement vibration detected by the displacement vibration detector 33. The effective number of digital signa1s or the ratio of signal width of digital signs1s can appropriately be determined in advance by experiments. Means for A/D conversion, means for counting of the digital signals, and means for counting the signal width may be program implemented in the computing section 37C (such means may be provided as a program in the computing section 37C) .

The displacement vibration detector 33 may be configured to output, a motor current signal of the servomotor or a torque signal· of the servomotor, ora signal proportional to the motor current signal or the torque signal as the displacement vibration detection signal. If the above-mentioned signals are used, the start time of the active control can be set without installing a special sensor. Specifically, as the d i sp1 acement vibration detection signal Ξ1, the displacement vibration detector 33 detects a motor current signal of the servomotor 13 in the servo device operable to move the lift frame 19 of Fig. I in the horizontal direction, or a torque signal of the servomotor 13, or a signal, proportional to the motor current signal or the torque signal as is outputted from the servo amplifier 39. Thus, information on the displacement vibration frequency components can be taken out of the signal Si. There is no need of providing a special sensor operable to detect displacement vibration in the vicinity of the take-out mechanism 24 or a molding die. In order to suppress the vibration of the lift frame 19 as caused in the vertical direction, a motor current signal or a torque signal may be obtained from an output of the servo amplifier 39 for driving a motor to move the lift frame 19 up and down, and drive the electric actuator 25 using the thus obtained signal. In this case, the mounting position of the electric actuator 25 should be changed such that the vibration generated by the e1ectric actuator 25 may be vertical.

Fig. 6A is a waveform chart illustrating a vibration waveform A representing the vibration of the take-out mechanism 24 during pull-out operation as measured by a laser displacement gauge (available from Keyence Corporation under the product name of IL-S100) and a torque command waveform B for the servomotor 13 for comparison of waveforms A and B. The torque command waveform B was taken from a torque command output terminal of a servo amplifier available from Fuji. Electric Co., Ltd, under the product name of RYT201D5-LS2-Z25. When waveform A and waveform B are compared with each other, it is found that waveforms A and B are proportional to each other as seen in terms of the peak values of the waveform s a 11hough there is a phase shift I:herebetween . Th i s is i 11 us trated ίn Fig . 6B. This is confirmed from the result of plotting the absolute values of points on the torque command waveform and the absolute values of outputs from the laser displacement gauge. This relationship is also found to appear for the. motor current signal of the servomotor. When focus is placed on the respective first peaks and the respective second peaks of the two waveforms, it is seen that there is a shift (lead) of 0.03 to 0.04 seconds between the two waveforms, The effect of feedback control in the active controller used in the present embodiment was confirmed. With reference to Figs. 7 to 10, the confirmed results will be described. First, Fig, 7 shows a comparative example, Fig, 7 illustrates waveforms of different types and partially enlarged waveforms during a period from the time that the apparatus is ready to perform pull-out operation of a molded product till the completion time of vibration suppressing operation when positioning control by the s e r v omo to ris performed without performing active con t r ο I, with vibration suppression control of the servomotor being per forme d by the positioning servo device (as annota t ed with ON) and without, vibration suppression control of the servomotor being performed by the positioning servo device (as annotated with OFF) . In Fig. 7, the waveform of servomotor return speed represents a feedback spiced signal used, for performing the positioning control, by the servomotor in the feedback control. The waveform of servomotor command torque represents a torque command used in the feedback control , The waveform of displacement of the head represents a displacement of the take-out head 23 as detected from an output of the laser displacement gauge. Further, the waveform of acceleration of the lift frame represents an output from a third acceleration sensor (not illustrated) disposed for confirmation at the lift frame 19 and operable to detect an acceleration in the horizontal direction. In Fig. 7, the Period A represents a time period from the time that pull-out operation is ready at the start p o s i t ion t i 11 the completion of pull-out operation. XI represents a waveform, when the positioning control by the servomotor is not performed for vibration suppression (as annotated with OFF). X2 represents a waveform represents a waveform when the positioning control by the servomotor is performed for vibration suppression (as annotated with ON). As illustrated in the enlarged views, when the vibration suppression control of the servomotor is performed by the positioning servo device, the amplitude of the vibration upon arrival at a target post t iο n i s reduced. After the pull-out motion has completed, however, residual vibration cannot reliably be reduced by the vibration suppression control of the servomotor by the p o s i t. i oning s e r vo dev i c e .

