JP2018144390A - Molding take-out machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a molded product take-out machine which does not need to increase the opening size of a molding machine even when an electromagnetic actuator is used. An electromagnetic actuator 25 is attached to a reversing unit 21 of an attachment 24 via an extension rod 26. The extension rod 26 includes an extension portion 26A extending in the X direction and an extension portion 26B extending upward in the Z direction along the approach frame 19. The length of the extension portion 26B is such that the electromagnetic actuator 25 is located outside between the movable mold 105 and the stripper plate 107 with the attachment 24 inserted between the movable mold 105 and the stripper plate 107 constituting the mold of the molding machine. It is set to the length. [Selection diagram] Fig. 2

Description

  The present invention relates to a molded product take-out machine that can suppress displacement vibration of an attachment attached to an entry frame in a short time.

  Japanese Patent Application Laid-Open No. 2010-1111012 (Patent Document 1) includes a takeout head (attachment) driven by a driving source and a molded product takeout device that takes out a molded product from a molding machine. An input table and a control means for controlling the moving speed of the extraction head so as to suppress the displacement vibration of the extraction head by driving a servo motor (drive source) by feedforward control using this table are provided. A technique for suppressing head vibration is disclosed.

  Further, Japanese Patent Laid-Open No. 2004-223798 (Patent Document 2) discloses that a chuck (attachment) for holding a molded product is controlled to move between predetermined positions and a molded product take-out machine that takes out the molded product from a resin molding machine is provided with a chuck. In addition, a vibration suppression device for a molded product take-out machine is disclosed in which a dynamic vibration absorber for generating a vibration that cancels the residual vibration of the movable body when the movement is stopped is disclosed in at least one of the movable bodies that move the chuck. The dynamic vibration absorber that is used encloses the fluid in a container so that it can flow and vibrates it, while converging the vibration with a damping rate due to the viscosity of the fluid.

JP 2010-1111012 A JP 2004-223798 A

  However, the conventional technique of Patent Document 1 has a problem that it takes time to suppress vibration. There is also a problem that it is difficult to set conditions for vibration suppression.

  Further, in the conventional technique described in Patent Document 2, a dynamic vibration absorber that uses the viscosity of a fluid that generates an appropriate resonance vibration in accordance with a change in the extraction condition must be prepared separately, which is a problem in terms of versatility. was there.

  In view of this, the inventor has proposed a molded product take-out machine that can suppress displacement vibration of an attachment attached to the tip of the entry frame by active control using an electromagnetic actuator (Japanese Patent Application No. 2016-234115).

  In order to make active control more effective, it is desirable to provide an electromagnetic actuator as close to the take-out head as possible. And when a molded product becomes large, a large electromagnetic actuator is required. In order to increase the manufacturing efficiency of the molded product, it is desired to shorten the time from molding the molded product to taking out the molded product from the mold as much as possible. However, if an electromagnetic actuator is to be attached to an existing attachment, the distance between the molds must be wider than before, and the use of the electromagnetic actuator causes a reduction in manufacturing efficiency.

  An object of the present invention is to provide a molded product take-out machine that does not require an increase in mold opening dimension of a molding machine even when an electromagnetic actuator is used.

  The present invention includes an attachment in one or more approach frames controlled by a positioning servo mechanism using a motor, and applies a displacement vibration opposite to the attachment displacement vibration to the attachment from one or more electromagnetic actuators. The present invention is directed to a molded product take-out machine including an active vibration suppressing device that performs active control to suppress. In the specification of the present application, the attachment is various accessory parts attached to the entry frame, and includes an attitude control device including a take-out head, a reversing portion to which the take-out head is mounted, a chuck device, a cutter device, and the like. . In the present invention, the one or more actuators comprise one or more electromagnetic actuators. The electromagnetic actuator can arbitrarily set the magnitude of vibration as compared with the dynamic vibration absorber. Therefore, active control can be applied to a molded product take-out machine with high versatility. In the present invention, one end is connected to the attachment that has entered between the molds in the open state of the molding machine, and the other end of the extension rod is provided with an extension rod that extends to the outside of the mold in the open state. The above electromagnetic actuator is mounted. According to the present invention, the electromagnetic actuator can be arranged outside the mold using the extension rod, and the vibration necessary for active control can be applied to the attachment in the mold via the extension rod. Therefore, according to the present invention, active control can be executed using an electromagnetic actuator without changing the opening dimension of the mold.

  The direction in which the extension rod extends may be any direction as long as it does not interfere with insertion and extraction into the mold and does not interfere with surrounding equipment. The cross-sectional shape orthogonal to the longitudinal direction of the extension rod may be rectangular or circular as long as the presence of the extension rod is not required to increase the mold opening dimension.

  The one or more entry frames are taken out using an entry frame having an attachment used to take out a molded product from a mold of the molding machine or an insert part to be inserted into the mold, and the first entry frame. A separate entry frame with an attachment used to detach the waste from the molded part. Note that the entry frame does not need to enter in the vertical direction, but includes one that enters in an oblique direction or a horizontal direction.

