JP2010110863A

JP2010110863A - Vacuum suction device and molded article ejector with vacuum suction device

Info

Publication number: JP2010110863A
Application number: JP2008285961A
Authority: JP
Inventors: Shuichi Ito; 秀一伊藤
Original assignee: Yushin Precision Equipment Co Ltd; Yushin Seiki KK
Current assignee: Yushin Precision Equipment Co Ltd; Yushin Seiki KK
Priority date: 2008-11-06
Filing date: 2008-11-06
Publication date: 2010-05-20
Anticipated expiration: 2028-11-06
Also published as: JP4779004B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vacuum suction device reducing an amount of energy consumption by vacuum means through simple control without performing pressure setting for the actuation and stop of the vacuum means for each molded article, and preventing the drop of the molded article. <P>SOLUTION: This vacuum suction device includes a vacuum means making vacuum pressure act on a suction member, a pressure retaining valve making the vacuum means and the suction member communicated or cutting off the communication, a pressure detector detecting the pressure in the suction member via piping, and a control means controlling the actuation of the vacuum means and the pressure retaining valve. The control means executes control for opening the pressure retaining valve and actuating the vacuum means, and when the pressure detected by the pressure detector is constant for a prescribed time when the workpiece is sucked by the suction member, it executes control for closing the pressure retaining valve and stopping the actuation of the vacuum means. Then, when the pressure detected by the pressure detector is reduced by a certain amount of width, it executes control for opening the pressure retaining valve, and actuating the vacuum means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、成形機で成形された成形品等のワークを吸着して移動させるために用いられる真空吸着装置、及び、この真空吸着装置を備えた成形品取出機に関するものである。 The present invention relates to a vacuum suction device used for sucking and moving a workpiece such as a molded product molded by a molding machine, and a molded product take-out machine including the vacuum suction device.

従来の成形品取出機としては、例えば、吸着部材を有する吸着ヘッドを成形機の金型から成形機外の開放位置まで移動させるアーム機構部と、前記吸着部材内を真空（負圧）にする真空吸着装置とを備えるものが知られている（例えば特許文献１参照）。 As a conventional molded product take-out machine, for example, an arm mechanism that moves a suction head having a suction member from a mold of the molding machine to an open position outside the molding machine, and a vacuum (negative pressure) inside the suction member. What is provided with a vacuum suction apparatus is known (for example, refer patent document 1).

この種の成形品取出機は、成形機に付設されており、アーム機構部を作動させて、吸着ヘッドを待機位置から成形機の金型内に進入させて吸着ヘッドにより成形品を吸着保持するようになっている。そして成形品取出機は、続いて、成形品を吸着したままの吸着ヘッドを成形機外の開放位置まで移動させ、開放位置で吸着ヘッドの成形品の吸着保持を解除し、その後、吸着ヘッドを元の待機位置に復帰移動させる動作を行う。 This type of molded product take-out machine is attached to the molding machine, operates the arm mechanism section, enters the suction head into the mold of the molding machine from the standby position, and sucks and holds the molded product by the suction head. It is like that. Then, the molded product take-out machine moves the suction head that has sucked the molded product to the open position outside the molding machine, releases the suction holding of the molded product of the suction head at the open position, and then removes the suction head. An operation of returning to the original standby position is performed.

一方、成形品取出機に備える真空吸着装置は、例えば、圧縮空気供給源と配管接続すると共に吸着ヘッドの吸着部材とも配管接続する真空発生器と、圧縮空気供給源と真空発生器との間の配管に設けられ、圧縮空気の真空発生器への流通を遮断可能とする切換弁とを備えるものがある。 On the other hand, the vacuum suction device provided in the molded product take-out machine is, for example, a vacuum generator that is connected to a compressed air supply source and connected to a suction member of the suction head, and a space between the compressed air supply source and the vacuum generator. Some are provided with a switching valve that is provided in the pipe and that can block the flow of compressed air to the vacuum generator.

このような真空吸着装置は、吸着ヘッドを金型内に進入させる所定タイミングで切換弁を開いて真空発生器を作動させ、吸着ヘッドの吸着部材を成形品に接触させることにより吸着部材内を真空状態にして、吸着部材により成形品を吸着するようになっている。 Such a vacuum suction device opens the switching valve at a predetermined timing for allowing the suction head to enter the mold and operates the vacuum generator to bring the suction member of the suction head into contact with the molded product, thereby vacuuming the suction member. In this state, the molded product is adsorbed by the adsorbing member.

そして、吸着部材で成形品を吸着したまま、即ち、吸着部材内を真空状態に維持したまま、アーム機構部を作動させることにより、吸着ヘッドで保持された成形品を開放位置まで移動させることができる。吸着ヘッドが開放位置まで移動すると、切換弁を閉じて真空発生器を停止することにより成形品の吸着が解除されて、成形品が吸着ヘッドから離れる。このようにして、吸着部材によって成形品を吸着保持したまま成形品を成形機の金型から成形機外の開放位置まで移動させることができる。 Then, the molded product held by the suction head can be moved to the open position by operating the arm mechanism section while the molded product is sucked by the suction member, that is, while the inside of the suction member is maintained in a vacuum state. it can. When the suction head moves to the open position, the suction of the molded product is released by closing the switching valve and stopping the vacuum generator, and the molded product is separated from the suction head. In this way, the molded product can be moved from the mold of the molding machine to an open position outside the molding machine while the molded product is sucked and held by the suction member.

また、特許文献１に開示されている成形品取出機では、真空発生器と吸着部材間の配管に、配管での空気の流通を遮断可能とする圧力保持弁を設けるとともに、この圧力保持弁と吸着部材間の配管内圧力を検出して吸着部材内の負圧を検出する圧力検出器を設けている。 Moreover, in the molded product take-out machine disclosed in Patent Document 1, a pressure holding valve that can block the air flow in the pipe is provided in the pipe between the vacuum generator and the adsorption member. A pressure detector that detects the pressure in the pipe between the adsorbing members and detects the negative pressure in the adsorbing member is provided.

特許文献１の成形品取出機は、吸着部材に成形品が吸着されている状態のときに圧力検出器で検出される圧力が第１圧力設定値に達すると、圧力保持弁を閉状態にして吸着部材内の真空状態を保持させると共に、圧縮空気供給源と真空発生器との間の配管に設けた切換弁を閉状態にして真空発生器に対する圧縮空気の供給を遮断させるようになっている。 When the pressure detected by the pressure detector reaches the first pressure set value when the molded product is adsorbed on the adsorbing member, the molded product take-out machine of Patent Document 1 closes the pressure holding valve. While maintaining the vacuum state in the adsorption member, the switching valve provided in the piping between the compressed air supply source and the vacuum generator is closed to shut off the supply of compressed air to the vacuum generator. .

また、特許文献１の成形品取出機は、圧力検出器で検出される圧力が第１圧力設定値よりも高い（真空度が低い）第２圧力設定値になったときには、圧力保持弁を開状態にすると共に切換弁を開状態にして真空発生器に圧縮空気を供給し、吸着部材内の真空度を上げて、吸着部材の吸着力を上げるようになっている。 Further, the molded product take-out machine of Patent Document 1 opens the pressure holding valve when the pressure detected by the pressure detector becomes a second pressure set value that is higher than the first pressure set value (low vacuum). At the same time, the switching valve is opened and compressed air is supplied to the vacuum generator to increase the degree of vacuum in the adsorption member, thereby increasing the adsorption force of the adsorption member.

