JP2828261B2 - Synthetic resin injection molding method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method of injection molding a synthetic resin such as a polyurethane foam, and more particularly to a molding method of performing an injection operation by a robot.

(Prior Art) For example, in the case of molding a polyurethane foam, in recent years, an injection work robot has often been used.
This is because when injecting a resin component into a molding die, it is necessary to inject the raw material along a certain trajectory according to the cavity shape of the die. However, in this type of injection molding, a plurality of different molds are often arranged on a single molding line. In such a case, it is usual to work with one injection head attached to one robot, and when there are multiple types of molds, it is better to arrange and use different robots respectively. It was common.

However, the use of a plurality of robots for a plurality of types of molds is not only an economic problem such as capital investment, but also a problem in terms of safety work space such as equipment space or prevention of collision between robots. .

(Problems to be Solved by the Invention) The present invention has been developed in such a situation, and proposes a method of using a plurality of injection heads by a single robot, that is, a method of forming one robot with multiple heads. Things.

The present invention also aims at significantly improving the working efficiency and the versatility of the filling operation. Further, the present invention aims at economical and space-saving equipment and safe workability of equipment.

(Means for Solving the Problems) That is, according to the present invention, a single injection robot selects and holds different injection heads corresponding to a plurality of types of molds that move sequentially, and A method of injecting a tree component by a predetermined method, wherein the injection robot is provided with a grasping device at the tip of its arm to hold the injection head in a switchable manner, and the injection robot is It is configured to be movable between an injection position where the resin component is injected into the molding die, a plurality of head stand positions where the plurality of injection heads are mounted, and a standby position that does not hinder the movement of the molding die. Along with
In the standby position, a signal from the sensing device for detecting the type of the mold is detected, and the robot that recognizes the signal from the sensing device in the standby position does not need to change the injection head. Moves to the injection position as it is, injects the resin component from the injection head into the mold, returns to the standby position after the injection, or when the injection head needs to be changed, the injection head that is currently held To the head stand position, return the injection head to the head stand, move to the head stand position of another injection head to be held next, hold the other injection head, and move to the injection position. And then injecting a resin component from the injection head into the mold, returning to the standby position after the injection, and thereafter repeating the above-described operation. That.

(Embodiment) The present invention will be described below with reference to the accompanying drawings. FIG. 1 is an overall flow chart showing an embodiment of the method of the present invention.
FIG. 3 is a plan view of a main part of the apparatus according to the method of the present invention, FIG. 3 is a side view of a mounting stand for the injection head, and FIG.

FIG. 2 shows an embodiment of the method of the present invention, in which a single injection robot 10 corresponds to a plurality of types of molds 21 and 22 which are sequentially moved by rotation a of a turntable 20. Different injection heads 15 and 16 are selectively held and the resin components are injected into the molds 21 and 22 by a predetermined method.

The injection robot 10 includes a gripper 12 at the tip of an arm 11 for holding the injection heads 15 and 16 in a replaceable manner, and the injection robot 10 injects a resin component into the molding die. Between the injection position A, a plurality of head stand positions C and D on which the plurality of injection heads 15 and 16 are mounted, and standby positions B and B 'which do not hinder the movement of the mold. , And
At the standby positions B and B ', a signal from a sensing device 25 for sensing the type of the molds 21 and 22 can be recognized.

That is, as shown in FIG.
Numeral 11 is rotatably provided on a shaft 13 on a base 14. At the tip of the arm 11, a gripping device 12 which can be opened and closed as shown in FIG. 4 is provided. And the arm 11
Are followed by head stands S, S '(FIG. 2) on which the first injection head 15 and the second injection head 16 for the different types of molds 21, 22 are mounted. I have.

As can be better understood from FIG. 3, the injection head 15 or 16 has a resin discharge portion 18 at the front and a T-shaped grip at the rear for being held by the gripper 12 of the robot 10.
17 are formed. Then, the injection robot is moved to the head stand position C or D where the injection head 15 or 16 is mounted.
As shown in FIG. 4, the arm 11 of the gripper 10 is moved, and the gripper 12 is closed from the chain line position as shown in FIG.
And the injection head 15 or 16 is held. In addition,
When returning the injection head 15 or 16 to the head stand S, S ', it goes without saying that the gripping device 12 is opened.

As shown in FIG. 2, in this example, when a plurality of head stand positions C and D are arranged on both sides of the injection position A of the turntable 20 and the robot 10 has the first head 15, When the user has the B position and the second head 16, the B 'position is the standby position. In addition to this example, the second head may be located on one side alongside the first head. In this case, the standby position may be only the B position.

As shown in FIG. 2, the molds 21 and 22 are mounted on a circular turntable 20 that rotates in the direction of arrow a, and the resin material injection, curing, and demolding are sequentially repeated. I have. A mold type signal section 26 for a mold type sensing device 25 arranged outside the turntable 20 is provided on the outer peripheral side of each of the molds 21 and 22. The signal from the sensing device 25 can be recognized by the injection robot 10 at the standby positions B and B '.