  In one or more electromagnetic actuators, the direction in which the approach frame enters is perpendicular to the Z direction, the Z direction, and the direction in which the attachment approaches or moves away from the molded product in the mold is perpendicular to the Y direction, the Z direction, and the Y direction. When the direction is defined as the X direction, a first electromagnetic actuator that suppresses displacement vibration in at least the Y direction is included. This is because, in the molded product take-out machine, the vibration in the Y direction greatly affects the removal of the molded product and the insertion of the insert member.

  The one or more electromagnetic actuators may include a first electromagnetic actuator that suppresses displacement vibration in the Y direction and a second electromagnetic actuator that suppresses displacement vibration in the X direction. This is because the displacement vibration in the X direction particularly has a great influence on the positioning accuracy when the molded product is opened at the open position or when the insert part is inserted.

  The one or more electromagnetic actuators include a first electromagnetic actuator that suppresses the displacement vibration in the Y direction, a second electromagnetic actuator that suppresses the displacement vibration in the X direction, and a third electromagnetic actuator that suppresses the displacement vibration in the Z direction. An electromagnetic actuator may be included. As described above, if the first to third electromagnetic actuators are provided, it is possible to always perform active control.

  When the attachment includes a posture control device that controls the posture of the take-out head, one end of the extension rod can be fixed to the posture control device. The attitude control device has a built-in mechanism for controlling the attitude of the takeout head, but is excellent in vibration transmission efficiency to the takeout head. In addition, since the replacement frequency is very low compared to the replacement frequency of the take-out head, the cost for practical use of active control using an extension rod can be greatly reduced.

  In the case where the attachment includes a posture control device having an extraction head, one end of the extension rod can be fixed to the extraction head. In this way, the extension rod is exchanged together with the take-out head, but the vibration required for active control can be applied to the take-out head most efficiently.

  The active vibration suppression device opens the molded product at the molded product release position before removing the molded product from the open mold using the attachment with the entry frame or before the insert part is inserted into the open mold. It is preferable to perform active control until this time. If it does in this way, taking-out of a molded product and insertion of insert parts will become quick, and it can prevent effectively that a molded product deform | transforms by the vibration added before hardening.

  Further, the motor of the servo mechanism that moves the entry frame is an AC servo motor, and a belt type, rope type, or carriage type conveyance mechanism can be provided between the AC servo motor and the entry frame.

It is a figure which shows the whole structure of the molded product extraction machine of embodiment of this invention. It is a side view which shows the positional relationship of the attachment which approached in the type | mold in the open state of a molding machine. It is a perspective view which shows a type | mold with a broken line and expands and shows the relationship between an attachment and a type | mold. It is a figure which shows an example of a structure of an active vibration suppression apparatus. (A) is a waveform diagram displayed so that the vibration state measured by a laser displacement meter and the torque command waveform of the servo motor can be compared with each other during the pulling operation, and (B) is the vibration waveform and torque command. It is a figure which shows that a waveform has a proportional relationship. It is the figure which showed the process which produces | generates the drive signal of an actuator with the waveform. It is a wave form diagram which shows the active control result using the output of a laser displacement meter as a displacement vibration detection signal, and the active control result of this Embodiment. FIG. 8 is a waveform diagram showing a test result obtained by adding the vibration suppression result when the active control is not performed to the result of FIG. 7 and the vibration suppression result when the phase correction is not performed. (A) And (B) is the perspective view and sectional drawing of an example of the electromagnetic actuator which can be used by this Embodiment. It is a wave form diagram used in order to explain that the displacement feedback signal obtained by integrating a feedback speed is proportional to motor torque. It is a schematic perspective view of 2nd Embodiment of the molded article extraction machine of this invention. It is a side view which shows the positional relationship of the attachment which approached in the type | mold in the open state of a molding machine. It is a perspective view which shows a type | mold with a thin line and expands and shows the relationship between an attachment and a type | mold. It is a schematic perspective view of 3rd Embodiment of the molded article extraction machine of this invention. It is a perspective view which shows a type | mold with a thin line and expands and shows the relationship between an attachment and a type | mold. It is a perspective view which shows a type | mold with a thin line and expands and shows the relationship between an attachment and a type | mold. It is a perspective view which shows the state which took out the molded product. It is a schematic perspective view of 4th Embodiment of the molded article extraction machine of this invention. It is a side view which shows the positional relationship of the attachment which approached in the type | mold in the open state of a molding machine. It is a perspective view which shows a type | mold with a thin line and expands and shows the relationship between an attachment and a type | mold. (A) shows the mold opening amount when the extension rod is not used, (B) shows the mold opening amount of the first embodiment, and (C) shows the mold opening amount of the second embodiment. (D) is a figure which shows the mold opening amount of 4th Embodiment. (A) is a schematic perspective view of 5th Embodiment, (B) is an enlarged view of the principal part of 5th Embodiment. (A) is a schematic perspective view of 6th Embodiment, (B) is an enlarged view of the principal part of 6th Embodiment.

  Hereinafter, embodiments of a molded product take-out machine of the present invention will be described in detail with reference to the accompanying drawings. Hereinafter, an example of an embodiment of a molded product take-out machine of the present invention will be described in detail with reference to the drawings.