このように、特許文献１に開示されている成形品取出機では、成形品の取出動作を行なうために、真空発生器により吸着部材内を真空引きして成形品を吸着する際に、切換弁及び圧力保持弁を断続的に閉状態にするようにしている。その結果、特許文献１の成形品取出機は、吸着部材内を真空状態に維持したまま、圧縮空気供給源から真空発生器への圧縮空気の供給を断続的に遮断することができるので、圧縮空気の消費量を低減して真空発生に要するエネルギー消費を低減することができる。
特開２００６−６８９７１号公報 As described above, in the molded product take-out machine disclosed in Patent Document 1, in order to perform the molded product take-out operation, when the molded product is sucked by vacuuming the suction member by the vacuum generator, a switching valve is used. The pressure holding valve is intermittently closed. As a result, the molded product take-out machine of Patent Document 1 can intermittently cut off the supply of compressed air from the compressed air supply source to the vacuum generator while maintaining the inside of the adsorption member in a vacuum state. It is possible to reduce energy consumption required for generating a vacuum by reducing air consumption.
JP 2006-68971 A

しかしながら、上述した成形品取出機は、切換弁及び圧力保持弁の開閉動作を行なうために、第１圧力設定値と第２圧力設定値を設定している。これら設定値は、吸着部材による成形品の吸着を確実にするために、作業者が成形品の形状・大きさ等に応じて成形品毎に設定を変更する必要があり、作業者による圧力設定の作業が煩雑となる。 However, the above-described molded product take-out machine sets the first pressure set value and the second pressure set value in order to open and close the switching valve and the pressure holding valve. These settings must be changed by the operator for each molded product according to the shape and size of the molded product in order to ensure that the molded product is attracted by the suction member. Work becomes complicated.

本発明は、前記事情に鑑みてなされたものであり、真空手段によるエネルギー消費量を軽減するために吸着部材によりワークを吸着した状態で真空手段を断続的に停止させる場合であっても、真空手段の作動及び停止を行なうための圧力設定をワークとなる成形品毎に行なうことなく、簡単な制御でワークに対して吸着状態を適切に検出してワークの落下を防止できる真空吸着装置及び真空吸着装置を備える成形品取出機を提供することを目的とする The present invention has been made in view of the above circumstances, and in order to reduce the energy consumption by the vacuum means, even when the vacuum means is intermittently stopped in a state where the work is adsorbed by the adsorption member, Vacuum suction device and vacuum that can appropriately detect the suction state with respect to the workpiece and prevent the workpiece from falling by simple control without setting the pressure for operating and stopping the means for each molded product as the workpiece The object is to provide a molded product take-out machine equipped with an adsorption device.

本発明に係る真空吸着装置は、ワークを吸着する吸着部材と、配管を介して前記吸着部材と接続され、前記吸着部材に真空圧を作用させる真空手段と、前記真空手段と前記吸着部材との間の配管に設けられ、前記真空手段と前記吸着部材との連通又は連通の遮断を行なう圧力保持弁と、前記圧力保持弁と前記吸着部材との間の前記配管内の圧力を検出する圧力検出器と、前記真空手段及び前記圧力保持弁の作動を制御する制御手段とを備えている。そして、本発明に係る真空吸着装置は、前記制御手段が、前記圧力保持弁を開き、前記真空手段を作動させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が所定時間一定となった場合には、前記圧力保持弁を閉じると共に前記真空手段の作動を停止させ、前記圧力保持弁を閉じ、かつ、前記真空手段を停止させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が前記圧力保持弁を開状態から閉状態としたときの圧力から一定幅低下した場合には、前記圧力保持弁を開くと共に前記真空手段を作動させる動作を繰り返すように構成されていることを特徴とする。 A vacuum suction device according to the present invention includes an adsorption member that adsorbs a workpiece, a vacuum unit that is connected to the adsorption member via a pipe and applies a vacuum pressure to the adsorption member, and the vacuum unit and the adsorption member. A pressure holding valve which is provided in a pipe between the vacuum means and the adsorbing member to communicate or block the communication; and a pressure detection which detects a pressure in the pipe between the pressure holding valve and the adsorbing member And a control means for controlling the operation of the vacuum means and the pressure holding valve. In the vacuum suction device according to the present invention, when the control means opens the pressure holding valve and operates the vacuum means, the pressure is absorbed by the suction member. When the pressure detected by the detector becomes constant for a predetermined time, the pressure holding valve is closed, the operation of the vacuum means is stopped, the pressure holding valve is closed, and the vacuum means is stopped. In the state, when the workpiece is adsorbed by the adsorption member, when the pressure detected by the pressure detector is reduced by a certain amount from the pressure when the pressure holding valve is changed from the open state to the closed state, The pressure holding valve is opened and the operation of operating the vacuum means is repeated.

本発明の真空吸着装置は、上記構成を有することにより、前記吸着部材でワークを確実に保持しながら、前記真空手段によりエネルギー消費量を軽減でき、しかも、前記吸着部材でワークを吸着している状態のときに、前記真空手段の断続的な作動制御及び前記圧力保持弁の断続的な開閉制御を作業者の負担なく簡単に行なうことができる。 The vacuum suction device of the present invention has the above-described configuration, so that the vacuum means can reduce energy consumption while the workpiece is securely held by the suction member, and the workpiece is sucked by the suction member. In this state, intermittent operation control of the vacuum means and intermittent opening / closing control of the pressure holding valve can be easily performed without burden on the operator.

本発明の真空吸着装置では、前記圧力保持弁を開いて前記真空手段を作動させているときに、前記圧力検出器で検出した圧力が所定時間一定となったときは、前記吸着部材内の真空状態が安定し、前記吸着部材によるワークの吸着が確実に行なわれていると判断できる。従って、本発明の真空吸着装置は、前記真空手段の作動を停止させ、かつ、前記圧力保持弁を閉じるタイミングを前記圧力検出器で検出した圧力が所定時間一定となったときとしている。そして、ワークの形状等によって前記吸着部材による安定した吸着力は異なるが、本発明の真空吸着装置は、前記吸着部材内の圧力が所定時間一定になったときを吸着力が安定したときと判断するので、前記真空手段の作動及び停止のための圧力設定値を作業者がワークの形状等に応じて設定する煩雑な作業を行なうことなく、前記真空手段の作動制御と前記圧力保持弁の開閉制御を簡単に行なうことができ、作業者の負担を軽減できる。 In the vacuum suction device of the present invention, when the pressure detected by the pressure detector becomes constant for a predetermined time when the pressure holding valve is opened and the vacuum means is operated, the vacuum in the suction member is It can be determined that the state is stable and the workpiece is reliably sucked by the suction member. Therefore, the vacuum suction apparatus of the present invention stops the operation of the vacuum means and closes the pressure holding valve when the pressure detected by the pressure detector becomes constant for a predetermined time. The stable suction force by the suction member varies depending on the shape of the workpiece, but the vacuum suction device of the present invention determines that the suction force is stable when the pressure in the suction member is constant for a predetermined time. Therefore, the operation control of the vacuum means and the opening and closing of the pressure holding valve can be performed without performing complicated work for the operator to set the pressure set value for the operation and stop of the vacuum means according to the shape of the workpiece. Control can be performed easily and the burden on the operator can be reduced.

そして、本発明の真空吸着装置では、前記圧力保持弁を閉じても、前記真空手段を停止させるので、前記吸着部材とワークとの間の微小な隙間等により空気が進入し、前記吸着部材内の圧力が徐々に上昇して真空度が低下していく。そのため、本発明の真空吸着装置では、前記吸着部材によるワークの吸着を確実に維持できる圧力の範囲として、前記圧力保持弁を閉じたときの圧力から一定幅低下した圧力、即ち、前記圧力保持弁を閉じたときの圧力に対して所定の圧力差を設定している。そして、本発明の真空吸着装置は、検出圧力がこの圧力差になったときに、前記圧力保持弁を開いて前記真空手段を作動させて、前記吸着部材内の真空度を上げるようにしている。 In the vacuum suction device of the present invention, even if the pressure holding valve is closed, the vacuum means is stopped, so that air enters through a minute gap between the suction member and the workpiece, and the inside of the suction member The pressure gradually increases and the degree of vacuum decreases. Therefore, in the vacuum suction device of the present invention, the pressure within a certain range from the pressure when the pressure holding valve is closed, that is, the pressure holding valve, as the pressure range in which the suction of the workpiece by the suction member can be reliably maintained, that is, the pressure holding valve A predetermined pressure difference is set with respect to the pressure when the is closed. In the vacuum suction device of the present invention, when the detected pressure becomes this pressure difference, the pressure holding valve is opened and the vacuum means is operated to increase the degree of vacuum in the suction member. .