Fig. 8 illustrates waveforms of different types and partially enlarged waveforms when jointly using both of the positioning control and. vibration suppression centrο1 by the servomotor, and the active control by the active controller (as annotated with vibration suppression control ON and waveform Y2) and when the positioning control and the active control, are performed (as annotated with vibration suppression control OFF and waveform Yl) . In Fig. 8, Period B represents a period over which the active control is performed. In this example, at the end of Period A (when the amplitude of the displacement vibration has been attenuated to the predetermined setting), namely, upon completion of pull-out. operation, the active control started. It is known from Fig. 8 that it takes long to reduce the vibration of displacement only by the active control (see waveform Yl) while the displacement vibration of the take-out head 23 is still large and that the displacement vibration can quickly be reduced and the residual, vibration after arrival at the target position can also be reduced when the pos i t. iοn ing control and jerk control by the servomotor and vibration suppression control, and the active control, by the active controller are jointly used (see waveform Y 2 ) , Fig, 9 illustrates waveforms of different types and partially enlarged waveforms when only positioning con.t, rο 1 is performed by the servomotor and the active control is not performed by the active controller (see waveform Zl) and when positioning control is performed by the servomotor and the active control is performed by the active controller using a timer period which determines that an amplitude of displacement vibration can be considered as having been attenuated to a predetermined setting (see waveform Z2}. In this example, the timer period for determining the start timing for the active control is set such that the active control is started 0.5 seconds after the pull-out. operation has been started. In Fig. 9, the period annotated with Active ON is a period over which the active control is performed. It is known from Fig. 9 that the effect of joint use of the positioning control by the servomotor and the active control by the active controller is surely obtained if the timer period is appropriately set also when the completion of counting the timer period is used as a signal for starting the active control , In the above~~mentioned embodiment,· the active control· is started after the amplitude of the displacement vibration of the take-out he a d has been a11enuated to the predetermined setting by the positioning control by the servomotor or the positioning control and vibration suppression control by the servomotor or when the amplitude can be considered as having been attenuated to the predetermined setting. The commercially available servo 32. device for the servomotor has a function of positioning ο ο n t r ο 1, a function of vibration s upp r e s s i ο n c ο n t r o 1. t o suppress the vibration having a predetermined frequency and a function of jerk control, to suppress the acceleration change rate within a predetermined, range. The present invention is, of course, applicable when the positioning servo device is configured to perform vibration suppression control in addition to the positioning control, when the positioning servo device is configured to perform jerk control in additiοn to the positionίng cοntrο1, or when the positioning servo device is configured to perform both vibration suppression control and jerk cοntrol in addition to the positioning control.

In Fig. 10, waveform. A simulates the displacement vibration of the take-out head when only the posit ion ing control is performed by the positioning servo device; waveform B simulates the displacement vibration of the take-out head when the positioning control and v ib r a t i οn suppression control are jointly performed by the positioning servo device; and waveform C simulates the di sp 1 a cement vibra t i. on of the take - out head when the pos i ti on ing control, vibrat ion suppression con t rol, and jerk c on t rol are joint 1 y per formed by the positioning servo device, in Fig. 10, TH denotes a threshold for determining the start time of the active control. In this example, the active control should be started when it is determined that the a m p 1 i t u d e has bee n attenuated b e .1 o w t h e t h r e s h ο 1 d T H by comparing the respective amplitudes of waveforms A to C with the threshold TH. Waveform A' simulates the displacement, vibration of the take-out. head assuming that the active control is started at time T3 after the positioning control has been performed by the positioning servo device. Waveform B' simulates the displacement vibration of the take-out head assuming that the active control is started at time T2 after the positioning control and vibration suppression control have been performed by the positioning servo device. Waveform C' simulates the displacement vibration of the take-out head assuming that the active control is started at time T1 after the positioning control, vibration suppression, control, and jerk control have been performed by the positioning servo device. It is known from these waveforms that it is effective to use the iictive control jointly with the various control functions of the positioning servo device. Especially by comparing waveforms A to C with waveforms A' to C' , it can be known that the joint use of the active control with the positioning control, vibration suppression contrο1, and jerk control of the posiLiοning servo device can suppress the displacement vibration quickly. It follows from the foregoing that the active control can be effectively performed even using a small-si zed electric actuator.

E u rt he r, the active controller is co n f ig u red t o determine that the amplitude of the displacement vibration can be considered as ba v i ng been attenuated to the predetermined setting, when each of signals is outputted from a molding machine, indicating that an ejector has retracted to a ret ract ion posi t ion, or that the e j ect tor should start ejection, or that a molding die is in an opening motion, or that the molding die has completely opened, or that the molding die has completely closed. These signals are outpu11ed after the positioning control by the servomotor is started and before a completion command is outputted. Thus, these signals can be utilized as the start time of the active controller. If these signals transmitted from the molding machine to the apparatus for taking out a molded product are used as the start time of the active control, there is no need of performing special signal processing for timing setting and providing a timer or the like. The configuration of the active controller can be simplified.