<First Embodiment>
<Configuration of molded product take-out machine>
FIG. 1 is a diagram showing the relationship between the overall configuration of a molded product take-out machine 1 of the present embodiment and the mold of a resin molding machine. FIG. 2 is a side view showing the positional relationship of the attachment (24, 6) that has entered the mold in the open state of the molding machine, and FIG. 3 shows the mold by a broken line, and the attachment (24, 6) and the mold It is a perspective view which expands and shows a relationship.

  The molded product take-out machine 1 is a traverse-type molded product take-out machine, which is mounted on a stationary platen 101 of a molding machine having a movable platen 103 that is movably supported via four tie bars 102 with respect to the stationary platen 101. The base is supported. A movable mold 105 is attached to the movable platen 103, a fixed mold 109 is attached to the fixed platen 101, and a stripper plate 107 is present in the middle portion. The movable mold 105, the stripper plate 107, and the fixed mold 109 are guided by four guide rods 111.

  A molded product take-out machine 1 shown in FIG. 1 includes a transverse frame 3, a first traveling body 5, a drawing frame 7, a runner entry unit 8, and a molded product suction entry unit 9. The transverse frame 3 has a cantilever beam structure extending in the X direction that is orthogonal to the horizontal direction (Y direction) of the movable mold 105, stripper plate 107, and fixed mold 109 of the molding machine. The first traveling body 5 is supported by the transverse frame 3 and advances and retreats in the X direction along the transverse frame 3 using an AC servo motor included in the servo mechanism as a drive source. The drawing frame 7 is provided on the first traveling body 5 and extends in the Y direction parallel to the longitudinal direction of the molding machine. A runner entry unit 8 and a molded product suction entry unit 9 are supported on the drawing frame 7 so as to be movable in the Y direction using an AC servo motor included in the servo mechanism as a drive source.

  The runner entry unit 8 has a structure including an entry frame 19 ′ that enters the traveling body 17 ′ supported movably on the pull-out frame 7 in the Z direction. The traveling body 17 'is moved in the Y direction by an AC servomotor. The approach frame 19 ′ enters in the vertical direction (Z direction) by the drive source 18 ′. The approach frame 19 ′ includes a chuck 6 as an attachment for holding a runner to be discarded.

  Further, the traveling body 17 included in the molded product suction entry unit 9 is driven by the AC servo motor to move on the drawing frame 7 in the Y direction. The molded article suction entry unit 9 includes an entry frame 19 called an elevating frame that enters in the vertical direction (Z direction) by a drive source 18 and a reversing unit as a posture control device that rotates around the frame line of the entry frame 19. 21 and a take-out head 23 provided on the reversing unit 21. In the present embodiment, the reversing unit 21 and the take-out head 23 constitute an attachment 24.

  Moreover, in this Embodiment, the electromagnetic actuator 25 is attached to the inversion unit 21 of the attachment 24 via the extension rod 26 which has rigidity. The rigidity of the extension rod 26 is such that most of the vibration of the electromagnetic actuator 25 can be transmitted to the reversing unit 21 without itself greatly vibrating due to the vibration of the electromagnetic actuator 25. As shown in FIG. 3, in the present embodiment, the extension rod 26 includes an extension part 26 </ b> A extending in the X direction and an extension part 26 </ b> B extending upward in the Z direction along the entry frame 19. The length of the extension 26B is such that the electromagnetic actuator 25 is located outside the movable mold 105 and the stripper plate 107 in a state where the attachment 24 enters between the movable mold 105 and the stripper plate 107 constituting the mold of the molding machine. The length is set. In the present embodiment, an acceleration sensor 27 is attached to the mover of the electromagnetic actuator 25.

  As described above, the extension rod 26 has one end connected to the reversing unit 21 of the attachment 24 that has entered between the movable mold 105 in the open state of the molding machine and the stripper plate 107, and the other end on the outside of the mold in the open state. Is extended. An electromagnetic actuator 25 is attached to the other end of the extension rod 26. Therefore, according to the present embodiment, the extension rod 26 is used to dispose the electromagnetic actuator 25 outside the mold, and the extension rod is connected to the take-out head 23 via the reversing unit 21 between the movable mold 105 and the stripper plate 107. The vibration necessary for the active control can be applied through the control unit 26. Therefore, according to the present embodiment, active control can be executed using the electromagnetic actuator 25 without changing the opening dimension of the mold.