このように本発明の真空吸着装置は、作業者がわざわざワークの形状等に応じて煩雑な圧力を設定する必要がなく、しかも、ワークの種類に係らず同じ圧力差で前記真空手段の再作動と前記圧力保持弁の開動作を自動的に制御することができるので、作業者の負担を軽減できる。 As described above, the vacuum suction device of the present invention does not require the operator to bother to set a complicated pressure depending on the shape of the workpiece, and the vacuum means can be restarted with the same pressure difference regardless of the type of workpiece. Since the opening operation of the pressure holding valve can be automatically controlled, the burden on the operator can be reduced.

また、本発明の真空吸着装置は、前記構成に加えて、前記真空手段が、圧縮空気供給源と、前記圧縮空気供給源から圧縮空気を供給して負圧を発生させる真空発生器と、前記圧縮空気供給源と前記真空発生器との間に設けられ、前記真空発生器への圧縮空気の供給及び遮断を行なう切換弁とを備える構成とすることが好ましい。 In addition to the above-described configuration, the vacuum suction device of the present invention includes a compressed air supply source, a vacuum generator that generates a negative pressure by supplying compressed air from the compressed air supply source, It is preferable to include a switching valve that is provided between the compressed air supply source and the vacuum generator and that supplies and shuts off the compressed air to the vacuum generator.

本発明の真空吸着装置は、このように前記真空手段が前記圧縮空気供給源、前記真空発生器及び前記切換弁を備える構成としているので、前記圧力検出器で検出した圧力値に基づいて前記切換弁と前記圧力保持弁の開閉動作を行うだけで、前記吸着部材内の真空度の制御を簡単に行なうことができる。さらに、本発明の真空吸着装置は、前記真空手段の消費エネルギーとして、圧縮空気供給源からの圧縮空気の消費量を低減することができる。 In the vacuum suction apparatus of the present invention, since the vacuum means includes the compressed air supply source, the vacuum generator, and the switching valve, the switching is performed based on the pressure value detected by the pressure detector. The degree of vacuum in the adsorption member can be easily controlled simply by opening and closing the valve and the pressure holding valve. Furthermore, the vacuum suction device of the present invention can reduce the consumption of compressed air from the compressed air supply source as the energy consumed by the vacuum means.

さらに、本発明に係る成形品取出機は、成形品を吸着する吸着部材を有する真空吸着装置と、前記吸着部材を成形機の金型から成形機外の開放位置まで移動させるアーム機構部とを備える成形品取出機であって、前記真空吸着装置は、配管を介して前記吸着部材と接続され、前記吸着部材に真空圧を作用させる真空手段と、前記真空手段と前記吸着部材との間の配管に設けられ、前記真空手段と前記吸着部材との連通又は連通の遮断を行なう圧力保持弁と、前記圧力保持弁と前記吸着部材との間の前記配管内の圧力を検出する圧力検出器と、前記真空手段及び前記圧力保持弁の作動を制御する制御手段とを備える。そして、本発明に係る成形品取出機は、前記制御手段が、前記圧力保持弁を開き、前記真空手段を作動させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が所定時間一定となった場合には、前記圧力保持弁を閉じると共に前記真空手段の作動を停止させ、前記圧力保持弁を閉じ、かつ、前記真空手段を停止させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が前記圧力保持弁を開状態から閉状態としたときの圧力から一定幅低下した場合には、前記圧力保持弁を開くと共に前記真空手段を作動させる動作を繰り返すように構成されている。 Furthermore, the molded product take-out machine according to the present invention includes a vacuum suction device having a suction member that sucks the molded product, and an arm mechanism that moves the suction member from a mold of the molding machine to an open position outside the molding machine. A molded product take-out machine comprising: the vacuum suction device connected to the suction member via a pipe, and a vacuum means for applying a vacuum pressure to the suction member; and between the vacuum means and the suction member A pressure holding valve which is provided in a pipe and which communicates or blocks communication between the vacuum means and the adsorption member; and a pressure detector which detects a pressure in the pipe between the pressure holding valve and the adsorption member; And a control means for controlling the operation of the vacuum means and the pressure holding valve. And the molded product take-out machine according to the present invention is configured such that when the control means opens the pressure holding valve and operates the vacuum means, the suction member sucks the workpiece. When the pressure detected by the pressure detector becomes constant for a predetermined time, the pressure holding valve is closed, the operation of the vacuum means is stopped, the pressure holding valve is closed, and the vacuum means is stopped. When the pressure is detected by the pressure detector while the workpiece is being sucked by the suction member in a state where the pressure holding valve is lowered from the pressure when the pressure holding valve is changed from the open state to the closed state, The operation for opening the pressure holding valve and operating the vacuum means is repeated.

本発明の成形品取出機は、上述した本発明の真空吸着装置を備えるので、前記真空手段の作動制御を簡単に行って、成形品を吸着した位置から吸着を解除する位置まで確実に前記吸着部材により成形品を吸着させることができ、しかも、前記真空手段によるエネルギー消費量を軽減できる。 Since the molded product take-out machine of the present invention is equipped with the above-described vacuum suction device of the present invention, the vacuum means is easily controlled so that the suction is reliably performed from the position where the molded product is sucked to the position where the suction is released. The molded product can be adsorbed by the member, and the energy consumption by the vacuum means can be reduced.

本発明によれば、前記真空手段の作動及び停止のための圧力設定をワーク毎に行なうことなく、簡単な制御で自動的に行なうことができる。従って、作業者に負担をかけず、前記真空手段によりエネルギー消費量を軽減することができる。 According to the present invention, the pressure setting for operating and stopping the vacuum means can be automatically performed by simple control without performing it for each workpiece. Therefore, energy consumption can be reduced by the vacuum means without placing a burden on the operator.

以下に、本発明の実施の形態について図面を参照しながら説明する。
図１に示すように、本実施の形態による成形品取出機１は、成形機５上に設置されて型開き後の金型５１から成形品を成形機操作盤５２のある側である操作側へ取出す装置である。図１に示す成形品取出機１は、いわゆるトラバース型であって、ＸＹＺ各軸のアーム２１，２２，２３よりなるアーム機構部２と、成形機５の成形品を吸着保持するための真空吸着装置３（図２参照）とを備える。 Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the molded product take-out machine 1 according to the present embodiment is installed on the molding machine 5, and the molded product is opened from the mold 51 after the mold is opened. It is a device to take out. The molded product take-out machine 1 shown in FIG. 1 is a so-called traverse type, and is a vacuum suction for holding the molded product of the molding machine 5 by suction and holding the arm mechanism part 2 composed of the arms 21, 22, 23 of each axis of XYZ. The apparatus 3 (refer FIG. 2) is provided.

アーム機構部２の上下方向に延びるアーム２３の下端部には、真空吸着装置３の一部を構成し成形品を吸着保持する吸着ヘッド３０が取り付けられており、この吸着ヘッド３０は成形品との接触面が円形の複数の吸着部材３１を備えている。成形品は、吸着部材３１に吸着されるようになっている。 A suction head 30 that constitutes a part of the vacuum suction device 3 and sucks and holds a molded product is attached to the lower end of the arm 23 that extends in the vertical direction of the arm mechanism unit 2. Are provided with a plurality of suction members 31 having a circular contact surface. The molded product is adsorbed by the adsorbing member 31.

そして、この成形品取出機１は、基本動作として、成形機５の金型５１が型開きされると、アーム機構部２を作動させることにより、図１に示す待機位置（Ａ）にある吸着ヘッド３０を金型５１内の成形品取出位置（Ｂ）まで進入させ、吸着部材３１を金型５１内の成形品に吸着させる。なお、この成形品取出位置（Ｂ）が吸着開始位置（Ｂ）となる。 And as this basic operation, when the mold 51 of the molding machine 5 is opened, the molded product take-out machine 1 operates the arm mechanism portion 2 to thereby attract the suction at the standby position (A) shown in FIG. The head 30 is advanced to the molded product removal position (B) in the mold 51, and the suction member 31 is attracted to the molded product in the mold 51. In addition, this molded article taking-out position (B) becomes the suction start position (B).