As illustrated in Fig. 11, the active contro 11.er 31 may be in motion when the take-out mechanism 24 stops its motion at. a position RP for releasing a molded product. With this, it is possible to prevent the molded product, which has not been completely cured, from being deformed. At the position RP for releasing a molded product, a displacement sensor 26 may be provided to detect the vibration of lateral displacement as the take-out mechanism 24 moves to generate vibration in a moving direction orthogonal· to the right-and-left direct!οn and the up-and-down direct.ion. In this case, the act. i ve controller 31 may be configured to perform the active control such that another ele c t r ic actuator 26 (no t illustrated) is attached to the take-out mechanism 24 to suppress lateral displacement vibration, based on an output from the displacement sensor 26. With this, most of the vibration added to the molded product can be suppressed at the time of releasing the molded product.

INDUSTRIAL APPLICABILITY The active controller starts performing the active control after the amplitude of the displacement vibration of the attachment has been attenuated to the predetermined setting by means of the positioning control by the servomotor or when the amplitude can be considered as having been attenuated to the predetermined setting. Specifically, the positioning control is first performed by the servomotor, and then the active control is performed by the active controller using the electric actuator. An electric actuator, which is light in weight and small in size, can be employed.

Claims (12)

1. An apparatus for taking out a molded product, comprising; a positioning servo device using a servomotor; an approach frame controlled by the positioning servo device and having an attachment mounted thereon; a displacement vibration detector operable to detect a displacement vibration of the attachment; an active controller including an electric actuator and configured to perform active control to suppress the displacement vibration of the attachment by causing the electric actuator to apply to the attachment a vibration having an antiphase to the displacement vibration detected by the displacement, vibration detector, wherein: the active controller performs the active control after an amplitude of the displacement vibration of the attachment has been attenuated to a predetermined setting b y a t 1 e a s t a. f u n c t i ο n of positioning control of t h e positioning servo device or when the amplitude of the displacement vibration of the attachment can be considered as having been attenuated to the predetermined setting by the at least function of positioning control of t he p o s i t iο n i n g servo device.

2. The apparatus for taking out a molded product according to c 1,aim 1, where in the positioning servo device is configured to perform the positioning control and vibration suppression contrο 1.

3. The apparatus for taking out a molded, product according to claim 1, wherein the positioning servo device is configured to perform the p o s i t i. ο n i n g control and jerk control.

4. The apparatus for taking out. a molded, product according to claim 1, wherein the positioning servo device is configured to perform the positioning control and both of vibration suppression control and jerk control.

5. The apparatus for taking out a molded product according to any one of claims 1. to 4, wherein: the approach frame is a lift frame provided at a pull-out frame; the attachment is a take-out head a 11ached to a leading end. of the lift frame; and the active control is performed when the pull-out frame is driven to make a pull-out motion.

6. The apparatus for taking out a molded product according to claim I, whereίn: the active controller determines whether or not the amplitude of the d i s p 1 a ceme n t v i brat 1. ο n has b

7. The apparatus for taking out a molded product according to claim 1, wherc·in : the active controller determines that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, when a predetermined timer period elapses from a predetermined point of operation in the pos i t iοn.ing control by the servomotor .

8. The apparat usfor taking out a molded product according to claim 7, further comprising: a timer period adjusting section operable to adjust the timer period, wherein: the predetermined point of operation is a starting point, of the positioning control by the servomotor, a point at which a completion command Is outputted, or before or safter the completion command is outputted.

9. The apparatus for taking out a molded product according to claim 1, wherein: the active controller determines that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermine ds e 11 ing, whenasignal is outputted from a molding machine, indicating that an ejector has retracted to a retraction position, or t ha t 5 the ejector should start ejection, or that a molding die is in an opening motion, or that the molding die has completely opened, or that the molding die has completely closed.

10. 10 . The apparatus for taking out a molded product according to claim 5, wherein: when it is necessary to position the take-out head after the take-out head has taken out a molded product from a molding die, the active controller determines that the 15 amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, based on a signal outputted from peripheral equipment of the apparatus for taking out a molded product. 20

11. , The apparatus for taking out a molded product according to claim 1, wherein: the displacement vibration detector is configured to output a motor current signal of the servomotor or a torque signal of the servomotor, or a signal proportional to the 25 motor current signal or the torque signal as a displacement vibration detection s i g n a 1 in d i ca t i ve of the dot ec t e d displacement vibration; and the active controller determines that the amplitude of the displacement vibration can be considered as having been attenuated to the predetermined setting, based on the displacement vibration detection signal,

12. The apparatus for taking out a molded product according to claim 1, wherein: the active controller determines that the amplitude of the displacement vibration can be considered as having 10 been attenuated to the predetermined setting, ba seel on a change in the number of digital signals or the signal width of the digital signals as obtained, when A/D conversion is performed on the displacement vibration detected by the displacement vibration detector.