<Configuration of active vibration suppression device>
The molded product take-out machine 1 of the present embodiment includes an active vibration suppressing device 31 shown in FIG. 4 in a control unit not shown in FIG. The active vibration suppressing device 31 is fixed to the other end of the extension rod 26 attached to the reversing unit 21 in order to suppress the vibration in the horizontal direction of the displacement vibration detecting unit 33, the phase correcting unit 34, and the attachment 24. An electromagnetic actuator 25, an additional vibration detection unit 35, and a drive signal generation unit 37 are provided. The electromagnetic actuator 25 can apply vibration to the attachment 24. In particular, if the electromagnetic actuator 25 is an electromagnetic actuator, it can generate vibration with an arbitrary power and an arbitrary frequency. In this embodiment, an electromagnetic actuator manufactured by Symphonia Technology Co., Ltd. with a product number of RM040-021 is used. In the present embodiment, the attachment 24 is constituted by the reversing unit 21 attached to the entry frame 19 and the take-out head 23 attached to the reversing unit 21, so that the electromagnetic actuator 25 is attached to the extension rod 26 as described above. Is attached to the reversing unit 21. This is because the extension rod 26 and the reversing unit 21 have predetermined rigidity, so that vibration can be effectively suppressed. The electromagnetic actuator 25 is mounted so that the vibration direction generated by the electromagnetic actuator 25 is the horizontal direction (Y direction or X direction) in order to suppress the vibration in the horizontal direction (Y direction or X direction). In order to suppress vibration in the vertical direction (Z direction), the electromagnetic actuator may be attached so that the vibration direction generated by the electromagnetic actuator is in the vertical direction (Z direction).

  In the present embodiment, the displacement vibration detection unit 33 outputs a displacement vibration detection signal S1 including information on the displacement vibration frequency component proportional to the displacement vibration of the attachment 24 in the horizontal direction (Y direction). The displacement vibration includes a plurality of vibration frequency components based on primary vibration, secondary vibration, and the like generated by the operation of the entry frame 19 and the attachment 24. The vibration frequency component included in the displacement vibration varies depending on the structure of the transport mechanism provided between the AC servo motor 13 and the entrance frame 19. In the present embodiment, the displacement vibration detection unit 33 moves the approach frame 19 in the horizontal direction (Y direction), the motor current signal of the servo motor 13 in the servo mechanism, the torque signal of the motor, the motor current signal, or the motor 13. A signal proportional to the torque signal is output as a displacement vibration detection signal proportional to the displacement vibration. The attachment 24 of the molded product take-out machine needs to enter between the two molds of the molding machine. Therefore, when the electromagnetic actuator 25 is to be mounted on the attachment 24, there is a limit to the increase in size, and there is a margin for arranging a sensor for detecting the movement of the attachment 24 with the electromagnetic actuator 25 mounted in the vicinity of the mold of the molding machine. Almost no. For these reasons, the inventor has considered placing the electromagnetic actuator 25 outside the mold using the extension rod 26 in order to provide active control to suppress vibration of the attachment 24.

  Further, the inventor who studied the application of active control to a molded product take-out machine places a sensor for measuring vibrations in the horizontal direction or the vertical direction on the attachment 24, or sets the horizontal direction of the take-out head around the mold of the molding machine. Even if a sensor for measuring the vibration of the motor is not provided, the motor current signal of the servo mechanism or the motor torque signal, the motor current signal, or the motor torque signal in the servo mechanism for moving the approach frame horizontally or vertically is proportional. It was found that a displacement vibration frequency component proportional to the displacement vibration of the attachment 24 in the horizontal direction or the vertical direction is included in the signal.

  Therefore, in the present embodiment, the displacement vibration detection unit 33 causes the motor current signal, the motor torque signal, the motor current signal, or the motor current of the servo motor 13 in the servo mechanism that moves the approach frame 19 in the horizontal direction (Y direction). A signal proportional to the torque signal is detected as a displacement vibration detection signal S1. If the information of the displacement vibration frequency component is obtained from this signal S1, it is not necessary to provide a special sensor around the attachment 24 or the mold of the molding machine for detecting the vibration in the horizontal direction (Y direction) of the attachment 24. . As a result, it has become more realistic to introduce active control in the molded product take-out machine. In the present embodiment, in order to positively suppress vibration in the horizontal direction (Y direction) of the entry frame 19, the displacement vibration detection unit 33 receives a motor current signal or an output from the output of the motor driving amplifier 12 of the servo motor 13. The torque signal is acquired. However, in order to suppress the vertical vibration of the entry frame 19, the motor actuator 25 is driven by obtaining a motor current signal or torque signal from the output of the motor drive amplifier of the motor that moves the entry frame 19 in the vertical direction. That's fine. In this case, the mounting position of the electromagnetic actuator 25 may be changed so that the vibration generated by the electromagnetic actuator 25 is directed in the vertical direction. As will be described later, the attachment 24 includes a first electromagnetic actuator that suppresses vibration in the Y direction, a second electromagnetic actuator that suppresses vibration in the X direction, and a third electromagnetic actuator that suppresses vibration in the Z direction. It can also be implemented.

  FIG. 5A shows a vibration waveform A measured by a laser displacement meter (a laser displacement meter sold by Keyence Co., Ltd. under the product name IL-S100) and the servomotor 13 during the pulling operation. It is the wave form diagram displayed so that it could contrast with the torque command waveform B of. Incidentally, the torque command waveform B is extracted from the torque command output terminal of the servo amplifier sold by Fuji Electric Co., Ltd. under the trade name RYT201D5-LS2-Z25. Comparing waveform A and waveform B, although there is a phase shift, it can be seen from the peak value that both waveforms A and B are in a proportional relationship. This is as shown in FIG. It was also confirmed by plotting the absolute value of the torque command waveform and the absolute value of the output of the laser displacement meter. It has been confirmed that this relationship also appears in the motor current signal of the motor. When attention is paid to the first peak and the second peak of both waveforms, it can be seen that both waveforms have a rise deviation (advance) of 0.03 to 0.04 seconds.