次に、成形品を吸着した状態の吸着ヘッド３０を金型５１外の成形品回収位置である所定の開放位置（Ｃ）まで移動させた後、成形品の吸着を解除して成形品を吸着ヘッド３０から開放させる。吸着ヘッド３０から成形品が開放されると、再度、吸着ヘッド３０を所定の待機位置（Ａ）に復帰させ、上述した成形品取出位置（Ｂ）において吸着ヘッド３０に成形品を吸着させて、開放位置（Ｃ）まで搬送するという動作を繰り返し行う。 Next, after moving the suction head 30 that has sucked the molded product to a predetermined open position (C) that is the molded product collection position outside the mold 51, the suction of the molded product is released and the molded product is sucked. The head 30 is released. When the molded product is released from the suction head 30, the suction head 30 is returned to the predetermined standby position (A) again, and the molded product is sucked to the suction head 30 at the molded product take-out position (B) described above, The operation of transporting to the open position (C) is repeated.

本実施の形態では、さらに、図２の真空吸着装置３のブロック図に示すように、真空吸着装置３は、吸着部材３１の他に、圧縮空気供給源３２と、切換弁３３と、真空発生器３４と、圧力保持弁３５と、圧力検出器３６と、真空制御部３７とを備える。圧縮空気供給源３２と切換弁３３、切換弁３３と真空発生器３４、そして、真空発生器３４と圧力保持弁３５は、それぞれ配管３８で接続されている。なお、本実施の形態では、圧縮空気供給源３２と切換弁３３と真空発生器３４とにより本願発明に係る真空手段を構成している。 In the present embodiment, as shown in the block diagram of the vacuum suction device 3 in FIG. 2, the vacuum suction device 3 includes the compressed air supply source 32, the switching valve 33, and the vacuum generation in addition to the suction member 31. A device 34, a pressure holding valve 35, a pressure detector 36, and a vacuum control unit 37 are provided. The compressed air supply source 32 and the switching valve 33, the switching valve 33 and the vacuum generator 34, and the vacuum generator 34 and the pressure holding valve 35 are connected by a pipe 38, respectively. In the present embodiment, the compressed air supply source 32, the switching valve 33, and the vacuum generator 34 constitute a vacuum means according to the present invention.

本実施の形態では、アーム２３の下端に取り付けられた板状の吸着ヘッド３０に成形品を吸着させる吸盤状の吸着部材３１が複数設けられている。各吸着部材３１の内部は、前記真空発生器３４による真空引きによって負圧状態にされる。 In the present embodiment, a plurality of suction cup-like suction members 31 are provided for sucking a molded product to a plate-like suction head 30 attached to the lower end of the arm 23. The inside of each adsorption member 31 is brought into a negative pressure state by evacuation by the vacuum generator 34.

切換弁３３は、圧縮空気供給源３２と真空発生器３４間における配管３８に設けられ、圧縮空気供給源３２から真空発生器３４への圧縮空気流路を開閉するものである。この切換弁３３としては、例えば、電磁弁等で構成される。真空吸着装置３は、切換弁３３を開状態とすることによって真空発生器３４に対して圧縮空気供給源３２から圧縮空気が供給されるようになっている。一方、真空吸着装置３は、切換弁３３を閉状態とすることによって圧縮空気供給源３２から真空発生器３４への圧縮空気の供給が遮断されて、真空発生器３４による真空の発生を停止させるようになっている。 The switching valve 33 is provided in a pipe 38 between the compressed air supply source 32 and the vacuum generator 34, and opens and closes the compressed air flow path from the compressed air supply source 32 to the vacuum generator 34. As this switching valve 33, it is comprised by an electromagnetic valve etc., for example. The vacuum suction device 3 is configured such that the compressed air is supplied from the compressed air supply source 32 to the vacuum generator 34 by opening the switching valve 33. On the other hand, the vacuum suction device 3 shuts off the supply of compressed air from the compressed air supply source 32 to the vacuum generator 34 by closing the switching valve 33 and stops the vacuum generator 34 from generating a vacuum. It is like that.

なお、圧縮空気供給源３２と切換弁３３間の配管３８には、調圧機器を設置してもよい。この調圧機器は、真空発生器３４に供給する圧縮空気供給源３２からの圧縮空気を所望の圧力に可変調整するものである。この調圧機器としては、例えば、ダイヤフラム、吸気用電磁弁及び排気用電磁弁等で、入力される電気信号に比例して空気圧を無段階に制御可能な構造からなる。 A pressure adjusting device may be installed in the pipe 38 between the compressed air supply source 32 and the switching valve 33. This pressure adjusting device variably adjusts the compressed air from the compressed air supply source 32 supplied to the vacuum generator 34 to a desired pressure. For example, the pressure adjusting device is a diaphragm, an intake solenoid valve, an exhaust solenoid valve, or the like, and has a structure capable of controlling the air pressure in a stepless manner in proportion to an input electric signal.

真空発生器３４は、圧縮空気供給源３２から供給される圧縮空気により負圧を発生させて吸着部材３１を真空状態にするものであり、エゼクター式の真空発生器を使用している。すなわち、真空発生器３４は、供給された圧縮空気をノズルに通過させて、さらにディフューザーを通過させる際に、ベルヌーイの法則に基づいて負圧を発生させる構造を有する。また、本実施の形態では、真空発生器３４は、吸着部材３１により成形品を吸着保持する前に真空発生器３４に圧縮空気を供給して、成形品が吸着可能な所定の負圧を発生させておく。この負圧を吸着開始圧力Ｐ０としており、本実施の形態では、図３の圧力変化を示すグラフのように、例えば、成形品が吸着されていない状態の吸着部材３１に対して−５３ｋＰａの負圧が発生するように設定される。 The vacuum generator 34 generates negative pressure with the compressed air supplied from the compressed air supply source 32 to make the adsorbing member 31 in a vacuum state, and uses an ejector type vacuum generator. That is, the vacuum generator 34 has a structure for generating a negative pressure based on Bernoulli's law when the supplied compressed air is passed through the nozzle and further through the diffuser. In the present embodiment, the vacuum generator 34 supplies the compressed air to the vacuum generator 34 before the molded product is sucked and held by the suction member 31 to generate a predetermined negative pressure that can be sucked by the molded product. Let me. This negative pressure is set as the adsorption start pressure P0. In the present embodiment, as shown in the graph showing the pressure change in FIG. 3, for example, the negative pressure of −53 kPa with respect to the adsorption member 31 in a state where the molded product is not adsorbed. The pressure is set to be generated.

圧力保持弁３５は、真空発生器３４と吸着部材３１間の配管に設けられている。圧力保持弁３５は、真空発生器３４により吸着部材３１の内部が所定の真空度となったときに閉状態とすることで、吸着部材３１と真空発生器３４との配管３８を気密状態に遮断する。そして、圧力保持弁３５の閉動作により、成形品が吸着された状態の吸着部材３１内の真空状態が保持される。また、圧力保持弁３５を開状態とすることによって吸着部材３１と真空発生器３４との配管が連通されると、真空発生器３４で発生させた負圧により吸着部材３１内が吸引される。 The pressure holding valve 35 is provided in a pipe between the vacuum generator 34 and the adsorption member 31. The pressure holding valve 35 is closed when the inside of the adsorption member 31 reaches a predetermined degree of vacuum by the vacuum generator 34, thereby shutting off the pipe 38 between the adsorption member 31 and the vacuum generator 34 in an airtight state. To do. And the vacuum state in the adsorption | suction member 31 of the state by which the molded article was adsorbed is hold | maintained by the closing operation of the pressure holding valve 35. FIG. Further, when the pressure holding valve 35 is opened to connect the suction member 31 and the vacuum generator 34, the suction member 31 is sucked by the negative pressure generated by the vacuum generator 34.

なお、この圧力保持弁３５としては、例えば、電磁弁等で構成される。電磁弁としては、常開型電磁弁、常閉型電磁弁のいずれも使用可能であるが、圧力保持弁３５が閉作動されるのは吸着部材３１が成形品吸着状態のときに限られるので、圧力保持弁３５は、常開型電磁弁を使用することが好ましい。 The pressure holding valve 35 is constituted by, for example, an electromagnetic valve. As the solenoid valve, either a normally open solenoid valve or a normally closed solenoid valve can be used. However, the pressure holding valve 35 is closed only when the suction member 31 is in the molded product suction state. The pressure holding valve 35 is preferably a normally open solenoid valve.