Next, the operation of the injection robot 10 will be described with reference to the flowchart of FIG.

First, the mold moved by the turntable 20
The sensing device 25 senses the signal portion 26 of 21 (22). At this time, the robot 10 has moved to the standby position B (or B ') so as not to hinder the movement of the molding die by the turntable 20, and here, the robot 10 detects the signal of the molding die 21 (22) and Know the type and the corresponding type of injection head. The robot that has recognized the signal from the sensing device 25 performs the following two operations.

First, there is no need to change the injection head. If the signal from the sensing device 25 is the same as the mold corresponding to the injection head currently held by the robot 10,
Since it is not necessary to change the injection head, the injection head is moved to the injection position A and the resin component is injected from the injection head into the mold.

The pouring operation is performed by tracing a predetermined amount predetermined for the molding die based on a predetermined trajectory. The amount of the raw material to be injected is usually controlled by time control using a timer.
In the embodiment, when the robot holds the corresponding predetermined head, preparation for head injection is started, high pressure switching of the head moving to the molding die is performed, and injection is turned on by a confirmation signal. Then, after a predetermined injection operation is performed by the trajectory trace of the injection head and the time control mechanism, the injection is turned off and the low pressure switching of the head is performed.

When the predetermined injection operation is completed, the robot returns from the injection position A to the standby position B (B '), and waits for the next molding.

On the other hand, if the signal from the sensing device 25 is of a different type from the injection head currently held by the robot, it is necessary to change the injection head. In this case, the robot moves to the head stand position (C) of the currently held injection head (for example, the first head 15), returns the injection head (15) to the head stand S, and then performs other operations to be held. The injection head moves to the head stand position (D), picks up another injection head (second injection head 16) from the head stand S ', holds it, and moves to the injection position A to move the injection head. From (16), the resin component is injected into the mold. The injection operation is as described above. Then, it returns to the injection completion standby position (B 'in this example) and waits for the next molding.

 Hereinafter, similarly, the above operation is repeated.

When the robot 10 does not yet hold any injection head, for example, at the start of molding, the robot 10 directly moves to a required head stand position in accordance with the mold signal.

In the embodiment shown in FIG. 2, head cleaning devices 30, 30 'for brushing the nozzles of the injection head are installed at the standby positions B, B', and the raw material stains attached to the head during the standby time are wiped off. Cleaning work can be performed.

(Effects) As shown and described above, in the synthetic resin injection molding method according to the present invention, a plurality of injection heads are used by a single robot, that is, a molding direction by one robot and multiple heads is realized. You can now. Therefore, even if a plurality of types of different molds are continuously transferred on the line, they can be sequentially and efficiently processed by a single injection robot. Accordingly, the working effect is greatly improved, and since the casting operation is diversified, more complicated casting can be easily performed.

Further, since the present invention requires only a single robot, it is possible to realize economical capital expenditure and space saving as compared with the prior art, and to reduce the danger of collision due to simultaneous use of a plurality of robots. The present invention was able to propose a practical and useful injection molding method, such as being completely eliminated.

[Brief description of the drawings]

1 is an overall flow chart showing one embodiment of the method of the present invention, FIG. 2 is a plan view of a main part of the apparatus according to the method of the present invention, FIG. 3 is a side view of a mounting stand of an injection head, and FIG. FIG. 3 is a plan view showing a gripping device at a tip of an arm of the robot device. 10… Robot, 11… Arm, 12… Gripping device, 15,16…
Injection head, 20 ... Turntable, 21, 22 ... Mold, 25
... Sensing device, 30 ... Cleaning device, A, B, C, D, E ... Robot movement position.

Claims (1)

(57) [Claims] 1. A single injection robot selects and holds different injection heads corresponding to a plurality of types of molding dies that move sequentially, and supplies a resin component to the molding dies in a predetermined manner. A method of injecting, wherein the injecting robot is provided with a gripping device at the tip of its arm to hold the injecting head so as to be changeable, and the injecting robot injects a resin component into the mold. The injection mold is configured to be movable between an injection position, a plurality of head stand positions where the plurality of injection heads are mounted, and a standby position that does not hinder the movement of the molding die, and the molding die is arranged at the standby position. The robot which can recognize the signal from the sensing device that detects the type of the robot, and recognizes the signal from the sensing device at the standby position, does not need to change the injection head. Moves to the injection position as it is, injects the resin component from the injection head into the mold, returns to the standby position after the injection, or when the injection head needs to be changed, the injection head currently held To the head stand position, return the injection head to the head stand, move to the head stand position of another injection head to be held next, hold the other injection head, and move to the injection position. And injecting a resin component from the injection head into the mold, returning to the standby position after the injection, and repeating the above operation in the same manner.