  The phase correction unit 34 corrects the phase shift of the displacement vibration detection signal S1 output from the displacement vibration detection unit 33 based on phase shift information obtained in advance, and generates a corrected displacement vibration detection signal S1 ′. There is a phase shift between the displacement vibration detection signal S1 and the actual displacement vibration due to various factors such as the configuration of the displacement vibration detection unit 33. In the case of the molded product take-out machine, once the setting is made, the shape and weight of the attachment 24 and the molded product to be taken out do not change. Therefore, this phase shift can be obtained in advance by prior measurement before starting the take-out operation. Therefore, in the present embodiment, the phase shift of the displacement vibration detection signal S1 is corrected based on the phase shift information obtained in advance to generate a corrected displacement vibration detection signal S1 ′, thereby preventing the occurrence of oscillation based on the phase shift.

  The additional vibration detection unit 35 detects the additional vibration in the horizontal direction (Y direction) generated by the electromagnetic actuator 25 itself, and outputs an additional vibration detection signal S2 ′ including information on the additional vibration frequency component of the additional vibration. When the vibration control operation is performed by operating the electromagnetic actuator 25 using only the corrected displacement vibration detection signal S1 ′, the horizontal additional vibration frequency component of the electromagnetic actuator 25 itself is included in the displacement vibration frequency component. . However, if this additional vibration frequency component is not also taken into consideration, vibration suppression using the electromagnetic actuator 25 cannot be realized quickly and without oscillation. In the present embodiment, an acceleration sensor 27 that is attached to the mover of the electromagnetic actuator 25 and detects the acceleration of the mover is used as the additional vibration detection unit 35. Currently, as the acceleration sensor 27, for example, a semiconductor acceleration sensor can be used. A semiconductor acceleration sensor having a size that can be mounted on the mover is sold. In this embodiment, an acceleration sensor sold by Kionix, Inc. under the product name KXR94-2050 is used.

  The drive signal generation unit 37 generates vibration in the horizontal direction (Y direction) of the attachment 24 based on the displacement vibration frequency component included in the corrected displacement vibration detection signal S1 ′ and the additional vibration frequency component included in the additional vibration detection signal. A drive signal necessary for active control of the electromagnetic actuator 25 is generated so as to be suppressed. In some cases, it is not possible to suppress vibration by using only a drive signal for driving an actuator generated based only on the displacement vibration detection signal S1 including information on the displacement vibration frequency component. This is because the additional vibration (additional vibration frequency component) generated due to the vibration of the actuator itself is included in the displacement vibration frequency component. Therefore, the addition of the vibrator of the electromagnetic actuator 25 that generates the vibration for suppressing the vibration in the horizontal direction of the attachment 24 from the corrected displacement vibration detection signal S1 ′ obtained by correcting the phase of the detection signal S1 including information on the displacement vibration frequency component. The drive signal Sa generated by removing the additional vibration detection signal S2 ′ proportional to the velocity obtained by integrating the acceleration signal S2 of the acceleration sensor 27 including information on the additional vibration frequency component due to vibration is used. Thereby, the attenuation of the additional vibration can be increased to prevent oscillation, and the active control using the electromagnetic actuator 25 becomes more effective. As a result, the vibration of the attachment 24 can be reliably suppressed in a shorter time than before.

  FIG. 6 is a diagram showing a configuration and a process for generating the drive signal Sa of the electromagnetic actuator together with waveforms. As shown in FIG. 6, the drive signal generation unit 37 includes a first gain adjustment unit 37A, a second gain adjustment unit 37B, and a calculation unit 37C. The first gain adjustment unit 37A adjusts the gain of the corrected displacement vibration detection signal S1 ′ output from the phase correction unit 34. The second gain adjustment unit 37B adjusts the gain of the additional vibration detection signal S2 ′ output from the additional vibration detection unit 35. The first gain adjustment unit 37A and the second gain adjustment unit 37B adjust the difference in dimension and amplitude between the corrected displacement vibration detection signal S1 ′ and the additional vibration detection signal S2 ′ to enable calculation. Then, the calculation unit 37C performs an additional vibration whose gain is adjusted from the corrected displacement vibration detection signal S1 ′ whose gain has been adjusted as a calculation for reducing or eliminating the influence of the additional vibration frequency component generated by the additional vibration of the actuator included in the displacement vibration frequency component. An operation for removing the detection signal S2 'is executed. When the polarity of the output of the acceleration sensor 27 is negative, the addition operation is performed by the calculation unit 37C.

  The active vibration suppression device 31 is preferably always in an operating state when the molded product take-out machine is in an operating state. In this way, vibration of the attachment 24 is always suppressed, so that the molded product can be taken out without being deformed, and it is possible to prevent the molded product that has not been completely cured after being taken out by the take-out head from being deformed. Further, the active vibration suppressing device 31 can perform the operation of taking out the molded product by the attachment 24 at an early stage and reliably if at least the attachment 24 is in an operating state when stopping in the mold of the molding machine.