圧力検出器３６は、圧力保持弁３５と吸着部材３１間の配管３８内の圧力を検出するものであって、吸着部材３１内の負圧を検出するために用いられる。この圧力検出器３６としては、例えば、アナログ式またはデジタル式の負圧センサが用いられる。圧力検出器３６は、この圧力検出器３６に備えられる圧電素子が受けた外圧に応じて電気信号を出力し、この電気信号を大気圧時のものと比較することにより吸着部材３１における負圧を検出するようなっている。なお、この圧力検出器３６は、図２に示すように、成形品取出機１の基本動作等を制御するロボット制御用コントローラ４（ＰＬＣ：Programmable Logic Controller）にも信号接続されており、圧力検出器３６で検出した圧力の検出信号は、ロボット制御用コントローラ４にも出力される。また、ロボット制御用コントローラ４は、ＰＬＣの他、成形品取出機１に内蔵されるマイクロコンピュータにより構成することもでき、また、成形品取出機１を遠隔操作する操作用コントローラ（図示せず）に内蔵されてもよい。 The pressure detector 36 detects the pressure in the pipe 38 between the pressure holding valve 35 and the adsorption member 31, and is used to detect the negative pressure in the adsorption member 31. As the pressure detector 36, for example, an analog or digital negative pressure sensor is used. The pressure detector 36 outputs an electrical signal in accordance with the external pressure received by the piezoelectric element included in the pressure detector 36, and compares the electrical signal with that at atmospheric pressure, thereby reducing the negative pressure in the adsorption member 31. It is supposed to detect. As shown in FIG. 2, the pressure detector 36 is also connected to a robot control controller 4 (PLC: Programmable Logic Controller) for controlling the basic operation of the molded product take-out machine 1 to detect the pressure. The pressure detection signal detected by the device 36 is also output to the robot controller 4. In addition to the PLC, the robot control controller 4 can also be constituted by a microcomputer built in the molded product take-out machine 1, and an operation controller (not shown) for remotely operating the molded product take-out machine 1. It may be built in.

さらに、本実施の形態による成形品取出機１は、図２に示すように、成形品の吸着状況を記憶する記憶手段９１と、この記憶手段９１に記憶されている情報を表示される表示部９２とを備えている。表示部９２は、例えば、液晶モニタにより構成することができる。本実施の形態では、ロボット制御用コントローラ４は、圧力検出器３６で検出した圧力を記憶手段９１に記憶させると共に、圧力検出結果に基づいて、例えば、図３に示すような吸着部材３１が成形品を吸着しているときの圧力変化を表示部９に表示させたり、現在の吸着部材３１の圧力を表示させたりするようにしている。このように、吸着部材３１の吸着状況を表示部９に表示させることにより、オペレータは、吸着部材３１の吸着状況を直ぐに把握することができる。 Furthermore, as shown in FIG. 2, the molded product take-out machine 1 according to the present embodiment includes a storage unit 91 that stores the suction state of the molded product, and a display unit that displays information stored in the storage unit 91. 92. The display unit 92 can be configured by a liquid crystal monitor, for example. In the present embodiment, the robot control controller 4 stores the pressure detected by the pressure detector 36 in the storage means 91 and, based on the pressure detection result, for example, the suction member 31 as shown in FIG. 3 is formed. A change in pressure when the product is adsorbed is displayed on the display unit 9 or the current pressure of the adsorbing member 31 is displayed. Thus, by displaying the suction state of the suction member 31 on the display unit 9, the operator can immediately grasp the suction state of the suction member 31.

真空制御部３７は、切換弁３３と圧力保持弁３５と圧力検出器３６とにそれぞれ信号接続されている。さらに、真空制御部３７は、成形品取出機１の基本動作等を制御するロボット制御用コントローラ４にも信号接続されている。 The vacuum control unit 37 is signal-connected to the switching valve 33, the pressure holding valve 35, and the pressure detector 36, respectively. Further, the vacuum control unit 37 is also signal-connected to the robot control controller 4 that controls the basic operation and the like of the molded product take-out machine 1.

真空制御部３７は、吸着部材３１が成形品を吸着している状態のときに、圧力検出器３６で検出された圧力が所定時間（Ｔ１）一定になると圧力保持弁３５を閉状態にして吸着部材３１の負圧状態を保持させると共に、切換弁３３を閉状態にして真空発生器３４に対する圧縮空気の供給を遮断する制御を行なう。 The vacuum control unit 37 closes the pressure holding valve 35 and sucks when the pressure detected by the pressure detector 36 is constant for a predetermined time (T1) when the suction member 31 is sucking the molded product. While maintaining the negative pressure state of the member 31, the control is performed by closing the switching valve 33 and shutting off the supply of compressed air to the vacuum generator.

図３は、真空吸着装置３が作動しているときの吸着部材３１内部での負圧変化を示すグラフであり、本実施の形態では、上述した所定時間（Ｔ１）一定となった圧力は、図３においてＰ１で示している。なお、負圧は、大気圧を０としたゲージ圧力（ｋＰａ）で示している。 FIG. 3 is a graph showing a change in negative pressure inside the suction member 31 when the vacuum suction device 3 is operating. In the present embodiment, the pressure that is constant for the predetermined time (T1) described above is This is indicated by P1 in FIG. Note that the negative pressure is indicated by a gauge pressure (kPa) where the atmospheric pressure is zero.

また、真空制御部３７では、図３に示すように、圧力保持弁３５を閉状態にしたときの圧力Ｐ１に対して、この圧力Ｐ１よりも真空度の低い側となる所定の圧力差Ｐｘを予め設定している。真空制御部３７は、切換弁３３と圧力保持弁３５とを閉状態とした後、圧力検出器３６で検出される圧力が圧力Ｐ１に対して所定の圧力差Ｐｘとなるまで真空度が低下して圧力Ｐ２となったときには、圧力保持弁３５を開状態にすると共に切換弁３３を開状態にして真空発生器３４に対する圧縮空気の供給を行わせ、吸着部材３１を真空引きする制御を行なう。 Further, as shown in FIG. 3, the vacuum control unit 37 sets a predetermined pressure difference Px on the side having a lower degree of vacuum than the pressure P1 with respect to the pressure P1 when the pressure holding valve 35 is closed. It is set in advance. The vacuum control unit 37 closes the switching valve 33 and the pressure holding valve 35, and then the degree of vacuum decreases until the pressure detected by the pressure detector 36 becomes a predetermined pressure difference Px with respect to the pressure P1. When the pressure reaches the pressure P2, the pressure holding valve 35 is opened and the switching valve 33 is opened to supply compressed air to the vacuum generator 34, and the suction member 31 is evacuated.

本実施の形態では、図３に示すように、吸着力が安定したときの圧力Ｐ１は、−９３ｋＰａとなっており、また、差圧Ｐｘは１３ｋＰａに設定されている。従って、本実施の形態では、真空引きを再度行なう圧力Ｐ２は−８０ｋＰａとなる。なお、差圧Ｐｘは、吸着力が低下していったとき、成形品を落下させることなく吸着することができる圧力の範囲内で設定されている。真空引きによる吸着を行なう場合、成形品を確実に吸着できる吸着力は、成形品の重量で変化するため、例えば、成形機で成形される成形品のうち、最も重い成形品に合せて差圧Ｐｘを設定することができる。 In the present embodiment, as shown in FIG. 3, the pressure P1 when the adsorption force is stabilized is −93 kPa, and the differential pressure Px is set to 13 kPa. Therefore, in the present embodiment, the pressure P2 at which evacuation is performed again is −80 kPa. Note that the differential pressure Px is set within a range of pressure that can be adsorbed without dropping the molded product when the adsorbing force decreases. When suctioning by vacuuming, the suction force that can reliably attract the molded product varies depending on the weight of the molded product. For example, the differential pressure in accordance with the heaviest molded product among the molded products molded by the molding machine. Px can be set.

真空制御部３７は、アーム機構部２の動作により、吸着ヘッド３０が成形品を取り出すために成形機５の金型５１に向けて移動を開始したときに、ロボット制御用コントローラ４から出力された取り出し開始の指令信号に基づいて切換弁３３と圧力保持弁３５とを開いて吸着部材３１の真空引きを開始する。 The vacuum control unit 37 is output from the robot control controller 4 when the suction head 30 starts moving toward the mold 51 of the molding machine 5 to take out the molded product by the operation of the arm mechanism unit 2. Based on the command signal to start taking out, the switching valve 33 and the pressure holding valve 35 are opened to start evacuation of the adsorption member 31.

具体的には、ロボット制御用コントローラ４は、待機位置（Ａ）の吸着部材３１が成形品を取り出すために取出位置（Ｂ）に向かって移動するようにアーム機構部２の作動を開始すると、真空制御部３７に対して、取り出し開始の指令信号を出力する。 Specifically, the robot control controller 4 starts the operation of the arm mechanism unit 2 so that the suction member 31 at the standby position (A) moves toward the take-out position (B) to take out the molded product. A command signal for starting extraction is output to the vacuum controller 37.

真空制御部３７は、ロボット制御用コントローラ４から取り出し開始の指令信号を受け取ると、切換弁３３に対して開状態にする吸引ＯＮ信号を出力するとともに、圧力保持弁３５に対して開状態にする遮断ＯＦＦ信号を出力する。 When the vacuum control unit 37 receives an instruction signal to start taking out from the robot controller 4, the vacuum control unit 37 outputs a suction ON signal for opening the switching valve 33 and opening the pressure holding valve 35. Outputs a cutoff OFF signal.

真空制御部３７は、吸着部材３１が成形品に吸着したときから吸着部材３１が開放位置（Ｃ）で成形品を開放するときまでは、上述した切換弁３３の開閉動作と圧力保持弁３５の開閉動作とを繰り返し行なう。 The vacuum controller 37 opens and closes the switching valve 33 and opens and closes the pressure holding valve 35 from when the adsorbing member 31 is adsorbed to the molded product to when the adsorbing member 31 opens the molded product at the open position (C). Repeat the operation.

具体的には、真空制御部３７は、ロボット制御用コントローラ４から取り出し開始の指令信号が出力されてから取り出し終了の指令信号が出力されるまでの間は、上述したように圧力検出器３６で検出した圧力に基づいて、切換弁３３の開閉動作と圧力保持弁３５の開閉動作の制御を行なう。 Specifically, as described above, the vacuum control unit 37 uses the pressure detector 36 during the period from when the take-out start command signal is output from the robot control controller 4 to when the take-out end command signal is output. Based on the detected pressure, the switching operation of the switching valve 33 and the opening / closing operation of the pressure holding valve 35 are controlled.

即ち、切換弁３３が吸引ＯＮ信号により開状態となっており、かつ、圧力保持弁３５が遮断ＯＦＦ信号により開状態となっているときに、圧力検出器３６による検出圧力Ｐｔが所定の時間（Ｔ１）一定となったときには、真空制御部３７は、切換弁３３に対して閉状態にする吸引ＯＦＦ信号を出力するとともに、圧力保持弁３５に対して閉状態にする遮断ＯＮ信号を出力する。 That is, when the switching valve 33 is opened by the suction ON signal and the pressure holding valve 35 is opened by the cutoff OFF signal, the detection pressure Pt detected by the pressure detector 36 is a predetermined time ( T1) When it becomes constant, the vacuum control unit 37 outputs a suction OFF signal for closing the switching valve 33 and outputs a shut-off signal for closing the pressure holding valve 35.

また、切換弁３３及び圧力保持弁３５が閉状態となっているときに、圧力Ｐ１から圧力差Ｐｘとなる圧力Ｐ２となったときには、真空制御部３７は、切換弁３３に対して開状態にする吸引ＯＮ信号を出力するとともに、圧力保持弁３５に対して開状態にする遮断ＯＦＦ信号を出力する。 In addition, when the switching valve 33 and the pressure holding valve 35 are in the closed state, when the pressure P2 becomes the pressure difference Px from the pressure P1, the vacuum control unit 37 is opened with respect to the switching valve 33. A suction ON signal is output, and a shutoff OFF signal for opening the pressure holding valve 35 is output.

これにより、吸着部材３１により成形品を吸着している間は、圧縮空気供給源３２から真空発生器３４への圧縮空気の供給量をできるだけ少なくできる。しかも、吸着部材３１は、取出位置（Ｂ）となる成形機５の金型５１内で成形品を吸着した後、成形機５外の開放位置（Ｃ）まで移動する間は、この成形品を確実に吸着保持することができる。 Thereby, while the molded product is adsorbed by the adsorbing member 31, the amount of compressed air supplied from the compressed air supply source 32 to the vacuum generator 34 can be reduced as much as possible. In addition, the adsorbing member 31 adsorbs the molded product in the mold 51 of the molding machine 5 at the take-out position (B) and then moves the molded product to the open position (C) outside the molding machine 5. It can be reliably held by suction.

また、ロボット制御用コントローラ４は、アーム機構部２を作動して吸着部材３１が取出位置（Ｂ）から開放位置（Ｃ）に到達すると、真空制御部３７に対して、取り出し終了の指令信号を出力する。 Further, the robot control controller 4 operates the arm mechanism portion 2 and, when the suction member 31 reaches the open position (C) from the take-out position (B), sends a command signal to the vacuum control portion 37 to end the take-out. Output.

真空制御部３７は、ロボット制御用コントローラ４から取り出し終了の指令信号を受け取ると、切換弁３３に対して閉状態にする吸引ＯＦＦ信号を出力するとともに、圧力保持弁３５に対して開状態にする遮断ＯＦＦ信号を出力する。 When the vacuum control unit 37 receives a removal completion command signal from the robot controller 4, the vacuum control unit 37 outputs a suction OFF signal for closing the switching valve 33 and opening the pressure holding valve 35. Outputs a cutoff OFF signal.

なお、真空吸着装置３には、噴射圧調圧機器や噴射用開閉バルブ等を設けた空気噴射回路を圧縮空気供給源３２から吸着部材３１に至るように設けてもよい。この場合、開放位置（Ｃ）において吸着部材３１から成形品を開放する際に成形品の吸着解除を迅速に行うためこの空気噴射回路を通して吸着部材３１から空気を噴射させる。 The vacuum suction device 3 may be provided with an air injection circuit provided with an injection pressure adjusting device, an injection opening / closing valve, and the like so as to reach from the compressed air supply source 32 to the adsorption member 31. In this case, when the molded product is released from the adsorption member 31 at the open position (C), air is injected from the adsorption member 31 through the air injection circuit in order to quickly release the adsorption of the molded product.

次に、前記真空吸着装置３における動作を図３及び図４に基づいて説明する。なお、図４は、真空吸着装置３の動作フローを示すフローチャートである。 Next, the operation of the vacuum suction device 3 will be described with reference to FIGS. FIG. 4 is a flowchart showing an operation flow of the vacuum suction device 3.

まず、成形機５の金型５１が型開きされると、成形品取出機１において成形品の取出動作が実行され（ステップＳ１）、アーム機構部２を作動させて待機位置（Ａ）にある吸着部材３１を成形機５の金型５１内の成形品取出位置（Ｂ）に進入させる（図１参照）。 First, when the mold 51 of the molding machine 5 is opened, a molded product take-out operation is executed in the molded product take-out machine 1 (step S1), and the arm mechanism unit 2 is operated to be in the standby position (A). The adsorbing member 31 is caused to enter the molded product removal position (B) in the mold 51 of the molding machine 5 (see FIG. 1).

また、成形品の取出動作が実行されたと同時に、真空制御部３７の指令信号により、真空吸着装置３において、切換弁３３を開状態にすると共に圧力保持弁３５を開状態にする（ステップＳ２）。切換弁３３及び圧力保持弁３５が開状態になると、真空発生器３４に圧縮空気供給源３２から圧縮空気が供給され、真空発生器３４内でこの圧縮空気により負圧が発生して吸着部材３１内を吸引する。 Further, at the same time as the removal operation of the molded product is executed, the switching valve 33 is opened and the pressure holding valve 35 is opened in the vacuum suction device 3 by the command signal of the vacuum control unit 37 (step S2). . When the switching valve 33 and the pressure holding valve 35 are opened, compressed air is supplied to the vacuum generator 34 from the compressed air supply source 32, and a negative pressure is generated by the compressed air in the vacuum generator 34, so that the adsorbing member 31. Aspirate the inside.