  Furthermore, the active vibration suppression device 31 may be in an operating state when the attachment 24 performs a stop operation at the molded product release position. In this way, it is possible to prevent deformation of the molded product that has not been completely cured.

<Result of feedback control>
Hereinafter, the result of confirming the effect of feedback control in the active vibration suppressing device used in the present embodiment will be described with reference to FIGS. First, in FIG. 7, X0 indicates a result when active control is not performed, X1 indicates an active control result using the output of the laser position sensor as a displacement vibration detection signal, and X2 indicates the present embodiment. The active control result using the corrected displacement vibration detection signal S1 ′ obtained by correcting the phase shift (advance) of 0.02 seconds by using the torque signal waveform S1 as the displacement vibration detection signal is shown. The settling time is the time from when the target position is reached until the vibration amplitude of the reversing unit 21 falls within ± 0.1 mm. From this result, according to the present embodiment, it was confirmed that the same vibration damping effect as that obtained when the laser displacement meter was used was obtained.

  FIG. 8 shows a test result obtained by adding the vibration suppression result X3 when the phase correction is not performed to the result of FIG. From these test results, it was confirmed that the settling time can be suppressed within 0.2 seconds by adding phase correction.

  FIGS. 9A and 9B show a perspective view and a cross-sectional view of an example of an electromagnetic actuator 25 ′ that can be used in the present embodiment. In this electromagnetic actuator 25 ', a mover 25'B is disposed at the center of a cylindrical stator 25'A, and the mover 25'B is supported on the stator 25'A by three leaf springs 25'C. Has a structured. The operating range of the mover 25′B is regulated by the stopper 25′D. This electromagnetic actuator 25 'operates on the same principle as a so-called cylindrical linear motor. The stator 25'A is fixed to the take-out head, and the vibration of the mover 25'B is transmitted to the stator 25'A, whereby active control is performed. The aforementioned acceleration sensor 27 is attached to the mover 25′B.

<Other examples of displacement vibration detector>
The displacement vibration detection unit 33 can be configured to output a displacement feedback signal of the servo motor 13 in the servo mechanism that moves the entry frame 19 or a signal proportional to the displacement feedback signal as a displacement vibration detection signal. The displacement feedback signal is obtained by integrating the “feedback speed” that can be obtained from an off-the-shelf servo amplifier. For example, p. Of the user's manual for servo amplifiers sold under the trademark ALPHA5 by Fuji Electric Systems Co., Ltd. In the state display block diagram shown in 14-2, it is shown that the "return speed" can be output.

  FIG. 10 is a waveform diagram used to explain that the displacement feedback signal obtained by integrating the “feedback speed” is proportional to the motor torque. The waveform in FIG. 10 shows the output of the “feedback speed” of the servo amplifier ALPHA5 manufactured and sold by Fuji Electric Systems Co., Ltd., and the displacement feedback signal derived by adding time advance compensation (40 ms) to the integration result. This is shown along with the waveform of the motor torque of the servo motor driven by the amplifier. 40 ms of time advance compensation means that the phase of the integral value is delayed by the advance time obtained from the prior measurement. As is clear from FIG. 10, since the displacement feedback signal has the same phase as the motor torque, the displacement feedback signal can also be used as a displacement vibration detection signal, similar to the motor torque described above.

<Other examples of additional vibration detection unit>
In the above embodiment, the acceleration sensor 27 is used as the additional vibration detection unit 35. However, the additional vibration detection unit 35 can be configured without using an acceleration sensor, like the displacement vibration detection unit 33. That is, the additional vibration detection unit 35 detects a signal proportional to the counter electromotive force generated when power proportional to the drive signal is input to the electromagnetic actuator, and outputs a signal proportional to the counter electromotive force as an additional vibration detection signal. It can be constituted as follows.

<Operation period>
The active vibration suppressing device 31 is provided before the molded product is opened at the molded product release position from before the molded product is taken out from the mold using the attachment 24 provided in the entry frame 19 or before the insert component is inserted into the mold. It is preferable to perform active control during the period. If it does in this way, taking-out of a molded product and insertion of insert parts will become quick, and it can prevent effectively that a molded product deform | transforms by the vibration added before hardening.

  The active vibration suppression device 31 may be in an operating state when the attachment 24 performs a stop operation at the molded product release position. In this way, it is possible to prevent deformation of the molded product that has not been completely cured.

<Second Embodiment>
FIG. 11 (A) is a schematic perspective view of a second embodiment of the molded product take-out machine of the present invention, and FIG. 11 (B) is an attachment (24, 6) that has entered the mold in the open state of the molding machine. FIG. 11C is a perspective view showing the relationship between the attachments (24, 6) and the mold in an enlarged manner. 11A to 11C, the same components as those of the molded product take-out machine according to the first embodiment shown in FIGS. 1 to 3 are attached to FIGS. The same reference numerals as those in FIG. The second embodiment is different from the first embodiment in that although the guide 111A exists between the stripper plate 107 and the fixed mold 109 constituting a part of the mold of the molding machine, the molding machine The four guides 111B located between the movable mold 105 and the stripper plate 107 constituting a part of the mold are divided, and the movable mold 105 and the stripper plate 107 are connected by the four guides 111B. And the extension 26'A of the extension rod 26 'extends in the X direction and doubles as an extension (corresponding to 26B in FIG. 1). In the present embodiment, since the guide 111B is divided, even when the extension rod 26 'is extended in the X direction, the extension rod 26' Will not be an obstacle.