真空発生器３４により吸着部材３１内を吸引している間の配管３８の圧力を圧力検出器３６で検出し、検出圧力Ｐｔが吸着開始圧力Ｐ０以下、即ち、吸着を開始できる負圧が生じているかどうかを真空制御部３７において判定する（ステップＳ３）。本実施の形態では、吸着開始圧力Ｐ０が−５３ｋＰａであるので、検出圧力Ｐｔが−５３ｋＰａ以下となっているかどうかを判定する。検出圧力Ｐｔが吸着開始圧力Ｐ０以下の場合には（ステップＳ３でＹｅｓ）、吸着部材３１を成形品に接触させて吸着を開始する（ステップＳ４）。 The pressure of the pipe 38 while the suction member 31 is being sucked by the vacuum generator 34 is detected by the pressure detector 36, and the detected pressure Pt is equal to or lower than the suction start pressure P0, that is, a negative pressure that can start suction is generated. It is determined in the vacuum control part 37 whether it exists (step S3). In the present embodiment, since the adsorption start pressure P0 is −53 kPa, it is determined whether or not the detected pressure Pt is −53 kPa or less. When the detected pressure Pt is equal to or lower than the suction start pressure P0 (Yes in step S3), the suction member 31 is brought into contact with the molded product to start suction (step S4).

金型５１から離型された成形品が吸着部材３１に吸着保持されると、アーム機構部２を作動させて成形品を吸着保持した吸着部材３１を成形品取出位置（Ｂ）から金型５１外の所定の成形品回収位置（Ｃ）に移動させる（図１参照）。この成形品取出位置（Ｂ）から成形品回収位置（Ｃ）までは、吸着部材３１により成形品が吸着された状態になっている。吸着部材３１により成形品を吸着し続ける場合、真空制御部３７によって切換弁３３と圧力保持弁３５が次のように制御される。 When the molded product released from the mold 51 is sucked and held by the suction member 31, the arm member 2 is operated and the suction member 31 holding the molded product by suction is moved from the molded product take-out position (B) to the mold 51. It is moved to a predetermined molded product collection position (C) outside (see FIG. 1). From the molded product take-out position (B) to the molded product collection position (C), the molded product is adsorbed by the adsorption member 31. When the suction member 31 continues to suck the molded product, the vacuum control unit 37 controls the switching valve 33 and the pressure holding valve 35 as follows.

圧力検出器３６による検出圧力Ｐｔが所定時間（Ｔ１）一定であるかどうかを真空制御部３７において判定する（ステップＳ５）。検出圧力Ｐｔが所定時間（Ｔ１）一定となった場合には（ステップＳ５でＹｅｓ）、吸着部材３１の成形品に対する吸着力が十分得られていると判定して、真空制御部３７の指令信号により、切換弁３３を閉状態にすると共に圧力保持弁３５を閉状態にする（ステップＳ６）。 The vacuum controller 37 determines whether or not the detected pressure Pt detected by the pressure detector 36 is constant for a predetermined time (T1) (step S5). When the detected pressure Pt becomes constant for a predetermined time (T1) (Yes in step S5), it is determined that the suction force of the suction member 31 to the molded product is sufficiently obtained, and the command signal of the vacuum control unit 37 is determined. Thus, the switching valve 33 is closed and the pressure holding valve 35 is closed (step S6).

切換弁３３及び圧力保持弁３５が閉状態となることにより、吸着部材３１内の真空状態が維持されると共に、真空発生器３４に対する圧縮空気の供給が遮断される（図３参照）。即ち、圧力保持弁３５を閉状態にすることで、吸着部材３１と真空発生器３４との配管が気密状態に遮断されて、成形品吸着状態の吸着部材３１における真空状態が保持される。その結果、切換弁３３を閉状態にしても圧力保持弁３５を閉じることで、負圧不足により吸着部材３１から成形品が落下することが防止される。 When the switching valve 33 and the pressure holding valve 35 are closed, the vacuum state in the adsorption member 31 is maintained and the supply of compressed air to the vacuum generator 34 is shut off (see FIG. 3). That is, by closing the pressure holding valve 35, the piping between the suction member 31 and the vacuum generator 34 is shut off in an airtight state, and the vacuum state of the suction member 31 in the molded product suction state is maintained. As a result, even if the switching valve 33 is closed, closing the pressure holding valve 35 prevents the molded product from dropping from the adsorption member 31 due to insufficient negative pressure.

そして、ロボット制御用コントローラ４から吸着解除の指令信号が真空制御部３７に対して出力されているかどうかを真空制御部３７で判定する（ステップＳ７）。吸着解除を行なう場合には（ステップＳ７でＹｅｓ）、真空制御部３７の指令信号により、切換弁３３を閉状態にすると共に圧力保持弁３５を開状態にして、成形品の取出しを終了する（ステップＳ１１）。 Then, the vacuum controller 37 determines whether or not a suction release command signal is output from the robot controller 4 to the vacuum controller 37 (step S7). When the suction release is performed (Yes in step S7), the switching valve 33 is closed and the pressure holding valve 35 is opened by the command signal of the vacuum control unit 37, and the removal of the molded product is finished ( Step S11).

また、吸着解除を行なわない場合には（ステップＳ７でＮｏ）、圧力検出器３６による検出圧力Ｐｔが圧力Ｐ１から圧力差Ｐｘ以上高くなっているかどうかを真空制御部３７において判定する（ステップＳ８）。検出圧力Ｐｔが圧力Ｐ１から圧力差Ｐｘ以上高くなっている場合には（ステップＳ８でＹｅｓ）、真空度が低下していると判定して、真空制御部３７の指令信号により、切換弁３３を開状態にすると共に圧力保持弁３５を開状態にして、吸着部材３１内を吸引する（ステップＳ９）。 When the suction release is not performed (No in Step S7), the vacuum control unit 37 determines whether or not the detected pressure Pt detected by the pressure detector 36 is higher than the pressure difference Px from the pressure P1 (Step S8). . If the detected pressure Pt is higher than the pressure difference Px from the pressure P1 (Yes in step S8), it is determined that the degree of vacuum has decreased, and the switching valve 33 is controlled by a command signal from the vacuum control unit 37. At the same time, the pressure holding valve 35 is opened and the suction member 31 is sucked (step S9).

次に、ロボット制御用コントローラ４から吸着解除の指令信号が真空制御部３７に対して出力されているかどうかを真空制御部３７で判定する（ステップＳ１０）。吸着解除を行なわない場合には（ステップＳ１０でＮｏ）、ステップＳ５に戻り、真空制御部３７により吸着力が一定になったかどうかの判定を行なう。また、吸着解除を行なう場合には（ステップＳ１０でＹｅｓ）、真空制御部３７の指令信号により、切換弁３３を閉状態にすると共に圧力保持弁３５を開状態にして、成形品の取出しを終了する（ステップＳ１１）。 Next, the vacuum controller 37 determines whether or not a suction release command signal is output from the robot controller 4 to the vacuum controller 37 (step S10). When the suction release is not performed (No in step S10), the process returns to step S5, and the vacuum control unit 37 determines whether the suction force has become constant. When releasing the suction (Yes in step S10), the switching valve 33 is closed and the pressure holding valve 35 is opened in accordance with the command signal from the vacuum controller 37, and the removal of the molded product is completed. (Step S11).

以上のように、本実施の形態の成形品取出機１によれば、作業者がわざわざ成形品の形状等に応じて様々な圧力値を設定する必要がなく、しかも、成形品の種類に係らず同じ圧力差Ｐｘで真空手段である切換弁３３の再作動と圧力保持弁３５の開動作を自動的に制御することができるので、作業者の負担を軽減できる。 As described above, according to the molded product take-out machine 1 of the present embodiment, it is not necessary for the operator to bother to set various pressure values according to the shape of the molded product, etc., and it depends on the type of the molded product. Therefore, it is possible to automatically control the reactivation of the switching valve 33, which is a vacuum means, and the opening operation of the pressure holding valve 35 with the same pressure difference Px, thereby reducing the burden on the operator.

なお、前記各実施形態の成型品取出機１は、アーム２１，２２，２３によるアーム機構部２として吸着部材３１をＸＹＺ各軸に移動させるトラバース型のものとしているが、アーム機構部２として吸着部材３１を二次元方向、旋回移動させる形式のものであってもよい。 In addition, although the molded product take-out machine 1 of each said embodiment is made into the traverse type which moves the adsorption | suction member 31 to each axis | shaft of XYZ as the arm mechanism part 2 by the arms 21,22,23, it is adsorbed as the arm mechanism part 2. The member 31 may be of a type that pivots in a two-dimensional direction.

また、前記成形品取出機１が付設される成形機５としては、型締め、型開き動作が行われるものであれば、竪型式、横型式のどちらでもよく、また、その成形品は、樹脂製のみならず、アルミニウム等の金属製等であってもよい。 Further, the molding machine 5 to which the molded product take-out machine 1 is attached may be either a vertical type or a horizontal type as long as the mold clamping and mold opening operations are performed. Not only the product but also a metal such as aluminum may be used.

なお、本発明の真空吸着装置は、成形品取出機に適用した前記実施の形態に限らず、ワークを吸着保持して搬送する種々の搬送装置にも適用できる。また、真空吸着装置は、本実施の形態では、真空手段として真空発生器を用いて、この真空発生器に圧縮空気供給源から圧縮空気を供給して真空を発生させるようにしたが、真空手段として真空ポンプを用いることもできる。 The vacuum suction device of the present invention is not limited to the above-described embodiment applied to a molded product take-out machine, and can be applied to various transport devices that suck and hold a workpiece and transport it. Further, in this embodiment, the vacuum suction device uses a vacuum generator as a vacuum means, and supplies the compressed air from the compressed air supply source to the vacuum generator to generate a vacuum. A vacuum pump can also be used.

本発明の実施の形態における成形品取出機の全体構成を示す斜視図である。It is a perspective view which shows the whole structure of the molded product extraction machine in embodiment of this invention. 成形品取出機に備える真空吸着装置の内部構成を示すブロック図である。It is a block diagram which shows the internal structure of the vacuum suction apparatus with which a molded article extraction machine is equipped. 真空吸着装置が作動しているときの吸着部材での負圧の変化を示すグラフである。It is a graph which shows the change of the negative pressure in an adsorption member when a vacuum adsorption device is operating. 真空吸着装置３の動作フローを示すフローチャートである。3 is a flowchart showing an operation flow of the vacuum suction device 3.

符号の説明Explanation of symbols

１成形品取出機
２アーム機構部
２１，２２，２３アーム
３真空吸着装置
３０吸着ヘッド
３１吸着部材
３２圧縮空気供給源
３３切換弁
３４真空発生器
３５圧力保持弁
３６圧力検出器
３７真空制御部
３８配管
４ロボット制御用コントローラ（ＰＬＣ）
５成形機
５１金型 DESCRIPTION OF SYMBOLS 1 Mold take-out machine 2 Arm mechanism part 21, 22, 23 Arm 3 Vacuum adsorption apparatus 30 Adsorption head 31 Adsorption member 32 Compressed air supply source 33 Switching valve 34 Vacuum generator 35 Pressure holding valve 36 Pressure detector 37 Vacuum control part 38 Piping 4 Robot controller (PLC)
5 Molding machine 51 Mold

Claims

ワークを吸着する吸着部材と、
配管を介して前記吸着部材と接続され、前記吸着部材に真空圧を作用させる真空手段と、
前記真空手段と前記吸着部材との間の配管に設けられ、前記真空手段と前記吸着部材との連通又は連通の遮断を行なう圧力保持弁と、
前記圧力保持弁と前記吸着部材との間の前記配管内の圧力を検出する圧力検出器と、
前記真空手段及び前記圧力保持弁の作動を制御する制御手段とを備え、
前記制御手段は、
前記圧力保持弁を開き、前記真空手段を作動させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が所定時間一定となった場合には、前記圧力保持弁を閉じると共に前記真空手段の作動を停止させ、前記圧力保持弁を閉じ、かつ、前記真空手段を停止させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が前記圧力保持弁を開状態から閉状態としたときの圧力から一定幅低下した場合には、前記圧力保持弁を開くと共に前記真空手段を作動させる動作を繰り返すことを特徴とする真空吸着装置。 An adsorbing member that adsorbs a workpiece;
A vacuum means connected to the adsorption member via a pipe and applying a vacuum pressure to the adsorption member;
A pressure holding valve that is provided in a pipe between the vacuum means and the adsorption member, and performs communication between the vacuum means and the adsorption member or shuts off the communication;
A pressure detector for detecting a pressure in the pipe between the pressure holding valve and the adsorption member;
Control means for controlling the operation of the vacuum means and the pressure holding valve,
The control means includes
When the pressure detected by the pressure detector is constant for a predetermined time when the work is adsorbed by the adsorbing member with the pressure holding valve opened and the vacuum means operated. The pressure holding valve is closed and the operation of the vacuum means is stopped, the pressure holding valve is closed, and the vacuum means is stopped, and the workpiece is sucked by the suction member. When the pressure detected by the pressure detector is reduced by a certain amount from the pressure when the pressure holding valve is changed from the open state to the closed state, the operation of opening the pressure holding valve and operating the vacuum means is repeated. A vacuum suction device characterized by that.

前記真空手段は、
圧縮空気供給源と、
前記圧縮空気供給源から圧縮空気を供給して負圧を発生させる真空発生器と、
前記圧縮空気供給源と前記真空発生器との間に設けられ、前記真空発生器への圧縮空気の供給及び遮断を行なう切換弁とを備えることを特徴とする請求項１に記載の真空吸着装置。 The vacuum means is
A compressed air source;
A vacuum generator for generating a negative pressure by supplying compressed air from the compressed air supply source;
The vacuum suction device according to claim 1, further comprising a switching valve provided between the compressed air supply source and the vacuum generator and configured to supply and shut off the compressed air to and from the vacuum generator. .

成形品を吸着する吸着部材を有する真空吸着装置と、前記吸着部材を成形機の金型から成形機外の開放位置まで移動させるアーム機構部とを備える成形品取出機であって、
前記真空吸着装置は、
配管を介して前記吸着部材と接続され、前記吸着部材に真空圧を作用させる真空手段と、
前記真空手段と前記吸着部材との間の配管に設けられ、前記真空手段と前記吸着部材との連通又は連通の遮断を行なう圧力保持弁と、
前記圧力保持弁と前記吸着部材との間の前記配管内の圧力を検出する圧力検出器と、
前記真空手段及び前記圧力保持弁の作動を制御する制御手段とを備え、
前記制御手段は、
前記圧力保持弁を開き、前記真空手段を作動させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が所定時間一定となった場合には、前記圧力保持弁を閉じると共に前記真空手段の作動を停止させ、前記圧力保持弁を閉じ、かつ、前記真空手段を停止させている状態で、前記吸着部材により前記ワークを吸着しているときに、前記圧力検出器で検出した圧力が前記圧力保持弁を開状態から閉状態としたときの圧力から一定幅低下した場合には、前記圧力保持弁を開くと共に前記真空手段を作動させる動作を繰り返すことを特徴とする真空吸着装置を備える成形品取出機。 A molded product take-out machine comprising a vacuum suction device having a suction member that sucks a molded product, and an arm mechanism that moves the suction member from a mold of the molding machine to an open position outside the molding machine,
The vacuum suction device is
A vacuum means connected to the adsorption member via a pipe and applying a vacuum pressure to the adsorption member;
A pressure holding valve that is provided in a pipe between the vacuum means and the adsorption member, and performs communication between the vacuum means and the adsorption member or shuts off the communication;
A pressure detector for detecting a pressure in the pipe between the pressure holding valve and the adsorption member;
Control means for controlling the operation of the vacuum means and the pressure holding valve,
The control means includes
When the pressure detected by the pressure detector is constant for a predetermined time when the work is adsorbed by the adsorbing member with the pressure holding valve opened and the vacuum means operated. The pressure holding valve is closed and the operation of the vacuum means is stopped, the pressure holding valve is closed, and the vacuum means is stopped, and the workpiece is sucked by the suction member. When the pressure detected by the pressure detector is reduced by a certain amount from the pressure when the pressure holding valve is changed from the open state to the closed state, the operation of opening the pressure holding valve and operating the vacuum means is repeated. A molded product take-out machine equipped with a vacuum suction device.