<Third Embodiment>
FIG. 12 (A) is a schematic perspective view of a third embodiment of the molded product take-out machine of the present invention, and FIGS. 12 (B) and (C) show the molds with thin lines, and attachments (24, 6) and It is a perspective view which expands and shows the relationship with a type | mold. FIG. 13 is a perspective view showing a state where the molded product is opened. 12A to 12C, the same components as those of the molded product take-out machine according to the first embodiment shown in FIGS. 1 to 3 are attached to FIGS. The same reference numerals as those in FIG. The second embodiment is different from the first embodiment in that one end of the extension rod 26 ′ is directly attached to the take-out head 23 ′ and the extension rod 26 ′ is different from the first embodiment. There is no portion corresponding to the extending portion 26A of the embodiment, and the extending portion 26′B extends in the Z direction. In the present embodiment, one end of the extension rod 26 is attached corresponding to the portion used only for the insert of the take-out head 23 ', and the electromagnetic actuator 25 is disposed on the other end of the extension rod 26'. According to this configuration, since the vibration of the electromagnetic actuator 25 is transmitted via the extension rod 26 ′ to the portion of the take-out head 23 ′ where vibration is required to be suppressed, the active control can be utilized more effectively. .

<Fourth embodiment>
FIG. 14 (A) is a schematic perspective view of a fourth embodiment of the molded product take-out machine of the present invention, and FIG. 14 (B) is an attachment (24, 6) that has entered the mold in the open state of the molding machine. FIG. 14C is a perspective view showing the relationship between the attachments (24, 6) and the mold in an enlarged manner. 14A to 14C, the same components as those of the molded product take-out machine according to the second embodiment shown in FIGS. 11A to 11C are shown in FIG. ) To (C) are denoted by the same reference numerals and description thereof is omitted. The fourth embodiment is different from the second embodiment in that one end of the extension rod 26 'is attached to the take-out head 23'.

<Contrast of the first, second and fourth embodiments>
FIG. 15A shows the mold opening amount when the extension rod is not used, FIG. 15B shows the mold opening amount of the first embodiment, and FIG. 15C shows the second embodiment. The mold opening amount of a form is shown, FIG.15 (D) has shown the mold opening amount of 4th Embodiment. It can be seen from these figures that the amount of mold opening can be reduced by using the extension rods 26 and 26 'as in the present invention. The smaller the mold opening amount, the faster the molding cycle of one molded product.

<Fifth embodiment>
FIG. 16A is a schematic perspective view of the fifth embodiment, and FIG. 16B is an enlarged view of a main part of the fifth embodiment. 16A and 16B, the same reference numerals as those in FIG. 1 are used for the same components as those of the molded product take-out machine according to the first embodiment shown in FIGS. The reference numeral with a dash (') or a double dash (") is added to the reference numeral. In this embodiment, the movable mold 105' in which the entrance frame 19" moves in the horizontal direction and forms the mold of the molding machine. And a so-called side entry type molded product take-out machine that allows the attachment 24 'to enter the fixed mold 109'. The fifth embodiment differs from the first embodiment in that there is no traversing frame, and an approach frame 19 that is movably supported by a traveling body 17 ′ that is movably mounted on the pull-out frame 7 ′. "Is a point that moves in the horizontal direction (Y direction). In the present embodiment, one end of the extension rod 26 'is attached to the reversing unit 21' of the attachment 24 ', and the electromagnetic actuator 25 is attached to the other end. As in this embodiment, even when the entry frame 19 ″ is entered into the mold of the molding machine from the horizontal direction (lateral direction), the electromagnetic actuator 25 provided on the extension rod 26 ′ is operated to perform active control. If there is no need to place the electromagnetic actuator 25 in the movable mold 105 ′ and the fixed mold 109 ′ of the molding machine, the mold opening amount can be reduced and the molding cycle can be accelerated. The

<Sixth Embodiment>
FIG. 17A is a schematic perspective view of the sixth embodiment, and FIG. 17B is an enlarged view of a main part of the sixth embodiment. 17A and 17B, the same reference numerals as those in FIG. 1 are used for the same components as those of the molded product take-out machine according to the first embodiment shown in FIGS. In the present embodiment, the entrance frame 19 "moves in the horizontal direction and is attached to the inside of the movable mold 105" and the fixed mold 109 "of the molding machine. This is a so-called vertical molding machine take-out machine for 24 ″. The sixth embodiment is different from the first embodiment in that the entrance frame 19 ″ is in the horizontal direction (Y direction). It is a point to move to. In the present embodiment, one end of the extension rod 26 ″ is attached to the reversing unit 21 ″ of the attachment 24 ″, and the electromagnetic actuator 25 is attached to the other end. As in this embodiment, the entry frame 19 ″ is attached. Even when entering the mold of the molding machine from the horizontal direction (lateral direction), if the electromagnetic actuator 25 provided on the extension rod 26 ″ is operated to perform active control, the movable mold 105 ″ and the fixed mold 109 of the molding machine are used. Since it is not necessary to dispose the electromagnetic actuator 25 inside the mold, the mold opening amount can be reduced and the molding cycle can be accelerated.

<Modification>
In the first to sixth embodiments, one electromagnetic actuator is mounted in order to suppress vibration in one direction, but the present invention can be applied in two or three directions that affect the deformation of the molded product. If active control using a plurality of electromagnetic actuators is employed to suppress vibration, active control can be applied to suppress vibration in three directions.

  In each of the above embodiments, the present invention is applied to the entry frame 19 of the molded article suction entry unit 9. However, the present invention may also be applied to vibration suppression of the entry frame 19 ′ of the runner entry unit 8. Of course.

  According to the present invention, the electromagnetic actuator can be arranged outside the mold using the extension rod, and the vibration necessary for active control can be applied to the attachment in the mold via the extension rod. The active control can be executed using the electromagnetic actuator without change, and the molding cycle can be accelerated even when the active control is performed.

DESCRIPTION OF SYMBOLS 1 Mold take-out machine 3 Traverse frame 5 Traveling body 6 Nipper 7 Pull-out frame 8 Runner entry unit 9 Molded article suction entry unit 11 AC servo motor 12 Motor drive amplifier 13 AC servo motor 15 Belt 17, 17 'Running body 18 Drive source 19, 19 'approach frame 21 reversing unit 23 take-out head 24 attachment 25 electromagnetic actuator 26 displacement sensor 27 acceleration sensor 28 acceleration sensor 31 active vibration suppression device 33 displacement vibration detection unit 34 phase correction unit 35 additional vibration detection unit 37 drive signal Generator

Claims (9)

An attachment at the tip of one or more approach frames controlled by a positioning servo mechanism using a motor;
A molded product take-out machine provided with an active vibration suppression device that performs active control to suppress the displacement vibration of the attachment in addition to the displacement vibration of the attachment from one or more actuators to the attachment,
The one or more actuators comprise one or more electromagnetic actuators;
One end is connected to the attachment that has entered the mold in the open state of the molding machine, and an extension rod is provided with the other end extending to the outside of the mold in the open state.
The molded product take-out machine, wherein the one or more electromagnetic actuators are attached to the other end of the extension rod.   The one or more entry frames are used to take out a molded product from a mold of the molding machine or use the entry frame having the attachment to which an insert part to be inserted into the mold is mounted, and the entry frame. The molded product takeout machine according to claim 1, further comprising another entry frame provided with the attachment used to separate a waste part from the molded product taken out.   The one or more electromagnetic actuators have a Z direction as a direction in which the entry frame enters, a Y direction as a direction perpendicular to the Z direction and the attachment approaches or moves away from the molded product in the mold, 3. The molded product take-out according to claim 1, further comprising a first electromagnetic actuator that suppresses at least the displacement vibration in the Y direction when a direction orthogonal to the Z direction and the Y direction is defined as the X direction. Machine. The one or more electromagnetic actuators have a Z direction as a direction in which the entry frame enters, a Y direction as a direction perpendicular to the Z direction and the attachment approaches or moves away from the molded product in the mold, A first electromagnetic actuator that suppresses the displacement vibration in the Y direction when a direction orthogonal to the Z direction and the Y direction is defined as an X direction;
The molded product takeout machine according to claim 1, further comprising a second electromagnetic actuator that suppresses the displacement vibration in the X direction. The one or more electromagnetic actuators have a Z direction as a direction in which the entry frame enters, a Y direction as a direction perpendicular to the Z direction and the attachment approaches or moves away from the molded product in the mold, A first electromagnetic actuator that suppresses the displacement vibration in the Y direction when a direction orthogonal to the Z direction and the Y direction is defined as an X direction;
3. The molded product take-out machine according to claim 1, further comprising a second electromagnetic actuator that suppresses the displacement vibration in the X direction and a third electromagnetic actuator that suppresses the displacement vibration in the Z direction. The attachment includes a posture control device having a take-out head,
The molded product take-out machine according to any one of claims 1 to 5, wherein the one end of the extension rod is fixed to the attitude control device. The attachment includes a posture control device having a take-out head,
The molded product takeout machine according to any one of claims 1 to 5, wherein the one end of the extension rod is fixed to the takeout head.   The active vibration suppressing device may be configured to remove the molded product from the open mold using the attachment included in the entry frame or before an insert part is inserted into the open mold. The molded product take-out machine according to claim 1, wherein the active control is performed until the product is opened at a molded product release position. The motor of the servo mechanism for moving the entry frame is an AC servo motor,
The molded product take-out machine according to any one of claims 1 to 8, wherein a belt-type, rope-type, or carriage-type conveyance mechanism is provided between the AC servo motor and the entry frame.

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